Constructor.

Parameters:

	addr	multicast address to send information to and receive from
	port	UDP port to send information to and receive from
	key	encryption key
	iv	encryption initialisation vector
	resolver	An initialized network resolver, is NULL is supplied an internal resolver will be created without mDNS support.

Exceptions:

OutOfMemoryException

thrown if internal buffers cannot be created

Definition at line 97 of file transceiver.cpp.

References fawkes::Exception::append(), fawkes::MulticastDatagramSocket::bind(), fawkes::WorldInfoMessageEncryptor::recommended_crypt_buffer_size(), fawkes::WorldInfoMessageEncryptor::set_crypt_buffer(), fawkes::WorldInfoMessageDecryptor::set_plain_buffer(), and fawkes::WorldInfoMessageEncryptor::set_plain_buffer().

Destructor.

Definition at line 163 of file transceiver.cpp.

References set_fatmsg_enabled().

Add disappeared opponent.

Add any opponent that you had added in an earlier cycle (before the last send()) with add_opponent() and that is no longer visible. After it has been marked as disappeared the unique ID may not be reused. Gibt it another new ID instead.

Parameters:

uid

Unique ID of opponent that disappeared

Definition at line 581 of file transceiver.cpp.

Add a handler for world information.

World information will be dispatched to all registered handlers as soon it is received.

Parameters:

h

handler to register

Definition at line 232 of file transceiver.cpp.

References fawkes::LockList< Type >::lock(), and fawkes::LockList< Type >::unlock().

Referenced by WorldModelNetworkThread::init(), and WorldInfoViewerBackendThread::WorldInfoViewerBackendThread().

Add opponent to transmit list.

Add an opponent to the list of opponents to be transmitted on next send() call. Opponents are given in a 2D polar coordinate system (assumption is that robots don't fly in the soccer domain).

Parameters:

	uid	unique ID of this opponent. The caller shall assign the same UID to an opponent if and only if the object is the same (for example an opponent that was tracked)
	distance	to opponent
	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. No length check or whatsoever is done. This will crash if c is not long enough! c will not be copied but referenced so it has to exist when send() is called!

Definition at line 566 of file transceiver.cpp.

Add penalty message.

Parameters:

	player	player for which the penalty applies
	penalty	penalty code
	seconds_remaining	estimated time in seconds until the penalty is lifted

Definition at line 502 of file transceiver.cpp.

References fawkes::worldinfo_penalty_message_t::penalty, fawkes::worldinfo_penalty_message_t::player, fawkes::worldinfo_penalty_message_t::reserved, and fawkes::worldinfo_penalty_message_t::seconds_remaining.

Clear opponents list.

Clear the list of opponents that has to be transmitted. This is done implicitly in send().

Definition at line 543 of file transceiver.cpp.

Flush sequence numbers conditionally.

This will conditionally flush the sequence numbers stored per sender. The sequence numbers are stored per IP. With this method you can flush the sequence numbers that have been inactive for a specified time. A recommended value is 10 seconds. You may NOT call this concurrently to recv()!

Parameters:

sec

number of seconds since that must have passed without a message to remove a specific IP from sequence list

Definition at line 264 of file transceiver.cpp.

Referenced by WorldInfoViewerBackendThread::loop(), and WorldModelNetworkThread::loop().

Get last sent crypted buffer.

This method is meant to be used for debugging and testing purposes only.

Returns:

last crytped message buffer

Definition at line 1194 of file transceiver.cpp.

Get last sent crypted buffer size.

This method is meant to be used for debugging and testing purposes only.

Returns:

last crypted message buffer size

Definition at line 1205 of file transceiver.cpp.

Get last sent plain buffer.

This method is meant to be used for debugging and testing purposes only.

Returns:

last plain text message buffer

Definition at line 1172 of file transceiver.cpp.

Get last sent plain buffer size.

This method is meant to be used for debugging and testing purposes only.

Returns:

last plain text message buffer size

Definition at line 1183 of file transceiver.cpp.

Receive information.

This checks if there is information on the network waiting to be received and if so receives and processes the information and dispatches it to all registered handlers. If you order it to block this method will block until information has been received and dispatched (useful if running in a thread).

Received packets will be ignored if

• they do not start with 0xBEEF
• they are of an incompatible version
• the sequence number is smaller or equal to an already received packet They will only be partially handled if
• a packet has been truncated (truncated message is ignored)
• an unknown message type is encountered (message is ignored)
• a message size does not match the expected size for a given type (message is ignored)

Parameters:

	block	set to true for blocking operation, in this case recv() will block until data is available, false for non-blocking operation where recv() will immediately return if there is no data available
	max_num_msgs	maximum number of messages to process in a single call to recv(). Set to 0 for an unlimited number of messages per call (this can block for an infinite time if messages are coming in fast).

Definition at line 855 of file transceiver.cpp.

References fawkes::Socket::available(), fawkes::worldinfo_opppose_message_t::bearing, fawkes::worldinfo_relballpos_message_t::bearing, fawkes::worldinfo_header_t::beef, fawkes::worldinfo_opppose_message_t::covariance, fawkes::worldinfo_globballvelo_message_t::covariance, fawkes::worldinfo_relballvelo_message_t::covariance, fawkes::worldinfo_globballpos_message_t::covariance, fawkes::worldinfo_relballpos_message_t::covariance, fawkes::worldinfo_velocity_message_t::covariance, fawkes::worldinfo_pose_message_t::covariance, fawkes::WorldInfoMessageDecryptor::decrypt(), fawkes::worldinfo_opppose_message_t::dist, fawkes::worldinfo_relballpos_message_t::dist, fawkes::worldinfo_gamestate_message_t::game_state, fawkes::worldinfo_gamestate_message_t::half, fawkes::worldinfo_globballpos_message_t::history, fawkes::worldinfo_relballpos_message_t::history, fawkes::LockList< Type >::lock(), fawkes::LibLogger::log_warn(), fawkes::worldinfo_fat_message_t::num_opponents, fawkes::worldinfo_fat_message_t::opponents, fawkes::worldinfo_gamestate_message_t::our_goal_color, fawkes::worldinfo_gamestate_message_t::our_team, fawkes::worldinfo_penalty_message_t::penalty, fawkes::worldinfo_penalty_message_t::player, fawkes::worldinfo_fat_message_t::pose, fawkes::Socket::recv(), fawkes::worldinfo_fat_message_t::relball_pos, fawkes::worldinfo_fat_message_t::relball_velo, fawkes::NetworkNameResolver::resolve_address(), fawkes::worldinfo_gamestate_message_t::score_cyan, fawkes::worldinfo_gamestate_message_t::score_magenta, fawkes::worldinfo_penalty_message_t::seconds_remaining, fawkes::worldinfo_header_t::seq, fawkes::WorldInfoMessageDecryptor::set_crypt_buffer(), fawkes::worldinfo_message_header_t::size, fawkes::worldinfo_relballpos_message_t::slope, fawkes::worldinfo_gamestate_message_t::state_team, fawkes::worldinfo_pose_message_t::theta, fawkes::worldinfo_message_header_t::type, fawkes::worldinfo_oppdisappeared_message_t::uid, fawkes::worldinfo_opppose_message_t::uid, fawkes::LockList< Type >::unlock(), fawkes::worldinfo_fat_message_t::valid_pose, fawkes::worldinfo_fat_message_t::valid_relball_pos, fawkes::worldinfo_fat_message_t::valid_relball_velo, fawkes::worldinfo_fat_message_t::valid_velo, fawkes::worldinfo_velocity_message_t::vel_theta, fawkes::worldinfo_globballvelo_message_t::vel_x, fawkes::worldinfo_relballvelo_message_t::vel_x, fawkes::worldinfo_velocity_message_t::vel_x, fawkes::worldinfo_globballvelo_message_t::vel_y, fawkes::worldinfo_relballvelo_message_t::vel_y, fawkes::worldinfo_velocity_message_t::vel_y, fawkes::worldinfo_globballvelo_message_t::vel_z, fawkes::worldinfo_relballvelo_message_t::vel_z, fawkes::worldinfo_fat_message_t::velo, fawkes::worldinfo_header_t::version, fawkes::worldinfo_globballpos_message_t::visible, fawkes::worldinfo_relballpos_message_t::visible, fawkes::WORLDINFO_MSGTYPE_FAT_WORLDINFO, fawkes::WORLDINFO_MSGTYPE_GAMESTATE, fawkes::WORLDINFO_MSGTYPE_GLOBBALL, fawkes::WORLDINFO_MSGTYPE_GLOBBALLVELO, fawkes::WORLDINFO_MSGTYPE_OPP_DISAPP, fawkes::WORLDINFO_MSGTYPE_OPP_POSE, fawkes::WORLDINFO_MSGTYPE_PENALTY, fawkes::WORLDINFO_MSGTYPE_POSE, fawkes::WORLDINFO_MSGTYPE_RELBALL, fawkes::WORLDINFO_MSGTYPE_RELBALLVELO, fawkes::WORLDINFO_MSGTYPE_VELO, fawkes::worldinfo_globballpos_message_t::x, fawkes::worldinfo_pose_message_t::x, fawkes::worldinfo_globballpos_message_t::y, fawkes::worldinfo_pose_message_t::y, and fawkes::worldinfo_globballpos_message_t::z.

Referenced by WorldInfoViewerBackendThread::loop(), and WorldModelNetworkThread::loop().

Remove handler for world information.

The handler is removed from the list of handlers that incoming information is dispatched to. No error is thrown if the handler was never registered so it is safe to call this for any handler.

Parameters:

h

handler to remove from subscriber list

Definition at line 249 of file transceiver.cpp.

References fawkes::LockList< Type >::remove_locked().

Send information.

All information that has been set since last call is sent over the network. This implicitly resets all information and flushes the opponent list.

Definition at line 647 of file transceiver.cpp.

References fawkes::worldinfo_opppose_message_t::bearing, fawkes::worldinfo_relballpos_message_t::bearing, fawkes::worldinfo_opppose_message_t::covariance, fawkes::worldinfo_globballvelo_message_t::covariance, fawkes::worldinfo_relballvelo_message_t::covariance, fawkes::worldinfo_globballpos_message_t::covariance, fawkes::worldinfo_relballpos_message_t::covariance, fawkes::worldinfo_velocity_message_t::covariance, fawkes::worldinfo_pose_message_t::covariance, fawkes::worldinfo_opppose_message_t::dist, fawkes::worldinfo_relballpos_message_t::dist, fawkes::WorldInfoMessageEncryptor::encrypt(), fawkes::worldinfo_globballpos_message_t::history, fawkes::worldinfo_relballpos_message_t::history, fawkes::worldinfo_fat_message_t::num_opponents, fawkes::worldinfo_fat_message_t::opponents, fawkes::worldinfo_fat_message_t::pose, fawkes::worldinfo_fat_message_t::relball_pos, fawkes::worldinfo_fat_message_t::relball_velo, fawkes::MulticastDatagramSocket::send(), fawkes::worldinfo_header_t::seq, fawkes::WorldInfoMessageEncryptor::set_plain_buffer(), fawkes::worldinfo_relballpos_message_t::slope, fawkes::worldinfo_pose_message_t::theta, fawkes::worldinfo_oppdisappeared_message_t::uid, fawkes::worldinfo_opppose_message_t::uid, fawkes::worldinfo_fat_message_t::valid_pose, fawkes::worldinfo_fat_message_t::valid_relball_pos, fawkes::worldinfo_fat_message_t::valid_relball_velo, fawkes::worldinfo_fat_message_t::valid_velo, fawkes::worldinfo_velocity_message_t::vel_theta, fawkes::worldinfo_globballvelo_message_t::vel_x, fawkes::worldinfo_relballvelo_message_t::vel_x, fawkes::worldinfo_velocity_message_t::vel_x, fawkes::worldinfo_globballvelo_message_t::vel_y, fawkes::worldinfo_relballvelo_message_t::vel_y, fawkes::worldinfo_velocity_message_t::vel_y, fawkes::worldinfo_globballvelo_message_t::vel_z, fawkes::worldinfo_relballvelo_message_t::vel_z, fawkes::worldinfo_fat_message_t::velo, fawkes::worldinfo_globballpos_message_t::visible, fawkes::worldinfo_relballpos_message_t::visible, fawkes::WORLDINFO_MSGTYPE_GAMESTATE, fawkes::WORLDINFO_MSGTYPE_GLOBBALL, fawkes::WORLDINFO_MSGTYPE_GLOBBALLVELO, fawkes::WORLDINFO_MSGTYPE_OPP_DISAPP, fawkes::WORLDINFO_MSGTYPE_OPP_POSE, fawkes::WORLDINFO_MSGTYPE_PENALTY, fawkes::WORLDINFO_MSGTYPE_POSE, fawkes::WORLDINFO_MSGTYPE_RELBALLVELO, fawkes::WORLDINFO_MSGTYPE_VELO, fawkes::worldinfo_globballpos_message_t::x, fawkes::worldinfo_pose_message_t::x, fawkes::worldinfo_globballpos_message_t::y, fawkes::worldinfo_pose_message_t::y, and fawkes::worldinfo_globballpos_message_t::z.

Referenced by WorldModelThread::loop().

Enable or disable sending of fat message.

The fat message is considered to be legacy code and therefore disabled by default. If you happen to need the fat message you can enable it using this method and then it will be send for every call to send().

Parameters:

fatmsg_enabled

true to enable sending of fat message, false otherwise

Definition at line 201 of file transceiver.cpp.

Referenced by ~WorldInfoTransceiver().

Set current game state.

Parameters:

	gamestate	current game state
	state_team	team referenced by the game state

Definition at line 471 of file transceiver.cpp.

References fawkes::worldinfo_gamestate_message_t::game_state, and fawkes::worldinfo_gamestate_message_t::state_team.

Set global ball position.

Note that the ball position is given in polar coordinates in 3D space! The confidence about the ball position is transmitted as a 3x3 covariance matrix.

Parameters:

	x	the x-coordinate of the global ball position
	y	the y-coordinate of the global ball position
	z	the z-coordinate of the global ball position
	covariance	covariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats). No length check or whatsoever is done. This will crash if c is not long enough! c will not be copied but referenced so it has to exist when send() is called!

Definition at line 375 of file transceiver.cpp.

Referenced by WorldModelThread::loop().

Set global ball velocity.

Set the current, global velocity of the robot.

Parameters:

	vel_x	velocity in x direction wrt. to the global frame
	vel_y	velocity in y direction wrt. to the global frame
	vel_z	velocity in z direction wrt. to the global frame
	covariance	covariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats). No length check or whatsoever is done. This will crash if c is not long enough! c will not be copied but referenced so it has to exist when send() is called!

Definition at line 455 of file transceiver.cpp.

Set ball visibility for the global ball.

Same semantics as set_ball_visible().

Parameters:

	visible	true if the ball is visible, false otherwise
	visibility_history	visibility history, see above.

Definition at line 412 of file transceiver.cpp.

Referenced by WorldModelThread::loop().

Set current half of the game time.

Parameters:

half

current half

Definition at line 531 of file transceiver.cpp.

References fawkes::worldinfo_gamestate_message_t::half.

Set loopback of sent packets.

This sets whether packets should be looped back to local sockets for multicast communication.

Parameters:

loop

true to deliver sent packets to local sockets, false prevent delivering

See also:

MulticastDatagramSocket::set_loop()

Definition at line 188 of file transceiver.cpp.

References fawkes::MulticastDatagramSocket::set_loop().

Referenced by WorldModelNetworkThread::init(), and RefBoxStateSender::RefBoxStateSender().

Set global pose of robot.

Global pose of sensing robot (x, y, theta) with the origin in the middle of the field, right handed coordinate system (y to opponent goal, x to the right, z pointing upwards, same as in simulation league). Theta points in y direction (theta = 0 iff robot front points to opponent goal). The confidence about the robot's pose is transmitted as a 3x3 covariance matrix.

Parameters:

	x	x position of robot
	y	y position of robot
	theta	rotation of robot
	covariance	covariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats). No length check or whatsoever is done. This will crash if c is not long enough! c will not be copied but referenced so it has to exist when send() is called!

Definition at line 301 of file transceiver.cpp.

Referenced by WorldModelThread::loop().

Set ball position.

Set the ball perception relative to the current robot position. Note that the ball position is given in polar coordinates in 3D space! The confidence about the ball position is transmitted as a 3x3 covariance matrix.

Parameters:

	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). No length check or whatsoever is done. This will crash if c is not long enough! c will not be copied but referenced so it has to exist when send() is called!

Definition at line 350 of file transceiver.cpp.

Set ball velocity.

Set the current velocity of the robot.

Parameters:

	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). No length check or whatsoever is done. This will crash if c is not long enough! c will not be copied but referenced so it has to exist when send() is called!

Definition at line 432 of file transceiver.cpp.

Set ball visibility.

This method defines if the ball is currently visible or not. Additionally more detailed information is provided in the visibility history. The history shall be 0 only if the vision has just been initialized. It shall be positive if the ball is visible and shall have the number of vision cycles in which the ball was visible in a row. It shall be negative if the ball is not visible and shall be the negative value of the number of frames where the ball was not visible. A value of 30 for example means that the ball has been continuously visible for 30 frames, it was never lost. A value of -20 means that the ball was not seen for the last 20 frames.

Parameters:

	visible	true if the ball is visible, false otherwise
	visibility_history	visibility history, see above.

Definition at line 398 of file transceiver.cpp.

Set score.

Parameters:

	score_cyan	current score of team cyan
	score_magenta	current score of team magenta

Definition at line 488 of file transceiver.cpp.

References fawkes::worldinfo_gamestate_message_t::score_cyan, and fawkes::worldinfo_gamestate_message_t::score_magenta.

Set team and goal info.

Parameters:

	our_team	our team color
	goal_color	our goal color

Definition at line 518 of file transceiver.cpp.

References fawkes::worldinfo_gamestate_message_t::our_goal_color, and fawkes::worldinfo_gamestate_message_t::our_team.

Set velocity of the robot.

Set the current velocity of the robot.

Parameters:

	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). No length check or whatsoever is done. This will crash if c is not long enough! c will not be copied but referenced so it has to exist when send() is called!

Definition at line 324 of file transceiver.cpp.

Referenced by WorldModelThread::loop().