Fawkes API
Fawkes Development Version
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LaserClusterInterface Fawkes BlackBoard Interface. More...
#include <>>
Classes | |
class | SetMaxXMessage |
SetMaxXMessage Fawkes BlackBoard Interface Message. More... | |
class | SetSelectionModeMessage |
SetSelectionModeMessage Fawkes BlackBoard Interface Message. More... | |
Public Types | |
enum | SelectionMode { SELMODE_MIN_ANGLE, SELMODE_MIN_DIST } |
Enumeration defining the possible cluster selection modes. More... | |
Public Member Functions | |
const char * | tostring_SelectionMode (SelectionMode value) const |
Convert SelectionMode constant to string. More... | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. More... | |
float | max_x () const |
Get max_x value. More... | |
void | set_max_x (const float new_max_x) |
Set max_x value. More... | |
size_t | maxlenof_max_x () const |
Get maximum length of max_x value. More... | |
SelectionMode | selection_mode () const |
Get selection_mode value. More... | |
void | set_selection_mode (const SelectionMode new_selection_mode) |
Set selection_mode value. More... | |
size_t | maxlenof_selection_mode () const |
Get maximum length of selection_mode value. More... | |
virtual Message * | create_message (const char *type) const |
Create message based on type name. More... | |
virtual void | copy_values (const Interface *other) |
Copy values from other interface. More... | |
virtual const char * | enum_tostring (const char *enumtype, int val) const |
Convert arbitrary enum value to string. More... | |
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virtual | ~Interface () |
Destructor. More... | |
bool | oftype (const char *interface_type) const |
Check if interface is of given type. More... | |
const void * | datachunk () const |
Get data chunk. More... | |
unsigned int | datasize () const |
Get data size. More... | |
const char * | type () const |
Get type of interface. More... | |
const char * | id () const |
Get identifier of interface. More... | |
const char * | uid () const |
Get unique identifier of interface. More... | |
unsigned short | serial () const |
Get instance serial of interface. More... | |
unsigned int | mem_serial () const |
Get memory serial of interface. More... | |
bool | operator== (Interface &comp) const |
Check equality of two interfaces. More... | |
const unsigned char * | hash () const |
Get interface hash. More... | |
size_t | hash_size () const |
Get size of interface hash. More... | |
const char * | hash_printable () const |
Get printable interface hash. More... | |
bool | is_writer () const |
Check if this is a writing instance. More... | |
void | set_validity (bool valid) |
Mark this interface invalid. More... | |
bool | is_valid () const |
Check validity of interface. More... | |
const char * | owner () const |
Get owner of interface. More... | |
void | set_from_chunk (void *chunk) |
Set from a raw data chunk. More... | |
void | resize_buffers (unsigned int num_buffers) |
Resize buffer array. More... | |
unsigned int | num_buffers () const |
Get number of buffers. More... | |
void | copy_shared_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. More... | |
void | copy_private_to_buffer (unsigned int buffer) |
Copy data from private memory to buffer. More... | |
void | read_from_buffer (unsigned int buffer) |
Copy data from buffer to private memory. More... | |
int | compare_buffers (unsigned int buffer) |
Compare buffer to private memory. More... | |
Time | buffer_timestamp (unsigned int buffer) |
Get time of a buffer. More... | |
void | buffer_timestamp (unsigned int buffer, Time *timestamp) |
Get time of a buffer. More... | |
void | read () |
Read from BlackBoard into local copy. More... | |
void | write () |
Write from local copy into BlackBoard memory. More... | |
bool | has_writer () const |
Check if there is a writer for the interface. More... | |
unsigned int | num_readers () const |
Get the number of readers. More... | |
std::string | writer () const |
Get owner name of writing interface instance. More... | |
std::list< std::string > | readers () const |
Get owner names of reading interface instances. More... | |
bool | changed () const |
Check if data has been changed. More... | |
const Time * | timestamp () const |
Get timestamp of last write. More... | |
void | set_auto_timestamping (bool enabled) |
Enable or disable automated timestamping. More... | |
void | set_timestamp (const Time *t=NULL) |
Set timestamp. More... | |
void | set_clock (Clock *clock) |
Set clock to use for timestamping. More... | |
void | mark_data_changed () |
Mark data as changed. More... | |
std::list< const char * > | get_message_types () |
Obtain a list of textual representations of the message types available for this interface. More... | |
unsigned int | msgq_enqueue (Message *message) |
Enqueue message at end of queue. More... | |
unsigned int | msgq_enqueue_copy (Message *message) |
Enqueue copy of message at end of queue. More... | |
void | msgq_remove (Message *message) |
Remove message from queue. More... | |
void | msgq_remove (unsigned int message_id) |
Remove message from queue. More... | |
unsigned int | msgq_size () |
Get size of message queue. More... | |
void | msgq_flush () |
Flush all messages. More... | |
void | msgq_lock () |
Lock message queue. More... | |
