Fawkes API  Fawkes Development Version
WorldInfoViewerBackendThread Class Reference

The backend thread of the worldinfo viewer application. More...

#include <tools/worldinfo_viewer/backend_thread.h>

Inheritance diagram for WorldInfoViewerBackendThread:

List of all members.

Public Member Functions

 WorldInfoViewerBackendThread (fawkes::WorldInfoDataContainer *data_container, const char *addr, unsigned short port, const char *key, const char *iv)
 Constructor.
virtual ~WorldInfoViewerBackendThread ()
 Destructor.
Glib::Dispatcher & new_worldinfo_data ()
 Access the dispatcher that is emitted whenever new data has arrived.
Glib::Dispatcher & new_gamestate_data ()
 Access the dispatcher that is emitted whenever new game state data has arrived.
void loop ()
 Code to execute in the thread.
virtual void pose_rcvd (const char *from_host, float x, float y, float theta, float *covariance)
 Pose information received.
virtual void velocity_rcvd (const char *from_host, float vel_x, float vel_y, float vel_theta, float *covariance)
 Robot velocity information received.
virtual void ball_pos_rcvd (const char *from_host, bool visible, int visibility_history, float dist, float pitch, float yaw, float *covariance)
 Ball position information received.
virtual void global_ball_pos_rcvd (const char *from_host, bool visible, int visibility_history, float x, float y, float z, float *covariance)
 Global ball position information received.
virtual void ball_velocity_rcvd (const char *from_host, float vel_x, float vel_y, float vel_z, float *covariance)
 Ball velocity information received.
virtual void global_ball_velocity_rcvd (const char *from_host, float vel_x, float vel_y, float vel_z, float *covariance)
 Ball velocity information received.
virtual void opponent_pose_rcvd (const char *from_host, unsigned int uid, float distance, float angle, float *covarianceconst)
 Opponent information received.
virtual void opponent_disapp_rcvd (const char *from_host, unsigned int uid)
 Opponent disappeared.
virtual void gamestate_rcvd (const char *from_host, unsigned int game_state, fawkes::worldinfo_gamestate_team_t state_team, unsigned int score_cyan, unsigned int score_magenta, fawkes::worldinfo_gamestate_team_t our_team, fawkes::worldinfo_gamestate_goalcolor_t our_goal_color, fawkes::worldinfo_gamestate_half_t half)
 Gamestate information received.
virtual void penalty_rcvd (const char *from_host, unsigned int player, unsigned int penalty, unsigned int seconds_remaining)
 Penalty info received.

Detailed Description

The backend thread of the worldinfo viewer application.

Author:
Daniel Beck

Constructor & Destructor Documentation

WorldInfoViewerBackendThread::WorldInfoViewerBackendThread ( fawkes::WorldInfoDataContainer data_container,
const char *  addr,
unsigned short  port,
const char *  key,
const char *  iv 
)

Constructor.

Parameters:
data_containerpointer to the central instance of the WorldInfoDataContainer
addrmulticast address to use for worldinfo communication
portport
keyde-/encryption key
ivinitialization vector for de-/encryption

Definition at line 42 of file backend_thread.cpp.

References fawkes::Thread::start(), and fawkes::WorldInfoTransceiver::add_handler().

WorldInfoViewerBackendThread::~WorldInfoViewerBackendThread ( ) [virtual]

Destructor.

Definition at line 71 of file backend_thread.cpp.

References fawkes::Thread::cancel(), and fawkes::Thread::join().


Member Function Documentation

void WorldInfoViewerBackendThread::ball_pos_rcvd ( const char *  from_host,
bool  visible,
int  visibility_history,
float  dist,
float  bearing,
float  slope,
float *  covariance 
) [virtual]

Ball position information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
visibletrue if ball is visible, false otherwise. If the ball is not visible the given position is the last known position and may be invalid. Use visibility history to decide whether you expect useful data.
visibility_historyBall visibility history.
distdistance to ball in meters
bearingbearing angle to ball
slopeslope angle to ball
covariancecovariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats).
See also:
WorldInfoTransceiver::set_ball_pos()
WorldInfoTransceiver::set_ball_visible()

Implements fawkes::WorldInfoHandler.

Definition at line 143 of file backend_thread.cpp.

References fawkes::WorldInfoDataContainer::set_ball_pos().

void WorldInfoViewerBackendThread::ball_velocity_rcvd ( const char *  from_host,
float  vel_x,
float  vel_y,
float  vel_z,
float *  covariance 
) [virtual]

Ball velocity information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
vel_xvelocity in x direction
vel_yvelocity in y direction
vel_zvelocity in z direction
covariancecovariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats).
See also:
WorldInfoTransceiver::set_ball_velocity()

Implements fawkes::WorldInfoHandler.

Definition at line 187 of file backend_thread.cpp.

References fawkes::WorldInfoDataContainer::set_ball_velocity().

void WorldInfoViewerBackendThread::gamestate_rcvd ( const char *  from_host,
unsigned int  game_state,
fawkes::worldinfo_gamestate_team_t  state_team,
unsigned int  score_cyan,
unsigned int  score_magenta,
fawkes::worldinfo_gamestate_team_t  our_team,
fawkes::worldinfo_gamestate_goalcolor_t  our_goal_color,
fawkes::worldinfo_gamestate_half_t  half 
) [virtual]

Gamestate information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
game_statecurrent gamestate
state_teamteam related to the game state
score_cyancurrent score of team cyan
score_magentacurrent score of team magenta
our_teamour team color
our_goal_colorour goal color
halfcurrent half of the game, first or second
See also:
WorldInfoTransceiver::set_gamestate()

Implements fawkes::WorldInfoHandler.

