Fawkes API
Fawkes Development Version
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Laser720Interface Fawkes BlackBoard Interface. More...
#include <>>
Public Member Functions | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. More... | |
char * | frame () const |
Get frame value. More... | |
void | set_frame (const char *new_frame) |
Set frame value. More... | |
size_t | maxlenof_frame () const |
Get maximum length of frame value. More... | |
float * | distances () const |
Get distances value. More... | |
float | distances (unsigned int index) const |
Get distances value at given index. More... | |
void | set_distances (unsigned int index, const float new_distances) |
Set distances value at given index. More... | |
void | set_distances (const float *new_distances) |
Set distances value. More... | |
size_t | maxlenof_distances () const |
Get maximum length of distances value. More... | |
bool | is_clockwise_angle () const |
Get clockwise_angle value. More... | |
void | set_clockwise_angle (const bool new_clockwise_angle) |
Set clockwise_angle value. More... | |
size_t | maxlenof_clockwise_angle () const |
Get maximum length of clockwise_angle 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... | |
Laser720Interface Fawkes BlackBoard Interface.
This interface provides access to data of a laser scanner that produces 720 beams per scan.
Definition at line 33 of file Laser720Interface.h.
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 218 of file Laser720Interface.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 207 of file Laser720Interface.cpp.
float * fawkes::Laser720Interface::distances | ( | ) | const |
Get distances value.
The distances in meter of the beams.
Definition at line 109 of file Laser720Interface.cpp.
Referenced by RosLaserScanThread::bb_interface_data_changed(), LaserDrawingArea::draw_beams(), LaserDrawingArea::draw_segments(), and LaserFilterThread::wait_done().
float fawkes::Laser720Interface::distances | ( | unsigned int | index | ) | const |
Get distances value at given index.
The distances in meter of the beams.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 123 of file Laser720Interface.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 229 of file Laser720Interface.cpp.
char * fawkes::Laser720Interface::frame | ( | ) | const |
Get frame value.
Coordinate frame in which the data is presented.
Definition at line 74 of file Laser720Interface.cpp.
Referenced by LaserPointCloudThread::bb_interface_created(), RosLaserScanThread::bb_interface_created(), RosLaserScanThread::bb_interface_data_changed(), and LaserFilterThread::wait_done().
bool fawkes::Laser720Interface::is_clockwise_angle | ( | ) | const |
Get clockwise_angle value.
True if the angle grows clockwise.
Definition at line 177 of file Laser720Interface.cpp.
Referenced by LaserDrawingArea::draw_beams().
size_t fawkes::Laser720Interface::maxlenof_clockwise_angle | ( | ) | const |
Get maximum length of clockwise_angle value.
Definition at line 187 of file Laser720Interface.cpp.
size_t fawkes::Laser720Interface::maxlenof_distances | ( | ) | const |
Get maximum length of distances value.
Definition at line 136 of file Laser720Interface.cpp.
Referenced by LaserDrawingArea::draw_beams(), and LaserDrawingArea::draw_segments().
size_t fawkes::Laser720Interface::maxlenof_frame | ( | ) | const |
Get maximum length of frame value.
Definition at line 84 of file Laser720Interface.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 240 of file Laser720Interface.cpp.
void fawkes::Laser720Interface::set_clockwise_angle | ( | const bool | new_clockwise_angle | ) |
Set clockwise_angle value.
True if the angle grows clockwise.
new_clockwise_angle | new clockwise_angle value |
Definition at line 199 of file Laser720Interface.cpp.
References fawkes::Interface::data_changed.
void fawkes::Laser720Interface::set_distances | ( | unsigned int | index, |
const float | new_distances | ||
) |
Set distances value at given index.
The distances in meter of the beams.
new_distances | new distances value |
index | index for of the value |
Definition at line 162 of file Laser720Interface.cpp.
References fawkes::Interface::data_changed.
Referenced by LaserSensorThread::loop(), and LaserDeadSpotCalibrator::num_detected_spots().
void fawkes::Laser720Interface::set_distances | ( | const float * | new_distances | ) |
Set distances value.
The distances in meter of the beams.
new_distances | new distances value |
Definition at line 148 of file Laser720Interface.cpp.
References fawkes::Interface::data_changed.
void fawkes::Laser720Interface::set_frame | ( | const char * | new_frame | ) |
Set frame value.
Coordinate frame in which the data is presented.
new_frame | new frame value |
Definition at line 96 of file Laser720Interface.cpp.
References fawkes::Interface::data_changed.
Referenced by LaserSensorThread::init().