24 #include <interfaces/NavigatorInterface.h> 26 #include <core/exceptions/software.h> 80 NavigatorInterface::NavigatorInterface() : Interface()
82 data_size =
sizeof(NavigatorInterface_data_t);
84 data = (NavigatorInterface_data_t *)
data_ptr;
87 enum_map_DriveMode[(int)MovingNotAllowed] =
"MovingNotAllowed";
88 enum_map_DriveMode[(int)Forward] =
"Forward";
89 enum_map_DriveMode[(int)AllowBackward] =
"AllowBackward";
90 enum_map_DriveMode[(int)Backward] =
"Backward";
91 enum_map_DriveMode[(int)ESCAPE] =
"ESCAPE";
93 enum_map_OrientationMode[(int)OrientDuringTravel] =
"OrientDuringTravel";
111 add_fieldinfo(
IFT_ENUM,
"orientation_mode", 1, &data->orientation_mode,
"OrientationMode", &enum_map_OrientationMode);
128 unsigned char tmp_hash[] = {0x44, 0x8, 0x67, 0xd0, 0x2d, 0xf0, 0x41, 0xe7, 0x78, 0x46, 0x10, 0xda, 0x85, 0x81, 0x1f, 0x32};
133 NavigatorInterface::~NavigatorInterface()
145 case MovingNotAllowed:
return "MovingNotAllowed";
146 case Forward:
return "Forward";
147 case AllowBackward:
return "AllowBackward";
148 case Backward:
return "Backward";
149 case ESCAPE:
return "ESCAPE";
150 default:
return "UNKNOWN";
162 case OrientDuringTravel:
return "OrientDuringTravel";
163 default:
return "UNKNOWN";
196 data->flags = new_flags;
289 data->dest_x = new_dest_x;
320 data->dest_y = new_dest_y;
331 return data->dest_ori;
351 data->dest_ori = new_dest_ori;
362 return data->dest_dist;
382 data->dest_dist = new_dest_dist;
415 data->msgid = new_msgid;
448 data->final = new_final;
461 return data->error_code;
483 data->error_code = new_error_code;
494 return data->max_velocity;
514 data->max_velocity = new_max_velocity;
525 return data->max_rotation;
545 data->max_rotation = new_max_rotation;
556 return data->security_distance;
576 data->security_distance = new_security_distance;
588 return data->escaping_enabled;
609 data->escaping_enabled = new_escaping_enabled;
640 data->drive_mode = new_drive_mode;
653 return data->auto_drive_mode;
675 data->auto_drive_mode = new_auto_drive_mode;
686 return data->stop_at_target;
706 data->stop_at_target = new_stop_at_target;
737 data->orientation_mode = new_orientation_mode;
745 if ( strncmp(
"StopMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
747 }
else if ( strncmp(
"TurnMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
749 }
else if ( strncmp(
"CartesianGotoMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
751 }
else if ( strncmp(
"PolarGotoMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
753 }
else if ( strncmp(
"PlaceGotoMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
755 }
else if ( strncmp(
"PlaceWithOriGotoMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
757 }
else if ( strncmp(
"ObstacleMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
759 }
else if ( strncmp(
"ResetOdometryMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
761 }
else if ( strncmp(
"SetMaxVelocityMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
763 }
else if ( strncmp(
"SetMaxRotationMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
765 }
else if ( strncmp(
"SetEscapingMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
767 }
else if ( strncmp(
"SetSecurityDistanceMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
769 }
else if ( strncmp(
"SetDriveModeMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
771 }
else if ( strncmp(
"SetStopAtTargetMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
773 }
else if ( strncmp(
"SetOrientationModeMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
775 }
else if ( strncmp(
"ResetParametersMessage", type, __INTERFACE_MESSAGE_TYPE_SIZE) == 0 ) {
779 "message type for this interface type.", type);
795 memcpy(data, oi->data,
sizeof(NavigatorInterface_data_t));
801 if (strcmp(enumtype,
"DriveMode") == 0) {
802 return tostring_DriveMode((
DriveMode)val);
804 if (strcmp(enumtype,
"OrientationMode") == 0) {
824 data = (StopMessage_data_t *)
data_ptr;
827 enum_map_DriveMode[(int)
Forward] =
"Forward";
829 enum_map_DriveMode[(int)
Backward] =
"Backward";
