The backend thread of the worldinfo viewer application. More...
#include <tools/worldinfo_viewer/backend_thread.h>
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 () |
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. |
The backend thread of the worldinfo viewer application.
Definition at line 39 of file backend_thread.h.
WorldInfoViewerBackendThread::WorldInfoViewerBackendThread | ( | fawkes::WorldInfoDataContainer * | data_container, | |
const char * | addr, | |||
unsigned short | port, | |||
const char * | key, | |||
const char * | iv | |||
) |
Constructor.
data_container | pointer to the central instance of the WorldInfoDataContainer | |
addr | multicast address to use for worldinfo communication | |
port | port | |
key | de-/encryption key | |
iv | initialization vector for de-/encryption |
Definition at line 42 of file backend_thread.cpp.
References fawkes::WorldInfoTransceiver::add_handler(), and fawkes::Thread::start().
WorldInfoViewerBackendThread::~WorldInfoViewerBackendThread | ( | ) | [virtual] |
Destructor.
Definition at line 71 of file backend_thread.cpp.
References fawkes::Thread::cancel(), and fawkes::Thread::join().
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.
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 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.
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 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.
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 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.
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 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.
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 199 of file backend_thread.cpp.
Glib::Dispatcher & WorldInfoViewerBackendThread::new_gamestate_data | ( | ) |
Access the dispatcher that is emitted whenever new game state data has arrived.
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.
Definition at line 86 of file backend_thread.cpp.
void WorldInfoViewerBackendThread::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 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.
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 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.
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 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.
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 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.
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 126 of file backend_thread.cpp.
References fawkes::WorldInfoDataContainer::set_robot_velocity().