24 #include <interfaces/OpenRaveInterface.h> 26 #include <core/exceptions/software.h> 46 OpenRaveInterface::OpenRaveInterface() : Interface()
48 data_size =
sizeof(OpenRaveInterface_data_t);
49 data_ptr = malloc(data_size);
50 data = (OpenRaveInterface_data_t *)data_ptr;
51 data_ts = (interface_data_ts_t *)data_ptr;
52 memset(data_ptr, 0, data_size);
53 add_fieldinfo(
IFT_UINT32,
"msgid", 1, &data->msgid);
54 add_fieldinfo(
IFT_BOOL,
"final", 1, &data->final);
55 add_fieldinfo(
IFT_UINT32,
"error_code", 1, &data->error_code);
56 add_fieldinfo(
IFT_BOOL,
"success", 1, &data->success);
57 add_messageinfo(
"StartViewerMessage");
58 add_messageinfo(
"AddObjectMessage");
59 add_messageinfo(
"DeleteObjectMessage");
60 add_messageinfo(
"DeleteAllObjectsMessage");
61 add_messageinfo(
"AttachObjectMessage");
62 add_messageinfo(
"ReleaseObjectMessage");
63 add_messageinfo(
"ReleaseAllObjectsMessage");
64 add_messageinfo(
"MoveObjectMessage");
65 add_messageinfo(
"RotateObjectQuatMessage");
66 add_messageinfo(
"RotateObjectMessage");
67 add_messageinfo(
"RenameObjectMessage");
68 unsigned char tmp_hash[] = {0xac, 0x95, 0xde, 0xc, 0xea, 0xa4, 0x97, 0x56, 0x5c, 0x46, 0x11, 0x5b, 0xf7, 0x60, 0x41, 0xb};
73 OpenRaveInterface::~OpenRaveInterface()
107 data->msgid = new_msgid;
140 data->final = new_final;
153 return data->error_code;
175 data->error_code = new_error_code;
186 return data->success;
206 data->success = new_success;
214 if ( strncmp(
"StartViewerMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
216 }
else if ( strncmp(
"AddObjectMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
218 }
else if ( strncmp(
"DeleteObjectMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
220 }
else if ( strncmp(
"DeleteAllObjectsMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
222 }
else if ( strncmp(
"AttachObjectMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
224 }
else if ( strncmp(
"ReleaseObjectMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
226 }
else if ( strncmp(
"ReleaseAllObjectsMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
228 }
else if ( strncmp(
"MoveObjectMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
230 }
else if ( strncmp(
"RotateObjectQuatMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
232 }
else if ( strncmp(
"RotateObjectMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
234 }
else if ( strncmp(
"RenameObjectMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
238 "message type for this interface type.", type);
252 type(), other->
type());
254 memcpy(data, oi->data,
sizeof(OpenRaveInterface_data_t));
275 data_size =
sizeof(StartViewerMessage_data_t);
278 data = (StartViewerMessage_data_t *)
data_ptr;
296 data = (StartViewerMessage_data_t *)
data_ptr;
324 data_size =
sizeof(AddObjectMessage_data_t);
327 data = (AddObjectMessage_data_t *)
data_ptr;
329 strncpy(data->name, ini_name, 30);
330 strncpy(data->path, ini_path, 1024);
337 data_size =
sizeof(AddObjectMessage_data_t);
340 data = (AddObjectMessage_data_t *)
data_ptr;
360 data = (AddObjectMessage_data_t *)
data_ptr;
392 strncpy(data->name, new_name,
sizeof(data->name));
422 strncpy(data->path, new_path,
sizeof(data->path));
447 data_size =
sizeof(DeleteObjectMessage_data_t);
450 data = (DeleteObjectMessage_data_t *)
data_ptr;
452 strncpy(data->name, ini_name, 30);
458 data_size =
sizeof(DeleteObjectMessage_data_t);
461 data = (DeleteObjectMessage_data_t *)
data_ptr;
480 data = (DeleteObjectMessage_data_t *)
data_ptr;
512 strncpy(data->name, new_name,
sizeof(data->name));
535 data_size =
sizeof(DeleteAllObjectsMessage_data_t);
538 data = (DeleteAllObjectsMessage_data_t *)
data_ptr;
556 data = (DeleteAllObjectsMessage_data_t *)
data_ptr;
584 data_size =
sizeof(AttachObjectMessage_data_t);
587 data = (AttachObjectMessage_data_t *)
data_ptr;
589 strncpy(data->name, ini_name, 30);
590 strncpy(data->manip_name, ini_manip_name, 30);
597 data_size =
sizeof(AttachObjectMessage_data_t);
600 data = (AttachObjectMessage_data_t *)
data_ptr;
