Destructor.

Definition at line 174 of file interface.cpp.

References fawkes::Interface::interface_messageinfo_t::next, fawkes::interface_fieldinfo_t::next, and fawkes::RefCount::unref().

Constructor.

Definition at line 154 of file interface.cpp.

References data_ptr, and data_size.

Add an entry to the field info list.

Never use directly, use the interface generator instead. The info list is used for introspection purposes to allow for iterating over all fields of an interface.

Parameters:

	type	field type
	name	name of the field, this is referenced, not copied
	length	length of the field
	value	pointer to the value in the data struct

Definition at line 240 of file interface.cpp.

References fawkes::interface_fieldinfo_t::length, fawkes::interface_fieldinfo_t::name, fawkes::interface_fieldinfo_t::next, fawkes::interface_fieldinfo_t::type, and fawkes::interface_fieldinfo_t::value.

Add an entry to the message info list.

Never use directly, use the interface generator instead. The info list is used for introspection purposes to allow for iterating over all message types of an interface.

Parameters:

type

the type of the message

Definition at line 274 of file interface.cpp.

References fawkes::Interface::interface_messageinfo_t::next, and fawkes::Interface::interface_messageinfo_t::type.

Copy values from another interface.

The operation will only succeed if the supplied interface is of the same type as this instance.

Parameters:

interface

interface to copy from

Implemented in fawkes::BatteryInterface, fawkes::FacerInterface, fawkes::FacialExpressionInterface, fawkes::GameStateInterface, fawkes::HumanoidMotionInterface, fawkes::JoystickInterface, fawkes::KatanaInterface, fawkes::KickerInterface, fawkes::Laser360Interface, fawkes::Laser720Interface, fawkes::LedInterface, fawkes::LocalizerControlInterface, fawkes::MotorInterface, fawkes::NavigatorInterface, fawkes::ObjectPositionInterface, fawkes::PanTiltInterface, fawkes::Position2DTrackInterface, fawkes::SkillerDebugInterface, fawkes::SkillerInterface, fawkes::SpeechRecognitionInterface, fawkes::SpeechSynthInterface, fawkes::SwitchInterface, and fawkes::TestInterface.

Referenced by WorldModelSingleCopyFuser::fuse(), and WorldModelSingleCopyFuser::WorldModelSingleCopyFuser().

Create message based on type name.

This will create a new message of the given type. The type must be given without the InterfaceName:: prefix but just the plain class name of the message.

Parameters:

type

message type

Returns:

message of the given type, empty

Exceptions:

UnknownTypeException

thrown if this interface cannot create a message of the given type.

Implemented in fawkes::BatteryInterface, fawkes::FacerInterface, fawkes::FacialExpressionInterface, fawkes::GameStateInterface, fawkes::HumanoidMotionInterface, fawkes::JoystickInterface, fawkes::KatanaInterface, fawkes::KickerInterface, fawkes::Laser360Interface, fawkes::Laser720Interface, fawkes::LedInterface, fawkes::LocalizerControlInterface, fawkes::MotorInterface, fawkes::NavigatorInterface, fawkes::ObjectPositionInterface, fawkes::PanTiltInterface, fawkes::Position2DTrackInterface, fawkes::SkillerDebugInterface, fawkes::SkillerInterface, fawkes::SpeechRecognitionInterface, fawkes::SpeechSynthInterface, fawkes::SwitchInterface, and fawkes::TestInterface.

Referenced by fawkes::BlackBoardInterfaceProxy::process_interface_message().

Get data chunk.

Use sparsely

Returns:

const pointer to the data chunk

Definition at line 330 of file interface.cpp.

References data_ptr.

Referenced by fawkes::BlackBoardInterfaceProxy::notify_of_data_change().

Get data size.

Returns:

size in bytes of data segment

Definition at line 415 of file interface.cpp.

References data_size.

Referenced by fawkes::BlackBoardInterfaceProxy::BlackBoardInterfaceProxy(), fawkes::BlackBoardInterfaceProxy::notify_of_data_change(), and WebBlackBoardRequestProcessor::process_request().

Get iterator over all fields of this interface instance.

Returns:

field iterator pointing to the very first value

Definition at line 914 of file interface.cpp.

