travesim Namespace Reference

Namespaces
	converter
	proto
	ros_side
	udp

Classes
class	AdapterConfigurer
class	EntityState
	Data structure to hold the state of a entity in the simulation. More...
class	FieldState
	Data structure to hold the field state. More...
class	ReplacerConfigurer
	ReplacerConfigurer class definition. More...
class	RobotCommand
	Data structure to hold the command for a robot. More...
class	RobotState
	Data structure to hold the state of a robot in the simulation. More...
class	TeamCommand
	Data structure to hold the command for a team. More...
class	TeamsConfigurer
	TeamsConfigurer class definition. More...
class	Vector2D
	Data structure to hold a two dimensional vector. More...
class	VisionConfigurer
	VisionConfigurer class definition. More...

Enumerations
enum	IPValidation { VALID, INVALID_FORMAT, INVALID_NUMBERS, OUT_OF_RANGE }
	Type used to validate a IP string. More...
enum	TeamsFormation { THREE_ROBOTS_PER_TEAM = 3, FIVE_ROBOTS_PER_TEAM = 5 }
	Formation of the teams. More...

Functions
bool	ipv4_string_to_uint (std::string ip_string, uint *ip_uint)
	Converts a IPv4 in a string to a array of unsigned integers, where the most significant byte of the IP address is in the position 0 and the last significant in the position 3. More...
IPValidation	check_valid_ip (std::string ip, std::string min_ip, std::string max_ip)
	Checks if a IP is valid and is in the specified range. More...
std::string	get_error_msg (IPValidation error)
	Get the error msg based on the validation type. More...
std::ostream &	operator<< (std::ostream &output, const ReplacerConfigurer &repl_conf)
std::ostream &	operator<< (std::ostream &output, const TeamsConfigurer &teams_conf)
std::ostream &	operator<< (std::ostream &output, const VisionConfigurer &vision_conf)
std::ostream &	operator<< (std::ostream &output, const Vector2D &vector_2d)
std::ostream &	operator<< (std::ostream &output, const EntityState &entity_state)
std::ostream &	operator<< (std::ostream &output, const FieldState &field_state)
std::ostream &	operator<< (std::ostream &output, const RobotState &robot_state)
std::ostream &	operator<< (std::ostream &output, const RobotCommand &command)
std::ostream &	operator<< (std::ostream &output, const TeamCommand &command)

Enumeration Type Documentation

IPValidation

enum travesim::IPValidation

Type used to validate a IP string.

Enumerator
VALID	Valid IP address
INVALID_FORMAT	Wrong formatted IP string
INVALID_NUMBERS	The numbers on the ip are not representable by 8 bits
OUT_OF_RANGE	The IP is not in the specified range

Definition at line 37 of file configurers_utils.hpp.

                  {
    VALID,           /**< Valid IP address */
    INVALID_FORMAT,  /**< Wrong formatted IP string */
    INVALID_NUMBERS, /**< The numbers on the ip are not representable by 8 bits */
    OUT_OF_RANGE     /**< The IP is not in the specified range */
};

TeamsFormation

enum travesim::TeamsFormation

Formation of the teams.

Enumerator
THREE_ROBOTS_PER_TEAM
FIVE_ROBOTS_PER_TEAM

Definition at line 40 of file data_common.hpp.

                    {
    THREE_ROBOTS_PER_TEAM = 3,
    FIVE_ROBOTS_PER_TEAM = 5,
};

Function Documentation

check_valid_ip()

IPValidation travesim::check_valid_ip	(	std::string	ip,
		std::string	min_ip,
		std::string	max_ip
	)

Checks if a IP is valid and is in the specified range.

Note

Expects IPv4 in the quad-dotted notation.

Parameters

ip	IP string to be converted
min_ip	Minimum IP interval value
max_ip	Maximum IP interval value

Returns

IPValidation

Definition at line 75 of file configurers_utils.cpp.