620 data = (AttachObjectMessage_data_t *)
data_ptr;
652 strncpy(data->name, new_name,
sizeof(data->name));
662 return data->manip_name;
682 strncpy(data->manip_name, new_manip_name,
sizeof(data->manip_name));
707 data_size =
sizeof(ReleaseObjectMessage_data_t);
710 data = (ReleaseObjectMessage_data_t *)
data_ptr;
712 strncpy(data->name, ini_name, 30);
718 data_size =
sizeof(ReleaseObjectMessage_data_t);
721 data = (ReleaseObjectMessage_data_t *)
data_ptr;
740 data = (ReleaseObjectMessage_data_t *)
data_ptr;
772 strncpy(data->name, new_name,
sizeof(data->name));
795 data_size =
sizeof(ReleaseAllObjectsMessage_data_t);
798 data = (ReleaseAllObjectsMessage_data_t *)
data_ptr;
816 data = (ReleaseAllObjectsMessage_data_t *)
data_ptr;
846 data_size =
sizeof(MoveObjectMessage_data_t);
849 data = (MoveObjectMessage_data_t *)
data_ptr;
851 strncpy(data->name, ini_name, 30);
863 data_size =
sizeof(MoveObjectMessage_data_t);
866 data = (MoveObjectMessage_data_t *)
data_ptr;
888 data = (MoveObjectMessage_data_t *)
data_ptr;
920 strncpy(data->name, new_name,
sizeof(data->name));
1039 data_size =
sizeof(RotateObjectQuatMessage_data_t);
1042 data = (RotateObjectQuatMessage_data_t *)
data_ptr;
1044 strncpy(data->name, ini_name, 30);
1058 data_size =
sizeof(RotateObjectQuatMessage_data_t);
1061 data = (RotateObjectQuatMessage_data_t *)
data_ptr;
1084 data = (RotateObjectQuatMessage_data_t *)
data_ptr;
1116 strncpy(data->name, new_name,
sizeof(data->name));
1264 data_size =
sizeof(RotateObjectMessage_data_t);
1267 data = (RotateObjectMessage_data_t *)
data_ptr;
1269 strncpy(data->name, ini_name, 30);
1281 data_size =
sizeof(RotateObjectMessage_data_t);
1284 data = (RotateObjectMessage_data_t *)
data_ptr;
1306 data = (RotateObjectMessage_data_t *)
data_ptr;
1338 strncpy(data->name, new_name,
sizeof(data->name));
1454 data_size =
sizeof(RenameObjectMessage_data_t);
1457 data = (RenameObjectMessage_data_t *)
data_ptr;
1459 strncpy(data->name, ini_name, 30);
1460 strncpy(data->newName, ini_newName, 30);
1467 data_size =
sizeof(RenameObjectMessage_data_t);
1470 data = (RenameObjectMessage_data_t *)
data_ptr;
1490 data = (RenameObjectMessage_data_t *)
data_ptr;
1522 strncpy(data->name, new_name,
sizeof(data->name));
1532 return data->newName;
1552 strncpy(data->newName, new_newName,
sizeof(data->newName));
1613 if ( m10 != NULL ) {
virtual Message * clone() const
Clone this message.
void set_name(const char *new_name)
Set name value.
size_t maxlenof_newName() const
Get maximum length of newName value.
void set_path(const char *new_path)
Set path value.
void * data_ptr
Pointer to memory that contains local data.
RotateObjectQuatMessage Fawkes BlackBoard Interface Message.
float z() const
Get z value.
char * path() const
Get path value.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
void set_name(const char *new_name)
Set name value.
~RotateObjectQuatMessage()
Destructor.
void set_x(const float new_x)
Set x value.
size_t maxlenof_name() const
Get maximum length of name value.
float z() const
Get z value.
uint32_t error_code() const
Get error_code value.
void set_error_code(const uint32_t new_error_code)
Set error_code value.
~AddObjectMessage()
Destructor.
size_t maxlenof_name() const
Get maximum length of name value.
~RenameObjectMessage()
Destructor.
bool is_final() const
Get final value.
size_t maxlenof_x() const
Get maximum length of x value.
void set_success(const bool new_success)
Set success value.
~DeleteAllObjectsMessage()
Destructor.
char * name() const
Get name value.
ReleaseAllObjectsMessage Fawkes BlackBoard Interface Message.
~ReleaseAllObjectsMessage()
Destructor.
size_t maxlenof_msgid() const
Get maximum length of msgid value.
virtual Message * clone() const
Clone this message.
DeleteAllObjectsMessage()
Constructor.
size_t maxlenof_y() const
Get maximum length of y value.
Fawkes library namespace.
Timestamp data, must be present and first entries for each interface data structs! This leans on time...
virtual Message * clone() const
Clone this message.