830 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
849 data = (StopMessage_data_t *)
data_ptr;
880 data = (TurnMessage_data_t *)
data_ptr;
882 data->angle = ini_angle;
883 data->velocity = ini_velocity;
885 enum_map_DriveMode[(int)
Forward] =
"Forward";
887 enum_map_DriveMode[(int)
Backward] =
"Backward";
888 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
900 data = (TurnMessage_data_t *)
data_ptr;
903 enum_map_DriveMode[(int)
Forward] =
"Forward";
905 enum_map_DriveMode[(int)
Backward] =
"Backward";
906 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
927 data = (TurnMessage_data_t *)
data_ptr;
959 data->angle = new_angle;
970 return data->velocity;
991 data->velocity = new_velocity;
1018 data_size =
sizeof(CartesianGotoMessage_data_t);
1021 data = (CartesianGotoMessage_data_t *)
data_ptr;
1025 data->orientation = ini_orientation;
1027 enum_map_DriveMode[(int)
Forward] =
"Forward";
1029 enum_map_DriveMode[(int)
Backward] =
"Backward";
1030 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1031 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1040 data_size =
sizeof(CartesianGotoMessage_data_t);
1043 data = (CartesianGotoMessage_data_t *)
data_ptr;
1046 enum_map_DriveMode[(int)
Forward] =
"Forward";
1048 enum_map_DriveMode[(int)
Backward] =
"Backward";
1049 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1050 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1071 data = (CartesianGotoMessage_data_t *)
data_ptr;
1143 return data->orientation;
1163 data->orientation = new_orientation;
1190 data_size =
sizeof(PolarGotoMessage_data_t);
1193 data = (PolarGotoMessage_data_t *)
data_ptr;
1195 data->phi = ini_phi;
1196 data->dist = ini_dist;
1197 data->orientation = ini_orientation;
1199 enum_map_DriveMode[(int)
Forward] =
"Forward";
1201 enum_map_DriveMode[(int)
Backward] =
"Backward";
1202 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1203 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1212 data_size =
sizeof(PolarGotoMessage_data_t);
1215 data = (PolarGotoMessage_data_t *)
data_ptr;
1218 enum_map_DriveMode[(int)
Forward] =
"Forward";
1220 enum_map_DriveMode[(int)
Backward] =
"Backward";
1221 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1222 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1243 data = (PolarGotoMessage_data_t *)
data_ptr;
1275 data->phi = new_phi;
1305 data->dist = new_dist;
1315 return data->orientation;
1335 data->orientation = new_orientation;
1360 data_size =
sizeof(PlaceGotoMessage_data_t);
1363 data = (PlaceGotoMessage_data_t *)
data_ptr;
1365 strncpy(data->place, ini_place, 64);
1367 enum_map_DriveMode[(int)
Forward] =
"Forward";
1369 enum_map_DriveMode[(int)
Backward] =
"Backward";
1370 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1371 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1378 data_size =
sizeof(PlaceGotoMessage_data_t);
1381 data = (PlaceGotoMessage_data_t *)
data_ptr;
1384 enum_map_DriveMode[(int)
Forward] =
"Forward";
1386 enum_map_DriveMode[(int)
Backward] =
"Backward";
1387 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1388 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1407 data = (PlaceGotoMessage_data_t *)
data_ptr;
1439 strncpy(data->place, new_place,
sizeof(data->place));
1465 data_size =
sizeof(PlaceWithOriGotoMessage_data_t);
1468 data = (PlaceWithOriGotoMessage_data_t *)
data_ptr;
1470 strncpy(data->place, ini_place, 64);
1471 data->orientation = ini_orientation;
1473 enum_map_DriveMode[(int)
Forward] =
"Forward";
1475 enum_map_DriveMode[(int)
Backward] =
"Backward";
1476 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1477 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1485 data_size =
sizeof(PlaceWithOriGotoMessage_data_t);
1488 data = (PlaceWithOriGotoMessage_data_t *)
data_ptr;
1491 enum_map_DriveMode[(int)
Forward] =
"Forward";
1493 enum_map_DriveMode[(int)
Backward] =
"Backward";
1494 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1495 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1515 data = (PlaceWithOriGotoMessage_data_t *)
data_ptr;
1547 strncpy(data->place, new_place,
sizeof(data->place));
1557 return data->orientation;
1577 data->orientation = new_orientation;
1604 data_size =
sizeof(ObstacleMessage_data_t);
1607 data = (ObstacleMessage_data_t *)
data_ptr;
1611 data->width = ini_width;
1613 enum_map_DriveMode[(int)
Forward] =
"Forward";
1615 enum_map_DriveMode[(int)
Backward] =
"Backward";
1616 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1617 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1626 data_size =
sizeof(ObstacleMessage_data_t);
1629 data = (ObstacleMessage_data_t *)
data_ptr;
1632 enum_map_DriveMode[(int)
Forward] =
"Forward";
1634 enum_map_DriveMode[(int)
Backward] =
"Backward";
1635 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1636 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1657 data = (ObstacleMessage_data_t *)
data_ptr;
1749 data->width = new_width;
1772 data_size =
sizeof(ResetOdometryMessage_data_t);
1775 data = (ResetOdometryMessage_data_t *)
data_ptr;
1778 enum_map_DriveMode[(int)
Forward] =
"Forward";
1780 enum_map_DriveMode[(int)
Backward] =
"Backward";
1781 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1782 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1800 data = (ResetOdometryMessage_data_t *)
data_ptr;
1827 data_size =
sizeof(SetMaxVelocityMessage_data_t);
1830 data = (SetMaxVelocityMessage_data_t *)
data_ptr;
1832 data->max_velocity = ini_max_velocity;
1834 enum_map_DriveMode[(int)
Forward] =
"Forward";
1836 enum_map_DriveMode[(int)
Backward] =
"Backward";
1837 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1838 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1845 data_size =
sizeof(SetMaxVelocityMessage_data_t);
1848 data = (SetMaxVelocityMessage_data_t *)
data_ptr;
1851 enum_map_DriveMode[(int)
Forward] =
"Forward";
1853 enum_map_DriveMode[(int)
Backward] =
"Backward";
1854 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1855 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1874 data = (SetMaxVelocityMessage_data_t *)
data_ptr;
1886 return data->max_velocity;
1906 data->max_velocity = new_max_velocity;
1931 data_size =
sizeof(SetMaxRotationMessage_data_t);
1934 data = (SetMaxRotationMessage_data_t *)
data_ptr;
1936 data->max_rotation = ini_max_rotation;
1938 enum_map_DriveMode[(int)
Forward] =
"Forward";
1940 enum_map_DriveMode[(int)
Backward] =
"Backward";
1941 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1942 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1949 data_size =
sizeof(SetMaxRotationMessage_data_t);
1952 data = (SetMaxRotationMessage_data_t *)
data_ptr;
1955 enum_map_DriveMode[(int)
Forward] =
"Forward";
1957 enum_map_DriveMode[(int)
Backward] =
"Backward";
1958 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1959 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1978 data = (SetMaxRotationMessage_data_t *)
data_ptr;
1990 return data->max_rotation;
2010 data->max_rotation = new_max_rotation;
2035 data_size =
sizeof(SetEscapingMessage_data_t);
2038 data = (SetEscapingMessage_data_t *)
data_ptr;
2040 data->escaping_enabled = ini_escaping_enabled;
2042 enum_map_DriveMode[(int)
Forward] =
"Forward";
2044 enum_map_DriveMode[(int)
Backward] =
"Backward";
2045 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2046 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2053 data_size =
sizeof(SetEscapingMessage_data_t);
2056 data = (SetEscapingMessage_data_t *)
data_ptr;
2059 enum_map_DriveMode[(int)
Forward] =
"Forward";
2061 enum_map_DriveMode[(int)
Backward] =
"Backward";
2062 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2063 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2082 data = (SetEscapingMessage_data_t *)
data_ptr;
2095 return data->escaping_enabled;
2116 data->escaping_enabled = new_escaping_enabled;
2141 data_size =
sizeof(SetSecurityDistanceMessage_data_t);
2144 data = (SetSecurityDistanceMessage_data_t *)
data_ptr;
2146 data->security_distance = ini_security_distance;
2148 enum_map_DriveMode[(int)
Forward] =
"Forward";
2150 enum_map_DriveMode[(int)
Backward] =
"Backward";
2151 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2152 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2159 data_size =
sizeof(SetSecurityDistanceMessage_data_t);
2162 data = (SetSecurityDistanceMessage_data_t *)
data_ptr;
2165 enum_map_DriveMode[(int)
Forward] =
"Forward";
2167 enum_map_DriveMode[(int)
Backward] =
"Backward";
2168 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2169 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2188 data = (SetSecurityDistanceMessage_data_t *)
data_ptr;
2200 return data->security_distance;
2220 data->security_distance = new_security_distance;
2245 data_size =
sizeof(SetDriveModeMessage_data_t);
2248 data = (SetDriveModeMessage_data_t *)
data_ptr;
2250 data->drive_mode = ini_drive_mode;
2252 enum_map_DriveMode[(int)
Forward] =
"Forward";
2254 enum_map_DriveMode[(int)
Backward] =
"Backward";
2255 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2256 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2263 data_size =
sizeof(SetDriveModeMessage_data_t);
2266 data = (SetDriveModeMessage_data_t *)
data_ptr;
2269 enum_map_DriveMode[(int)
Forward] =
"Forward";
2271 enum_map_DriveMode[(int)
Backward] =
"Backward";
2272 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2273 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2292 data = (SetDriveModeMessage_data_t *)
data_ptr;
2324 data->drive_mode = new_drive_mode;
2349 data_size =
sizeof(SetStopAtTargetMessage_data_t);
2352 data = (SetStopAtTargetMessage_data_t *)
data_ptr;
2354 data->stop_at_target = ini_stop_at_target;
2356 enum_map_DriveMode[(int)
Forward] =
"Forward";
2358 enum_map_DriveMode[(int)
Backward] =
"Backward";
2359 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2360 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2367 data_size =
sizeof(SetStopAtTargetMessage_data_t);
2370 data = (SetStopAtTargetMessage_data_t *)
data_ptr;
2373 enum_map_DriveMode[(int)
Forward] =
"Forward";
2375 enum_map_DriveMode[(int)
Backward] =
"Backward";
2376 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2377 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2396 data = (SetStopAtTargetMessage_data_t *)
data_ptr;
2408 return data->stop_at_target;
2428 data->stop_at_target = new_stop_at_target;
2453 data_size =
sizeof(SetOrientationModeMessage_data_t);
2456 data = (SetOrientationModeMessage_data_t *)
data_ptr;
2458 data->orientation_mode = ini_orientation_mode;
2460 enum_map_DriveMode[(int)
Forward] =
"Forward";
2462 enum_map_DriveMode[(int)
Backward] =
"Backward";
2463 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2464 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2466 add_fieldinfo(
IFT_ENUM,
"orientation_mode", 1, &data->orientation_mode,
"OrientationMode", &enum_map_OrientationMode);
2471 data_size =
sizeof(SetOrientationModeMessage_data_t);
2474 data = (SetOrientationModeMessage_data_t *)
data_ptr;
2477 enum_map_DriveMode[(int)
Forward] =
"Forward";
2479 enum_map_DriveMode[(int)
Backward] =
"Backward";
2480 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2481 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2483 add_fieldinfo(
IFT_ENUM,
"orientation_mode", 1, &data->orientation_mode,
"OrientationMode", &enum_map_OrientationMode);
2500 data = (SetOrientationModeMessage_data_t *)
data_ptr;
2532 data->orientation_mode = new_orientation_mode;
2555 data_size =
sizeof(ResetParametersMessage_data_t);
2558 data = (ResetParametersMessage_data_t *)
data_ptr;
2561 enum_map_DriveMode[(int)
Forward] =
"Forward";
2563 enum_map_DriveMode[(int)
Backward] =
"Backward";
2564 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2565 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2583 data = (ResetParametersMessage_data_t *)
data_ptr;
2646 if ( m10 != NULL ) {
2650 if ( m11 != NULL ) {
2654 if ( m12 != NULL ) {
2658 if ( m13 != NULL ) {
2662 if ( m14 != NULL ) {
2666 if ( m15 != NULL ) {
bool is_auto_drive_mode() const
Get auto_drive_mode value.
size_t maxlenof_max_rotation() const
Get maximum length of max_rotation value.
~CartesianGotoMessage()
Destructor.
