travesim::proto::ReplacerReceiver Class Reference

Replacer receiver class with UDP and protobuf. More...

#include "replacer_receiver.hpp"

Collaboration diagram for travesim::proto::ReplacerReceiver:

Public Member Functions
	ReplacerReceiver (const std::string receiver_address, const short receiver_port, bool force_specific_source=false)
	Construct a new ReplacerReceiver object. More...
bool	receive (std::queue< std::shared_ptr< EntityState >> *p_replament_queue)
	Receive the replacement commands. More...
void	set_receiver_endpoint (const std::string receiver_address, const short receiver_port)
	Set the receiver endpoint. More...
void	force_specific_source (bool force_specific_source)
	Set wheter to enable any source or source specific multicast. True for specific source, false for any source, default is false. More...
void	reset (void)
	Reset the receiver. More...
EntityState	ball_rplcmt_pb_to_entity_state (const fira_message::sim_to_ref::BallReplacement *p_ball_pb_msg)
	Convert a BallReplacement protobuf message to a EntityState. More...
RobotState	robot_rplcmt_pb_to_robot_state (const fira_message::sim_to_ref::RobotReplacement *p_robot_pb_msg)
	Convert a RobotReplacement protobuf message to a RobotState. More...

Private Attributes
std::unique_ptr< udp::UnicastReceiver >	unicast_receiver

Detailed Description

Replacer receiver class with UDP and protobuf.

Definition at line 29 of file replacer_receiver.hpp.

Constructor & Destructor Documentation

ReplacerReceiver()

travesim::proto::ReplacerReceiver::ReplacerReceiver	(	const std::string	receiver_address,
		const short	receiver_port,
		bool	force_specific_source = false
	)

Construct a new ReplacerReceiver object.

Parameters

receiver_address	Replacer receiver address
receiver_port	Replacer receiver port
force_specific_source	Whether to enable source specific or not, default false

Note

The unicast addresses must be in the block 127.0.0.0/8, see IANA IPv4 Address Space Registry or the RFC6890 for more informations.

Definition at line 29 of file replacer_receiver.cpp.

                                                               {
    this->unicast_receiver =
        std::unique_ptr<udp::UnicastReceiver>(new udp::UnicastReceiver(receiver_address, receiver_port));
    this->unicast_receiver->force_specific_source(force_specific_source);
}

References unicast_receiver.

Member Function Documentation

ball_rplcmt_pb_to_entity_state()

EntityState travesim::proto::ReplacerReceiver::ball_rplcmt_pb_to_entity_state

(

const fira_message::sim_to_ref::BallReplacement *

p_ball_pb_msg

)

Convert a BallReplacement protobuf message to a EntityState.

Parameters

p_ball_pb_msg

Pointer the ball replacement protobuf message

Returns

Converted EntityState

Definition at line 88 of file replacer_receiver.cpp.

                                                                {
    EntityState ball_state;

    ball_state.position.x = p_ball_pb_msg->x();
    ball_state.position.y = p_ball_pb_msg->y();
    ball_state.velocity.x = p_ball_pb_msg->vx();
    ball_state.velocity.y = p_ball_pb_msg->vy();

    return ball_state;
}

References travesim::EntityState::position, travesim::EntityState::velocity, travesim::Vector2D::x, and travesim::Vector2D::y.

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force_specific_source()

void travesim::proto::ReplacerReceiver::force_specific_source

(

bool

force_specific_source

)

Set wheter to enable any source or source specific multicast. True for specific source, false for any source, default is false.

Parameters

force_specific_source

Whether to enable source specific or not.

Definition at line 76 of file replacer_receiver.cpp.

                                                                       {
    this->unicast_receiver->force_specific_source(force_specific_source);
}

References unicast_receiver.

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receive()

bool travesim::proto::ReplacerReceiver::receive

(

std::queue< std::shared_ptr< EntityState >> *

p_replament_queue

)

Receive the replacement commands.

Parameters

p_replament_queue

Pointer to a queue where to store the desired replacements

Returns

true if a new message was received, false otherwise

Definition at line 36 of file replacer_receiver.cpp.