Referenced by XabslEngineThread::init(), and WebBlackBoardRequestProcessor::process_request().

Invalid iterator.

Returns:

invalid iterator reprensenting the end.

Definition at line 924 of file interface.cpp.

Referenced by XabslEngineThread::init(), and WebBlackBoardRequestProcessor::process_request().

Obtain a list of textual representations of the message types available for this interface.

Returns:

the message types

Definition at line 300 of file interface.cpp.

References fawkes::Interface::interface_messageinfo_t::next, and fawkes::Interface::interface_messageinfo_t::type.

Check if there is a writer for the interface.

Use this method to determine if there is any open instance of the interface that is writing to the interface. This can also be the queried interface instance.

Definition at line 589 of file interface.cpp.

References fawkes::InterfaceMediator::exists_writer().

Referenced by LaserDrawingArea::draw_persons_legs(), LaserDrawingArea::draw_segments(), LuaAgentExecutionThread::finalize(), WorldModelSingleCopyFuser::fuse(), WorldModelObjPosAverageFuser::fuse(), LaserDeadSpotCalibrator::LaserDeadSpotCalibrator(), WorldModelThread::loop(), LaserDrawingArea::on_expose_event(), and WebBlackBoardRequestProcessor::process_request().

Get interface hash.

The interface is a unique version identifier of an interface. It is the has of the input XML file during the generation of the interface. It is meant to be used to ensure that all sides are using the exact same version of an interface.

Returns:

constant byte string containing the hash value of hash_size() length

Definition at line 201 of file interface.cpp.

Referenced by fawkes::BlackBoardInterfaceProxy::BlackBoardInterfaceProxy(), fawkes::BlackBoardNetworkHandler::loop(), fawkes::BlackBoardInterfaceManager::open_for_reading(), fawkes::BlackBoardInterfaceManager::open_for_writing(), and fawkes::BlackBoardInterfaceManager::open_multiple_for_reading().

Get printable interface hash.

Returns:

printable version of hash()

Definition at line 211 of file interface.cpp.

Referenced by WebBlackBoardRequestProcessor::process_request().

Get size of interface hash.

Returns the size in bytes of the interface hash. This depends on the used hash.

Returns:

size of interface hash string

Definition at line 319 of file interface.cpp.

Referenced by fawkes::BlackBoardInterfaceManager::open_for_reading(), fawkes::BlackBoardInterfaceManager::open_for_writing(), and fawkes::BlackBoardInterfaceManager::open_multiple_for_reading().

Get identifier of interface.

Returns:

string with the identifier of the interface.

Definition at line 526 of file interface.cpp.

Referenced by fawkes::BlackBoardInterfaceProxy::BlackBoardInterfaceProxy(), WebBlackBoardRequestProcessor::process_request(), and fawkes::BlackBoardMessageManager::transmit().

Check validity of interface.

Returns:

true if interface is valid, false otherwise

Reimplemented in fawkes::ObjectPositionInterface, and fawkes::Position2DTrackInterface.

Definition at line 365 of file interface.cpp.

Check if this is a writing instance.

Returns:

true if this is a writing instance, false otherwise

Definition at line 340 of file interface.cpp.

Referenced by fawkes::LuaInterfaceImporter::add_interface(), fawkes::BlackBoardInterfaceListener::bbil_add_message_interface(), fawkes::BlackBoardInterfaceListener::bbil_remove_message_interface(), fawkes::BlackBoardNetHandlerInterfaceListener::BlackBoardNetHandlerInterfaceListener(), fawkes::InterfaceDispatcher::InterfaceDispatcher(), and fawkes::BlackBoardInterfaceProxy::process_interface_message().

Get memory serial of interface.

Returns:

memory serial of interface

Definition at line 560 of file interface.cpp.

Check if the message is valid and can be enqueued.

Parameters:

message

The message to check

Returns:

true, if the message is valid and may be enqueued, false otherwise

Implemented in fawkes::BatteryInterface, fawkes::FacerInterface, fawkes::FacialExpressionInterface, fawkes::GameStateInterface, fawkes::HumanoidMotionInterface, fawkes::JoystickInterface, fawkes::KatanaInterface, fawkes::KickerInterface, fawkes::Laser360Interface, fawkes::Laser720Interface, fawkes::LedInterface, fawkes::LocalizerControlInterface, fawkes::MotorInterface, fawkes::NavigatorInterface, fawkes::ObjectPositionInterface, fawkes::PanTiltInterface, fawkes::Position2DTrackInterface, fawkes::SkillerDebugInterface, fawkes::SkillerInterface, fawkes::SpeechRecognitionInterface, fawkes::SpeechSynthInterface, fawkes::SwitchInterface, and fawkes::TestInterface.

Referenced by msgq_enqueue(), and msgq_enqueue_copy().

Get start iterator for message queue.

Not that you must have locked the queue before this operation! This can only be called on a writing interface instance.

Returns:

iterator to begin of message queue.

Exceptions:

NotLockedException

thrown if message queue is not locked during this operation.

Definition at line 851 of file interface.cpp.

References fawkes::MessageQueue::begin().

Check if queue is empty.

This can only be called on a writing interface instance.

Returns:

true if queue is empty, false otherwise

Definition at line 768 of file interface.cpp.

References fawkes::MessageQueue::empty().

Referenced by RefBoxCommThread::loop(), AgentControlThread::loop(), PanTiltSonyEviD100PThread::loop(), PanTiltRX28Thread::loop(), PanTiltDirectedPerceptionThread::loop(), SkillerExecutionThread::loop(), KatanaActThread::loop(), FliteSynthThread::loop(), FestivalSynthThread::loop(), and PlayerMotorPositionMapper::sync_fawkes_to_player().

Get end iterator for message queue.

Not that you must have locked the queue before this operation! This can only be called on a writing interface instance.

Returns:

iterator beyond end of message queue.

Exceptions:

NotLockedException

thrown if message queue is not locked during this operation.

Definition at line 869 of file interface.cpp.

References fawkes::MessageQueue::end().

Enqueue message at end of queue.

This appends the given message to the queue and transmits the message via the message mediator. The message is afterwards owned by the other side and will be unrefed and freed as soon as it has been processed. If you want to keep this message to read a feedback status you have to reference it _before_ enqueuing it! This can only be called on a reading interface instance.

Parameters:

message

Message to enqueue.

Returns:

message id after message has been queued

Exceptions:

MessageAlreadyQueuedException

thrown if the message has already been enqueued to an interface.

Definition at line 634 of file interface.cpp.

References fawkes::Message::id(), message_valid(), fawkes::Message::set_id(), fawkes::MessageMediator::transmit(), and fawkes::RefCount::unref().

Referenced by LuaAgentExecutionThread::finalize(), LuaAgentExecutionThread::init(), XabslEngineThread::loop(), SkillShellThread::loop(), LaserDrawingArea::on_expose_event(), XabslEngineThread::once(), and SkillShellThread::~SkillShellThread().

Enqueue copy of message at end of queue.

This method creates a copy of the message and enqueues it. Note that this way you cannot receive status message in the message, because the other side will not use your message instance but a copy instead.

This is particularly useful if you call from an environment with automatic garbage collection that does not honor the referencing feature of message but rather just deletes it. This can only be called on a reading interface instance.

Parameters:

message

Message to enqueue.

Returns:

message id after message has been queued

Exceptions:

MessageAlreadyQueuedException

thrown if the message has already been enqueued to an interface.

Definition at line 669 of file interface.cpp.

References fawkes::Message::clone(), fawkes::Message::id(), message_valid(), fawkes::Message::set_id(), fawkes::MessageMediator::transmit(), and fawkes::RefCount::unref().

Get first message casted to the desired type.

Parameters:

msg

reference to pointer to message of desired type, upon successful return points to the message.

Returns:

message casted to desired type (same as msg parameter)

Exceptions:

TypeMismatchException

thrown if message is not of desired type

Definition at line 235 of file interface.h.

Get first message casted to the desired type.

Returns:

message casted to desired type

Exceptions:

TypeMismatchException

thrown if message is not of desired type

Get the first message from the message queue.

This can only be called on a writing interface instance.

Returns:

first message in queue or NULL if there is none

Definition at line 885 of file interface.cpp.

References fawkes::MessageQueue::first().

Referenced by RefBoxCommThread::loop(), AgentControlThread::loop(), PanTiltSonyEviD100PThread::loop(), PanTiltRX28Thread::loop(), PanTiltDirectedPerceptionThread::loop(), SkillerExecutionThread::loop(), KatanaActThread::loop(), FliteSynthThread::loop(), FestivalSynthThread::loop(), and PlayerMotorPositionMapper::sync_fawkes_to_player().

Check if first message has desired type.

Returns:

true, if message has desired type, false otherwise

Definition at line 247 of file interface.h.

References fawkes::MessageQueue::first().

Referenced by RefBoxCommThread::loop(), AgentControlThread::loop(), PanTiltSonyEviD100PThread::loop(), PanTiltRX28Thread::loop(), PanTiltDirectedPerceptionThread::loop(), SkillerExecutionThread::loop(), KatanaActThread::loop(), FliteSynthThread::loop(), FestivalSynthThread::loop(), and PlayerMotorPositionMapper::sync_fawkes_to_player().

Flush all messages.

Deletes all messages from the queue. This can only be called on a writing interface instance.

Definition at line 784 of file interface.cpp.

References fawkes::MessageQueue::flush().

Lock message queue.

Lock the message queue. You have to do this before using the iterator safely. This can only be called on a writing interface instance.

Definition at line 800 of file interface.cpp.

References fawkes::MessageQueue::lock().

Erase first message from queue.

This can only be called on a writing interface instance.

Definition at line 899 of file interface.cpp.

References fawkes::MessageQueue::pop().

Referenced by RefBoxCommThread::loop(), AgentControlThread::loop(), PanTiltSonyEviD100PThread::loop(), PanTiltRX28Thread::loop(), PanTiltDirectedPerceptionThread::loop(), SkillerExecutionThread::loop(), KatanaActThread::loop(), FliteSynthThread::loop(), FestivalSynthThread::loop(), and PlayerMotorPositionMapper::sync_fawkes_to_player().

Remove message from queue.

Removes message with the given ID from the queue.

Parameters:

message_id

Message ID to remove. This can only be called on a writing interface instance.

Definition at line 736 of file interface.cpp.

References fawkes::MessageQueue::remove().

Remove message from queue.

Removes the given message from the queue. Note that if you unref()ed the message after insertion this will most likely delete the object. It is not safe to use the message after removing it from the queue in general. Know what you are doing if you want to use it. This can only be called on a writing interface instance.

Parameters:

message

Message to remove.

Definition at line 719 of file interface.cpp.

References fawkes::MessageQueue::remove().

Get size of message queue.

This can only be called on a writing interface instance.

Returns:

number of messages in queue.

Definition at line 752 of file interface.cpp.

References fawkes::MessageQueue::size().

Try to lock message queue.

Try to lock the message queue. Returns immediately and does not wait for lock.

Returns:

true, if the lock has been aquired, false otherwise.

See also:

lock() This can only be called on a writing interface instance.

Definition at line 818 of file interface.cpp.

References fawkes::MessageQueue::try_lock().

Unlock message queue.

Give free the lock on the message queue. This can only be called on a writing interface instance.

Definition at line 834 of file interface.cpp.

References fawkes::MessageQueue::unlock().

Get the number of fields in the interface.

Returns:

the number of fields

Definition at line 934 of file interface.cpp.

Get the number of readers.

Use this method to determine how many reading instances of the interface currently exist. If the current instance is a reading instance it will be included in the count number. To determine if you are the last man having this interface you can use the following code:

 // for a writing instance:
 if ( interface->num_readers == 0 ) {
   // we are the last one to have this interface open
 }
 // for a reading instance:
 if ( ! interface->has_writer() && (interface->num_readers() == 0) ) {
   // we are the last one to have this interface open
 }

Definition at line 615 of file interface.cpp.

References fawkes::InterfaceMediator::num_readers().

Referenced by WebBlackBoardRequestProcessor::process_request().

Check if interface is of given type.

Parameters:

interface_type

type to query

Returns:

true, if current instance is of given type, false otherwise

Definition at line 506 of file interface.cpp.

Check equality of two interfaces.

Two interfaces are the same if their types and identifiers are equal. This does not mean that both interfaces are the very same instance for accessing the BlackBoard. Instead this just means that both instances will access the same chunk of memory in the BlackBoard and the instances MAY be the same. If you want to know if two instances are exactly the same compare the instance serials using the serial() method.

Parameters:

comp

interface to compare current instance with

Returns:

true, if interfaces point to the same data, false otherwise

Definition at line 494 of file interface.cpp.

Read from BlackBoard into local copy.

Exceptions:

InterfaceInvalidException

thrown if the interface has been marked invalid

Definition at line 375 of file interface.cpp.

References data_ptr, data_size, fawkes::ReadWriteLock::lock_for_read(), and fawkes::ReadWriteLock::unlock().

Referenced by JoystickBlackBoardLogger::bb_interface_data_changed(), LaserDrawingArea::draw_persons_legs(), LaserDrawingArea::draw_segments(), WorldModelSingleCopyFuser::fuse(), WorldModelObjPosAverageFuser::fuse(), LuaAgentExecutionThread::init(), JoystickBlackBoardLogger::JoystickBlackBoardLogger(), XabslEngineThread::loop(), WorldModelThread::loop(), AgentControlThread::loop(), LuaAgentExecutionThread::loop(), BallPosLogThread::loop(), LaserDrawingArea::on_expose_event(), WebBlackBoardRequestProcessor::process_request(), and WorldModelSingleCopyFuser::WorldModelSingleCopyFuser().

Get instance serial of interface.

Returns:

instance serial of the interface.

Definition at line 550 of file interface.cpp.

Referenced by fawkes::RemoteBlackBoard::close(), fawkes::BlackBoardInterfaceManager::close(), fawkes::BlackBoardNetworkHandler::loop(), fawkes::BlackBoardInterfaceProxy::notify_of_data_change(), fawkes::BlackBoardNotifier::notify_of_reader_removed(), fawkes::BlackBoardNotifier::notify_of_writer_removed(), fawkes::BlackBoardInterfaceManager::open_for_reading(), fawkes::BlackBoardInterfaceManager::open_for_writing(), WebBlackBoardRequestProcessor::process_request(), and fawkes::BlackBoardInterfaceProxy::transmit().

Set from a raw data chunk.

This allows for setting the interface data from a raw chunk. This is not useful in general but only in rare situations like network transmission. Do not use it unless you really know what you are doing. The method expects the chunk to be exactly of the size returned by datasize(). No check is done, a segfault will most likely occur if you provide invalid data.

Parameters:

chunk

data chunk, must be exactly of the size that is returned by datasize()

Definition at line 575 of file interface.cpp.

References data_ptr, and data_size.

Set hash.

Never use directly.

Parameters:

ihash

interface hash

Definition at line 221 of file interface.cpp.

Mark this interface invalid.

An interface can become invalid, for example if the connection of a RemoteBlackBoard dies. In this case the interface becomes invalid and successive read()/write() calls will throw an InterfaceInvalidException.

Parameters:

valid

true to mark the interface valid or false to mark it invalid

Definition at line 353 of file interface.cpp.

References fawkes::ReadWriteLock::lock_for_write(), and fawkes::ReadWriteLock::unlock().

Get type of interface.

Returns:

string with the type of the interface.

Definition at line 516 of file interface.cpp.

Referenced by fawkes::BlackBoardInterfaceProxy::BlackBoardInterfaceProxy(), fawkes::SkillerDebugInterface::copy_values(), fawkes::PanTiltInterface::copy_values(), fawkes::KatanaInterface::copy_values(), fawkes::TestInterface::copy_values(), fawkes::SwitchInterface::copy_values(), fawkes::SpeechSynthInterface::copy_values(), fawkes::SpeechRecognitionInterface::copy_values(), fawkes::SkillerInterface::copy_values(), fawkes::Position2DTrackInterface::copy_values(), fawkes::ObjectPositionInterface::copy_values(), fawkes::NavigatorInterface::copy_values(), fawkes::MotorInterface::copy_values(), fawkes::LocalizerControlInterface::copy_values(), fawkes::LedInterface::copy_values(), fawkes::Laser720Interface::copy_values(), fawkes::Laser360Interface::copy_values(), fawkes::KickerInterface::copy_values(), fawkes::JoystickInterface::copy_values(), fawkes::HumanoidMotionInterface::copy_values(), fawkes::GameStateInterface::copy_values(), fawkes::FacialExpressionInterface::copy_values(), fawkes::FacerInterface::copy_values(), fawkes::BatteryInterface::copy_values(), PlayerMapperFactory::create_mapper(), WebBlackBoardRequestProcessor::process_request(), and fawkes::BlackBoardMessageManager::transmit().

Get unique identifier of interface.

As the name suggests this ID denotes a unique memory instance of this interface in the blackboard. It is provided by the system and currently returns a string of the form "type::id", where type is replaced by the type returned by type() and id is the ID returned by id().

Returns:

string with the unique identifier of the interface.

Definition at line 540 of file interface.cpp.

Referenced by fawkes::BlackBoardInterfaceListener::bbil_add_data_interface(), fawkes::BlackBoardInterfaceListener::bbil_add_message_interface(), fawkes::BlackBoardInterfaceListener::bbil_add_reader_interface(), fawkes::BlackBoardInterfaceListener::bbil_add_writer_interface(), fawkes::BlackBoardInterfaceListener::bbil_remove_data_interface(), fawkes::BlackBoardInterfaceListener::bbil_remove_message_interface(), fawkes::BlackBoardInterfaceListener::bbil_remove_reader_interface(), fawkes::BlackBoardInterfaceListener::bbil_remove_writer_interface(), WorldModelObjPosAverageFuser::fuse(), fawkes::BlackBoardNotifier::notify_of_data_change(), fawkes::BlackBoardNotifier::notify_of_message_received(), and fawkes::BlackBoardInterfaceProxy::process_interface_message().

Write from local copy into BlackBoard memory.

Exceptions:

InterfaceInvalidException

thrown if the interface has been marked invalid

Definition at line 392 of file interface.cpp.

References data_ptr, data_size, fawkes::ReadWriteLock::lock_for_write(), fawkes::InterfaceMediator::notify_of_data_change(), and fawkes::ReadWriteLock::unlock().

Referenced by WorldModelNetworkThread::ball_pos_rcvd(), WorldModelSingleCopyFuser::fuse(), WorldModelObjPosAverageFuser::fuse(), WorldModelNetworkThread::gamestate_rcvd(), WorldModelNetworkThread::global_ball_pos_rcvd(), RefBoxCommThread::handle_refbox_state(), PanTiltSonyEviD100PThread::init(), PanTiltRX28Thread::init(), PanTiltDirectedPerceptionThread::init(), SkillerExecutionThread::init(), JoystickBlackBoardPoster::joystick_changed(), JoystickBlackBoardPoster::joystick_plugged(), JoystickBlackBoardPoster::joystick_unplugged(), RefBoxCommThread::loop(), AgentControlThread::loop(), PanTiltSonyEviD100PThread::loop(), PanTiltRX28Thread::loop(), PanTiltDirectedPerceptionThread::loop(), SkillerExecutionThread::loop(), KatanaActThread::loop(), LaserSensorThread::loop(), JoystickSensorThread::loop(), WorldModelNetworkThread::opponent_pose_rcvd(), WorldModelNetworkThread::pose_rcvd(), FliteSynthThread::say(), FestivalSynthThread::say(), RefBoxStateBBWriter::send(), PlayerPositionMapper::sync_player_to_fawkes(), PlayerMotorPositionMapper::sync_player_to_fawkes(), PlayerLaserMapper::sync_player_to_fawkes(), PanTiltSonyEviD100PThread::update_sensor_values(), PanTiltRX28Thread::update_sensor_values(), PanTiltDirectedPerceptionThread::update_sensor_values(), and WorldModelSingleCopyFuser::WorldModelSingleCopyFuser().

Pointer to local memory storage.

Definition at line 175 of file interface.h.

Referenced by datachunk(), Interface(), read(), set_from_chunk(), and write().

Minimal data size to hold data storage.

Definition at line 176 of file interface.h.

Referenced by datasize(), Interface(), read(), set_from_chunk(), and write().