travesim::proto::VisionSender Class Reference

Vision sender class with UDP and protobuf. More...

#include "vision_sender.hpp"

Collaboration diagram for travesim::proto::VisionSender:

Public Member Functions
	VisionSender (const std::string multicast_address, const short multicast_port)
	Construct a new Vision Sender object. More...
bool	send (FieldState *p_field_state)
	Send vision data with UDP and protobuf. More...
void	set_multicast_endpoint (const std::string multicast_address, const short multicast_port)
	Set the multicast endpoint. More...

Static Public Member Functions
static fira_message::sim_to_ref::Environment	field_state_to_env_pb_msg (FieldState *p_field_state)
	Convert a FieldState object to a Environment protobuf message object. More...

Private Attributes
std::unique_ptr< udp::MulticastSender >	multicast_sender

Detailed Description

Vision sender class with UDP and protobuf.

Definition at line 27 of file vision_sender.hpp.

Constructor & Destructor Documentation

VisionSender()

travesim::proto::VisionSender::VisionSender	(	const std::string	multicast_address,
		const short	multicast_port
	)

Construct a new Vision Sender object.

Parameters

multicast_address	Vision multicast address
multicast_port	Vision multicast port

Note

The multicast addresses must be in the range 224.0.0.0 through 239.255.255.255, see multicast IPv4 Multicast Address Space Registry or the RFC1112 for more informations.

Definition at line 22 of file vision_sender.cpp.

                                                                                        {
    this->multicast_sender =
        std::unique_ptr<udp::MulticastSender>(new udp::MulticastSender(multicast_address, multicast_port));
}

References multicast_sender.

Member Function Documentation

field_state_to_env_pb_msg()

fira_message::sim_to_ref::Environment travesim::proto::VisionSender::field_state_to_env_pb_msg ( FieldState *  p_field_state )

static

Convert a FieldState object to a Environment protobuf message object.

Parameters

p_field_state

Pointer to field state to be converted

Returns

fira_message::sim_to_ref::Environment

Definition at line 46 of file vision_sender.cpp.

                                                                                                   {
    fira_message::sim_to_ref::Environment env_data;
    fira_message::Frame* frame = env_data.mutable_frame();

    // Set step
    env_data.set_step(p_field_state->time_step);

    // Set ball data
    fira_message::Ball* frame_ball = frame->mutable_ball();

    frame_ball->set_x(p_field_state->ball.position.x);
    frame_ball->set_y(p_field_state->ball.position.y);
    frame_ball->set_vx(p_field_state->ball.velocity.x);
    frame_ball->set_vy(p_field_state->ball.velocity.y);

    // Set yellow team
    for (int i = 0; i < p_field_state->robots_per_team; i++) {
        fira_message::Robot* robot = frame->add_robots_yellow();

        robot->set_robot_id(i);

        robot->set_x(p_field_state->yellow_team[i].position.x);
        robot->set_y(p_field_state->yellow_team[i].position.y);
        robot->set_orientation(p_field_state->yellow_team[i].angular_position);

        robot->set_vx(p_field_state->yellow_team[i].velocity.x);
        robot->set_vy(p_field_state->yellow_team[i].velocity.y);
        robot->set_vorientation(p_field_state->yellow_team[i].angular_velocity);
    }

    // Set blue team
    for (int i = 0; i < p_field_state->robots_per_team; i++) {
        fira_message::Robot* robot = frame->add_robots_blue();

        robot->set_robot_id(i);

        robot->set_x(p_field_state->blue_team[i].position.x);
        robot->set_y(p_field_state->blue_team[i].position.y);
        robot->set_orientation(p_field_state->blue_team[i].angular_position);

        robot->set_vx(p_field_state->blue_team[i].velocity.x);
        robot->set_vy(p_field_state->blue_team[i].velocity.y);
        robot->set_vorientation(p_field_state->blue_team[i].angular_velocity);
    }

    // Set field dimensions
    fira_message::Field* field = env_data.mutable_field();

    field->set_width(FIELD_WIDTH_M);
    field->set_length(FIELD_LENGTH_M);
    field->set_goal_width(GOAL_WIDTH_M);
    field->set_goal_depth(GOAL_DEPTH_M);

    return env_data;
}

References travesim::FieldState::ball, travesim::FieldState::blue_team, FIELD_LENGTH_M, FIELD_WIDTH_M, GOAL_DEPTH_M, GOAL_WIDTH_M, travesim::EntityState::position, travesim::FieldState::robots_per_team, travesim::FieldState::time_step, travesim::EntityState::velocity, travesim::Vector2D::x, travesim::Vector2D::y, and travesim::FieldState::yellow_team.

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send()

bool travesim::proto::VisionSender::send

(

FieldState *

p_field_state

)

Send vision data with UDP and protobuf.

Parameters

p_field_state

Pointer to field state to be sent

Returns

True if sent data successfully, false otherwise

Definition at line 27 of file vision_sender.cpp.

                                                 {
    fira_message::sim_to_ref::Environment env_data = this->field_state_to_env_pb_msg(p_field_state);

    std::string buffer;
    env_data.SerializeToString(&buffer);

    if (this->multicast_sender->send(buffer.c_str(), buffer.length()) == 0) {
        ROS_WARN_STREAM("Error sending vision protobuff message");

        return false;
    }

    return true;
}

References field_state_to_env_pb_msg(), and multicast_sender.

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set_multicast_endpoint()

void travesim::proto::VisionSender::set_multicast_endpoint	(	const std::string	multicast_address,
		const short	multicast_port
	)

Set the multicast endpoint.

Parameters

multicast_address	Vision multicast address
multicast_port	Vision multicast port

Note

The multicast addresses must be in the range 224.0.0.0 through 239.255.255.255, see multicast IPv4 Multicast Address Space Registry or the RFC1112 for more informations.

Definition at line 42 of file vision_sender.cpp.

                                                                                                       {
    this->multicast_sender->set_receiver_endpoint(multicast_address, multicast_port);
}

References multicast_sender.

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Member Data Documentation

multicast_sender

std::unique_ptr<udp::MulticastSender> travesim::proto::VisionSender::multicast_sender

private

Pointer to UDP multicast sender

Definition at line 74 of file vision_sender.hpp.

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

• include/travesim_adapters/protobuf/vision_sender.hpp
• src/lib/protobuf/vision_sender.cpp