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WorldModelNetworkThread Class Reference

Network thread of worldmodel plugin. More...

#include "net_thread.h"

Inheritance diagram for WorldModelNetworkThread:

List of all members.

Public Member Functions

 WorldModelNetworkThread ()
 Constructor.
virtual ~WorldModelNetworkThread ()
 Destructor.
virtual void init ()
 Initialize the thread.
virtual void loop ()
 Code to execute in the thread.
virtual void finalize ()
 Finalize the thread.
fawkes::WorldInfoTransceiverget_transceiver ()
 Access the WI transceiver.
virtual void pose_rcvd (const char *from_host, float x, float y, float theta, float *covariance)
 Pose information received.
virtual void velocity_rcvd (const char *from_host, float vel_x, float vel_y, float vel_theta, float *covariance)
 Robot velocity information received.
virtual void ball_pos_rcvd (const char *from_host, bool visible, int visibility_history, float dist, float bearing, float slope, float *covariance)
 Ball position information received.
virtual void global_ball_pos_rcvd (const char *from_host, bool visible, int visibility_history, float x, float y, float z, float *covariance)
 Global ball position information received.
virtual void ball_velocity_rcvd (const char *from_host, float vel_x, float vel_y, float vel_z, float *covariance)
 Ball velocity information received.
virtual void global_ball_velocity_rcvd (const char *from_host, float vel_x, float vel_y, float vel_z, float *covariance)
 Ball velocity information received.
virtual void opponent_pose_rcvd (const char *from_host, unsigned int uid, float distance, float bearing, float *covariance)
 Opponent information received.
virtual void opponent_disapp_rcvd (const char *from_host, unsigned int uid)
 Opponent disappeared.
virtual void gamestate_rcvd (const char *from_host, unsigned int game_state, fawkes::worldinfo_gamestate_team_t state_team, unsigned int score_cyan, unsigned int score_magenta, fawkes::worldinfo_gamestate_team_t our_team, fawkes::worldinfo_gamestate_goalcolor_t our_goal_color, fawkes::worldinfo_gamestate_half_t half)
 Gamestate information received.
virtual void penalty_rcvd (const char *from_host, unsigned int player, unsigned int penalty, unsigned int seconds_remaining)
 Penalty info received.
- Public Member Functions inherited from fawkes::Thread
virtual ~Thread ()
 Virtual destructor.
bool prepare_finalize ()
 Prepare finalization.
virtual bool prepare_finalize_user ()
 Prepare finalization user implementation.
void cancel_finalize ()
 Cancel finalization.
void start (bool wait=true)
 Call this method to start the thread.
void cancel ()
 Cancel a thread.
void join ()
 Join the thread.
void detach ()
 Detach the thread.
void kill (int sig)
 Send signal to a thread.
bool operator== (const Thread &thread)
 Check if two threads are the same.
void wakeup ()
 Wake up thread.
void wakeup (Barrier *barrier)
 Wake up thread and wait for barrier afterwards.
void wait_loop_done ()
 Wait for the current loop iteration to finish.
OpMode opmode () const
 Get operation mode.
pthread_t thread_id () const
 Get ID of thread.
bool started () const
 Check if thread has been started.
bool cancelled () const
 Check if thread has been cancelled.
bool detached () const
 Check if thread has been detached.
bool running () const
 Check if the thread is running.
bool waiting () const
 Check if thread is currently waiting for wakeup.
const char * name () const
 Get name of thread.
void set_flags (uint32_t flags)
 Set all flags in one go.
void set_flag (uint32_t flag)
 Set flag for the thread.
void unset_flag (uint32_t flag)
 Unset flag.
bool flagged_bad () const
 Check if FLAG_BAD was set.
void set_delete_on_exit (bool del)
 Set whether the thread should be deleted on exit.
void set_prepfin_hold (bool hold)
 Hold prepare_finalize().
void add_notification_listener (ThreadNotificationListener *notification_listener)
 Add notification listener.
void remove_notification_listener (ThreadNotificationListener *notification_listener)
 Remove notification listener.
- Public Member Functions inherited from fawkes::LoggingAspect
 LoggingAspect ()
 Constructor.
virtual ~LoggingAspect ()
 Virtual empty Destructor.
void init_LoggingAspect (Logger *logger)
 Set the logger.
- Public Member Functions inherited from fawkes::Aspect
const std::list< const char * > & get_aspects () const
 Get list of aspect names attached to a aspected thread.
- Public Member Functions inherited from fawkes::ConfigurableAspect
 ConfigurableAspect ()
 Constructor.
virtual ~ConfigurableAspect ()
 Virtual empty Destructor.
void init_ConfigurableAspect (Configuration *config)
 Set the configuration It is guaranteed that this is called for a configurable thread before Thread::start() is called (when running regularly inside Fawkes).
- Public Member Functions inherited from fawkes::ClockAspect
 ClockAspect ()
 Constructor.
virtual ~ClockAspect ()
 Virtual empty destructor.
void init_ClockAspect (Clock *clock)
 Set the clock.
- Public Member Functions inherited from fawkes::NetworkAspect
 NetworkAspect ()
 Constructor.
virtual ~NetworkAspect ()
 Virtual empty Destructor.
void init_NetworkAspect (NetworkNameResolver *resolver, ServicePublisher *service_publisher, ServiceBrowser *service_browser)
 Init network aspect.
- Public Member Functions inherited from fawkes::BlackBoardAspect
 BlackBoardAspect ()
 Constructor.
virtual ~BlackBoardAspect ()
 Virtual empty destructor.
void init_BlackBoardAspect (BlackBoard *bb)
 Init BlackBoard aspect.
- Public Member Functions inherited from fawkes::WorldInfoHandler
virtual ~WorldInfoHandler ()
 Virtual empty destructor.

Additional Inherited Members

- Public Types inherited from fawkes::Thread
enum  OpMode { OPMODE_CONTINUOUS, OPMODE_WAITFORWAKEUP }
 Thread operation mode. More...
enum  CancelState { CANCEL_ENABLED, CANCEL_DISABLED }
 Cancel state. More...
- Static Public Member Functions inherited from fawkes::Thread
static Threadcurrent_thread ()
 Get the Thread instance of the currently running thread.
static Threadcurrent_thread_noexc () throw ()
 Similar to current_thread, but does never throw an exception.
static pthread_t current_thread_id ()
 Get the ID of the currently running thread.
static void init_main ()
 Initialize Thread wrapper instance for main thread.
static void destroy_main ()
 Destroy main thread wrapper instance.
static void set_cancel_state (CancelState new_state, CancelState *old_state=0)
 Set the cancel state of the current thread.
- Static Public Attributes inherited from fawkes::Thread
static const unsigned int FLAG_BAD = 0x00000001
 Standard thread flag: "thread is bad".
- Protected Member Functions inherited from fawkes::Thread
 Thread (const char *name)
 Constructor.
 Thread (const char *name, OpMode op_mode)
 Constructor.
void exit ()
 Exit the thread.
void test_cancel ()
 Set cancellation point.
void yield ()
 Yield the processor to another thread or process.
virtual void run ()
 Code to execute in the thread.
void set_opmode (OpMode op_mode)
 Set operation mode.
void set_prepfin_conc_loop (bool concurrent=true)
 Set concurrent execution of prepare_finalize() and loop().
void set_coalesce_wakeups (bool coalesce=true)
 Set wakeup coalescing.
void set_name (const char *format,...)
 Set name of thread.
virtual void once ()
 Execute an action exactly once.
bool wakeup_pending ()
 Check if wakeups are pending.
- Protected Attributes inherited from fawkes::Thread
bool finalize_prepared
 True if prepare_finalize() has been called and was not stopped with a cancel_finalize(), false otherwise.
Mutexloop_mutex
 Mutex that is used to protect a call to loop().
Mutexloopinterrupt_antistarve_mutex
 Mutex to avoid starvation when trying to lock loop_mutex.
- Protected Attributes inherited from fawkes::LoggingAspect
Loggerlogger
 This is the Logger member used to access the logger.
- Protected Attributes inherited from fawkes::ConfigurableAspect
Configurationconfig
 This is the Configuration member used to access the configuration.
- Protected Attributes inherited from fawkes::ClockAspect
Clockclock
 By means of this member access to the clock is given.
- Protected Attributes inherited from fawkes::NetworkAspect
NetworkNameResolvernnresolver
 Network name resolver to lookup IP addresses of hostnames and vice versa.
ServicePublisherservice_publisher
 Service publisher to publish services on the network.
ServiceBrowserservice_browser
 Service browser to browse services on the network.
- Protected Attributes inherited from fawkes::BlackBoardAspect
BlackBoardblackboard
 This is the BlackBoard instance you can use to interact with the BlackBoard.

Detailed Description

Network thread of worldmodel plugin.

Author:
Tim Niemueller

Definition at line 45 of file net_thread.h.


Constructor & Destructor Documentation

WorldModelNetworkThread::WorldModelNetworkThread ( )

Constructor.

Definition at line 45 of file net_thread.cpp.

References fawkes::Thread::set_prepfin_conc_loop().

WorldModelNetworkThread::~WorldModelNetworkThread ( )
virtual

Destructor.

Definition at line 55 of file net_thread.cpp.


Member Function Documentation

void WorldModelNetworkThread::ball_pos_rcvd ( const char *  from_host,
bool  visible,
int  visibility_history,
float  dist,
float  bearing,
float  slope,
float *  covariance 
)
virtual

Ball position information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
visibletrue if ball is visible, false otherwise. If the ball is not visible the given position is the last known position and may be invalid. Use visibility history to decide whether you expect useful data.
visibility_historyBall visibility history.
distdistance to ball in meters
bearingbearing angle to ball
slopeslope angle to ball
covariancecovariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats).
See also:
WorldInfoTransceiver::set_ball_pos()
WorldInfoTransceiver::set_ball_visible()

Implements fawkes::WorldInfoHandler.

Definition at line 258 of file net_thread.cpp.

References fawkes::BlackBoardAspect::blackboard, fawkes::ObjectPositionInterface::flags(), fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::BlackBoard::open_for_writing(), fawkes::ObjectPositionInterface::set_bearing(), fawkes::ObjectPositionInterface::set_dbs_covariance(), fawkes::ObjectPositionInterface::set_distance(), fawkes::ObjectPositionInterface::set_flags(), fawkes::ObjectPositionInterface::set_slope(), fawkes::ObjectPositionInterface::set_visibility_history(), fawkes::ObjectPositionInterface::set_visible(), fawkes::LockMap< KeyType, ValueType, LessKey >::unlock(), and fawkes::Interface::write().

void WorldModelNetworkThread::ball_velocity_rcvd ( const char *  from_host,
float  vel_x,
float  vel_y,
float  vel_z,
float *  covariance 
)
virtual

Ball velocity information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
vel_xvelocity in x direction
vel_yvelocity in y direction
vel_zvelocity in z direction
covariancecovariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats).
See also:
WorldInfoTransceiver::set_ball_velocity()

Implements fawkes::WorldInfoHandler.

Definition at line 329 of file net_thread.cpp.

void WorldModelNetworkThread::finalize ( )
virtual

Finalize the thread.

This method is executed just before the thread is canceled and destroyed. It is always preceeded by a call to prepare_finalize(). If this is not the case this is a failure. The condition can be checked with the boolean variable finalize_prepared.

This method is meant to be used in conjunction with aspects and to cover thread inter-dependencies. This routine MUST bring the thread into a safe state such that it may be canceled and destroyed afterwards. If there is any reason that this cannot happen make your prepare_finalize() reports so.

This method is called by the thread manager just before the thread is being cancelled. Here you can do whatever steps are necessary just before the thread is cancelled. Note that you thread is still running and might be in the middle of a loop, so it is not a good place to give up on all resources used. Mind segmentation faults that could happen. Protect the area with a mutex that you lock at the beginning of your loop and free in the end, and that you lock at the beginning of finalize and then never unlock. Also not that the finalization may be canceled afterwards. The next thing that happens is that either the thread is canceled and destroyed or that the finalization is canceled and the thread has to run again.

Finalize is called on a thread just before it is deleted. It is guaranteed to be called on a fully initialized thread (if no exception is thrown in init()) (this guarantee holds in the Fawkes framework).

The default implementation does nothing besides throwing an exception if prepare_finalize() has not been called.

Exceptions:
Exceptionthrown if prepare_finalize() has not been called.
See also:
prepare_finalize()
cancel_finalize()

Reimplemented from fawkes::Thread.

Definition at line 102 of file net_thread.cpp.

References fawkes::BlackBoardAspect::blackboard, and fawkes::BlackBoard::close().

void WorldModelNetworkThread::gamestate_rcvd ( const char *  from_host,
unsigned int  game_state,
fawkes::worldinfo_gamestate_team_t  state_team,
unsigned int  score_cyan,
unsigned int  score_magenta,
fawkes::worldinfo_gamestate_team_t  our_team,
fawkes::worldinfo_gamestate_goalcolor_t  our_goal_color,
fawkes::worldinfo_gamestate_half_t  half 
)
virtual

Gamestate information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
game_statecurrent gamestate
state_teamteam related to the game state
score_cyancurrent score of team cyan
score_magentacurrent score of team magenta
our_teamour team color
our_goal_colorour goal color
halfcurrent half of the game, first or second
See also:
WorldInfoTransceiver::set_gamestate()

Implements fawkes::WorldInfoHandler.

Definition at line 409 of file net_thread.cpp.

References fawkes::GOAL_BLUE, fawkes::GOAL_YELLOW, fawkes::GS_CORNER_KICK, fawkes::GS_DROP_BALL, fawkes::GS_FREE_KICK, fawkes::GS_FROZEN, fawkes::GS_GOAL_KICK, fawkes::GS_HALF_TIME, fawkes::GS_KICK_OFF, fawkes::GS_PENALTY, fawkes::GS_PLAY, fawkes::GS_THROW_IN, fawkes::HALF_FIRST, fawkes::HALF_SECOND, fawkes::Logger::log_debug(), fawkes::LoggingAspect::logger, fawkes::GameStateInterface::set_game_state(), fawkes::GameStateInterface::set_half(), fawkes::GameStateInterface::set_our_goal_color(), fawkes::GameStateInterface::set_our_team(), fawkes::GameStateInterface::set_score_cyan(), fawkes::GameStateInterface::set_score_magenta(), fawkes::GameStateInterface::set_state_team(), fawkes::TEAM_BOTH, fawkes::TEAM_CYAN, fawkes::TEAM_MAGENTA, fawkes::TEAM_NONE, and fawkes::Interface::write().

WorldInfoTransceiver * WorldModelNetworkThread::get_transceiver ( )

Access the WI transceiver.

Returns:
pointer to the WI transceiver

Definition at line 210 of file net_thread.cpp.

Referenced by WorldModelThread::loop().

void WorldModelNetworkThread::global_ball_pos_rcvd ( const char *  from_host,
bool  visible,
int  visibility_history,
float  x,
float  y,
float  z,
float *  covariance 
)
virtual

Global ball position information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
visibletrue if ball is visible, false otherwise. If the ball is not visible the given position is the last known position and may be invalid. Use visibility history to decide whether you expect useful data.
visibility_historyBall visibility history.
xglobal x-coordinates of the ball
yglobal y-coordinates of the ball
zglobal z-coordinates of the ball
covariancecovariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats).
See also:
WorldInfoTransceiver::set_ball_pos()
WorldInfoTransceiver::set_ball_visible()

Implements fawkes::WorldInfoHandler.

Definition at line 293 of file net_thread.cpp.

References fawkes::BlackBoardAspect::blackboard, fawkes::ObjectPositionInterface::flags(), fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::BlackBoard::open_for_writing(), fawkes::ObjectPositionInterface::set_flags(), fawkes::ObjectPositionInterface::set_visibility_history(), fawkes::ObjectPositionInterface::set_visible(), fawkes::ObjectPositionInterface::set_world_x(), fawkes::ObjectPositionInterface::set_world_xyz_covariance(), fawkes::ObjectPositionInterface::set_world_y(), fawkes::ObjectPositionInterface::set_world_z(), fawkes::LockMap< KeyType, ValueType, LessKey >::unlock(), and fawkes::Interface::write().

void WorldModelNetworkThread::global_ball_velocity_rcvd ( const char *  from_host,
float  vel_x,
float  vel_y,
float  vel_z,
float *  covariance 
)
virtual

Ball velocity information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
vel_xvelocity in x direction
vel_yvelocity in y direction
vel_zvelocity in z direction
covariancecovariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats).
See also:
WorldInfoTransceiver::set_ball_velocity()

Implements fawkes::WorldInfoHandler.

Definition at line 338 of file net_thread.cpp.

void WorldModelNetworkThread::init ( )
virtual

Initialize the thread.

This method is meant to be used in conjunction with aspects. Some parts of the initialization may only happen after some aspect of the thread has been initialized. Implement the init method with these actions. It is guaranteed to be called just after all aspects have been initialized and only once in the lifetime of the thread. Throw an exception if any problem occurs and the thread should not run.

Just because your init() routine suceeds and everything looks fine for this thread does not automatically imply that it will run. If it belongs to a group of threads in a ThreadList and any of the other threads fail to initialize then no thread from this group is run and thus this thread will never run. In that situation finalize() is called for this very instance, prepare_finalize() however is not called.

See also:
Fawkes Thread Aspects

Reimplemented from fawkes::Thread.

Definition at line 61 of file net_thread.cpp.

References fawkes::WorldInfoTransceiver::add_handler(), fawkes::Exception::append(), fawkes::BlackBoardAspect::blackboard, fawkes::ConfigurableAspect::config, fawkes::Configuration::get_bool(), fawkes::Configuration::get_string(), fawkes::Configuration::get_uint(), fawkes::NetworkAspect::nnresolver, fawkes::BlackBoard::open_for_writing(), fawkes::Exception::print_trace(), and fawkes::WorldInfoTransceiver::set_loop().

void WorldModelNetworkThread::loop ( )
virtual

Code to execute in the thread.

Implement this method to hold the code you want to be executed continously. If you do not implement this method, the default is that the thread will exit. This is useful if you choose to only implement once().

Reimplemented from fawkes::Thread.

Definition at line 135 of file net_thread.cpp.

References fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), fawkes::WorldInfoTransceiver::flush_sequence_numbers(), fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), fawkes::Logger::log_info(), fawkes::LoggingAspect::logger, fawkes::WorldInfoTransceiver::recv(), and fawkes::LockMap< KeyType, ValueType, LessKey >::unlock().

void WorldModelNetworkThread::opponent_disapp_rcvd ( const char *  from_host,
unsigned int  uid 
)
virtual

Opponent disappeared.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
uidunique ID of the opponent

Implements fawkes::WorldInfoHandler.

Definition at line 395 of file net_thread.cpp.

References fawkes::BlackBoardAspect::blackboard, fawkes::BlackBoard::close(), fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), and fawkes::LockMap< KeyType, ValueType, LessKey >::unlock().

void WorldModelNetworkThread::opponent_pose_rcvd ( const char *  from_host,
unsigned int  uid,
float  distance,
float  bearing,
float *  covariance 
)
virtual

Opponent information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
uidunique ID of the opponent
distanceto opponent
bearingbearing to opponent (angle is zero if opponent is in front of robot, positive if right of robot, negative if left of robot).
covariancecovariance matrix with 4 entries, ordered as two concatenated rows (first row, two floats, second row, two floats)
See also:
WorldInfoTransceiver::add_opponent()

Implements fawkes::WorldInfoHandler.

Definition at line 347 of file net_thread.cpp.

References fawkes::BlackBoardAspect::blackboard, fawkes::LockMap< KeyType, ValueType, LessKey >::lock(), fawkes::Logger::log_debug(), fawkes::Logger::log_error(), fawkes::Logger::log_warn(), fawkes::LoggingAspect::logger, fawkes::BlackBoard::open_for_writing(), fawkes::ObjectPositionInterface::set_bearing(), fawkes::ObjectPositionInterface::set_dbs_covariance(), fawkes::ObjectPositionInterface::set_distance(), fawkes::LockMap< KeyType, ValueType, LessKey >::unlock(), and fawkes::Interface::write().

void WorldModelNetworkThread::penalty_rcvd ( const char *  from_host,
unsigned int  player,
unsigned int  penalty,
unsigned int  seconds_remaining 
)
virtual

Penalty info received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
playerplayer number for penalty info
penaltypenalty code
seconds_remainingtime in seconds when penalty is expected to be lifted

Implements fawkes::WorldInfoHandler.

Definition at line 486 of file net_thread.cpp.

void WorldModelNetworkThread::pose_rcvd ( const char *  from_host,
float  x,
float  y,
float  theta,
float *  covariance 
)
virtual
void WorldModelNetworkThread::velocity_rcvd ( const char *  from_host,
float  vel_x,
float  vel_y,
float  vel_theta,
float *  covariance 
)
virtual

Robot velocity information received.

Parameters:
from_hosttransmitting host of this information, if available symbolic name
vel_xvelocity in x direction
vel_yvelocity in y direction
vel_thetarotational velocity, positive velocity means clockwise rotation, negative velocity means counter-clockwise.
covariancecovariance matrix with 9 entries, ordered as three concatenated rows (first row, three floats, second row, three floats, third row, three floats).
See also:
WorldInfoTransceiver::set_velocity()

Implements fawkes::WorldInfoHandler.

Definition at line 250 of file net_thread.cpp.


The documentation for this class was generated from the following files: