Fawkes API  Fawkes Development Version
fawkes::NavGraphGeneratorInterface Class Reference

NavGraphGeneratorInterface Fawkes BlackBoard Interface. More...

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Inheritance diagram for fawkes::NavGraphGeneratorInterface:

Classes

class  AddEdgeMessage
 AddEdgeMessage Fawkes BlackBoard Interface Message. More...
 
class  AddMapObstaclesMessage
 AddMapObstaclesMessage Fawkes BlackBoard Interface Message. More...
 
class  AddObstacleMessage
 AddObstacleMessage Fawkes BlackBoard Interface Message. More...
 
class  AddPointOfInterestMessage
 AddPointOfInterestMessage Fawkes BlackBoard Interface Message. More...
 
class  AddPointOfInterestWithOriMessage
 AddPointOfInterestWithOriMessage Fawkes BlackBoard Interface Message. More...
 
class  ClearMessage
 ClearMessage Fawkes BlackBoard Interface Message. More...
 
class  ComputeMessage
 ComputeMessage Fawkes BlackBoard Interface Message. More...
 
class  RemoveObstacleMessage
 RemoveObstacleMessage Fawkes BlackBoard Interface Message. More...
 
class  RemovePointOfInterestMessage
 RemovePointOfInterestMessage Fawkes BlackBoard Interface Message. More...
 
class  SetBoundingBoxMessage
 SetBoundingBoxMessage Fawkes BlackBoard Interface Message. More...
 
class  SetCopyGraphDefaultPropertiesMessage
 SetCopyGraphDefaultPropertiesMessage Fawkes BlackBoard Interface Message. More...
 
class  SetFilterMessage
 SetFilterMessage Fawkes BlackBoard Interface Message. More...
 
class  SetFilterParamFloatMessage
 SetFilterParamFloatMessage Fawkes BlackBoard Interface Message. More...
 
class  SetGraphDefaultPropertyMessage
 SetGraphDefaultPropertyMessage Fawkes BlackBoard Interface Message. More...
 
class  SetPointOfInterestPropertyMessage
 SetPointOfInterestPropertyMessage Fawkes BlackBoard Interface Message. More...
 

Public Types

enum  ConnectionMode {
  NOT_CONNECTED, UNCONNECTED, CLOSEST_NODE, CLOSEST_EDGE,
  CLOSEST_EDGE_OR_NODE
}
 Drive modes enum. More...
 
enum  FilterType { FILTER_EDGES_BY_MAP, FILTER_ORPHAN_NODES, FILTER_MULTI_GRAPH }
 Post-processing filtering type. More...
 
enum  EdgeMode { NO_INTERSECTION, SPLIT_INTERSECTION, FORCE }
 When adding edges, the mode defines how to add edges. More...
 

Public Member Functions

const char * tostring_ConnectionMode (ConnectionMode value) const
 Convert ConnectionMode constant to string. More...
 
const char * tostring_FilterType (FilterType value) const
 Convert FilterType constant to string. More...
 
const char * tostring_EdgeMode (EdgeMode value) const
 Convert EdgeMode constant to string. More...
 
virtual bool message_valid (const Message *message) const
 Check if message is valid and can be enqueued. More...
 
uint32_t msgid () const
 Get msgid value. More...
 
void set_msgid (const uint32_t new_msgid)
 Set msgid value. More...
 
size_t maxlenof_msgid () const
 Get maximum length of msgid value. More...
 
bool is_final () const
 Get final value. More...
 
void set_final (const bool new_final)
 Set final value. More...
 
size_t maxlenof_final () const
 Get maximum length of final value. More...
 
virtual Messagecreate_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...
 
- Public Member Functions inherited from fawkes::Interface
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 Timetimestamp () 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...
 
Messagemsgq_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

- Static Public Member Functions inherited from fawkes::Interface
static void parse_uid (const char *uid, std::string &type, std::string &id)
 Parse UID to type and ID strings. More...
 
