WorldModelNetworkThread Class Reference

Network thread of worldmodel plugin. More...

#include <net_thread.h>

Inheritance diagram for WorldModelNetworkThread:


Public Member Functions
	WorldModelNetworkThread ()
	Constructor.
virtual	~WorldModelNetworkThread ()
	Destructor.
virtual void	init ()
	Initialize the thread.
virtual void	loop ()
	Code to execute in the thread.
virtual void	finalize ()
	Finalize the thread.
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.

Detailed Description

Network thread of worldmodel plugin.

Author:: Tim Niemueller

Definition at line 45 of file net_thread.h.

Constructor & Destructor Documentation

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.

Member Function Documentation

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.

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 256 of file net_thread.cpp.

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.

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 327 of file net_thread.cpp.

void WorldModelNetworkThread::finalize ( ) [virtual]

Finalize the thread.

This method is executed just before the thread is canceled and destroyed. It is always preceeded by a call to prepare_finalize(). If this is not the case this is a failure. The condition can be checked with the boolean variable finalize_prepared.

This method is meant to be used in conjunction with aspects and to cover thread inter-dependencies. This routine MUST bring the thread into a safe state such that it may be canceled and destroyed afterwards. If there is any reason that this cannot happen make your prepare_finalize() reports so.

This method is called by the thread manager just before the thread is being cancelled. Here you can do whatever steps are necessary just before the thread is cancelled. Note that you thread is still running and might be in the middle of a loop, so it is not a good place to give up on all resources used. Mind segmentation faults that could happen. Protect the area with a mutex that you lock at the beginning of your loop and free in the end, and that you lock at the beginning of finalize and then never unlock. Also not that the finalization may be canceled afterwards. The next thing that happens is that either the thread is canceled and destroyed or that the finalization is canceled and the thread has to run again.

Finalize is called on a thread just before it is deleted. It is guaranteed to be called on a fully initialized thread (if no exception is thrown in init()) (this guarantee holds in the Fawkes framework).

The default implementation does nothing besides throwing an exception if prepare_finalize() has not been called.

Exceptions:

Exception

thrown if prepare_finalize() has not been called.

See also:: prepare_finalize()
cancel_finalize()

Reimplemented from fawkes::Thread.

Definition at line 100 of file net_thread.cpp.

References fawkes::BlackBoardAspect::blackboard, and fawkes::BlackBoard::close().

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.

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 407 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.

Returns:: pointer to the WI transceiver

Definition at line 208 of file net_thread.cpp.

Referenced by WorldModelThread::loop().

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.

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 291 of file net_thread.cpp.

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.

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 336 of file net_thread.cpp.

void WorldModelNetworkThread::init ( ) [virtual]

Initialize the thread.

This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.

Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.

See also:: Fawkes Thread Aspects

Reimplemented from fawkes::Thread.

Definition at line 60 of file net_thread.cpp.

References fawkes::WorldInfoTransceiver::add_handler(), fawkes::Exception::append(), fawkes::BlackBoardAspect::blackboard, fawkes::ConfigurableAspect::config, fawkes::Configuration::get_bool(), fawkes::Configuration::get_string(), fawkes::Configuration::get_uint(), fawkes::NetworkAspect::nnresolver, fawkes::BlackBoard::open_for_writing(), fawkes::Exception::print_trace(), and fawkes::WorldInfoTransceiver::set_loop().

void WorldModelNetworkThread::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 133 of file net_thread.cpp.

References fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), fawkes::WorldInfoTransceiver::flush_sequence_numbers(), fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), fawkes::Logger::log_info(), fawkes::LoggingAspect::logger, fawkes::WorldInfoTransceiver::recv(), and fawkes::LockMap< KeyType, ValueType, LessKey >::unlock().

void WorldModelNetworkThread::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 393 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.

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 345 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.

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 484 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.

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 215 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.

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 248 of file net_thread.cpp.

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

src/plugins/worldmodel/net_thread.h
src/plugins/worldmodel/net_thread.cpp

Context Navigation

WorldModelNetworkThread Class Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation