Fawkes API
Fawkes Development Version
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LaserLineInterface Fawkes BlackBoard Interface. More...
#include <>>
Public Member Functions | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. More... | |
char * | frame_id () const |
Get frame_id value. More... | |
void | set_frame_id (const char *new_frame_id) |
Set frame_id value. More... | |
size_t | maxlenof_frame_id () const |
Get maximum length of frame_id value. More... | |
int32_t | visibility_history () const |
Get visibility_history value. More... | |
void | set_visibility_history (const int32_t new_visibility_history) |
Set visibility_history value. More... | |
size_t | maxlenof_visibility_history () const |
Get maximum length of visibility_history value. More... | |
float * | point_on_line () const |
Get point_on_line value. More... | |
float | point_on_line (unsigned int index) const |
Get point_on_line value at given index. More... | |
void | set_point_on_line (unsigned int index, const float new_point_on_line) |
Set point_on_line value at given index. More... | |
void | set_point_on_line (const float *new_point_on_line) |
Set point_on_line value. More... | |
size_t | maxlenof_point_on_line () const |
Get maximum length of point_on_line value. More... | |
float * | line_direction () const |
Get line_direction value. More... | |
float | line_direction (unsigned int index) const |
Get line_direction value at given index. More... | |
void | set_line_direction (unsigned int index, const float new_line_direction) |
Set line_direction value at given index. More... | |
void | set_line_direction (const float *new_line_direction) |
Set line_direction value. More... | |
size_t | maxlenof_line_direction () const |
Get maximum length of line_direction value. More... | |
float | bearing () const |
Get bearing value. More... | |
void | set_bearing (const float new_bearing) |
Set bearing value. More... | |
size_t | maxlenof_bearing () const |
Get maximum length of bearing value. More... | |
float * | end_point_1 () const |
Get end_point_1 value. More... | |
float | end_point_1 (unsigned int index) const |
Get end_point_1 value at given index. More... | |
void | set_end_point_1 (unsigned int index, const float new_end_point_1) |
Set end_point_1 value at given index. More... | |
void | set_end_point_1 (const float *new_end_point_1) |
Set end_point_1 value. More... | |
size_t | maxlenof_end_point_1 () const |
Get maximum length of end_point_1 value. More... | |
float * | end_point_2 () const |
Get end_point_2 value. More... | |
float | end_point_2 (unsigned int index) const |
Get end_point_2 value at given index. More... | |
void | set_end_point_2 (unsigned int index, const float new_end_point_2) |
Set end_point_2 value at given index. More... | |
void | set_end_point_2 (const float *new_end_point_2) |
Set end_point_2 value. More... | |
size_t | maxlenof_end_point_2 () const |
Get maximum length of end_point_2 value. More... | |
float | length () const |
Get length value. More... | |
void | set_length (const float new_length) |
Set length value. More... | |
size_t | maxlenof_length () const |
Get maximum length of length value. More... | |
char * | end_point_frame_1 () const |
Get end_point_frame_1 value. More... | |
void | set_end_point_frame_1 (const char *new_end_point_frame_1) |
Set end_point_frame_1 value. More... | |
size_t | maxlenof_end_point_frame_1 () const |
Get maximum length of end_point_frame_1 value. More... | |
char * | end_point_frame_2 () const |
Get end_point_frame_2 value. More... | |
void | set_end_point_frame_2 (const char *new_end_point_frame_2) |
Set end_point_frame_2 value. More... | |
size_t | maxlenof_end_point_frame_2 () const |
Get maximum length of end_point_frame_2 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... | |
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... | |
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... | |
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... | |
LaserLineInterface Fawkes BlackBoard Interface.
Line parameterization.
Definition at line 33 of file LaserLineInterface.h.
float fawkes::LaserLineInterface::bearing | ( | ) | const |
Get bearing value.
Direction towards the line, i.e. if the robot turns by this angle the robot will stand parallel to the line.
Definition at line 281 of file LaserLineInterface.cpp.
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 554 of file LaserLineInterface.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 543 of file LaserLineInterface.cpp.
float * fawkes::LaserLineInterface::end_point_1 | ( | ) | const |
Get end_point_1 value.
3D coordinates in the reference frame of one endpoint of the line. The end points are ordered arbitrarily.
Definition at line 317 of file LaserLineInterface.cpp.
float fawkes::LaserLineInterface::end_point_1 | ( | unsigned int | index | ) | const |
Get end_point_1 value at given index.
3D coordinates in the reference frame of one endpoint of the line. The end points are ordered arbitrarily.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 332 of file LaserLineInterface.cpp.
float * fawkes::LaserLineInterface::end_point_2 | ( | ) | const |
Get end_point_2 value.
3D coordinates in the reference frame of the second endpoint of the line.
Definition at line 384 of file LaserLineInterface.cpp.
float fawkes::LaserLineInterface::end_point_2 | ( | unsigned int | index | ) | const |
Get end_point_2 value at given index.
3D coordinates in the reference frame of the second endpoint of the line.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 399 of file LaserLineInterface.cpp.
char * fawkes::LaserLineInterface::end_point_frame_1 | ( | ) | const |
Get end_point_frame_1 value.
Coordinate frame ID representing first endpoint's identity
Definition at line 480 of file LaserLineInterface.cpp.
char * fawkes::LaserLineInterface::end_point_frame_2 | ( | ) | const |
Get end_point_frame_2 value.
Coordinate frame ID representing second endpoint's identity
Definition at line 514 of file LaserLineInterface.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 565 of file LaserLineInterface.cpp.
char * fawkes::LaserLineInterface::frame_id | ( | ) | const |
Get frame_id value.
Coordinate frame ID of data.
Definition at line 78 of file LaserLineInterface.cpp.
float fawkes::LaserLineInterface::length | ( | ) | const |
Get length value.
Length of the line.
Definition at line 448 of file LaserLineInterface.cpp.
float * fawkes::LaserLineInterface::line_direction | ( | ) | const |
Get line_direction value.
Vector in the direction of the line.
Definition at line 217 of file LaserLineInterface.cpp.
float fawkes::LaserLineInterface::line_direction | ( | unsigned int | index | ) | const |
Get line_direction value at given index.
Vector in the direction of the line.
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 231 of file LaserLineInterface.cpp.
size_t fawkes::LaserLineInterface::maxlenof_bearing | ( | ) | const |
Get maximum length of bearing value.
Definition at line 291 of file LaserLineInterface.cpp.
size_t fawkes::LaserLineInterface::maxlenof_end_point_1 | ( | ) | const |
Get maximum length of end_point_1 value.
Definition at line 345 of file LaserLineInterface.cpp.
size_t fawkes::LaserLineInterface::maxlenof_end_point_2 | ( | ) | const |
Get maximum length of end_point_2 value.
Definition at line 412 of file LaserLineInterface.cpp.
size_t fawkes::LaserLineInterface::maxlenof_end_point_frame_1 | ( | ) | const |
Get maximum length of end_point_frame_1 value.
Definition at line 490 of file LaserLineInterface.cpp.
size_t fawkes::LaserLineInterface::maxlenof_end_point_frame_2 | ( | ) | const |
Get maximum length of end_point_frame_2 value.
Definition at line 524 of file LaserLineInterface.cpp.
size_t fawkes::LaserLineInterface::maxlenof_frame_id | ( | ) | const |
Get maximum length of frame_id value.
Definition at line 88 of file LaserLineInterface.cpp.
size_t fawkes::LaserLineInterface::maxlenof_length | ( | ) | const |
Get maximum length of length value.
Definition at line 458 of file LaserLineInterface.cpp.
size_t fawkes::LaserLineInterface::maxlenof_line_direction | ( | ) | const |
Get maximum length of line_direction value.
Definition at line 244 of file LaserLineInterface.cpp.
size_t fawkes::LaserLineInterface::maxlenof_point_on_line | ( | ) | const |
Get maximum length of point_on_line value.
Definition at line 181 of file LaserLineInterface.cpp.
size_t fawkes::LaserLineInterface::maxlenof_visibility_history | ( | ) | const |
Get maximum length of visibility_history value.
Definition at line 126 of file LaserLineInterface.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 576 of file LaserLineInterface.cpp.
float * fawkes::LaserLineInterface::point_on_line | ( | ) | const |
Get point_on_line value.
Vector to some point on the line
Definition at line 154 of file LaserLineInterface.cpp.
float fawkes::LaserLineInterface::point_on_line | ( | unsigned int | index | ) | const |
Get point_on_line value at given index.
Vector to some point on the line
index | index of value |
Exception | thrown if index is out of bounds |
Definition at line 168 of file LaserLineInterface.cpp.
void fawkes::LaserLineInterface::set_bearing | ( | const float | new_bearing | ) |
Set bearing value.
Direction towards the line, i.e. if the robot turns by this angle the robot will stand parallel to the line.
new_bearing | new bearing value |
Definition at line 304 of file LaserLineInterface.cpp.
void fawkes::LaserLineInterface::set_end_point_1 | ( | const float * | new_end_point_1 | ) |
Set end_point_1 value.
