Fawkes API
Fawkes Development Version
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NavGraphGeneratorInterface Fawkes BlackBoard Interface. More...
#include <>>
Public Types | |
enum | ConnectionMode { NOT_CONNECTED , UNCONNECTED , CLOSEST_NODE , CLOSEST_EDGE , CLOSEST_EDGE_OR_NODE } |
Describe how to connect nodes to the graph. More... | |
enum | FilterType { FILTER_EDGES_BY_MAP , FILTER_ORPHAN_NODES , FILTER_MULTI_GRAPH } |
Post-processing filtering type. More... | |
enum | EdgeMode { NO_INTERSECTION , SPLIT_INTERSECTION , FORCE } |
When adding edges, the mode defines how to add edges. More... | |
enum | Algorithm { ALGORITHM_VORONOI , ALGORITHM_GRID } |
Available generator algorithms. More... | |
Public Member Functions | |
const char * | tostring_ConnectionMode (ConnectionMode value) const |
Convert ConnectionMode constant to string. More... | |
const char * | tostring_FilterType (FilterType value) const |
Convert FilterType constant to string. More... | |
const char * | tostring_EdgeMode (EdgeMode value) const |
Convert EdgeMode constant to string. More... | |
const char * | tostring_Algorithm (Algorithm value) const |
Convert Algorithm constant to string. More... | |
virtual bool | message_valid (const Message *message) const |
Check if message is valid and can be enqueued. More... | |
uint32_t | msgid () const |
Get msgid value. More... | |
void | set_msgid (const uint32_t new_msgid) |
Set msgid value. More... | |
size_t | maxlenof_msgid () const |
Get maximum length of msgid value. More... | |
bool | is_final () const |
Get final value. More... | |
void | set_final (const bool new_final) |
Set final value. More... | |
size_t | maxlenof_final () const |
Get maximum length of final value. More... | |
bool | is_ok () const |
Get ok value. More... | |
void | set_ok (const bool new_ok) |
Set ok value. More... | |
size_t | maxlenof_ok () const |
Get maximum length of ok value. More... | |
char * | error_message () const |
Get error_message value. More... | |
void | set_error_message (const char *new_error_message) |
Set error_message value. More... | |
size_t | maxlenof_error_message () const |
Get maximum length of error_message 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... | |
NavGraphGeneratorInterface Fawkes BlackBoard Interface.
This interfaces is used to instruct the navgraph-generator. It allows to add obstacles and points of interest and perform a computation run of the graph generation.
Operations to modify the parameters (clearing, adding/removing obstacles or points of interest etc.) take effect only once a ComputeMessage is sent. This can be used, for example, to first clear the graph, update it with the latest information, and finally generate the graph.
As soon as any instruction has been received, the generato shall only listen to messages from the same sender. Only after a computation has been performed can another node send messages again.
Definition at line 33 of file NavGraphGeneratorInterface.h.
Available generator algorithms.
Definition at line 128 of file NavGraphGeneratorInterface.h.
Describe how to connect nodes to the graph.
Definition at line 42 of file NavGraphGeneratorInterface.h.
When adding edges, the mode defines how to add edges.
Definition at line 108 of file NavGraphGeneratorInterface.h.
Post-processing filtering type.
Definition at line 78 of file NavGraphGeneratorInterface.h.
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virtual |
Copy values from other interface.
other | other interface to copy values from |
Implements fawkes::Interface.
Definition at line 362 of file NavGraphGeneratorInterface.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 315 of file NavGraphGeneratorInterface.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 373 of file NavGraphGeneratorInterface.cpp.
char * fawkes::NavGraphGeneratorInterface::error_message | ( | ) | const |
Get error_message value.
If the "ok" field is false, may give an additional clue about the encountered error.
Definition at line 285 of file NavGraphGeneratorInterface.cpp.
bool fawkes::NavGraphGeneratorInterface::is_final | ( | ) | const |
Get final value.
True, if the last generation triggered by a ComputeMessage has been completed, false if it is still running. Also check the msgid field if this field applies to the correct message.
