Fawkes API  Fawkes Development Version
WorldModelNetworkThread Class Reference

Network thread of worldmodel plugin. More...

#include "net_thread.h"

Inheritance diagram for WorldModelNetworkThread:

List of all members.

Public Member Functions

 WorldModelNetworkThread ()
 Constructor.
virtual ~WorldModelNetworkThread ()
 Destructor.
virtual void init ()
 Initialize the thread.
virtual void loop ()
 Code to execute in the thread.
virtual void finalize ()
 Finalize the thread.
fawkes::WorldInfoTransceiverget_transceiver ()
 Access the WI transceiver.
virtual void pose_rcvd (const char *from_host, float x, float y, float theta, float *covariance)
 Pose information received.
virtual void velocity_rcvd (const char *from_host, float vel_x, float vel_y, float vel_theta, float *covariance)
 Robot velocity information received.
virtual void ball_pos_rcvd (const char *from_host, bool visible, int visibility_history, float dist, float bearing, float slope, float *covariance)
 Ball position information received.
virtual void global_ball_pos_rcvd (const char *from_host, bool visible, int visibility_history, float x, float y, float z, float *covariance)
 Global ball position information received.
virtual void ball_velocity_rcvd (const char *from_host, float vel_x, float vel_y, float vel_z, float *covariance)
 Ball velocity information received.
virtual void global_ball_velocity_rcvd (const char *from_host, float vel_x, float vel_y, float vel_z, float *covariance)
 Ball velocity information received.
virtual void opponent_pose_rcvd (const char *from_host, unsigned int uid, float distance, float bearing, float *covariance)
 Opponent information received.
virtual void opponent_disapp_rcvd (const char *from_host, unsigned int uid)
 Opponent disappeared.
virtual void gamestate_rcvd (const char *from_host, unsigned int game_state, fawkes::worldinfo_gamestate_team_t state_team, unsigned int score_cyan, unsigned int score_magenta, fawkes::worldinfo_gamestate_team_t our_team, fawkes::worldinfo_gamestate_goalcolor_t our_goal_color, fawkes::worldinfo_gamestate_half_t half)
 Gamestate information received.
virtual void penalty_rcvd (const char *from_host, unsigned int player, unsigned int penalty, unsigned int seconds_remaining)
 Penalty info received.

Detailed Description

Network thread of worldmodel plugin.

Author:
Tim Niemueller

Constructor & Destructor Documentation

WorldModelNetworkThread::WorldModelNetworkThread ( )

Constructor.

Definition at line 45 of file net_thread.cpp.

References fawkes::Thread::set_prepfin_conc_loop().

WorldModelNetworkThread::~WorldModelNetworkThread ( ) [virtual]

Destructor.

Definition at line 55 of file net_thread.cpp.


Member Function Documentation

void WorldModelNetworkThread::ball_pos_rcvd ( const char *  from_host,
bool  visible,
int  visibility_history,
float  dist,
float  bearing,
float  slope,
float *  covariance 
) [virtual]

Ball position information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
visibletrue if ball is visible, false otherwise. If the ball is not visible the given position is the last known position and may be invalid. Use visibility history to decide whether you expect useful data.
visibility_historyBall visibility history.
distdistance to ball in meters
bearingbearing angle to ball
slopeslope angle to ball
covariancecovariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats).
See also:
WorldInfoTransceiver::set_ball_pos()
WorldInfoTransceiver::set_ball_visible()

Implements fawkes::WorldInfoHandler.

Definition at line 258 of file net_thread.cpp.

References fawkes::LockMap::lock(), fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::open_for_writing(), fawkes::LoggingAspect::logger, fawkes::Logger::log_warn(), fawkes::ObjectPositionInterface::set_flags(), fawkes::ObjectPositionInterface::flags(), fawkes::ObjectPositionInterface::set_visible(), fawkes::ObjectPositionInterface::set_visibility_history(), fawkes::ObjectPositionInterface::set_distance(), fawkes::ObjectPositionInterface::set_bearing(), fawkes::ObjectPositionInterface::set_slope(), fawkes::ObjectPositionInterface::set_dbs_covariance(), fawkes::Interface::write(), and fawkes::LockMap::unlock().

void WorldModelNetworkThread::ball_velocity_rcvd ( const char *  from_host,
float  vel_x,
float  vel_y,
float  vel_z,
float *  covariance 
) [virtual]

Ball velocity information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
vel_xvelocity in x direction
vel_yvelocity in y direction
vel_zvelocity in z direction
covariancecovariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats).
See also:
WorldInfoTransceiver::set_ball_velocity()

Implements fawkes::WorldInfoHandler.

Definition at line 329 of file net_thread.cpp.

void WorldModelNetworkThread::finalize ( ) [virtual]

Finalize the thread.

This method is executed just before the thread is canceled and destroyed. It is always preceeded by a call to prepare_finalize(). If this is not the case this is a failure. The condition can be checked with the boolean variable finalize_prepared.

This method is meant to be used in conjunction with aspects and to cover thread inter-dependencies. This routine MUST bring the thread into a safe state such that it may be canceled and destroyed afterwards. If there is any reason that this cannot happen make your prepare_finalize() reports so.

This method is called by the thread manager just before the thread is being cancelled. Here you can do whatever steps are necessary just before the thread is cancelled. Note that you thread is still running and might be in the middle of a loop, so it is not a good place to give up on all resources used. Mind segmentation faults that could happen. Protect the area with a mutex that you lock at the beginning of your loop and free in the end, and that you lock at the beginning of finalize and then never unlock. Also not that the finalization may be canceled afterwards. The next thing that happens is that either the thread is canceled and destroyed or that the finalization is canceled and the thread has to run again.

Finalize is called on a thread just before it is deleted. It is guaranteed to be called on a fully initialized thread (if no exception is thrown in init()) (this guarantee holds in the Fawkes framework).

The default implementation does nothing besides throwing an exception if prepare_finalize() has not been called.

Exceptions:
Exceptionthrown if prepare_finalize() has not been called.
See also:
prepare_finalize()
cancel_finalize()

Reimplemented from fawkes::Thread.

Definition at line 102 of file net_thread.cpp.

References fawkes::BlackBoardAspect::blackboard, and fawkes::BlackBoard::close().

void WorldModelNetworkThread::gamestate_rcvd ( const char *  from_host,
unsigned int  game_state,
fawkes::worldinfo_gamestate_team_t  state_team,
unsigned int  score_cyan,
unsigned int  score_magenta,
fawkes::worldinfo_gamestate_team_t  our_team,
fawkes::worldinfo_gamestate_goalcolor_t  our_goal_color,
fawkes::worldinfo_gamestate_half_t  half 
) [virtual]

Gamestate information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
game_statecurrent gamestate
state_teamteam related to the game state
score_cyancurrent score of team cyan
score_magentacurrent score of team magenta
our_teamour team color
our_goal_colorour goal color
halfcurrent half of the game, first or second
See also:
WorldInfoTransceiver::set_gamestate()

Implements fawkes::WorldInfoHandler.

Definition at line 409 of file net_thread.cpp.

References fawkes::LoggingAspect::logger, fawkes::Logger::log_debug(), fawkes::GS_FROZEN, fawkes::GameStateInterface::set_game_state(), fawkes::GS_PLAY, fawkes::GS_KICK_OFF, fawkes::GS_DROP_BALL, fawkes::GS_PENALTY, fawkes::GS_CORNER_KICK, fawkes::GS_THROW_IN, fawkes::GS_FREE_KICK, fawkes::GS_GOAL_KICK, fawkes::GS_HALF_TIME, fawkes::TEAM_NONE, fawkes::GameStateInterface::set_state_team(), fawkes::TEAM_CYAN, fawkes::TEAM_MAGENTA, fawkes::TEAM_BOTH, fawkes::GameStateInterface::set_our_team(), fawkes::GOAL_BLUE, fawkes::GameStateInterface::set_our_goal_color(), fawkes::GOAL_YELLOW, fawkes::HALF_FIRST, fawkes::GameStateInterface::set_half(), fawkes::HALF_SECOND, fawkes::GameStateInterface::set_score_cyan(), fawkes::GameStateInterface::set_score_magenta(), and fawkes::Interface::write().

WorldInfoTransceiver * WorldModelNetworkThread::get_transceiver ( )

Access the WI transceiver.

Returns:
pointer to the WI transceiver

Definition at line 210 of file net_thread.cpp.

Referenced by WorldModelThread::loop().

void WorldModelNetworkThread::global_ball_pos_rcvd ( const char *  from_host,
bool  visible,
int  visibility_history,
float  x,
float  y,
float  z,
float *  covariance 
) [virtual]

Global ball position information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
visibletrue if ball is visible, false otherwise. If the ball is not visible the given position is the last known position and may be invalid. Use visibility history to decide whether you expect useful data.
visibility_historyBall visibility history.
xglobal x-coordinates of the ball
yglobal y-coordinates of the ball
zglobal z-coordinates of the ball
covariancecovariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats).
See also:
WorldInfoTransceiver::set_ball_pos()
WorldInfoTransceiver::set_ball_visible()

Implements fawkes::WorldInfoHandler.

Definition at line 293 of file net_thread.cpp.

References fawkes::LockMap::lock(), fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::open_for_writing(), fawkes::LoggingAspect::logger, fawkes::Logger::log_warn(), fawkes::ObjectPositionInterface::set_flags(), fawkes::ObjectPositionInterface::flags(), fawkes::ObjectPositionInterface::set_visible(), fawkes::ObjectPositionInterface::set_visibility_history(), fawkes::ObjectPositionInterface::set_world_x(), fawkes::ObjectPositionInterface::set_world_y(), fawkes::ObjectPositionInterface::set_world_z(), fawkes::ObjectPositionInterface::set_world_xyz_covariance(), fawkes::Interface::write(), and fawkes::LockMap::unlock().

void WorldModelNetworkThread::global_ball_velocity_rcvd ( const char *  from_host,
float  vel_x,
float  vel_y,
float  vel_z,
float *  covariance 
) [virtual]

Ball velocity information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
vel_xvelocity in x direction
vel_yvelocity in y direction
vel_zvelocity in z direction
covariancecovariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats).
See also:
WorldInfoTransceiver::set_ball_velocity()

Implements fawkes::WorldInfoHandler.