3D coordinates in the reference frame of one endpoint of the line. The end points are ordered arbitrarily.
new_end_point_1 | new end_point_1 value |
Definition at line 358 of file LaserLineInterface.cpp.
void fawkes::LaserLineInterface::set_end_point_1 | ( | unsigned int | index, |
const float | new_end_point_1 | ||
) |
Set end_point_1 value at given index.
3D coordinates in the reference frame of one endpoint of the line. The end points are ordered arbitrarily.
new_end_point_1 | new end_point_1 value |
index | index for of the value |
Definition at line 372 of file LaserLineInterface.cpp.
void fawkes::LaserLineInterface::set_end_point_2 | ( | const float * | new_end_point_2 | ) |
Set end_point_2 value.
3D coordinates in the reference frame of the second endpoint of the line.
new_end_point_2 | new end_point_2 value |
Definition at line 425 of file LaserLineInterface.cpp.
void fawkes::LaserLineInterface::set_end_point_2 | ( | unsigned int | index, |
const float | new_end_point_2 | ||
) |
Set end_point_2 value at given index.
3D coordinates in the reference frame of the second endpoint of the line.
new_end_point_2 | new end_point_2 value |
index | index for of the value |
Definition at line 439 of file LaserLineInterface.cpp.
void fawkes::LaserLineInterface::set_end_point_frame_1 | ( | const char * | new_end_point_frame_1 | ) |
Set end_point_frame_1 value.
Coordinate frame ID representing first endpoint's identity
new_end_point_frame_1 | new end_point_frame_1 value |
Definition at line 502 of file LaserLineInterface.cpp.
void fawkes::LaserLineInterface::set_end_point_frame_2 | ( | const char * | new_end_point_frame_2 | ) |
Set end_point_frame_2 value.
Coordinate frame ID representing second endpoint's identity
new_end_point_frame_2 | new end_point_frame_2 value |
Definition at line 536 of file LaserLineInterface.cpp.
void fawkes::LaserLineInterface::set_frame_id | ( | const char * | new_frame_id | ) |
Set frame_id value.
Coordinate frame ID of data.
new_frame_id | new frame_id value |
Definition at line 100 of file LaserLineInterface.cpp.
void fawkes::LaserLineInterface::set_length | ( | const float | new_length | ) |
Set length value.
Length of the line.
new_length | new length value |
Definition at line 468 of file LaserLineInterface.cpp.
void fawkes::LaserLineInterface::set_line_direction | ( | const float * | new_line_direction | ) |
Set line_direction value.
Vector in the direction of the line.
new_line_direction | new line_direction value |
Definition at line 256 of file LaserLineInterface.cpp.
void fawkes::LaserLineInterface::set_line_direction | ( | unsigned int | index, |
const float | new_line_direction | ||
) |
Set line_direction value at given index.
Vector in the direction of the line.
new_line_direction | new line_direction value |
index | index for of the value |
Definition at line 269 of file LaserLineInterface.cpp.
void fawkes::LaserLineInterface::set_point_on_line | ( | const float * | new_point_on_line | ) |
Set point_on_line value.
Vector to some point on the line
new_point_on_line | new point_on_line value |
Definition at line 193 of file LaserLineInterface.cpp.
void fawkes::LaserLineInterface::set_point_on_line | ( | unsigned int | index, |
const float | new_point_on_line | ||
) |
Set point_on_line value at given index.
Vector to some point on the line
new_point_on_line | new point_on_line value |
index | index for of the value |
Definition at line 206 of file LaserLineInterface.cpp.
void fawkes::LaserLineInterface::set_visibility_history | ( | const int32_t | new_visibility_history | ) |
Set visibility_history value.
The visibilitiy history indicates the number of consecutive positive or negative sightings. If the history is negative, there have been as many negative sightings (object not visible) as the absolute value of the history. A positive value denotes as many positive sightings. 0 shall only be used during the initialization of the interface or if the visibility history is not updated.
new_visibility_history | new visibility_history value |
Definition at line 142 of file LaserLineInterface.cpp.
int32_t fawkes::LaserLineInterface::visibility_history | ( | ) | const |
Get visibility_history value.
The visibilitiy history indicates the number of consecutive positive or negative sightings. If the history is negative, there have been as many negative sightings (object not visible) as the absolute value of the history. A positive value denotes as many positive sightings. 0 shall only be used during the initialization of the interface or if the visibility history is not updated.
Definition at line 116 of file LaserLineInterface.cpp.