Definition at line 212 of file NavGraphGeneratorInterface.cpp.
bool fawkes::NavGraphGeneratorInterface::is_ok | ( | ) | const |
Get ok value.
Indicate success (true) or failure (false) of the most recent navgraph generation (valid if final equals true).
Definition at line 249 of file NavGraphGeneratorInterface.cpp.
size_t fawkes::NavGraphGeneratorInterface::maxlenof_error_message | ( | ) | const |
Get maximum length of error_message value.
Definition at line 295 of file NavGraphGeneratorInterface.cpp.
size_t fawkes::NavGraphGeneratorInterface::maxlenof_final | ( | ) | const |
Get maximum length of final value.
Definition at line 222 of file NavGraphGeneratorInterface.cpp.
size_t fawkes::NavGraphGeneratorInterface::maxlenof_msgid | ( | ) | const |
Get maximum length of msgid value.
Definition at line 185 of file NavGraphGeneratorInterface.cpp.
size_t fawkes::NavGraphGeneratorInterface::maxlenof_ok | ( | ) | const |
Get maximum length of ok value.
Definition at line 259 of file NavGraphGeneratorInterface.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 3087 of file NavGraphGeneratorInterface.cpp.
uint32_t fawkes::NavGraphGeneratorInterface::msgid | ( | ) | const |
Get msgid value.
The ID of the message that is currently being processed or was processed last.
Definition at line 175 of file NavGraphGeneratorInterface.cpp.
void fawkes::NavGraphGeneratorInterface::set_error_message | ( | const char * | new_error_message | ) |
Set error_message value.
If the "ok" field is false, may give an additional clue about the encountered error.
new_error_message | new error_message value |
Definition at line 308 of file NavGraphGeneratorInterface.cpp.
Referenced by NavGraphGeneratorThread::loop().
void fawkes::NavGraphGeneratorInterface::set_final | ( | const bool | new_final | ) |
Set final value.
True, if the last generation triggered by a ComputeMessage has been completed, false if it is still running. Also check the msgid field if this field applies to the correct message.
new_final | new final value |
Definition at line 236 of file NavGraphGeneratorInterface.cpp.
Referenced by NavGraphGeneratorThread::loop().
void fawkes::NavGraphGeneratorInterface::set_msgid | ( | const uint32_t | new_msgid | ) |
Set msgid value.
The ID of the message that is currently being processed or was processed last.
new_msgid | new msgid value |
Definition at line 198 of file NavGraphGeneratorInterface.cpp.
void fawkes::NavGraphGeneratorInterface::set_ok | ( | const bool | new_ok | ) |
Set ok value.
Indicate success (true) or failure (false) of the most recent navgraph generation (valid if final equals true).
new_ok | new ok value |
Definition at line 272 of file NavGraphGeneratorInterface.cpp.
Referenced by NavGraphGeneratorThread::loop().
const char * fawkes::NavGraphGeneratorInterface::tostring_Algorithm | ( | Algorithm | value | ) | const |
Convert Algorithm constant to string.
value | value to convert to string |
Definition at line 158 of file NavGraphGeneratorInterface.cpp.
Referenced by NavGraphGeneratorThread::loop().
const char * fawkes::NavGraphGeneratorInterface::tostring_ConnectionMode | ( | ConnectionMode | value | ) | const |
Convert ConnectionMode constant to string.
value | value to convert to string |
Definition at line 114 of file NavGraphGeneratorInterface.cpp.
const char * fawkes::NavGraphGeneratorInterface::tostring_EdgeMode | ( | EdgeMode | value | ) | const |
Convert EdgeMode constant to string.
value | value to convert to string |
Definition at line 144 of file NavGraphGeneratorInterface.cpp.
const char * fawkes::NavGraphGeneratorInterface::tostring_FilterType | ( | FilterType | value | ) | const |
Convert FilterType constant to string.
value | value to convert to string |
Definition at line 130 of file NavGraphGeneratorInterface.cpp.