Fawkes API
Fawkes Development Version
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KickerInterface Fawkes BlackBoard Interface. More...
#include <>>
Classes | |
class | GuideBallMessage |
GuideBallMessage Fawkes BlackBoard Interface Message. More... | |
class | KickMessage |
KickMessage Fawkes BlackBoard Interface Message. More... | |
class | ResetCounterMessage |
ResetCounterMessage Fawkes BlackBoard Interface Message. More... | |
Public Types | |
enum | GuideBallSideEnum { GUIDE_BALL_LEFT, GUIDE_BALL_RIGHT } |
Enumeration defining on which side of the robot the ball shall be guided (and thus on which side the arm is to be erected). More... | |
Public Member Functions | |
const char * | tostring_GuideBallSideEnum (GuideBallSideEnum value) const |
Convert GuideBallSideEnum constant to string. More... | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. More... | |
int32_t | num_kicks_left () const |
Get num_kicks_left value. More... | |
void | set_num_kicks_left (const int32_t new_num_kicks_left) |
Set num_kicks_left value. More... | |
size_t | maxlenof_num_kicks_left () const |
Get maximum length of num_kicks_left value. More... | |
int32_t | num_kicks_center () const |
Get num_kicks_center value. More... | |
void | set_num_kicks_center (const int32_t new_num_kicks_center) |
Set num_kicks_center value. More... | |
size_t | maxlenof_num_kicks_center () const |
Get maximum length of num_kicks_center value. More... | |
int32_t | num_kicks_right () const |
Get num_kicks_right value. More... | |
void | set_num_kicks_right (const int32_t new_num_kicks_right) |
Set num_kicks_right value. More... | |
size_t | maxlenof_num_kicks_right () const |
Get maximum length of num_kicks_right value. More... | |
GuideBallSideEnum | guide_ball_side () const |
Get guide_ball_side value. More... | |
void | set_guide_ball_side (const GuideBallSideEnum new_guide_ball_side) |
Set guide_ball_side value. More... | |
size_t | maxlenof_guide_ball_side () const |
Get maximum length of guide_ball_side value. More... | |
uint32_t | current_intensity () const |
Get current_intensity value. More... | |
void | set_current_intensity (const uint32_t new_current_intensity) |
Set current_intensity value. More... | |
size_t | maxlenof_current_intensity () const |
Get maximum length of current_intensity 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... | |
KickerInterface Fawkes BlackBoard Interface.
In these variables it is stored how often the right, center or left kick have been triggered.
Definition at line 33 of file KickerInterface.h.
Enumeration defining on which side of the robot the ball shall be guided (and thus on which side the arm is to be erected).
Definition at line 45 of file KickerInterface.h.
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 281 of file KickerInterface.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 262 of file KickerInterface.cpp.
uint32_t fawkes::KickerInterface::current_intensity | ( | ) | const |
Get current_intensity value.
The currently set intensity.
Definition at line 232 of file KickerInterface.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 292 of file KickerInterface.cpp.
KickerInterface::GuideBallSideEnum fawkes::KickerInterface::guide_ball_side | ( | ) | const |
Get guide_ball_side value.
Side where the ball guidance arm is currently erected.
Definition at line 198 of file KickerInterface.cpp.
size_t fawkes::KickerInterface::maxlenof_current_intensity | ( | ) | const |
Get maximum length of current_intensity value.
Definition at line 242 of file KickerInterface.cpp.
size_t fawkes::KickerInterface::maxlenof_guide_ball_side | ( | ) | const |
Get maximum length of guide_ball_side value.
Definition at line 208 of file KickerInterface.cpp.
size_t fawkes::KickerInterface::maxlenof_num_kicks_center | ( | ) | const |
Get maximum length of num_kicks_center value.
Definition at line 139 of file KickerInterface.cpp.
size_t fawkes::KickerInterface::maxlenof_num_kicks_left | ( | ) | const |
Get maximum length of num_kicks_left value.
Definition at line 104 of file KickerInterface.cpp.
size_t fawkes::KickerInterface::maxlenof_num_kicks_right | ( | ) | const |
Get maximum length of num_kicks_right value.
Definition at line 174 of file KickerInterface.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 644 of file KickerInterface.cpp.
int32_t fawkes::KickerInterface::num_kicks_center | ( | ) | const |
Get num_kicks_center value.
Number of Center-Kicks
Definition at line 129 of file KickerInterface.cpp.
int32_t fawkes::KickerInterface::num_kicks_left | ( | ) | const |
Get num_kicks_left value.
Number of Left-Kicks
Definition at line 94 of file KickerInterface.cpp.
int32_t fawkes::KickerInterface::num_kicks_right | ( | ) | const |
Get num_kicks_right value.
Number of Right-Kicks
Definition at line 164 of file KickerInterface.cpp.
void fawkes::KickerInterface::set_current_intensity | ( | const uint32_t | new_current_intensity | ) |
Set current_intensity value.
The currently set intensity.
new_current_intensity | new current_intensity value |
Definition at line 254 of file KickerInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::KickerInterface::set_guide_ball_side | ( | const GuideBallSideEnum | new_guide_ball_side | ) |
Set guide_ball_side value.
Side where the ball guidance arm is currently erected.
new_guide_ball_side | new guide_ball_side value |
Definition at line 219 of file KickerInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::KickerInterface::set_num_kicks_center | ( | const int32_t | new_num_kicks_center | ) |
Set num_kicks_center value.
Number of Center-Kicks
new_num_kicks_center | new num_kicks_center value |
Definition at line 151 of file KickerInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::KickerInterface::set_num_kicks_left | ( | const int32_t | new_num_kicks_left | ) |
Set num_kicks_left value.
Number of Left-Kicks
new_num_kicks_left | new num_kicks_left value |
Definition at line 116 of file KickerInterface.cpp.
References fawkes::Interface::data_changed.
void fawkes::KickerInterface::set_num_kicks_right | ( | const int32_t | new_num_kicks_right | ) |
Set num_kicks_right value.
Number of Right-Kicks
new_num_kicks_right | new num_kicks_right value |
Definition at line 186 of file KickerInterface.cpp.
References fawkes::Interface::data_changed.
const char * fawkes::KickerInterface::tostring_GuideBallSideEnum | ( | GuideBallSideEnum | value | ) | const |
Convert GuideBallSideEnum constant to string.
value | value to convert to string |
Definition at line 78 of file KickerInterface.cpp.