MoveObjectMessage()
Constructor.
virtual void copy_values(const Interface *other)
Copy values from other interface.
void set_manip_name(const char *new_manip_name)
Set manip_name value.
void set_final(const bool new_final)
Set final value.
StartViewerMessage()
Constructor.
void set_y(const float new_y)
Set y value.
char * name() const
Get name value.
~StartViewerMessage()
Destructor.
void set_z(const float new_z)
Set z value.
virtual Message * clone() const
Clone this message.
size_t maxlenof_manip_name() const
Get maximum length of manip_name value.
Base class for all Fawkes BlackBoard interfaces.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
float y() const
Get y value.
size_t maxlenof_name() const
Get maximum length of name value.
float x() const
Get x value.
RotateObjectMessage Fawkes BlackBoard Interface Message.
message_data_ts_t * data_ts
data timestamp aliasing pointer
unsigned int data_size
Size of memory needed to hold all data.
size_t maxlenof_name() const
Get maximum length of name value.
virtual Message * clone() const
Clone this message.
float y() const
Get y value.
virtual Message * clone() const
Clone this message.
void set_x(const float new_x)
Set x value.
RotateObjectQuatMessage()
Constructor.
size_t maxlenof_y() const
Get maximum length of y value.
~MoveObjectMessage()
Destructor.
StartViewerMessage Fawkes BlackBoard Interface Message.
ReleaseObjectMessage()
Constructor.
void set_y(const float new_y)
Set y value.
size_t maxlenof_z() const
Get maximum length of z value.
size_t maxlenof_z() const
Get maximum length of z value.
size_t maxlenof_z() const
Get maximum length of z value.
~AttachObjectMessage()
Destructor.
AddObjectMessage()
Constructor.
void set_newName(const char *new_newName)
Set newName value.
const char * type() const
Get type of interface.
void set_msgid(const uint32_t new_msgid)
Set msgid value.
size_t maxlenof_w() const
Get maximum length of w value.
AttachObjectMessage Fawkes BlackBoard Interface Message.
char * name() const
Get name value.
size_t maxlenof_final() const
Get maximum length of final value.
float x() const
Get x value.
virtual Message * clone() const
Clone this message.
void set_y(const float new_y)
Set y value.
char * name() const
Get name value.
size_t maxlenof_name() const
Get maximum length of name value.
DeleteAllObjectsMessage Fawkes BlackBoard Interface Message.
void set_z(const float new_z)
Set z value.
virtual Message * clone() const
Clone this message.
RotateObjectMessage()
Constructor.
size_t maxlenof_name() const
Get maximum length of name value.
virtual Message * create_message(const char *type) const
Create message based on type name.
ReleaseObjectMessage Fawkes BlackBoard Interface Message.
char * name() const
Get name value.
void set_x(const float new_x)
Set x value.
float z() const
Get z value.
size_t maxlenof_path() const
Get maximum length of path value.
~RotateObjectMessage()
Destructor.
virtual Message * clone() const
Clone this message.
void set_z(const float new_z)
Set z value.
void set_name(const char *new_name)
Set name value.
float w() const
Get w value.
size_t maxlenof_name() const
Get maximum length of name value.
RenameObjectMessage Fawkes BlackBoard Interface Message.
size_t maxlenof_success() const
Get maximum length of success value.
~ReleaseObjectMessage()
Destructor.
virtual Message * clone() const
Clone this message.
float x() const
Get x value.
void set_name(const char *new_name)
Set name value.
void set_name(const char *new_name)
Set name value.
RenameObjectMessage()
Constructor.
char * name() const
Get name value.
void set_name(const char *new_name)
Set name value.
size_t maxlenof_x() const
Get maximum length of x value.
void set_name(const char *new_name)
Set name value.
~DeleteObjectMessage()
Destructor.
DeleteObjectMessage()
Constructor.
char * manip_name() const
Get manip_name value.
char * newName() const
Get newName value.
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 info list.
void set_name(const char *new_name)
Set name value.
size_t maxlenof_error_code() const
Get maximum length of error_code value.
DeleteObjectMessage Fawkes BlackBoard Interface Message.
AttachObjectMessage()
Constructor.
char * name() const
Get name value.
float y() const
Get y value.
size_t maxlenof_name() const
Get maximum length of name value.
void set_w(const float new_w)
Set w value.
virtual Message * clone() const
Clone this message.
MoveObjectMessage Fawkes BlackBoard Interface Message.
uint32_t msgid() const
Get msgid value.
ReleaseAllObjectsMessage()
Constructor.
32 bit unsigned integer field
bool is_success() const
Get success value.
char * name() const
Get name value.
size_t maxlenof_x() const
Get maximum length of x value.
OpenRaveInterface Fawkes BlackBoard Interface.
size_t maxlenof_y() const
Get maximum length of y value.
AddObjectMessage Fawkes BlackBoard Interface Message.