                                                                              {
    uint ip_uint[IPV4_NUM_OF_BYTES] = {0};
    uint min_ip_uint[IPV4_NUM_OF_BYTES] = {0};
    uint max_ip_uint[IPV4_NUM_OF_BYTES] = {0};

    // Check formats
    if (!ipv4_string_to_uint(ip, ip_uint)) {
        return IPValidation::INVALID_FORMAT;
    }

    if (!ipv4_string_to_uint(min_ip, min_ip_uint)) {
        return IPValidation::INVALID_FORMAT;
    }

    if (!ipv4_string_to_uint(max_ip, max_ip_uint)) {
        return IPValidation::INVALID_FORMAT;
    }

    // Check numbers
    for (uint i = 0; i < IPV4_NUM_OF_BYTES; i++) {
        if (ip_uint[i] > 0xFF) {
            return IPValidation::INVALID_NUMBERS;
        }

        if (min_ip_uint[i] > 0xFF) {
            return IPValidation::INVALID_NUMBERS;
        }

        if (max_ip_uint[i] > 0xFF) {
            return IPValidation::INVALID_NUMBERS;
        }
    }

    // Check range
    uint32_t ip_num = 0;
    uint32_t max_num = 0;
    uint32_t min_num = 0;

    for (uint8_t i = 0; i < IPV4_NUM_OF_BYTES; i++) {
        ip_num = ip_num << 8;
        ip_num += ip_uint[i];
        min_num = min_num << 8;
        min_num += min_ip_uint[i];
        max_num = max_num << 8;
        max_num += max_ip_uint[i];
    }

    if ((ip_num < min_num) || (ip_num > max_num)) {
        return IPValidation::OUT_OF_RANGE;
    }

    return IPValidation::VALID;
}

References INVALID_FORMAT, INVALID_NUMBERS, IPV4_NUM_OF_BYTES, ipv4_string_to_uint(), OUT_OF_RANGE, and VALID.

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get_error_msg()

std::string travesim::get_error_msg

(

IPValidation

error

)

Get the error msg based on the validation type.

Parameters

error

Which error to get the message

Returns

std::string representing the error

Definition at line 129 of file configurers_utils.cpp.

                                            {
    switch (error) {
        case (IPValidation::INVALID_FORMAT): {
            return "The IP string is wrong formatted.";
        }

        case (IPValidation::INVALID_NUMBERS): {
            return "The numbers on the ip are not representable by 8 bits.";
        }

        case (IPValidation::OUT_OF_RANGE): {
            return "The IP is not in the specified range. Hover over the parameterto see the range.";
        }

        default: {
            return "No error.";
        }
    }
}

References INVALID_FORMAT, INVALID_NUMBERS, and OUT_OF_RANGE.

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ipv4_string_to_uint()

bool travesim::ipv4_string_to_uint	(	std::string	ip_string,
		uint *	ip_uint
	)

Converts a IPv4 in a string to a array of unsigned integers, where the most significant byte of the IP address is in the position 0 and the last significant in the position 3.

Note

Expects IPv4 in the quad-dotted notation.

Parameters

ip_string	IPv4 string to be converted
ip_uint	Pointer where to store the converted IPv4

Returns

true if the conversion was successful, false otherwise

Definition at line 27 of file configurers_utils.cpp.

                                                             {
    std::stringstream ip_stream(ip_string);

    char dot;

    if (ip_stream.rdbuf()->in_avail() == 0) {
        return false;
    } else {
        ip_stream >> ip_uint[0];

        if (ip_stream.fail()) {
            return false;
        }
    }

    for (uint i = 1; i < IPV4_NUM_OF_BYTES; i++) {
        if (ip_stream.rdbuf()->in_avail() == 0) {
            return false;
        } else {
            ip_stream >> dot;

            if (ip_stream.fail()) {
                return false;
            }

            if (dot != '.') {
                return false;
            }
        }

        if (ip_stream.rdbuf()->in_avail() == 0) {
            return false;
        } else {
            ip_stream >> ip_uint[i];

            if (ip_stream.fail()) {
                return false;
            }
        }
    }

    if (ip_stream.rdbuf()->in_avail() != 0) {
        return false;
    }

    return true;
}

References IPV4_NUM_OF_BYTES.

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operator<<() [1/9]

std::ostream& travesim::operator<<	(	std::ostream &	output,
		const FieldState &	field_state
	)

Definition at line 24 of file field_state.cpp.

                                                                           {
    output << "TIME STEP: " << std::endl;
    output << field_state.time_step << std::endl;

    output << "BALL STATE: " << std::endl;
    output << field_state.ball << std::endl;

    output << "TEAM YELLOW STATE: " << std::endl;

    for (int i = 0; i < field_state.robots_per_team; i++) {
        output << "ROBOT " << i << ":" << std::endl;
        output << field_state.yellow_team[i] << std::endl;
    }

    output << std::endl;

    output << "TEAM BLUE STATE: " << std::endl;

    for (int i = 0; i < field_state.robots_per_team; i++) {
        output << "ROBOT " << i << ":" << std::endl;
        output << field_state.blue_team[i] << std::endl;
    }

    output << std::endl;

    return output;
}

References travesim::FieldState::ball, travesim::FieldState::blue_team, travesim::FieldState::robots_per_team, travesim::FieldState::time_step, and travesim::FieldState::yellow_team.

operator<<() [2/9]

std::ostream& travesim::operator<<	(	std::ostream &	output,
		const RobotCommand &	command
	)

Definition at line 24 of file team_command.cpp.

                                                                         {
    output << std::fixed << std::setprecision(PRINTING_DECIMAL_PRECISION);

    output << "LEFT SPEED: " << std::setw(PRINTING_MIN_WIDTH) << command.left_speed << std::endl;
    output << "RIGHT SPEED: " << std::setw(PRINTING_MIN_WIDTH) << command.right_speed;

    return output;
}

References travesim::RobotCommand::left_speed, PRINTING_DECIMAL_PRECISION, PRINTING_MIN_WIDTH, and travesim::RobotCommand::right_speed.

operator<<() [3/9]

std::ostream& travesim::operator<<	(	std::ostream &	output,
		const Vector2D &	vector_2d
	)

Definition at line 33 of file entity_state.cpp.

                                                                       {
    output << std::fixed << std::setprecision(PRINTING_DECIMAL_PRECISION);

    output << "X: " << std::setw(PRINTING_MIN_WIDTH) << vector_2d.x << " | ";
    output << "Y: " << std::setw(PRINTING_MIN_WIDTH) << vector_2d.y;

    return output;
}

References PRINTING_DECIMAL_PRECISION, PRINTING_MIN_WIDTH, travesim::Vector2D::x, and travesim::Vector2D::y.

operator<<() [4/9]

std::ostream& travesim::operator<<	(	std::ostream &	output,
		const RobotState &	robot_state
	)

Definition at line 39 of file robot_state.cpp.

                                                                           {
    output << std::fixed << std::setprecision(PRINTING_DECIMAL_PRECISION);

    output << "TEAM YELLOW: " << robot_state.is_yellow << std::endl;
    output << "ROBOT ID: " << robot_state.id << std::endl;

    output << "POSITION: ";
    output << robot_state.position << " | ";
    output << "THETA: "<< std::setw(PRINTING_MIN_WIDTH) << robot_state.angular_position << std::endl;

    output << "VELOCITY: ";
    output << robot_state.velocity << " | ";
    output << "THETA: "<< std::setw(PRINTING_MIN_WIDTH) << robot_state.angular_velocity << std::endl;

    return output;
}

References travesim::EntityState::angular_position, travesim::EntityState::angular_velocity, travesim::RobotState::id, travesim::RobotState::is_yellow, travesim::EntityState::position, PRINTING_DECIMAL_PRECISION, PRINTING_MIN_WIDTH, and travesim::EntityState::velocity.

operator<<() [5/9]

std::ostream& travesim::operator<<	(	std::ostream &	output,
		const TeamCommand &	command
	)

Definition at line 41 of file team_command.cpp.

                                                                        {
    output << std::fixed << std::setprecision(PRINTING_DECIMAL_PRECISION);

    for (int i = 0; i < command.robots_per_team; i++) {
        output << "ROBOT " << i << ":" << std::endl;
        output << command.robot_command[i] << std::endl;
        output << std::endl;
    }

    return output;
}

References PRINTING_DECIMAL_PRECISION, travesim::TeamCommand::robot_command, and travesim::TeamCommand::robots_per_team.

operator<<() [6/9]

std::ostream& travesim::operator<<	(	std::ostream &	output,
		const VisionConfigurer &	vision_conf
	)

Definition at line 53 of file vision_configurer.cpp.

                                                                                 {
    output << "Vision Endpoint: " << vision_conf.config.multicast_address;
    output << ":" << vision_conf.config.multicast_port << std::endl;
    output << "Reset: " << ((vision_conf.config.reset || vision_conf.reconfigured) ? "True" : "False") << std::endl;

    return output;
}

References travesim::AdapterConfigurer< AdapterConfigType >::config, and travesim::AdapterConfigurer< AdapterConfigType >::reconfigured.

operator<<() [7/9]

std::ostream& travesim::operator<<	(	std::ostream &	output,
		const EntityState &	entity_state
	)

Definition at line 56 of file entity_state.cpp.

                                                                             {
    output << std::fixed << std::setprecision(PRINTING_DECIMAL_PRECISION);

    output << "POSITION: ";
    output << entity_state.position << " | ";
    output << "THETA: "<< std::setw(PRINTING_MIN_WIDTH) << entity_state.angular_position << std::endl;

    output << "VELOCITY: ";
    output << entity_state.velocity << " | ";
    output << "THETA: "<< std::setw(PRINTING_MIN_WIDTH) << entity_state.angular_velocity << std::endl;

    return output;
}

References travesim::EntityState::angular_position, travesim::EntityState::angular_velocity, travesim::EntityState::position, PRINTING_DECIMAL_PRECISION, PRINTING_MIN_WIDTH, and travesim::EntityState::velocity.

operator<<() [8/9]

std::ostream& travesim::operator<<	(	std::ostream &	output,
		const ReplacerConfigurer &	repl_conf
	)

Definition at line 58 of file replacer_configurer.cpp.

                                                                                 {
    output << "Replacer Endpoint: " << repl_conf.config.replacer_address;
    output << ":" << repl_conf.config.replacer_port << std::endl;
    output << "Specific Source: " << (repl_conf.config.specific_source ? "True" : "False") << std::endl;
    output << "Reset: " << ((repl_conf.config.reset || repl_conf.reconfigured) ? "True" : "False") << std::endl;

    return output;
}

References travesim::AdapterConfigurer< AdapterConfigType >::config, and travesim::AdapterConfigurer< AdapterConfigType >::reconfigured.

operator<<() [9/9]

std::ostream& travesim::operator<<	(	std::ostream &	output,
		const TeamsConfigurer &	teams_conf
	)

Definition at line 69 of file teams_configurer.cpp.

                                                                               {
    output << "Yellow Team Endpoint: " << teams_conf.config.yellow_team_address;
    output << ":" << teams_conf.config.yellow_team_port << std::endl;
    output << "Blue Team Endpoint: " << teams_conf.config.blue_team_address;
    output << ":" << teams_conf.config.blue_team_port << std::endl;
    output << "Specific Source: " << (teams_conf.config.specific_source ? "True" : "False") << std::endl;
    output << "Reset: " << ((teams_conf.config.reset || teams_conf.reconfigured) ? "True" : "False") << std::endl;

    return output;
}

References travesim::AdapterConfigurer< AdapterConfigType >::config, and travesim::AdapterConfigurer< AdapterConfigType >::reconfigured.