Definition at line 240 of file backend_thread.cpp.

References fawkes::WorldInfoDataContainer::set_game_state().

void WorldInfoViewerBackendThread::global_ball_pos_rcvd ( const char *  from_host,
bool  visible,
int  visibility_history,
float  x,
float  y,
float  z,
float *  covariance 
) [virtual]

Global ball position information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
visibletrue if ball is visible, false otherwise. If the ball is not visible the given position is the last known position and may be invalid. Use visibility history to decide whether you expect useful data.
visibility_historyBall visibility history.
xglobal x-coordinates of the ball
yglobal y-coordinates of the ball
zglobal z-coordinates of the ball
covariancecovariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats).
See also:
WorldInfoTransceiver::set_ball_pos()
WorldInfoTransceiver::set_ball_visible()

Implements fawkes::WorldInfoHandler.

Definition at line 165 of file backend_thread.cpp.

References fawkes::WorldInfoDataContainer::set_ball_pos_global().

void WorldInfoViewerBackendThread::global_ball_velocity_rcvd ( const char *  from_host,
float  vel_x,
float  vel_y,
float  vel_z,
float *  covariance 
) [virtual]

Ball velocity information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
vel_xvelocity in x direction
vel_yvelocity in y direction
vel_zvelocity in z direction
covariancecovariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats).
See also:
WorldInfoTransceiver::set_ball_velocity()

Implements fawkes::WorldInfoHandler.

Definition at line 199 of file backend_thread.cpp.

void WorldInfoViewerBackendThread::loop ( ) [virtual]

Code to execute in the thread.

Implement this method to hold the code you want to be executed continously. If you do not implement this method, the default is that the thread will exit. This is useful if you choose to only implement once().

Reimplemented from fawkes::Thread.

Definition at line 102 of file backend_thread.cpp.

References fawkes::WorldInfoTransceiver::flush_sequence_numbers(), and fawkes::WorldInfoTransceiver::recv().

Glib::Dispatcher & WorldInfoViewerBackendThread::new_gamestate_data ( )

Access the dispatcher that is emitted whenever new game state data has arrived.

Returns:
reference to the dispatcher

Definition at line 96 of file backend_thread.cpp.

Glib::Dispatcher & WorldInfoViewerBackendThread::new_worldinfo_data ( )

Access the dispatcher that is emitted whenever new data has arrived.

Returns:
reference to the dispatcher

Definition at line 86 of file backend_thread.cpp.

void WorldInfoViewerBackendThread::opponent_disapp_rcvd ( const char *  from_host,
unsigned int  uid 
) [virtual]

Opponent disappeared.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
uidunique ID of the opponent

Implements fawkes::WorldInfoHandler.

Definition at line 231 of file backend_thread.cpp.

References fawkes::WorldInfoDataContainer::opponent_disappeared().

void WorldInfoViewerBackendThread::opponent_pose_rcvd ( const char *  from_host,
unsigned int  uid,
float  distance,
float  bearing,
float *  covariance 
) [virtual]

Opponent information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
uidunique ID of the opponent
distanceto opponent
bearingbearing to opponent (angle is zero if opponent is in front of robot, positive if right of robot, negative if left of robot).
covariancecovariance matrix with 4 entries, ordered as two concatenated rows (first row, two floats, second row, two floats)
See also:
WorldInfoTransceiver::add_opponent()

Implements fawkes::WorldInfoHandler.

Definition at line 214 of file backend_thread.cpp.

References fawkes::WorldInfoDataContainer::set_opponent_pos().

void WorldInfoViewerBackendThread::penalty_rcvd ( const char *  from_host,
unsigned int  player,
unsigned int  penalty,
unsigned int  seconds_remaining 
) [virtual]

Penalty info received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
playerplayer number for penalty info
penaltypenalty code
seconds_remainingtime in seconds when penalty is expected to be lifted

Implements fawkes::WorldInfoHandler.

Definition at line 260 of file backend_thread.cpp.

void WorldInfoViewerBackendThread::pose_rcvd ( const char *  from_host,
float  x,
float  y,
float  theta,
float *  covariance 
) [virtual]

Pose information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
xx position
yy position
thetarotation of the robot
covariancecovariance matrix, line-wise float array

Implements fawkes::WorldInfoHandler.

Definition at line 110 of file backend_thread.cpp.

References fawkes::WorldInfoDataContainer::set_robot_pose().

void WorldInfoViewerBackendThread::velocity_rcvd ( const char *  from_host,
float  vel_x,
float  vel_y,
float  vel_theta,
float *  covariance 
) [virtual]

Robot velocity information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
vel_xvelocity in x direction
vel_yvelocity in y direction
vel_thetarotational velocity, positive velocity means clockwise rotation, negative velocity means counter-clockwise.
covariancecovariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats).
See also:
WorldInfoTransceiver::set_velocity()

Implements fawkes::WorldInfoHandler.

Definition at line 126 of file backend_thread.cpp.

References fawkes::WorldInfoDataContainer::set_robot_velocity().


The documentation for this class was generated from the following files: