23 #ifndef _PLUGINS_REFBOXCOMM_COMM_THREAD_H_
24 #define _PLUGINS_REFBOXCOMM_COMM_THREAD_H_
26 #include "processor/state_handler.h"
28 #include <aspect/blackboard.h>
29 #include <aspect/blocked_timing.h>
30 #include <aspect/configurable.h>
31 #include <aspect/logging.h>
32 #include <core/threading/thread.h>
35 class GameStateInterface;
36 class SwitchInterface;
38 class SoccerPenaltyInterface;
60 virtual void set_score(
unsigned int score_cyan,
unsigned int score_magenta);
64 virtual void add_penalty(
unsigned int penalty,
unsigned int seconds_remaining);
84 bool gamestate_modified_;
88 unsigned int last_score_cyan_;
89 unsigned int last_score_magenta_;
92 unsigned int team_number_;
93 unsigned int player_number_;
95 bool cfg_beep_on_change_;
96 float cfg_beep_frequency_;
97 float cfg_beep_duration_;
Referee Box Communication Thread for robotic soccer.
virtual void add_penalty(unsigned int penalty, unsigned int seconds_remaining)
Add penalty.
virtual void set_score(unsigned int score_cyan, unsigned int score_magenta)
Set score.
virtual void handle_refbox_state()
Process the information set up to now.
virtual void set_gamestate(int game_state, fawkes::worldinfo_gamestate_team_t state_team)
Set current game state.
virtual void set_team_goal(fawkes::worldinfo_gamestate_team_t our_team, fawkes::worldinfo_gamestate_goalcolor_t goal_color)
Set team and goal info.
virtual void run()
Stub to see name in backtrace for easier debugging.
RefBoxCommThread()
Constructor.
virtual void set_half(fawkes::worldinfo_gamestate_half_t half, bool kickoff)
Set current half of the game time.
virtual void loop()
Code to execute in the thread.
virtual void init()
Initialize the thread.
virtual void finalize()
Finalize the thread.
Referee Box Communication Processor.
Referee Box state handler for RefBoxProcessor.
Thread aspect to access to BlackBoard.
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
GameStateInterface Fawkes BlackBoard Interface.
Thread aspect to log output.
SoccerPenaltyInterface Fawkes BlackBoard Interface.
SwitchInterface Fawkes BlackBoard Interface.
Thread class encapsulation of pthreads.
Fawkes library namespace.
worldinfo_gamestate_goalcolor_t
Goal color.
worldinfo_gamestate_half_t
Game time half.
worldinfo_gamestate_team_t
Team.