ObstacleAvoiderTransport Class Reference

Inheritance diagram for ObstacleAvoiderTransport:

Capability ObstacleAvoider List of all members.

Detailed Description

Instantiation of ObstacleAvoiderTransport interface.

Please read the documentation for Capabilities for other important functions. Data structures will be placed behind accessor functions in the future.

Definition at line 82 of file ObstacleAvoiderTransport.H.

Public Member Functions

 ObstacleAvoiderTransport (const std::string &streamname)
 Standard constructor.
 ObstacleAvoiderTransport (const ConnectionStrategy &strategy, const std::string &gblName)
 Auto-wiring constructor.
 ObstacleAvoiderTransport (const std::string &streamname, const std::string &gblName)
 Like the standard constructor, but explicitly sets the global name.
 ~ObstacleAvoiderTransport ()
void init (const std::string &streamname, const ConnectionStrategy &strategy, const std::string &gblName)
 Initialization function, used by above.
void runUpdate ()
 Does all necessary work to update the data/info provided by the object.
void setManager (CommsManager *myManager_)
 Gives the object a reference to the global CORBAHelper.
void setCOMObject (COMBase *object)
 Returns the ID number of the instantiated interface.
void disconnect ()
 Does all necessary work to clean up the object's connection.
void activateSupplier ()
 Sets up the object as a supplier of data.
void activateConsumer ()
 Sets up the object as a consumer of data.
std::string getInterfaceName ()
 Returns the name of the interface.
void setStreamName (const std::string &name)
 Sets the name of the stream we're using.
void setGlobalName (const std::string &name)
 Sets the global name of this object.
bool newData ()
 True if there is new data.
bool newInfo ()
 True if there is new info/requests (depending on supplier/consumer mode).
void setAutoPing (const bool &val)
 Sets the state of the auto-ping function.
void doPing ()
 Manually tells the object to do a ping.
bool getQueueMode ()
 True if events are being queued, otherwise false.
void setQueueMode (const bool &val)
 Turn queue mode on or off.
ObstacleAvoiderTransportDataStruct getNextData ()
 Returns a struct containing the next event in the queue.
ObstacleAvoiderTransportInfoStruct getNextInfo ()
 Returns a struct containing the next event in the queue.
ObstacleAvoiderTransportInfoStruct getNextRequest ()
 Convenience function, calls getNextInfo().
void publishData ()
 Informs the object to publish data on the next update.
void publishInfo ()
 Informs the object to publish info on the next update.

Public Attributes

ObstacleAvoiderTransportDataStruct data
 The data structure.
ObstacleAvoiderTransportInfoStruct info
 Information-- read if consumer, write if supplier.
ObstacleAvoiderTransportInfoStruct requests
 Requests-- read if supplier, write if consumer.

Protected Attributes

COMObject< ObstacleAvoiderTransportInfoStruct,
ObstacleAvoiderTransportDataStruct > * 
myCOMObject
bool m_queue
bool m_initialize
std::queue< ObstacleAvoiderTransportDataStructm_dataVector
std::queue< ObstacleAvoiderTransportInfoStructm_infoVector
std::queue< ObstacleAvoiderTransportInfoStructm_requestVector


Constructor & Destructor Documentation

ObstacleAvoiderTransport ( const std::string &  streamname  )  [explicit]

Standard constructor.

Automatically generates a (hopefully) unique global name. If two of the same (consumer) binaries are running, it *will* fail. This is the only constructor you should use for suppliers.

Definition at line 37 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransport::init(), Capability::m_haveGlobalname, and WURDE::STRAT_NORMAL.

ObstacleAvoiderTransport ( const ConnectionStrategy strategy,
const std::string &  gblName 
)

Auto-wiring constructor.

Submits a request to MCP for a stream to connect to, based on global name. ConnectionStrategy should be auto for now.

Definition at line 44 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransport::init(), Capability::m_haveGlobalname, Capability::m_haveStream, and WURDE::STRAT_NORMAL.

ObstacleAvoiderTransport ( const std::string &  streamname,
const std::string &  gblName 
)

Like the standard constructor, but explicitly sets the global name.

Use this when starting multiple instances of the same binary, so that each instance can be assigned a separate name.

Definition at line 58 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransport::init(), and WURDE::STRAT_NORMAL.

~ObstacleAvoiderTransport (  ) 

Definition at line 102 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransport::myCOMObject, and Capability::myManager.


Member Function Documentation

void init ( const std::string &  streamname,
const ConnectionStrategy strategy,
const std::string &  gblName 
)

Initialization function, used by above.

Definition at line 62 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransport::info, Capability::m_doAutoPing, Capability::m_doPublishData, Capability::m_doPublishInfo, Capability::m_doTag, Capability::m_doTimestamp, Capability::m_globalname, Capability::m_haveGlobalname, Capability::m_haveStream, ObstacleAvoiderTransport::m_initialize, ObstacleAvoiderTransport::m_queue, Capability::m_sourceModule, Capability::m_strategy, Capability::m_streamname, Capability::m_streamRequest, Capability::m_supplier, ObstacleAvoiderTransport::myCOMObject, Time::now(), ObstacleAvoiderTransport::requests, ObstacleAvoiderTransportInfoStruct::source, WURDE::STAT_NULL, ObstacleAvoiderTransportInfoStruct::target, and ObstacleAvoiderTransportInfoStruct::timestamp.

Referenced by ObstacleAvoiderTransport::ObstacleAvoiderTransport().

void runUpdate (  )  [virtual]

Does all necessary work to update the data/info provided by the object.

Implements Capability.

Definition at line 281 of file ObstacleAvoiderTransport.cpp.

References Capability::m_doPublishData, Capability::m_doPublishInfo, and ObstacleAvoiderTransport::myCOMObject.

void setManager ( CommsManager myManager_  )  [virtual]

Gives the object a reference to the global CORBAHelper.

This will be changed soon to be less adaptor specific.

Implements Capability.

Definition at line 292 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransport::myCOMObject, and Capability::myManager.

void setCOMObject ( COMBase object  )  [inline, virtual]

Returns the ID number of the instantiated interface.

Implements Capability.

Definition at line 134 of file ObstacleAvoiderTransport.H.

References ObstacleAvoiderTransport::myCOMObject.

void disconnect (  )  [inline, virtual]

Does all necessary work to clean up the object's connection.

Implements Capability.

Definition at line 135 of file ObstacleAvoiderTransport.H.

References ObstacleAvoiderTransport::myCOMObject.

void activateSupplier (  )  [virtual]

Sets up the object as a supplier of data.

Implements Capability.

Definition at line 111 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransportInfoStruct::absolute, ObstacleAvoiderTransportDataStruct::angleToGoal, ObstacleAvoiderTransportInfoStruct::avoidanceRadius, ObstacleAvoiderTransportInfoStruct::brake, WURDE::C_CONSUMER, WURDE::C_SUPPLIER, ObstacleAvoiderTransport::data, ObstacleAvoiderTransportDataStruct::distanceToGoal, WURDE::g_fatal(), ObstacleAvoiderTransportInfoStruct::goalHasLocation, ObstacleAvoiderTransportInfoStruct::goalHasTheta, ObstacleAvoiderTransportInfoStruct::goalPose, ObstacleAvoiderTransport::info, ObstacleAvoiderTransport::m_dataVector, Capability::m_doAutoPing, Capability::m_globalname, Capability::m_haveGlobalname, Capability::m_haveStream, ObstacleAvoiderTransport::m_infoVector, ObstacleAvoiderTransport::m_initialize, ObstacleAvoiderTransport::m_queue, ObstacleAvoiderTransport::m_requestVector, Capability::m_streamname, Capability::m_supplier, ObstacleAvoiderTransportInfoStruct::maxRotationVelocity, ObstacleAvoiderTransportInfoStruct::maxTranslationVelocity, ObstacleAvoiderTransport::myCOMObject, ObstacleAvoiderTransportDataStruct::pathObstructed, ObstacleAvoiderTransport::requests, Writable::setCMode(), ObstacleAvoiderTransportInfoStruct::source, and ObstacleAvoiderTransportDataStruct::source.

Referenced by ObstacleAvoiderTransport::setStreamName().

void activateConsumer (  )  [virtual]

Sets up the object as a consumer of data.

Implements Capability.

Definition at line 195 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransportInfoStruct::absolute, ObstacleAvoiderTransportDataStruct::angleToGoal, ObstacleAvoiderTransportInfoStruct::avoidanceRadius, ObstacleAvoiderTransportInfoStruct::brake, WURDE::C_CONSUMER, WURDE::C_SUPPLIER, ObstacleAvoiderTransport::data, ObstacleAvoiderTransportDataStruct::distanceToGoal, WURDE::g_fatal(), CommsManager::getName(), ObstacleAvoiderTransportInfoStruct::goalHasLocation, ObstacleAvoiderTransportInfoStruct::goalHasTheta, ObstacleAvoiderTransportInfoStruct::goalPose, ObstacleAvoiderTransport::info, ObstacleAvoiderTransport::m_dataVector, Capability::m_doAutoPing, Capability::m_globalname, Capability::m_haveGlobalname, Capability::m_haveStream, ObstacleAvoiderTransport::m_infoVector, ObstacleAvoiderTransport::m_initialize, ObstacleAvoiderTransport::m_queue, ObstacleAvoiderTransport::m_requestVector, Capability::m_strategy, Capability::m_streamname, Capability::m_supplier, ObstacleAvoiderTransportInfoStruct::maxRotationVelocity, ObstacleAvoiderTransportInfoStruct::maxTranslationVelocity, ObstacleAvoiderTransport::myCOMObject, Capability::myManager, OBSTACLEAVOIDERTRANSPORT, ObstacleAvoiderTransportDataStruct::pathObstructed, ObstacleAvoiderTransport::requests, Writable::setCMode(), ObstacleAvoiderTransportDataStruct::source, ObstacleAvoiderTransportInfoStruct::source, and WURDE::STRAT_NORMAL.

Referenced by ObstacleAvoiderTransport::setStreamName().

std::string getInterfaceName (  )  [inline, virtual]

Returns the name of the interface.

We're identifying interfaces by strings, rather than an enum, as it saves us from having to autogenerate even more code

Implements Capability.

Definition at line 138 of file ObstacleAvoiderTransport.H.

References OBSTACLEAVOIDERTRANSPORT.

void setStreamName ( const std::string &  name  )  [virtual]

Sets the name of the stream we're using.

Implements Capability.

Definition at line 783 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransport::activateConsumer(), ObstacleAvoiderTransport::activateSupplier(), Capability::m_globalname, Capability::m_haveStream, ObstacleAvoiderTransport::m_initialize, Capability::m_streamname, Capability::m_streamRequest, Capability::m_supplier, ObstacleAvoiderTransport::myCOMObject, and WURDE::STAT_OKAY.

void setGlobalName ( const std::string &  name  )  [virtual]

Sets the global name of this object.

Implements Capability.

Definition at line 811 of file ObstacleAvoiderTransport.cpp.

References Capability::m_globalname, Capability::m_haveGlobalname, Capability::m_streamname, Capability::m_supplier, and ObstacleAvoiderTransport::myCOMObject.

bool newData (  )  [virtual]

True if there is new data.

Implements Capability.

Definition at line 324 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransport::m_dataVector, ObstacleAvoiderTransport::m_queue, and ObstacleAvoiderTransport::myCOMObject.

bool newInfo (  )  [virtual]

True if there is new info/requests (depending on supplier/consumer mode).

Implements Capability.

Definition at line 336 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransport::m_infoVector, ObstacleAvoiderTransport::m_queue, ObstacleAvoiderTransport::m_requestVector, Capability::m_supplier, and ObstacleAvoiderTransport::myCOMObject.

Referenced by main().

void setAutoPing ( const bool &  val  )  [virtual]

Sets the state of the auto-ping function.

If true, consumers will automatically send out a blank MESSAGE_PING to the stream source, and suppliers will automatically filter out these requests and send a copy of the last published info and data.

Should consumers be set up to send out this request on a regular basis?

Implements Capability.

Definition at line 834 of file ObstacleAvoiderTransport.cpp.

References Capability::m_doAutoPing, and ObstacleAvoiderTransport::myCOMObject.

void doPing (  )  [virtual]

Manually tells the object to do a ping.

If a consumer, sends a ping request to its supplier, if a supplier, sends out a copy of the last published info and data messages.

Implements Capability.

Definition at line 828 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransport::myCOMObject.

bool getQueueMode (  )  [inline]

True if events are being queued, otherwise false.

Definition at line 150 of file ObstacleAvoiderTransport.H.

References ObstacleAvoiderTransport::m_queue.

void setQueueMode ( const bool &  val  ) 

Turn queue mode on or off.

Definition at line 300 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransport::m_dataVector, ObstacleAvoiderTransport::m_infoVector, ObstacleAvoiderTransport::m_queue, ObstacleAvoiderTransport::m_requestVector, and ObstacleAvoiderTransport::myCOMObject.

ObstacleAvoiderTransportDataStruct getNextData (  ) 

Returns a struct containing the next event in the queue.

Also copies the contents of that event into the data struct.

Definition at line 492 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransportDataStruct::angleToGoal, ObstacleAvoiderTransport::data, ObstacleAvoiderTransportDataStruct::distanceToGoal, ObstacleAvoiderTransport::m_dataVector, ObstacleAvoiderTransport::m_queue, ObstacleAvoiderTransport::myCOMObject, ObstacleAvoiderTransportDataStruct::pathObstructed, ObstacleAvoiderTransportDataStruct::source, and ObstacleAvoiderTransportDataStruct::timestamp.

ObstacleAvoiderTransportInfoStruct getNextInfo (  ) 

Returns a struct containing the next event in the queue.

Also copies the contents of that event into the info/requests struct.

Definition at line 520 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransportInfoStruct::absolute, ObstacleAvoiderTransportInfoStruct::avoidanceRadius, ObstacleAvoiderTransportInfoStruct::brake, WURDE::C_CONSUMER, WURDE::C_SUPPLIER, ObstacleAvoiderTransportInfoStruct::goalHasLocation, ObstacleAvoiderTransportInfoStruct::goalHasTheta, ObstacleAvoiderTransportInfoStruct::goalPose, ObstacleAvoiderTransport::info, ObstacleAvoiderTransport::m_infoVector, ObstacleAvoiderTransport::m_queue, ObstacleAvoiderTransport::m_requestVector, Capability::m_supplier, ObstacleAvoiderTransportInfoStruct::maxRotationVelocity, ObstacleAvoiderTransportInfoStruct::maxTranslationVelocity, ObstacleAvoiderTransportInfoStruct::mType, ObstacleAvoiderTransport::myCOMObject, ObstacleAvoiderTransport::requests, Writable::setCMode(), ObstacleAvoiderTransportInfoStruct::source, ObstacleAvoiderTransportInfoStruct::target, and ObstacleAvoiderTransportInfoStruct::timestamp.

Referenced by ObstacleAvoiderTransport::getNextRequest(), and main().

ObstacleAvoiderTransportInfoStruct getNextRequest (  )  [inline]

Convenience function, calls getNextInfo().

Definition at line 172 of file ObstacleAvoiderTransport.H.

References ObstacleAvoiderTransport::getNextInfo().

Referenced by main().

void publishData (  )  [virtual]

Informs the object to publish data on the next update.

Implements Capability.

Definition at line 353 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransportDataStruct::angleToGoal, ObstacleAvoiderTransport::data, ObstacleAvoiderTransportDataStruct::distanceToGoal, ObstacleAvoiderTransport::m_dataVector, Capability::m_doPublishData, Capability::m_doTag, Capability::m_doTimestamp, Capability::m_globalname, ObstacleAvoiderTransport::m_queue, Capability::m_supplier, Time::now(), ObstacleAvoiderTransportDataStruct::pathObstructed, ObstacleAvoiderTransportDataStruct::source, and ObstacleAvoiderTransportDataStruct::timestamp.

Referenced by main().

void publishInfo (  )  [virtual]

Informs the object to publish info on the next update.

Implements Capability.

Definition at line 379 of file ObstacleAvoiderTransport.cpp.

References ObstacleAvoiderTransportInfoStruct::absolute, ObstacleAvoiderTransportInfoStruct::avoidanceRadius, ObstacleAvoiderTransportInfoStruct::brake, WURDE::C_CONSUMER, WURDE::C_SUPPLIER, ObstacleAvoiderTransportInfoStruct::goalHasLocation, ObstacleAvoiderTransportInfoStruct::goalHasTheta, ObstacleAvoiderTransportInfoStruct::goalPose, ObstacleAvoiderTransport::info, Capability::m_doPublishInfo, Capability::m_doTag, Capability::m_doTimestamp, Capability::m_globalname, ObstacleAvoiderTransport::m_infoVector, ObstacleAvoiderTransport::m_queue, ObstacleAvoiderTransport::m_requestVector, Capability::m_streamname, Capability::m_supplier, ObstacleAvoiderTransportInfoStruct::maxRotationVelocity, ObstacleAvoiderTransportInfoStruct::maxTranslationVelocity, WURDE::MESSAGE_INFO, WURDE::MESSAGE_REQUEST, ObstacleAvoiderTransportInfoStruct::mType, Time::now(), ObstacleAvoiderTransport::requests, Writable::setCMode(), ObstacleAvoiderTransportInfoStruct::source, ObstacleAvoiderTransportInfoStruct::target, and ObstacleAvoiderTransportInfoStruct::timestamp.


Member Data Documentation

ObstacleAvoiderTransportDataStruct data

The data structure.

Read from this if you're a consumer, write to it if you're a supplier.

Definition at line 119 of file ObstacleAvoiderTransport.H.

Referenced by ObstacleAvoiderTransport::activateConsumer(), ObstacleAvoiderTransport::activateSupplier(), ObstacleAvoiderTransport::getNextData(), main(), and ObstacleAvoiderTransport::publishData().

ObstacleAvoiderTransportInfoStruct info

Information-- read if consumer, write if supplier.

Definition at line 124 of file ObstacleAvoiderTransport.H.

Referenced by ObstacleAvoiderTransport::activateConsumer(), ObstacleAvoiderTransport::activateSupplier(), ObstacleAvoiderTransport::getNextInfo(), ObstacleAvoiderTransport::init(), main(), and ObstacleAvoiderTransport::publishInfo().

ObstacleAvoiderTransportInfoStruct requests

Requests-- read if supplier, write if consumer.

Definition at line 129 of file ObstacleAvoiderTransport.H.

Referenced by ObstacleAvoiderTransport::activateConsumer(), ObstacleAvoiderTransport::activateSupplier(), ObstacleAvoiderTransport::getNextInfo(), ObstacleAvoiderTransport::init(), main(), ObstacleAvoider::moveToPoint(), ObstacleAvoider::moveToPose(), ObstacleAvoider::moveToRelativePoint(), ObstacleAvoider::moveToRelativePose(), ObstacleAvoiderTransport::publishInfo(), ObstacleAvoider::rotateFixedAngle(), ObstacleAvoider::rotateToAngle(), ObstacleAvoider::rotateToRelativeAngle(), ObstacleAvoider::setAvoidanceRadius(), ObstacleAvoider::stop(), and ObstacleAvoider::translateFixedDistance().

COMObject<ObstacleAvoiderTransportInfoStruct, ObstacleAvoiderTransportDataStruct>* myCOMObject [protected]

Definition at line 179 of file ObstacleAvoiderTransport.H.

Referenced by ObstacleAvoiderTransport::activateConsumer(), ObstacleAvoiderTransport::activateSupplier(), ObstacleAvoiderTransport::disconnect(), ObstacleAvoiderTransport::doPing(), ObstacleAvoiderTransport::getNextData(), ObstacleAvoiderTransport::getNextInfo(), ObstacleAvoiderTransport::init(), ObstacleAvoiderTransport::newData(), ObstacleAvoiderTransport::newInfo(), ObstacleAvoiderTransport::runUpdate(), ObstacleAvoiderTransport::setAutoPing(), ObstacleAvoiderTransport::setCOMObject(), ObstacleAvoiderTransport::setGlobalName(), ObstacleAvoiderTransport::setManager(), ObstacleAvoiderTransport::setQueueMode(), ObstacleAvoiderTransport::setStreamName(), and ObstacleAvoiderTransport::~ObstacleAvoiderTransport().

bool m_queue [protected]

Definition at line 181 of file ObstacleAvoiderTransport.H.

Referenced by ObstacleAvoiderTransport::activateConsumer(), ObstacleAvoiderTransport::activateSupplier(), ObstacleAvoiderTransport::getNextData(), ObstacleAvoiderTransport::getNextInfo(), ObstacleAvoiderTransport::getQueueMode(), ObstacleAvoiderTransport::init(), ObstacleAvoiderTransport::newData(), ObstacleAvoiderTransport::newInfo(), ObstacleAvoiderTransport::publishData(), ObstacleAvoiderTransport::publishInfo(), and ObstacleAvoiderTransport::setQueueMode().

bool m_initialize [protected]

Definition at line 184 of file ObstacleAvoiderTransport.H.

Referenced by ObstacleAvoiderTransport::activateConsumer(), ObstacleAvoiderTransport::activateSupplier(), ObstacleAvoiderTransport::init(), and ObstacleAvoiderTransport::setStreamName().

std::queue<ObstacleAvoiderTransportDataStruct> m_dataVector [protected]

Definition at line 185 of file ObstacleAvoiderTransport.H.

Referenced by ObstacleAvoiderTransport::activateConsumer(), ObstacleAvoiderTransport::activateSupplier(), ObstacleAvoiderTransport::getNextData(), ObstacleAvoiderTransport::newData(), ObstacleAvoiderTransport::publishData(), and ObstacleAvoiderTransport::setQueueMode().

std::queue<ObstacleAvoiderTransportInfoStruct> m_infoVector [protected]

Definition at line 186 of file ObstacleAvoiderTransport.H.

Referenced by ObstacleAvoiderTransport::activateConsumer(), ObstacleAvoiderTransport::activateSupplier(), ObstacleAvoiderTransport::getNextInfo(), ObstacleAvoiderTransport::newInfo(), ObstacleAvoiderTransport::publishInfo(), and ObstacleAvoiderTransport::setQueueMode().

std::queue<ObstacleAvoiderTransportInfoStruct> m_requestVector [protected]

Definition at line 187 of file ObstacleAvoiderTransport.H.

Referenced by ObstacleAvoiderTransport::activateConsumer(), ObstacleAvoiderTransport::activateSupplier(), ObstacleAvoiderTransport::getNextInfo(), ObstacleAvoiderTransport::newInfo(), ObstacleAvoiderTransport::publishInfo(), and ObstacleAvoiderTransport::setQueueMode().


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