                                                                                      {
    char buffer[BUFFER_SIZE];

    size_t data_size = 0;

    try {
        data_size = this->unicast_receiver->receive(buffer, BUFFER_SIZE);
    } catch (std::exception& e) {
        ROS_ERROR_STREAM("Replacer receiver: " << e.what());

        return false;
    }

    if (data_size > 0) {
        fira_message::sim_to_ref::Packet packet_data;
        packet_data.ParseFromArray(buffer, BUFFER_SIZE);

        if (packet_data.has_replace()) {
            for (const auto& robot_replacement : packet_data.replace().robots()) {
                RobotState robot_state = this->robot_rplcmt_pb_to_robot_state(&robot_replacement);
                p_replament_queue->push(std::make_shared<RobotState>(robot_state));
            }

            if (packet_data.replace().has_ball()) {
                const fira_message::sim_to_ref::BallReplacement ball = packet_data.replace().ball();
                EntityState ball_state = this->ball_rplcmt_pb_to_entity_state(&ball);
                p_replament_queue->push(std::make_shared<EntityState>(ball_state));
            }

            return true;
        }
    }

    return false;
}

References ball_rplcmt_pb_to_entity_state(), BUFFER_SIZE, robot_rplcmt_pb_to_robot_state(), and unicast_receiver.

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reset()

void travesim::proto::ReplacerReceiver::reset

(

void

)

Reset the receiver.

Definition at line 80 of file replacer_receiver.cpp.

                                 {
    try {
        this->unicast_receiver->reset();
    } catch (std::exception& e) {
        ROS_ERROR_STREAM("Replacer receiver: " << e.what());
    }
}

References unicast_receiver.

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robot_rplcmt_pb_to_robot_state()

RobotState travesim::proto::ReplacerReceiver::robot_rplcmt_pb_to_robot_state

(

const fira_message::sim_to_ref::RobotReplacement *

p_robot_pb_msg

)

Convert a RobotReplacement protobuf message to a RobotState.

Parameters

p_robot_pb_msg

Pointer the robot replacement protobuf message

Returns

Converted EntityState

Definition at line 100 of file replacer_receiver.cpp.

                                                                  {
    RobotState robot_state;

    robot_state.is_yellow = p_robot_pb_msg->yellowteam();
    robot_state.id = p_robot_pb_msg->position().robot_id();

    robot_state.position.x = p_robot_pb_msg->position().x();
    robot_state.position.y = p_robot_pb_msg->position().y();
    robot_state.angular_position = p_robot_pb_msg->position().orientation();

    robot_state.velocity.x = p_robot_pb_msg->position().vx();
    robot_state.velocity.y = p_robot_pb_msg->position().vy();
    robot_state.angular_velocity = p_robot_pb_msg->position().vorientation();

    return robot_state;
}

References travesim::EntityState::angular_position, travesim::EntityState::angular_velocity, travesim::RobotState::id, travesim::RobotState::is_yellow, travesim::EntityState::position, travesim::EntityState::velocity, travesim::Vector2D::x, and travesim::Vector2D::y.

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set_receiver_endpoint()

void travesim::proto::ReplacerReceiver::set_receiver_endpoint	(	const std::string	receiver_address,
		const short	receiver_port
	)

Set the receiver endpoint.

Parameters

receiver_address	Replacer receiver address
receiver_port	Replacer receiver port

Note

The unicast addresses must be in the block 127.0.0.0/8, see IANA IPv4 Address Space Registry or the RFC6890 for more informations.

Definition at line 72 of file replacer_receiver.cpp.

                                                                                                        {
    this->unicast_receiver->set_receiver_endpoint(receiver_address, receiver_port);
}

References unicast_receiver.

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Member Data Documentation

unicast_receiver

std::unique_ptr<udp::UnicastReceiver> travesim::proto::ReplacerReceiver::unicast_receiver

private

UDP unicast receiver

Definition at line 100 of file replacer_receiver.hpp.

---

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

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