WorldInfoViewerBackendThread Class Reference

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

#include <tools/worldinfo_viewer/backend_thread.h>

Inheritance diagram for WorldInfoViewerBackendThread:


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

Definition at line 39 of file backend_thread.h.

Constructor & Destructor Documentation

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

Constructor.

Parameters:

	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 70 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_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).

See also:: WorldInfoTransceiver::set_ball_pos()
WorldInfoTransceiver::set_ball_visible()

Implements fawkes::WorldInfoHandler.

Definition at line 142 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_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).

See also:: WorldInfoTransceiver::set_ball_velocity()

Implements fawkes::WorldInfoHandler.

Definition at line 178 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_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

See also:: WorldInfoTransceiver::set_gamestate()

Implements fawkes::WorldInfoHandler.

Definition at line 231 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_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).

See also:: WorldInfoTransceiver::set_ball_pos()
WorldInfoTransceiver::set_ball_visible()

Implements fawkes::WorldInfoHandler.

Definition at line 164 of file backend_thread.cpp.

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_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).

See also:: WorldInfoTransceiver::set_ball_velocity()

Implements fawkes::WorldInfoHandler.

Definition at line 190 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 101 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 95 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 85 of file backend_thread.cpp.

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

Opponent disappeared.

Parameters:

	from_host	transmitting host of this information, if available symbolic name
	uid	unique ID of the opponent

Implements fawkes::WorldInfoHandler.

Definition at line 222 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_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)

See also:: WorldInfoTransceiver::add_opponent()

Implements fawkes::WorldInfoHandler.

Definition at line 205 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_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 251 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_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 109 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_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).

See also:: WorldInfoTransceiver::set_velocity()

Implements fawkes::WorldInfoHandler.

Definition at line 125 of file backend_thread.cpp.

References fawkes::WorldInfoDataContainer::set_robot_velocity().

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

src/tools/worldinfo_viewer/backend_thread.h
src/tools/worldinfo_viewer/backend_thread.cpp

Context Navigation

WorldInfoViewerBackendThread Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation