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backend_thread.h
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/***************************************************************************
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* backend_thread.h - World Info Viewer backend thread
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*
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* Created: Thu April 10 21:53:24 2008
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* Copyright 2008 Daniel Beck
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef __TOOL_WORLDINFO_VIEWER_BACKEND_THREAD_H_
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#define __TOOL_WORLDINFO_VIEWER_BACKEND_THREAD_H_
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#include <netcomm/worldinfo/handler.h>
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#include <netcomm/utils/resolver.h>
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#include <netcomm/dns-sd/avahi_thread.h>
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#include <core/threading/thread.h>
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#include <gtkmm.h>
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#include <string>
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namespace
fawkes {
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class
WorldInfoTransceiver;
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class
WorldInfoDataContainer;
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}
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class
WorldInfoViewerBackendThread
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:
public
fawkes::Thread
,
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public
fawkes::WorldInfoHandler
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{
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public
:
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WorldInfoViewerBackendThread
(
fawkes::WorldInfoDataContainer
* data_container,
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const
char
* addr,
unsigned
short
port,
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const
char
* key,
const
char
* iv );
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virtual
~WorldInfoViewerBackendThread
();
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Glib::Dispatcher&
new_worldinfo_data
();
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Glib::Dispatcher&
new_gamestate_data
();
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// thread
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void
loop
();
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// handler
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virtual
void
pose_rcvd
(
const
char
*from_host,
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float
x,
float
y,
float
theta,
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float
*covariance );
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virtual
void
velocity_rcvd
(
const
char
*from_host,
float
vel_x,
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float
vel_y,
float
vel_theta,
float
*covariance );
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virtual
void
ball_pos_rcvd
(
const
char
*from_host,
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bool
visible,
int
visibility_history,
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float
dist,
float
pitch,
float
yaw,
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float
*covariance );
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virtual
void
global_ball_pos_rcvd
(
const
char
*from_host,
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bool
visible,
int
visibility_history,
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float
x,
float
y,
float
z,
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float
*covariance );
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virtual
void
ball_velocity_rcvd
(
const
char
*from_host,
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float
vel_x,
float
vel_y,
float
vel_z,
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float
*covariance );
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virtual
void
global_ball_velocity_rcvd
(
const
char
*from_host,
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float
vel_x,
float
vel_y,
float
vel_z,
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float
*covariance);
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virtual
void
opponent_pose_rcvd
(
const
char
*from_host,
unsigned
int
uid,
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float
distance,
float
angle,
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float
*covarianceconst );
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virtual
void
opponent_disapp_rcvd
(
const
char
*from_host,
unsigned
int
uid );
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virtual
void
gamestate_rcvd
(
const
char
*from_host,
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unsigned
int
game_state,
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fawkes::worldinfo_gamestate_team_t
state_team,
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unsigned
int
score_cyan,
unsigned
int
score_magenta,
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fawkes::worldinfo_gamestate_team_t
our_team,
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fawkes::worldinfo_gamestate_goalcolor_t
our_goal_color,
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fawkes::worldinfo_gamestate_half_t
half );
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virtual
void
penalty_rcvd
(
const
char
*from_host,
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unsigned
int
player,
unsigned
int
penalty,
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unsigned
int
seconds_remaining);
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private
:
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fawkes::WorldInfoTransceiver
* m_transceiver;
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fawkes::WorldInfoDataContainer
* m_data_container;
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Glib::Dispatcher m_signal_new_worldinfo_data;
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Glib::Dispatcher m_signal_new_gamestate_data;
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std::string m_addr;
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unsigned
short
m_port;
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std::string m_key;
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std::string m_iv;
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fawkes::NetworkNameResolver
* m_resolver;
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fawkes::AvahiThread
* m_avahi;
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};
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#endif
/* __TOOL_WORLDINFO_VIEWER_BACKEND_THREAD_H_ */
src
tools
worldinfo_viewer
backend_thread.h
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