Definition at line 338 of file net_thread.cpp.

void WorldModelNetworkThread::init ( ) [virtual]

Initialize the thread.

This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.

Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.

See also:
Fawkes Thread Aspects

Reimplemented from fawkes::Thread.

Definition at line 61 of file net_thread.cpp.

References fawkes::ConfigurableAspect::config, fawkes::Configuration::get_string(), fawkes::Configuration::get_uint(), fawkes::Configuration::get_bool(), fawkes::Exception::append(), fawkes::Exception::print_trace(), fawkes::NetworkAspect::nnresolver, fawkes::WorldInfoTransceiver::add_handler(), fawkes::WorldInfoTransceiver::set_loop(), fawkes::BlackBoardAspect::blackboard, and fawkes::BlackBoard::open_for_writing().

void WorldModelNetworkThread::loop ( ) [virtual]

Code to execute in the thread.

Implement this method to hold the code you want to be executed continously. If you do not implement this method, the default is that the thread will exit. This is useful if you choose to only implement once().

Reimplemented from fawkes::Thread.

Definition at line 135 of file net_thread.cpp.

References fawkes::WorldInfoTransceiver::flush_sequence_numbers(), fawkes::WorldInfoTransceiver::recv(), fawkes::LockMap::lock(), fawkes::LoggingAspect::logger, fawkes::Logger::log_info(), fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), and fawkes::LockMap::unlock().

void WorldModelNetworkThread::opponent_disapp_rcvd ( const char *  from_host,
unsigned int  uid 
) [virtual]

Opponent disappeared.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
uidunique ID of the opponent

Implements fawkes::WorldInfoHandler.

Definition at line 395 of file net_thread.cpp.

References fawkes::LockMap::lock(), fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), and fawkes::LockMap::unlock().

void WorldModelNetworkThread::opponent_pose_rcvd ( const char *  from_host,
unsigned int  uid,
float  distance,
float  bearing,
float *  covariance 
) [virtual]

Opponent information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
uidunique ID of the opponent
distanceto opponent
bearingbearing to opponent (angle is zero if opponent is in front of robot, positive if right of robot, negative if left of robot).
covariancecovariance matrix with 4 entries, ordered as two concatenated rows (first row, two floats, second row, two floats)
See also:
WorldInfoTransceiver::add_opponent()

Implements fawkes::WorldInfoHandler.

Definition at line 347 of file net_thread.cpp.

References fawkes::LockMap::lock(), fawkes::LoggingAspect::logger, fawkes::Logger::log_debug(), fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::open_for_writing(), fawkes::Logger::log_warn(), fawkes::Logger::log_error(), fawkes::ObjectPositionInterface::set_distance(), fawkes::ObjectPositionInterface::set_bearing(), fawkes::ObjectPositionInterface::set_dbs_covariance(), fawkes::Interface::write(), and fawkes::LockMap::unlock().

void WorldModelNetworkThread::penalty_rcvd ( const char *  from_host,
unsigned int  player,
unsigned int  penalty,
unsigned int  seconds_remaining 
) [virtual]

Penalty info received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
playerplayer number for penalty info
penaltypenalty code
seconds_remainingtime in seconds when penalty is expected to be lifted

Implements fawkes::WorldInfoHandler.

Definition at line 486 of file net_thread.cpp.

void WorldModelNetworkThread::pose_rcvd ( const char *  from_host,
float  x,
float  y,
float  theta,
float *  covariance 
) [virtual]

Pose information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
xx position
yy position
thetarotation of the robot
covariancecovariance matrix, line-wise float array

Implements fawkes::WorldInfoHandler.

Definition at line 217 of file net_thread.cpp.

References fawkes::LockMap::lock(), fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::open_for_writing(), fawkes::LoggingAspect::logger, fawkes::Logger::log_warn(), fawkes::LockMap::unlock(), fawkes::ObjectPositionInterface::set_world_x(), fawkes::ObjectPositionInterface::set_world_y(), fawkes::ObjectPositionInterface::set_world_z(), fawkes::ObjectPositionInterface::set_world_xyz_covariance(), and fawkes::Interface::write().

void WorldModelNetworkThread::velocity_rcvd ( const char *  from_host,
float  vel_x,
float  vel_y,
float  vel_theta,
float *  covariance 
) [virtual]

Robot velocity information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
vel_xvelocity in x direction
vel_yvelocity in y direction
vel_thetarotational velocity, positive velocity means clockwise rotation, negative velocity means counter-clockwise.
covariancecovariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats).
See also:
WorldInfoTransceiver::set_velocity()

Implements fawkes::WorldInfoHandler.

Definition at line 250 of file net_thread.cpp.


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