- Protected Member Functions inherited from fawkes::Interface
 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...
 
- Protected Attributes inherited from fawkes::Interface
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_tdata_ts
 Pointer to data casted to timestamp struct. More...
 

Detailed Description

NavGraphGeneratorInterface Fawkes BlackBoard Interface.

This interfaces is used to instruct the navgraph-generator. It allows to add obstacles and points of interest and perform a computation run of the graph generation.

Operations to modify the parameters (clearing, adding/removing obstacles or points of interest etc.) take effect only once a ComputeMessage is sent. This can be used, for example, to first clear the graph, update it with the latest information, and finally generate the graph.

As soon as any instruction has been received, the generato shall only listen to messages from the same sender. Only after a computation has been performed can another node send messages again.

Definition at line 33 of file NavGraphGeneratorInterface.h.

Member Enumeration Documentation

◆ ConnectionMode

Drive modes enum.

Enumerator
NOT_CONNECTED 

The node is will not be initially connected.

The difference to UNCONNECTED is that we do not connect the nodes just now, but will do so later, e.g. by adding edges. Note that it is an error not to connect the node later.

UNCONNECTED 

The node is marked as unconnected and will not be connected to another node.

This kind of nodes is useful to mark points and possibly assign properties without needing to travel to it.

The difference to NOT_CONNECTED is that the nodes will be explicitly marked as not being connected and it is an error to connect them.

CLOSEST_NODE 

Connect point to the node on the graph closest to the given point.

CLOSEST_EDGE 

Connect point to the edge in which segment it lies, i.e.

search for an edge where we can find a perpendicular line going through the given point and any point on the edge's line segment. If no such segment is found, the point cannot be added.

CLOSEST_EDGE_OR_NODE 

First try the CLOSEST_EDGE method.

If that yields no result, use the CLOSEST_NODE method as a fallback.

Definition at line 42 of file NavGraphGeneratorInterface.h.

◆ EdgeMode

When adding edges, the mode defines how to add edges.

Enumerator
NO_INTERSECTION 

Only insert edge if it does not intersect with any other existing edge in the graph.

SPLIT_INTERSECTION 

If the new edge intersects with one or more edges, add new points at the intersections and split the edges for this point.

FORCE 

The edge is added as-is, it may overlap or intersect with other edges.

Definition at line 108 of file NavGraphGeneratorInterface.h.

◆ FilterType

Post-processing filtering type.

Enumerator
FILTER_EDGES_BY_MAP 

If enabled, filters out all edges after the map generation that pass too close by an occupied cell of the map.

Use this to get rid of connections which "pass through walls". Note that this step is done before adding points of interest. Therefore edges going to POIs might still pass through or close by occupied cells.

Parameters: distance: minimum distance from edges to occupied map grid cells to consider it safe.

FILTER_ORPHAN_NODES 

If enabled, filters out all nodes which are not connected to any other node.

These can occur, for example, after performing the FILTER_EDGES_BY_MAP filter.

FILTER_MULTI_GRAPH 

Sometimes after applying other filters one can end up with multiple disconnected graphs.

Enabling this filter will keep only the largest connected graph and simply remove all nodes and edges from smaller graphs not connected to the largest.

Definition at line 78 of file NavGraphGeneratorInterface.h.

Member Function Documentation

◆ copy_values()

void fawkes::NavGraphGeneratorInterface::copy_values ( const Interface other)
virtual

Copy values from other interface.

Parameters
otherother interface to copy values from

Implements fawkes::Interface.

Definition at line 269 of file NavGraphGeneratorInterface.cpp.

References fawkes::Interface::type().

◆ create_message()

Message * fawkes::NavGraphGeneratorInterface::create_message ( const char *  type) const
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.

Parameters
typemessage type
Returns
message of the given type, empty
Exceptions
UnknownTypeExceptionthrown if this interface cannot create a message of the given type.

Implements fawkes::Interface.

