travesim::proto::TeamReceiver Class Reference

Team control data receiver class with UDP and protobuf. More...

#include "team_receiver.hpp"

Collaboration diagram for travesim::proto::TeamReceiver:

Public Member Functions
	TeamReceiver (const std::string receiver_address, const short receiver_port, bool is_yellow, bool force_specific_source=false, TeamsFormation teams_formation=TeamsFormation::THREE_ROBOTS_PER_TEAM)
	Construct a new TeamReceiver object. More...
bool	receive (TeamCommand *p_team_cmd)
	Receive the command from a team. 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...
void	packet_pb_msg_to_team_command (fira_message::sim_to_ref::Packet *p_packet, TeamCommand *p_team_cmd)
	Update a TeamCommand object from a Packet protobuf message. More...

Private Attributes
std::unique_ptr< udp::UnicastReceiver >	unicast_receiver
bool	is_yellow
std::unique_ptr< TeamCommand >	last_team_cmd

Detailed Description

Team control data receiver class with UDP and protobuf.

Definition at line 27 of file team_receiver.hpp.

Constructor & Destructor Documentation

TeamReceiver()

travesim::proto::TeamReceiver::TeamReceiver	(	const std::string	receiver_address,
		const short	receiver_port,
		bool	is_yellow,
		bool	force_specific_source = false,
		TeamsFormation	teams_formation = TeamsFormation::THREE_ROBOTS_PER_TEAM
	)

Construct a new TeamReceiver object.

Parameters

receiver_address	Team control address
receiver_port	Team control port
is_yellow	Wheter to tecontrol team yellow or blue
force_specific_source	Whether to enable source specific or not, default false
teams_formation	Number of robots per team, default is 3

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 team_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);

    this->is_yellow = is_yellow;

    this->last_team_cmd = std::unique_ptr<TeamCommand>(new TeamCommand(teams_formation));
}

References is_yellow, last_team_cmd, and unicast_receiver.

Member Function Documentation

force_specific_source()

void travesim::proto::TeamReceiver::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 78 of file team_receiver.cpp.

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

References unicast_receiver.

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packet_pb_msg_to_team_command()

void travesim::proto::TeamReceiver::packet_pb_msg_to_team_command	(	fira_message::sim_to_ref::Packet *	p_packet,
		TeamCommand *	p_team_cmd
	)

Update a TeamCommand object from a Packet protobuf message.

Parameters

p_packet	Pointer to the packet message to be converted
p_team_cmd	Pointer where to store the team command

Definition at line 90 of file team_receiver.cpp.

                                                                                                                {
    for (const auto& robot_cmd : p_packet->cmd().robot_commands()) {
        if (robot_cmd.yellowteam() == this->is_yellow) {
            int robot_id = robot_cmd.id();

            if ((robot_id < 0) || (robot_id >= p_team_cmd->robots_per_team)) {
                ROS_WARN_STREAM("Error: Invalid robot id in team receiver!\r\nReceived id is " <<
                                robot_id << " and max id is " << p_team_cmd->robots_per_team);
                continue;
            }

            if (isnanf(robot_cmd.wheel_left()) || isnanf(robot_cmd.wheel_right())) {
                ROS_WARN_STREAM("Error: Invalid robot speed in team receiver!");
                continue;
            }

            p_team_cmd->robot_command[robot_id].left_speed = robot_cmd.wheel_left();
            p_team_cmd->robot_command[robot_id].right_speed = robot_cmd.wheel_right();
        } else {
            ROS_WARN("Error: Team %s receiver and command colors don't match!",
                     this->is_yellow ? "yellow" : "blue");
        }
    }
}

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

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receive()

bool travesim::proto::TeamReceiver::receive

(

TeamCommand *

p_team_cmd

)

Receive the command from a team.

Parameters

p_team_cmd

Pointer where to store the team command

Returns

true if a new message was received, false otherwise

Definition at line 40 of file team_receiver.cpp.

                                                  {
    char buffer[BUFFER_SIZE];

    size_t data_size = 0;

    try {
        data_size = this->unicast_receiver->receive_latest(buffer, BUFFER_SIZE);
    } catch (std::exception& e) {
        ROS_ERROR_STREAM((this->is_yellow ? "Yellow" : "Blue") << " team 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_cmd()) {
            this->packet_pb_msg_to_team_command(&packet_data, p_team_cmd);

            *last_team_cmd = *p_team_cmd;

            return true;
        } else {
            *p_team_cmd = *last_team_cmd;
        }
    } else {
        *p_team_cmd = *last_team_cmd;
    }

    return false;
}

References BUFFER_SIZE, is_yellow, last_team_cmd, packet_pb_msg_to_team_command(), and unicast_receiver.

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reset()

void travesim::proto::TeamReceiver::reset

(

void

)

Reset the receiver.

Definition at line 82 of file team_receiver.cpp.

                             {
    try {
        this->unicast_receiver->reset();
    } catch (std::exception& e) {
        ROS_ERROR_STREAM((this->is_yellow ? "Yellow" : "Blue") << " team receiver: " << e.what());
    }
}

References is_yellow, and unicast_receiver.

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set_receiver_endpoint()

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

Set the receiver endpoint.

Parameters

receiver_address	Team control address
receiver_port	Team control 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 73 of file team_receiver.cpp.

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

References unicast_receiver.

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Member Data Documentation

is_yellow

bool travesim::proto::TeamReceiver::is_yellow

private

true for yellow, false for blue

Definition at line 93 of file team_receiver.hpp.

last_team_cmd

std::unique_ptr<TeamCommand> travesim::proto::TeamReceiver::last_team_cmd

private

Definition at line 95 of file team_receiver.hpp.

unicast_receiver

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

private

UDP unicast receiver

Definition at line 91 of file team_receiver.hpp.

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

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