Fawkes API
Fawkes Development Version
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HumanoidMotionInterface Fawkes BlackBoard Interface. More...
#include <>>
Classes | |
class | GetUpMessage |
GetUpMessage Fawkes BlackBoard Interface Message. More... | |
class | KickMessage |
KickMessage Fawkes BlackBoard Interface Message. More... | |
class | MoveHeadMessage |
MoveHeadMessage Fawkes BlackBoard Interface Message. More... | |
class | ParkMessage |
ParkMessage Fawkes BlackBoard Interface Message. More... | |
class | StandupMessage |
StandupMessage Fawkes BlackBoard Interface Message. More... | |
class | StopMessage |
StopMessage Fawkes BlackBoard Interface Message. More... | |
class | TurnMessage |
TurnMessage Fawkes BlackBoard Interface Message. More... | |
class | WalkArcMessage |
WalkArcMessage Fawkes BlackBoard Interface Message. More... | |
class | WalkSidewaysMessage |
WalkSidewaysMessage Fawkes BlackBoard Interface Message. More... | |
class | WalkStraightMessage |
WalkStraightMessage Fawkes BlackBoard Interface Message. More... | |
class | WalkVelocityMessage |
WalkVelocityMessage Fawkes BlackBoard Interface Message. More... | |
Public Types | |
enum | LegEnum { LEG_LEFT, LEG_RIGHT } |
Type to determinate leg side. More... | |
enum | StandupEnum { STANDUP_DETECT, STANDUP_BACK, STANDUP_FRONT } |
From which position to standup. More... | |
Public Member Functions | |
const char * | tostring_LegEnum (LegEnum value) const |
Convert LegEnum constant to string. More... | |
const char * | tostring_StandupEnum (StandupEnum value) const |
Convert StandupEnum constant to string. More... | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. More... | |
bool | is_moving () const |
Get moving value. More... | |
void | set_moving (const bool new_moving) |
Set moving value. More... | |
size_t | maxlenof_moving () const |
Get maximum length of moving value. More... | |
bool | is_arms_enabled () const |
Get arms_enabled value. More... | |
void | set_arms_enabled (const bool new_arms_enabled) |
Set arms_enabled value. More... | |
size_t | maxlenof_arms_enabled () const |
Get maximum length of arms_enabled value. 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... | |
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... | |
HumanoidMotionInterface Fawkes BlackBoard Interface.
This interface provides acces to basic humanoid motion patterns.
Definition at line 33 of file HumanoidMotionInterface.h.
Type to determinate leg side.
Enumerator | |
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LEG_LEFT | Left leg. |
LEG_RIGHT | Right leg. |
Definition at line 42 of file HumanoidMotionInterface.h.
From which position to standup.
Enumerator | |
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STANDUP_DETECT | Detect via accelerometer. |
STANDUP_BACK | Standup from lying on the back. |
STANDUP_FRONT | Standup from lying on the tummy. |
Definition at line 49 of file HumanoidMotionInterface.h.
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 249 of file HumanoidMotionInterface.cpp.
References fawkes::Message::type(), and 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 214 of file HumanoidMotionInterface.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 260 of file HumanoidMotionInterface.cpp.
bool fawkes::HumanoidMotionInterface::is_arms_enabled | ( | ) | const |
Get arms_enabled value.
If true the arms are controlled during walking for balancing.
Definition at line 147 of file HumanoidMotionInterface.cpp.
bool fawkes::HumanoidMotionInterface::is_moving | ( | ) | const |
Get moving value.
True if the robot is moving.
Definition at line 114 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_arms_enabled | ( | ) | const |
Get maximum length of arms_enabled value.
Definition at line 157 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_moving | ( | ) | const |
Get maximum length of moving value.
Definition at line 124 of file HumanoidMotionInterface.cpp.
size_t fawkes::HumanoidMotionInterface::maxlenof_msgid | ( | ) | const |
Get maximum length of msgid value.
Definition at line 193 of file HumanoidMotionInterface.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 1484 of file HumanoidMotionInterface.cpp.
uint32_t fawkes::HumanoidMotionInterface::msgid | ( | ) | const |
Get msgid value.
The ID of the message that is currently being processed, or 0 if no message is being processed.
Definition at line 183 of file HumanoidMotionInterface.cpp.
void fawkes::HumanoidMotionInterface::set_arms_enabled | ( | const bool | new_arms_enabled | ) |
Set arms_enabled value.
If true the arms are controlled during walking for balancing.
new_arms_enabled | new arms_enabled value |
Definition at line 169 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by NaoQiMotionThread::loop().
void fawkes::HumanoidMotionInterface::set_moving | ( | const bool | new_moving | ) |
Set moving value.
True if the robot is moving.
new_moving | new moving value |
Definition at line 134 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by NaoQiMotionThread::loop().
void fawkes::HumanoidMotionInterface::set_msgid | ( | const uint32_t | new_msgid | ) |
Set msgid value.
The ID of the message that is currently being processed, or 0 if no message is being processed.
new_msgid | new msgid value |
Definition at line 206 of file HumanoidMotionInterface.cpp.
References fawkes::Interface::data_changed.
Referenced by NaoQiMotionThread::loop().
const char * fawkes::HumanoidMotionInterface::tostring_LegEnum | ( | LegEnum | value | ) | const |
Convert LegEnum constant to string.
value | value to convert to string |
Definition at line 86 of file HumanoidMotionInterface.cpp.
const char * fawkes::HumanoidMotionInterface::tostring_StandupEnum | ( | StandupEnum | value | ) | const |
Convert StandupEnum constant to string.
value | value to convert to string |
Definition at line 99 of file HumanoidMotionInterface.cpp.