Fawkes API Fawkes Development Version
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SoccerPenaltyInterface Fawkes BlackBoard Interface. More...
#include <>>
Classes | |
class | SetPenaltyMessage |
SetPenaltyMessage Fawkes BlackBoard Interface Message. More... | |
Public Member Functions | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. More... | |
uint16_t | penalty () const |
Get penalty value. More... | |
void | set_penalty (const uint16_t new_penalty) |
Set penalty value. More... | |
size_t | maxlenof_penalty () const |
Get maximum length of penalty value. More... | |
uint16_t | remaining () const |
Get remaining value. More... | |
void | set_remaining (const uint16_t new_remaining) |
Set remaining value. More... | |
size_t | maxlenof_remaining () const |
Get maximum length of remaining 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... | |
Uuid | 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... | |
virtual Message * | create_message (const char *type) const =0 |
Create message based on type name. More... | |
virtual void | copy_values (const Interface *interface)=0 |
Copy values from another interface. More... | |
virtual const char * | enum_tostring (const char *enumtype, int val) const =0 |
Convert arbitrary enum value to string. 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 |
bool | refreshed () const |
Check if data has been refreshed. 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_refreshed () |
Mark data as refreshed. 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, bool proxy=false) |
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) noexcept |
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... | |
Static Public Attributes | |
static const uint16_t | SPL_PENALTY_NONE = 0 |
SPL_PENALTY_NONE constant. More... | |
static const uint16_t | SPL_PENALTY_BALL_HOLDING = 1 |
SPL_PENALTY_BALL_HOLDING constant. More... | |
static const uint16_t | SPL_PENALTY_PLAYER_PUSHING = 2 |
SPL_PENALTY_PLAYER_PUSHING constant. More... | |
static const uint16_t | SPL_PENALTY_OBSTRUCTION = 3 |
SPL_PENALTY_OBSTRUCTION constant. More... | |
static const uint16_t | SPL_PENALTY_INACTIVE_PLAYER = 4 |
SPL_PENALTY_INACTIVE_PLAYER constant. More... | |
static const uint16_t | SPL_PENALTY_ILLEGAL_DEFENDER = 5 |
SPL_PENALTY_ILLEGAL_DEFENDER constant. More... | |
static const uint16_t | SPL_PENALTY_LEAVING_THE_FIELD = 6 |
SPL_PENALTY_LEAVING_THE_FIELD constant. More... | |
static const uint16_t | SPL_PENALTY_PLAYING_WITH_HANDS = 7 |
SPL_PENALTY_PLAYING_WITH_HANDS constant. More... | |
static const uint16_t | SPL_PENALTY_REQ_FOR_PICKUP = 8 |
SPL_PENALTY_REQ_FOR_PICKUP constant. More... | |
static const uint16_t | SPL_PENALTY_MANUAL = 15 |
SPL_PENALTY_MANUAL constant. 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... | |
virtual bool | message_valid (const Message *message) const =0 |
Check if the message is valid and can be enqueued. 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... | |
template<class FieldT , class DataT > | |
void | set_field (FieldT &field, DataT &data) |
Set a field, set data_changed to true and update data_changed accordingly. More... | |
template<class FieldT , class DataT > | |
void | set_field (FieldT &field, unsigned int index, DataT &data) |
Set an array field at a given index, set data_changed to true and update data_changed accordingly. 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_refreshed |
Indicator if data can be considered "current", i.e. More... | |
bool | data_changed |
Indicator if the current data is different from the last call to write() This must is automatically updated by set_field. More... | |
interface_data_ts_t * | data_ts |
Pointer to data casted to timestamp struct. More... | |
SoccerPenaltyInterface Fawkes BlackBoard Interface.
This interface stores penalization information for soccer robots. Currently it contains constants used in the RoboCup Standard Platform League (SPL).
Definition at line 33 of file SoccerPenaltyInterface.h.
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 165 of file SoccerPenaltyInterface.cpp.
References 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 150 of file SoccerPenaltyInterface.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 176 of file SoccerPenaltyInterface.cpp.
size_t fawkes::SoccerPenaltyInterface::maxlenof_penalty | ( | ) | const |
Get maximum length of penalty value.
Definition at line 103 of file SoccerPenaltyInterface.cpp.
size_t fawkes::SoccerPenaltyInterface::maxlenof_remaining | ( | ) | const |
Get maximum length of remaining value.
Definition at line 133 of file SoccerPenaltyInterface.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 277 of file SoccerPenaltyInterface.cpp.
uint16_t fawkes::SoccerPenaltyInterface::penalty | ( | ) | const |
Get penalty value.
Current penalty code.
Definition at line 93 of file SoccerPenaltyInterface.cpp.
uint16_t fawkes::SoccerPenaltyInterface::remaining | ( | ) | const |
Get remaining value.
Estimated time in seconds until the robot is unpenalized.
Definition at line 123 of file SoccerPenaltyInterface.cpp.
void fawkes::SoccerPenaltyInterface::set_penalty | ( | const uint16_t | new_penalty | ) |
Set penalty value.
Current penalty code.
new_penalty | new penalty value |
Definition at line 113 of file SoccerPenaltyInterface.cpp.
void fawkes::SoccerPenaltyInterface::set_remaining | ( | const uint16_t | new_remaining | ) |
Set remaining value.
Estimated time in seconds until the robot is unpenalized.
new_remaining | new remaining value |
Definition at line 143 of file SoccerPenaltyInterface.cpp.
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SPL_PENALTY_BALL_HOLDING constant.
Definition at line 41 of file SoccerPenaltyInterface.h.
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SPL_PENALTY_ILLEGAL_DEFENDER constant.
Definition at line 45 of file SoccerPenaltyInterface.h.
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SPL_PENALTY_INACTIVE_PLAYER constant.
Definition at line 44 of file SoccerPenaltyInterface.h.
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SPL_PENALTY_LEAVING_THE_FIELD constant.
Definition at line 46 of file SoccerPenaltyInterface.h.
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SPL_PENALTY_MANUAL constant.
Definition at line 49 of file SoccerPenaltyInterface.h.
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SPL_PENALTY_NONE constant.
Definition at line 40 of file SoccerPenaltyInterface.h.
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SPL_PENALTY_OBSTRUCTION constant.
Definition at line 43 of file SoccerPenaltyInterface.h.
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SPL_PENALTY_PLAYER_PUSHING constant.
Definition at line 42 of file SoccerPenaltyInterface.h.
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SPL_PENALTY_PLAYING_WITH_HANDS constant.
Definition at line 47 of file SoccerPenaltyInterface.h.
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SPL_PENALTY_REQ_FOR_PICKUP constant.
Definition at line 48 of file SoccerPenaltyInterface.h.