Definition at line 226 of file NavGraphGeneratorInterface.cpp.

◆ enum_tostring()

const char * fawkes::NavGraphGeneratorInterface::enum_tostring ( const char *  enumtype,
int  val 
) const
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.

Parameters
enumtypeenum type as string
valvalue to convert
Returns
string representation of value
Exceptions
UnknownTypeExceptionthrown if enumtype is not specified for interface.

Implements fawkes::Interface.

Definition at line 280 of file NavGraphGeneratorInterface.cpp.

◆ is_final()

bool fawkes::NavGraphGeneratorInterface::is_final ( ) const

Get final value.

True, if the last generation triggered by a ComputeMessage has been completed, false if it is still running. Also check the msgid field if this field applies to the correct message.

Returns
final value

Definition at line 194 of file NavGraphGeneratorInterface.cpp.

◆ maxlenof_final()

size_t fawkes::NavGraphGeneratorInterface::maxlenof_final ( ) const

Get maximum length of final value.

Returns
length of final value, can be length of the array or number of maximum number of characters for a string

Definition at line 204 of file NavGraphGeneratorInterface.cpp.

◆ maxlenof_msgid()

size_t fawkes::NavGraphGeneratorInterface::maxlenof_msgid ( ) const

Get maximum length of msgid value.

Returns
length of msgid value, can be length of the array or number of maximum number of characters for a string

Definition at line 166 of file NavGraphGeneratorInterface.cpp.

◆ message_valid()

bool fawkes::NavGraphGeneratorInterface::message_valid ( const Message message) const
virtual

Check if message is valid and can be enqueued.

Parameters
messageMessage to check
Returns
true if the message is valid, false otherwise.

Implements fawkes::Interface.

Definition at line 2644 of file NavGraphGeneratorInterface.cpp.

◆ msgid()

uint32_t fawkes::NavGraphGeneratorInterface::msgid ( ) const

Get msgid value.

The ID of the message that is currently being processed or was processed last.

Returns
msgid value

Definition at line 156 of file NavGraphGeneratorInterface.cpp.

◆ set_final()

void fawkes::NavGraphGeneratorInterface::set_final ( const bool  new_final)

Set final value.

True, if the last generation triggered by a ComputeMessage has been completed, false if it is still running. Also check the msgid field if this field applies to the correct message.

Parameters
new_finalnew final value

Definition at line 218 of file NavGraphGeneratorInterface.cpp.

Referenced by NavGraphGeneratorThread::loop().

◆ set_msgid()

void fawkes::NavGraphGeneratorInterface::set_msgid ( const uint32_t  new_msgid)

Set msgid value.

The ID of the message that is currently being processed or was processed last.

Parameters
new_msgidnew msgid value

Definition at line 179 of file NavGraphGeneratorInterface.cpp.

Referenced by NavGraphGeneratorThread::loop().

◆ tostring_ConnectionMode()

const char * fawkes::NavGraphGeneratorInterface::tostring_ConnectionMode ( ConnectionMode  value) const

Convert ConnectionMode constant to string.

Parameters
valuevalue to convert to string
Returns
constant value as string.

Definition at line 108 of file NavGraphGeneratorInterface.cpp.

◆ tostring_EdgeMode()

const char * fawkes::NavGraphGeneratorInterface::tostring_EdgeMode ( EdgeMode  value) const

Convert EdgeMode constant to string.

Parameters
valuevalue to convert to string
Returns
constant value as string.

Definition at line 138 of file NavGraphGeneratorInterface.cpp.

◆ tostring_FilterType()

const char * fawkes::NavGraphGeneratorInterface::tostring_FilterType ( FilterType  value) const

Convert FilterType constant to string.

Parameters
valuevalue to convert to string
Returns
constant value as string.

Definition at line 124 of file NavGraphGeneratorInterface.cpp.

Referenced by NavGraphGeneratorThread::loop().


The documentation for this class was generated from the following files: