Fawkes API  Fawkes Development Version
fawkes::KickerInterface Class Reference

KickerInterface Fawkes BlackBoard Interface. More...

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Inheritance diagram for fawkes::KickerInterface:

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 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

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.

Member Enumeration Documentation

◆ GuideBallSideEnum

Enumeration defining on which side of the robot the ball shall be guided (and thus on which side the arm is to be erected).

Enumerator
GUIDE_BALL_LEFT 

Constant defining that the kicker shall activate the ball guidance device in such a way that the left arm is erected.

GUIDE_BALL_RIGHT 

Constant defining that the kicker shall activate the ball guidance device in such a way that the right arm is erected.

Definition at line 45 of file KickerInterface.h.

Member Function Documentation

◆ copy_values()

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

Copy values from other interface.

Parameters
otherother interface to copy values from

Implements fawkes::Interface.

Definition at line 281 of file KickerInterface.cpp.

References fawkes::Interface::type().

◆ create_message()

Message * fawkes::KickerInterface::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 262 of file KickerInterface.cpp.

◆ current_intensity()

uint32_t fawkes::KickerInterface::current_intensity ( ) const

Get current_intensity value.

The currently set intensity.

Returns
current_intensity value

Definition at line 232 of file KickerInterface.cpp.

◆ enum_tostring()

const char * fawkes::KickerInterface::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 292 of file KickerInterface.cpp.

◆ guide_ball_side()

KickerInterface::GuideBallSideEnum fawkes::KickerInterface::guide_ball_side ( ) const

Get guide_ball_side value.

Side where the ball guidance arm is currently erected.

Returns
guide_ball_side value

Definition at line 198 of file KickerInterface.cpp.

◆ maxlenof_current_intensity()

size_t fawkes::KickerInterface::maxlenof_current_intensity ( ) const

Get maximum length of current_intensity value.

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

Definition at line 242 of file KickerInterface.cpp.

◆ maxlenof_guide_ball_side()

size_t fawkes::KickerInterface::maxlenof_guide_ball_side ( ) const

Get maximum length of guide_ball_side value.

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

Definition at line 208 of file KickerInterface.cpp.

◆ maxlenof_num_kicks_center()

size_t fawkes::KickerInterface::maxlenof_num_kicks_center ( ) const

Get maximum length of num_kicks_center value.

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

Definition at line 139 of file KickerInterface.cpp.

◆ maxlenof_num_kicks_left()

size_t fawkes::KickerInterface::maxlenof_num_kicks_left ( ) const

Get maximum length of num_kicks_left value.

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

Definition at line 104 of file KickerInterface.cpp.

◆ maxlenof_num_kicks_right()

size_t fawkes::KickerInterface::maxlenof_num_kicks_right ( ) const

Get maximum length of num_kicks_right value.

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

Definition at line 174 of file KickerInterface.cpp.

◆ message_valid()

bool fawkes::KickerInterface::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 644 of file KickerInterface.cpp.

◆ num_kicks_center()

int32_t fawkes::KickerInterface::num_kicks_center ( ) const

Get num_kicks_center value.

Number of Center-Kicks

Returns
num_kicks_center value

Definition at line 129 of file KickerInterface.cpp.

◆ num_kicks_left()

int32_t fawkes::KickerInterface::num_kicks_left ( ) const

Get num_kicks_left value.

Number of Left-Kicks

Returns
num_kicks_left value

Definition at line 94 of file KickerInterface.cpp.

◆ num_kicks_right()

int32_t fawkes::KickerInterface::num_kicks_right ( ) const

Get num_kicks_right value.

Number of Right-Kicks

Returns
num_kicks_right value

Definition at line 164 of file KickerInterface.cpp.

◆ set_current_intensity()

void fawkes::KickerInterface::set_current_intensity ( const uint32_t  new_current_intensity)

Set current_intensity value.

The currently set intensity.

Parameters
new_current_intensitynew current_intensity value

Definition at line 254 of file KickerInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_guide_ball_side()

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.

Parameters
new_guide_ball_sidenew guide_ball_side value

Definition at line 219 of file KickerInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_num_kicks_center()

void fawkes::KickerInterface::set_num_kicks_center ( const int32_t  new_num_kicks_center)

Set num_kicks_center value.

Number of Center-Kicks

Parameters
new_num_kicks_centernew num_kicks_center value

Definition at line 151 of file KickerInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_num_kicks_left()

void fawkes::KickerInterface::set_num_kicks_left ( const int32_t  new_num_kicks_left)

Set num_kicks_left value.

Number of Left-Kicks

Parameters
new_num_kicks_leftnew num_kicks_left value

Definition at line 116 of file KickerInterface.cpp.

References fawkes::Interface::data_changed.

◆ set_num_kicks_right()

void fawkes::KickerInterface::set_num_kicks_right ( const int32_t  new_num_kicks_right)

Set num_kicks_right value.

Number of Right-Kicks

Parameters
new_num_kicks_rightnew num_kicks_right value

Definition at line 186 of file KickerInterface.cpp.

References fawkes::Interface::data_changed.

◆ tostring_GuideBallSideEnum()

const char * fawkes::KickerInterface::tostring_GuideBallSideEnum ( GuideBallSideEnum  value) const

Convert GuideBallSideEnum constant to string.

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

Definition at line 78 of file KickerInterface.cpp.


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