bool | msgq_try_lock () |
Try to lock message queue. More... | |
void | msgq_unlock () |
Unlock message queue. More... | |
void | msgq_pop () |
Erase first message from queue. More... | |
Message * | msgq_first () |
Get the first message from the message queue. More... | |
bool | msgq_empty () |
Check if queue is empty. More... | |
void | msgq_append (Message *message) |
Enqueue message. More... | |
template<class MessageType > | |
bool | msgq_first_is () |
Check if first message has desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first () |
Get first message casted to the desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first (MessageType *&msg) |
Get first message casted to the desired type. More... | |
template<class MessageType > | |
MessageType * | msgq_first_safe (MessageType *&msg) throw () |
Get first message casted to the desired type without exceptions. More... | |
MessageQueue::MessageIterator | msgq_begin () |
Get start iterator for message queue. More... | |
MessageQueue::MessageIterator | msgq_end () |
Get end iterator for message queue. More... | |
InterfaceFieldIterator | fields () |
Get iterator over all fields of this interface instance. More... | |
InterfaceFieldIterator | fields_end () |
Invalid iterator. More... | |
unsigned int | num_fields () |
Get the number of fields in the interface. More... | |
Additional Inherited Members | |
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static void | parse_uid (const char *uid, std::string &type, std::string &id) |
Parse UID to type and ID strings. More... | |
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Interface () | |
Constructor. More... | |
void | set_hash (unsigned char *ihash) |
Set hash. More... | |
void | add_fieldinfo (interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0) |
Add an entry to the field info list. More... | |
void | add_messageinfo (const char *name) |
Add an entry to the message info list. More... | |
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void * | data_ptr |
Pointer to local memory storage. More... | |
unsigned int | data_size |
Minimal data size to hold data storage. More... | |
bool | data_changed |
Indicator if data has changed. More... | |
interface_data_ts_t * | data_ts |
Pointer to data casted to timestamp struct. More... | |
LaserClusterInterface Fawkes BlackBoard Interface.
Laser cluster parameterization.
Definition at line 33 of file LaserClusterInterface.h.
Enumeration defining the possible cluster selection modes.
Definition at line 44 of file LaserClusterInterface.h.
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 167 of file LaserClusterInterface.cpp.
References fawkes::Interface::type().
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virtual |
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.
type | message type |
UnknownTypeException | thrown if this interface cannot create a message of the given type. |
Implements fawkes::Interface.
Definition at line 150 of file LaserClusterInterface.cpp.
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virtual |
Convert arbitrary enum value to string.
Given the string representation of the enum type and the value this method returns the string representation of the specific value, or the string UNKNOWN if the value is not defined. An exception is thrown if the enum type is invalid.
enumtype | enum type as string |
val | value to convert |
UnknownTypeException | thrown if enumtype is not specified for interface. |
Implements fawkes::Interface.
Definition at line 178 of file LaserClusterInterface.cpp.
float fawkes::LaserClusterInterface::max_x | ( | ) | const |
Get max_x value.
Maximum distance in X coordinate of sensor frame.
Definition at line 86 of file LaserClusterInterface.cpp.
size_t fawkes::LaserClusterInterface::maxlenof_max_x | ( | ) | const |
Get maximum length of max_x value.
Definition at line 96 of file LaserClusterInterface.cpp.
size_t fawkes::LaserClusterInterface::maxlenof_selection_mode | ( | ) | const |
Get maximum length of selection_mode value.
Definition at line 130 of file LaserClusterInterface.cpp.
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virtual |
Check if message is valid and can be enqueued.
message | Message to check |
Implements fawkes::Interface.
Definition at line 386 of file LaserClusterInterface.cpp.
LaserClusterInterface::SelectionMode fawkes::LaserClusterInterface::selection_mode | ( | ) | const |
Get selection_mode value.
Current cluster selection mode.
Definition at line 120 of file LaserClusterInterface.cpp.
void fawkes::LaserClusterInterface::set_max_x | ( | const float | new_max_x | ) |
Set max_x value.
Maximum distance in X coordinate of sensor frame.
new_max_x | new max_x value |
Definition at line 107 of file LaserClusterInterface.cpp.
void fawkes::LaserClusterInterface::set_selection_mode | ( | const SelectionMode | new_selection_mode | ) |
Set selection_mode value.
Current cluster selection mode.
new_selection_mode | new selection_mode value |
Definition at line 142 of file LaserClusterInterface.cpp.
Referenced by LaserClusterThread::loop().
const char * fawkes::LaserClusterInterface::tostring_SelectionMode | ( | SelectionMode | value | ) | const |
Convert SelectionMode constant to string.
value | value to convert to string |
Definition at line 71 of file LaserClusterInterface.cpp.