Network thread of worldmodel plugin. More...
#include "net_thread.h"
Public Member Functions | |
WorldModelNetworkThread () | |
Constructor. | |
virtual | ~WorldModelNetworkThread () |
Destructor. | |
virtual void | init () |
virtual void | loop () |
virtual void | finalize () |
fawkes::WorldInfoTransceiver * | get_transceiver () |
Access the WI transceiver. | |
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 bearing, float slope, 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 bearing, float *covariance) |
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. |
Network thread of worldmodel plugin.
Definition at line 45 of file net_thread.h.
WorldModelNetworkThread::WorldModelNetworkThread | ( | ) |
Constructor.
Definition at line 44 of file net_thread.cpp.
References fawkes::Thread::set_prepfin_conc_loop().
WorldModelNetworkThread::~WorldModelNetworkThread | ( | ) | [virtual] |
Destructor.
Definition at line 54 of file net_thread.cpp.
void WorldModelNetworkThread::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.
from_host | transmitting host of this information, if available symbolic name | |
visible | true 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_history | Ball visibility history. | |
dist | distance to ball in meters | |
bearing | bearing angle to ball | |
slope | slope angle to ball | |
covariance | covariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats). |
Implements fawkes::WorldInfoHandler.
Definition at line 257 of file net_thread.cpp.
References fawkes::BlackBoardAspect::blackboard, fawkes::ObjectPositionInterface::flags(), fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::BlackBoard::open_for_writing(), fawkes::ObjectPositionInterface::set_bearing(), fawkes::ObjectPositionInterface::set_dbs_covariance(), fawkes::ObjectPositionInterface::set_distance(), fawkes::ObjectPositionInterface::set_flags(), fawkes::ObjectPositionInterface::set_slope(), fawkes::ObjectPositionInterface::set_visibility_history(), fawkes::ObjectPositionInterface::set_visible(), fawkes::LockMap< KeyType, ValueType, LessKey >::unlock(), and fawkes::Interface::write().
void WorldModelNetworkThread::ball_velocity_rcvd | ( | const char * | from_host, | |
float | vel_x, | |||
float | vel_y, | |||
float | vel_z, | |||
float * | covariance | |||
) | [virtual] |
Ball velocity information received.
from_host | transmitting host of this information, if available symbolic name | |
vel_x | velocity in x direction | |
vel_y | velocity in y direction | |
vel_z | velocity in z direction | |
covariance | covariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats). |
Implements fawkes::WorldInfoHandler.
Definition at line 328 of file net_thread.cpp.
void WorldModelNetworkThread::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.
from_host | transmitting host of this information, if available symbolic name | |
game_state | current gamestate | |
state_team | team related to the game state | |
score_cyan | current score of team cyan | |
score_magenta | current score of team magenta | |
our_team | our team color | |
our_goal_color | our goal color | |
half | current half of the game, first or second |
Implements fawkes::WorldInfoHandler.
Definition at line 408 of file net_thread.cpp.
References fawkes::GOAL_BLUE, fawkes::GOAL_YELLOW, fawkes::GS_CORNER_KICK, fawkes::GS_DROP_BALL, fawkes::GS_FREE_KICK, fawkes::GS_FROZEN, fawkes::GS_GOAL_KICK, fawkes::GS_HALF_TIME, fawkes::GS_KICK_OFF, fawkes::GS_PENALTY, fawkes::GS_PLAY, fawkes::GS_THROW_IN, fawkes::HALF_FIRST, fawkes::HALF_SECOND, fawkes::Logger::log_debug(), fawkes::LoggingAspect::logger, fawkes::GameStateInterface::set_game_state(), fawkes::GameStateInterface::set_half(), fawkes::GameStateInterface::set_our_goal_color(), fawkes::GameStateInterface::set_our_team(), fawkes::GameStateInterface::set_score_cyan(), fawkes::GameStateInterface::set_score_magenta(), fawkes::GameStateInterface::set_state_team(), fawkes::TEAM_BOTH, fawkes::TEAM_CYAN, fawkes::TEAM_MAGENTA, fawkes::TEAM_NONE, and fawkes::Interface::write().
WorldInfoTransceiver * WorldModelNetworkThread::get_transceiver | ( | ) |
Access the WI transceiver.
Definition at line 209 of file net_thread.cpp.
void WorldModelNetworkThread::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.
from_host | transmitting host of this information, if available symbolic name | |
visible | true 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_history | Ball visibility history. | |
x | global x-coordinates of the ball | |
y | global y-coordinates of the ball | |
z | global z-coordinates of the ball | |
covariance | covariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats). |
Implements fawkes::WorldInfoHandler.
Definition at line 292 of file net_thread.cpp.
References fawkes::BlackBoardAspect::blackboard, fawkes::ObjectPositionInterface::flags(), fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::BlackBoard::open_for_writing(), fawkes::ObjectPositionInterface::set_flags(), fawkes::ObjectPositionInterface::set_visibility_history(), fawkes::ObjectPositionInterface::set_visible(), fawkes::ObjectPositionInterface::set_world_x(), fawkes::ObjectPositionInterface::set_world_xyz_covariance(), fawkes::ObjectPositionInterface::set_world_y(), fawkes::ObjectPositionInterface::set_world_z(), fawkes::LockMap< KeyType, ValueType, LessKey >::unlock(), and fawkes::Interface::write().
void WorldModelNetworkThread::global_ball_velocity_rcvd | ( | const char * | from_host, | |
float | vel_x, | |||
float | vel_y, | |||
float | vel_z, | |||
float * | covariance | |||
) | [virtual] |
Ball velocity information received.
from_host | transmitting host of this information, if available symbolic name | |
vel_x | velocity in x direction | |
vel_y | velocity in y direction | |
vel_z | velocity in z direction | |
covariance | covariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats). |
Implements fawkes::WorldInfoHandler.
Definition at line 337 of file net_thread.cpp.
void WorldModelNetworkThread::opponent_disapp_rcvd | ( | const char * | from_host, | |
unsigned int | uid | |||
) | [virtual] |
Opponent disappeared.
from_host | transmitting host of this information, if available symbolic name | |
uid | unique ID of the opponent |
Implements fawkes::WorldInfoHandler.
Definition at line 394 of file net_thread.cpp.
References fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), and fawkes::LockMap< KeyType, ValueType, LessKey >::unlock().
void WorldModelNetworkThread::opponent_pose_rcvd | ( | const char * | from_host, | |
unsigned int | uid, | |||
float | distance, | |||
float | bearing, | |||
float * | covariance | |||
) | [virtual] |
Opponent information received.
from_host | transmitting host of this information, if available symbolic name | |
uid | unique ID of the opponent | |
distance | to opponent | |
bearing | bearing to opponent (angle is zero if opponent is in front of robot, positive if right of robot, negative if left of robot). | |
covariance | covariance matrix with 4 entries, ordered as two concatenated rows (first row, two floats, second row, two floats) |
Implements fawkes::WorldInfoHandler.
Definition at line 346 of file net_thread.cpp.
References fawkes::BlackBoardAspect::blackboard, fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), fawkes::Logger::log_debug(), fawkes::Logger::log_error(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::BlackBoard::open_for_writing(), fawkes::ObjectPositionInterface::set_bearing(), fawkes::ObjectPositionInterface::set_dbs_covariance(), fawkes::ObjectPositionInterface::set_distance(), fawkes::LockMap< KeyType, ValueType, LessKey >::unlock(), and fawkes::Interface::write().
void WorldModelNetworkThread::penalty_rcvd | ( | const char * | from_host, | |
unsigned int | player, | |||
unsigned int | penalty, | |||
unsigned int | seconds_remaining | |||
) | [virtual] |
Penalty info received.
from_host | transmitting host of this information, if available symbolic name | |
player | player number for penalty info | |
penalty | penalty code | |
seconds_remaining | time in seconds when penalty is expected to be lifted |
Implements fawkes::WorldInfoHandler.
Definition at line 485 of file net_thread.cpp.
void WorldModelNetworkThread::pose_rcvd | ( | const char * | from_host, | |
float | x, | |||
float | y, | |||
float | theta, | |||
float * | covariance | |||
) | [virtual] |
Pose information received.
from_host | transmitting host of this information, if available symbolic name | |
x | x position | |
y | y position | |
theta | rotation of the robot | |
covariance | covariance matrix, line-wise float array |
Implements fawkes::WorldInfoHandler.
Definition at line 216 of file net_thread.cpp.
References fawkes::BlackBoardAspect::blackboard, fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::BlackBoard::open_for_writing(), fawkes::ObjectPositionInterface::set_world_x(), fawkes::ObjectPositionInterface::set_world_xyz_covariance(), fawkes::ObjectPositionInterface::set_world_y(), fawkes::ObjectPositionInterface::set_world_z(), fawkes::LockMap< KeyType, ValueType, LessKey >::unlock(), and fawkes::Interface::write().
void WorldModelNetworkThread::velocity_rcvd | ( | const char * | from_host, | |
float | vel_x, | |||
float | vel_y, | |||
float | vel_theta, | |||
float * | covariance | |||
) | [virtual] |
Robot velocity information received.
from_host | transmitting host of this information, if available symbolic name | |
vel_x | velocity in x direction | |
vel_y | velocity in y direction | |
vel_theta | rotational velocity, positive velocity means clockwise rotation, negative velocity means counter-clockwise. | |
covariance | covariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats). |
Implements fawkes::WorldInfoHandler.
Definition at line 249 of file net_thread.cpp.