~ResetOdometryMessage()
Destructor.
~SetMaxRotationMessage()
Destructor.
size_t maxlenof_phi() const
Get maximum length of phi value.
float max_velocity() const
Get max_velocity value.
~StopMessage()
Destructor.
size_t maxlenof_drive_mode() const
Get maximum length of drive_mode value.
size_t maxlenof_y() const
Get maximum length of y value.
void * data_ptr
Pointer to memory that contains local data.
void set_stop_at_target(const bool new_stop_at_target)
Set stop_at_target value.
static const uint32_t ERROR_PATH_GEN_FAIL
ERROR_PATH_GEN_FAIL constant.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
void set_dist(const float new_dist)
Set dist value.
void set_angle(const float new_angle)
Set angle value.
float y() const
Get y value.
void set_escaping_enabled(const bool new_escaping_enabled)
Set escaping_enabled value.
~SetStopAtTargetMessage()
Destructor.
char * place() const
Get place value.
size_t maxlenof_dist() const
Get maximum length of dist value.
virtual Message * clone() const
Clone this message.
float orientation() const
Get orientation value.
float velocity() const
Get velocity value.
virtual Message * clone() const
Clone this message.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
void set_hash(unsigned char *ihash)
Set hash.
size_t maxlenof_orientation_mode() const
Get maximum length of orientation_mode value.
SetMaxVelocityMessage()
Constructor.
size_t maxlenof_orientation() const
Get maximum length of orientation value.
~SetEscapingMessage()
Destructor.
void set_max_velocity(const float new_max_velocity)
Set max_velocity value.
Fawkes library namespace.
void set_place(const char *new_place)
Set place value.
virtual Message * clone() const
Clone this message.
ObstacleMessage Fawkes BlackBoard Interface Message.
void set_final(const bool new_final)
Set final value.
bool is_stop_at_target() const
Get stop_at_target value.
Timestamp data, must be present and first entries for each interface data structs! This leans on time...
size_t maxlenof_max_rotation() const
Get maximum length of max_rotation value.
virtual Message * clone() const
Clone this message.
float width() const
Get width value.
virtual Message * clone() const
Clone this message.
void set_orientation_mode(const OrientationMode new_orientation_mode)
Set orientation_mode value.
OrientationMode
Orientation mode enum.
static const uint32_t ERROR_MOTOR
ERROR_MOTOR constant.
SetEscapingMessage()
Constructor.
SetSecurityDistanceMessage Fawkes BlackBoard Interface Message.
~TurnMessage()
Destructor.
virtual Message * clone() const
Clone this message.
bool is_escaping_enabled() const
Get escaping_enabled value.
virtual Message * clone() const
Clone this message.
void set_place(const char *new_place)
Set place value.
static const uint32_t FLAG_CART_GOTO
FLAG_CART_GOTO constant.
float max_rotation() const
Get max_rotation value.
size_t maxlenof_orientation() const
Get maximum length of orientation value.
void set_escaping_enabled(const bool new_escaping_enabled)
Set escaping_enabled value.
virtual Message * create_message(const char *type) const
Create message based on type name.
~PlaceWithOriGotoMessage()
Destructor.
PolarGotoMessage Fawkes BlackBoard Interface Message.
SetOrientationModeMessage()
Constructor.
float max_velocity() const
Get max_velocity value.
size_t maxlenof_auto_drive_mode() const
Get maximum length of auto_drive_mode value.
static const uint32_t ERROR_UNKNOWN_PLACE
ERROR_UNKNOWN_PLACE constant.
uint32_t error_code() const
Get error_code value.
virtual Message * clone() const
Clone this message.
void set_orientation(const float new_orientation)
Set orientation value.
virtual Message * clone() const
Clone this message.
SetOrientationModeMessage Fawkes BlackBoard Interface Message.
Base class for all Fawkes BlackBoard interfaces.
size_t maxlenof_dest_dist() const
Get maximum length of dest_dist value.
bool is_stop_at_target() const
Get stop_at_target value.
SetSecurityDistanceMessage()
Constructor.
float dest_ori() const
Get dest_ori value.
SetMaxRotationMessage()
Constructor.
size_t maxlenof_max_velocity() const
Get maximum length of max_velocity value.
void set_phi(const float new_phi)
Set phi value.
const char * tostring_DriveMode(DriveMode value) const
Convert DriveMode constant to string.
float orientation() const
Get orientation value.
size_t maxlenof_velocity() const
Get maximum length of velocity value.
static const uint32_t FLAG_POLAR_GOTO
FLAG_POLAR_GOTO constant.
size_t maxlenof_x() const
Get maximum length of x value.
void set_security_distance(const float new_security_distance)
Set security_distance value.
message_data_ts_t * data_ts
data timestamp aliasing pointer
float dist() const
Get dist value.
unsigned int data_size
Size of memory needed to hold all data.
SetStopAtTargetMessage Fawkes BlackBoard Interface Message.
SetEscapingMessage Fawkes BlackBoard Interface Message.
OrientationMode orientation_mode() const
Get orientation_mode value.
virtual Message * clone() const
Clone this message.
Orient when at target, if orientation is given.
size_t maxlenof_stop_at_target() const
Get maximum length of stop_at_target value.
size_t maxlenof_orientation_mode() const
Get maximum length of orientation_mode value.
void add_messageinfo(const char *name)
Add an entry to the message info list.
void set_orientation(const float new_orientation)
Set orientation value.
float dest_y() const
Get dest_y value.
size_t maxlenof_security_distance() const
Get maximum length of security_distance value.
SetDriveModeMessage Fawkes BlackBoard Interface Message.
bool data_changed
Indicator if data has changed.
DriveMode drive_mode() const
Get drive_mode value.
PlaceGotoMessage Fawkes BlackBoard Interface Message.
size_t maxlenof_final() const
Get maximum length of final value.
virtual Message * clone() const
Clone this message.
float x() const
Get x value.
const char * type() const
Get type of interface.
ObstacleMessage()
Constructor.
virtual Message * clone() const
Clone this message.
size_t maxlenof_stop_at_target() const
Get maximum length of stop_at_target value.
bool is_final() const
Get final value.
SetMaxRotationMessage Fawkes BlackBoard Interface Message.
CartesianGotoMessage Fawkes BlackBoard Interface Message.
Moving backward constant.
void set_flags(const uint32_t new_flags)
Set flags value.
size_t maxlenof_dest_ori() const
Get maximum length of dest_ori value.
size_t maxlenof_msgid() const
Get maximum length of msgid value.
DriveMode drive_mode() const
Get drive_mode value.
char * place() const
Get place value.
void set_auto_drive_mode(const bool new_auto_drive_mode)
Set auto_drive_mode value.
uint32_t flags() const
Get flags value.
float orientation() const
Get orientation value.
size_t maxlenof_error_code() const
Get maximum length of error_code value.
CartesianGotoMessage()
Constructor.
~PolarGotoMessage()
Destructor.
size_t maxlenof_x() const
Get maximum length of x value.
Moving allow backward constant.
size_t maxlenof_escaping_enabled() const
Get maximum length of escaping_enabled value.
size_t maxlenof_dest_y() const
Get maximum length of dest_y value.
float angle() const
Get angle value.
size_t maxlenof_orientation() const
Get maximum length of orientation value.
void set_y(const float new_y)
Set y value.
~SetSecurityDistanceMessage()
Destructor.
void set_drive_mode(const DriveMode new_drive_mode)
Set drive_mode value.
void set_max_velocity(const float new_max_velocity)
Set max_velocity value.
void set_y(const float new_y)
Set y value.
size_t maxlenof_dest_x() const
Get maximum length of dest_x value.
void set_width(const float new_width)
Set width value.
float security_distance() const
Get security_distance value.
virtual void copy_values(const Interface *other)
Copy values from other interface.
PolarGotoMessage()
Constructor.
size_t maxlenof_x() const
Get maximum length of x value.
PlaceWithOriGotoMessage()
Constructor.
void set_error_code(const uint32_t new_error_code)
Set error_code value.
~ObstacleMessage()
Destructor.
ResetParametersMessage()
Constructor.
Moving not allowed constant.
virtual Message * clone() const
Clone this message.
PlaceGotoMessage()
Constructor.
float security_distance() const
Get security_distance value.
static const uint32_t FLAG_ESCAPING
FLAG_ESCAPING constant.
static const uint32_t ERROR_OBSTRUCTION
ERROR_OBSTRUCTION constant.
float y() const
Get y value.
virtual Message * clone() const
Clone this message.
void set_dest_ori(const float new_dest_ori)
Set dest_ori value.
void set_y(const float new_y)
Set y value.
void set_stop_at_target(const bool new_stop_at_target)
Set stop_at_target value.
size_t maxlenof_max_velocity() const
Get maximum length of max_velocity value.
~ResetParametersMessage()
Destructor.
TurnMessage Fawkes BlackBoard Interface Message.
void set_velocity(const float new_velocity)
Set velocity value.
float x() const
Get x value.
~SetOrientationModeMessage()
Destructor.
static const uint32_t FLAG_SECURITY_DISTANCE
FLAG_SECURITY_DISTANCE constant.
void set_security_distance(const float new_security_distance)
Set security_distance value.
void set_dest_dist(const float new_dest_dist)
Set dest_dist value.
void set_orientation(const float new_orientation)
Set orientation value.
void set_max_rotation(const float new_max_rotation)
Set max_rotation value.
void set_max_rotation(const float new_max_rotation)
Set max_rotation value.
void set_dest_x(const float new_dest_x)
Set dest_x value.
SetDriveModeMessage()
Constructor.
float phi() const
Get phi value.
size_t maxlenof_y() const
Get maximum length of y value.
const char * tostring_OrientationMode(OrientationMode value) const
Convert OrientationMode constant to string.
Indicating that the robot is at target and has to orient.
virtual Message * clone() const
Clone this message.
float dest_x() const
Get dest_x value.
size_t maxlenof_escaping_enabled() const
Get maximum length of escaping_enabled value.
void set_x(const float new_x)
Set x value.
PlaceWithOriGotoMessage Fawkes BlackBoard Interface Message.
OrientationMode orientation_mode() const
Get orientation_mode value.
void set_orientation_mode(const OrientationMode new_orientation_mode)
Set orientation_mode value.
static const uint32_t ERROR_NONE
ERROR_NONE constant.
float x() const
Get x value.
ResetOdometryMessage()
Constructor.
~PlaceGotoMessage()
Destructor.
virtual Message * clone() const
Clone this message.
~SetDriveModeMessage()
Destructor.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
size_t maxlenof_place() const
Get maximum length of place value.
float dest_dist() const
Get dest_dist value.
ResetParametersMessage Fawkes BlackBoard Interface Message.
static const uint32_t FLAG_UPDATES_DEST_DIST
FLAG_UPDATES_DEST_DIST constant.
bool is_escaping_enabled() const
Get escaping_enabled value.
Orient during travel BUT NOT at target, if omnidirectional platform and orientation is given...
float y() const
Get y 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_x(const float new_x)
Set x value.
void set_dest_y(const float new_dest_y)
Set dest_y value.
~SetMaxVelocityMessage()
Destructor.
DriveMode
Drive modes enum.
static const uint32_t FLAG_NONE
FLAG_NONE constant.
size_t maxlenof_y() const
Get maximum length of y value.
void set_msgid(const uint32_t new_msgid)
Set msgid value.
TurnMessage()
Constructor.
size_t maxlenof_security_distance() const
Get maximum length of security_distance value.
uint32_t msgid() const
Get msgid value.
const char * type() const
Get message type.
size_t maxlenof_width() const
Get maximum length of width value.
void set_x(const float new_x)
Set x value.
size_t maxlenof_flags() const
Get maximum length of flags value.
32 bit unsigned integer field
field with interface specific enum type
void set_drive_mode(const DriveMode new_drive_mode)
Set drive_mode value.
size_t maxlenof_drive_mode() const
Get maximum length of drive_mode value.
SetMaxVelocityMessage Fawkes BlackBoard Interface Message.
ResetOdometryMessage Fawkes BlackBoard Interface Message.
static const uint32_t FLAG_PLACE_GOTO
FLAG_PLACE_GOTO constant.
SetStopAtTargetMessage()
Constructor.
size_t maxlenof_place() const
Get maximum length of place value.
StopMessage Fawkes BlackBoard Interface Message.
NavigatorInterface Fawkes BlackBoard Interface.
float max_rotation() const
Get max_rotation value.
size_t maxlenof_angle() const
Get maximum length of angle value.
StopMessage()
Constructor.