24 #include <interfaces/NavigatorInterface.h> 26 #include <core/exceptions/software.h> 80 NavigatorInterface::NavigatorInterface() : Interface()
82 data_size =
sizeof(NavigatorInterface_data_t);
84 data = (NavigatorInterface_data_t *)
data_ptr;
87 enum_map_DriveMode[(int)MovingNotAllowed] =
"MovingNotAllowed";
88 enum_map_DriveMode[(int)Forward] =
"Forward";
89 enum_map_DriveMode[(int)AllowBackward] =
"AllowBackward";
90 enum_map_DriveMode[(int)Backward] =
"Backward";
91 enum_map_DriveMode[(int)ESCAPE] =
"ESCAPE";
93 enum_map_OrientationMode[(int)OrientDuringTravel] =
"OrientDuringTravel";
111 add_fieldinfo(
IFT_ENUM,
"orientation_mode", 1, &data->orientation_mode,
"OrientationMode", &enum_map_OrientationMode);
130 unsigned char tmp_hash[] = {0x43, 0xfc, 0x3a, 0xa9, 0x15, 0x62, 0x32, 0x4c, 0x34, 0x54, 0x7d, 0xd4, 0xf, 0x20, 0x43, 0xcc};
135 NavigatorInterface::~NavigatorInterface()
147 case MovingNotAllowed:
return "MovingNotAllowed";
148 case Forward:
return "Forward";
149 case AllowBackward:
return "AllowBackward";
150 case Backward:
return "Backward";
151 case ESCAPE:
return "ESCAPE";
152 default:
return "UNKNOWN";
164 case OrientDuringTravel:
return "OrientDuringTravel";
165 default:
return "UNKNOWN";
198 data->flags = new_flags;
291 data->dest_x = new_dest_x;
322 data->dest_y = new_dest_y;
333 return data->dest_ori;
353 data->dest_ori = new_dest_ori;
364 return data->dest_dist;
384 data->dest_dist = new_dest_dist;
417 data->msgid = new_msgid;
450 data->final = new_final;
463 return data->error_code;
485 data->error_code = new_error_code;
496 return data->max_velocity;
516 data->max_velocity = new_max_velocity;
527 return data->max_rotation;
547 data->max_rotation = new_max_rotation;
558 return data->security_distance;
578 data->security_distance = new_security_distance;
590 return data->escaping_enabled;
611 data->escaping_enabled = new_escaping_enabled;
642 data->drive_mode = new_drive_mode;
655 return data->auto_drive_mode;
677 data->auto_drive_mode = new_auto_drive_mode;
688 return data->stop_at_target;
708 data->stop_at_target = new_stop_at_target;
739 data->orientation_mode = new_orientation_mode;
750 return data->target_frame;
770 strncpy(data->target_frame, new_target_frame,
sizeof(data->target_frame)-1);
771 data->target_frame[
sizeof(data->target_frame)-1] = 0;
779 if ( strncmp(
"StopMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
781 }
else if ( strncmp(
"TurnMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
783 }
else if ( strncmp(
"CartesianGotoMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
785 }
else if ( strncmp(
"CartesianGotoWithFrameMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
787 }
else if ( strncmp(
"PolarGotoMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
789 }
else if ( strncmp(
"PlaceGotoMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
791 }
else if ( strncmp(
"PlaceWithOriGotoMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
793 }
else if ( strncmp(
"ObstacleMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
795 }
else if ( strncmp(
"ResetOdometryMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
797 }
else if ( strncmp(
"SetMaxVelocityMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
799 }
else if ( strncmp(
"SetMaxRotationMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
801 }
else if ( strncmp(
"SetEscapingMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
803 }
else if ( strncmp(
"SetSecurityDistanceMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
805 }
else if ( strncmp(
"SetDriveModeMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
807 }
else if ( strncmp(
"SetStopAtTargetMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
809 }
else if ( strncmp(
"SetOrientationModeMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
811 }
else if ( strncmp(
"ResetParametersMessage",
type, INTERFACE_MESSAGE_TYPE_SIZE_) == 0 ) {
815 "message type for this interface type.",
type);
831 memcpy(data, oi->data,
sizeof(NavigatorInterface_data_t));
837 if (strcmp(enumtype,
"DriveMode") == 0) {
838 return tostring_DriveMode((
DriveMode)val);
840 if (strcmp(enumtype,
"OrientationMode") == 0) {
862 data = (StopMessage_data_t *)
data_ptr;
864 data->msgid = ini_msgid;
866 enum_map_DriveMode[(int)
Forward] =
"Forward";
868 enum_map_DriveMode[(int)
Backward] =
"Backward";
869 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
880 data = (StopMessage_data_t *)
data_ptr;
883 enum_map_DriveMode[(int)
Forward] =
"Forward";
885 enum_map_DriveMode[(int)
Backward] =
"Backward";
886 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
906 data = (StopMessage_data_t *)
data_ptr;
954 data->msgid = new_msgid;
983 data = (TurnMessage_data_t *)
data_ptr;
985 data->angle = ini_angle;
986 data->velocity = ini_velocity;
988 enum_map_DriveMode[(int)
Forward] =
"Forward";
990 enum_map_DriveMode[(int)
Backward] =
"Backward";
991 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1003 data = (TurnMessage_data_t *)
data_ptr;
1006 enum_map_DriveMode[(int)
Forward] =
"Forward";
1008 enum_map_DriveMode[(int)
Backward] =
"Backward";
1009 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1010 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1030 data = (TurnMessage_data_t *)
data_ptr;
1062 data->angle = new_angle;
1073 return data->velocity;
1094 data->velocity = new_velocity;
1121 data_size =
sizeof(CartesianGotoMessage_data_t);
1124 data = (CartesianGotoMessage_data_t *)
data_ptr;
1128 data->orientation = ini_orientation;
1130 enum_map_DriveMode[(int)
Forward] =
"Forward";
1132 enum_map_DriveMode[(int)
Backward] =
"Backward";
1133 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1134 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1143 data_size =
sizeof(CartesianGotoMessage_data_t);
1146 data = (CartesianGotoMessage_data_t *)
data_ptr;
1149 enum_map_DriveMode[(int)
Forward] =
"Forward";
1151 enum_map_DriveMode[(int)
Backward] =
"Backward";
1152 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1153 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1174 data = (CartesianGotoMessage_data_t *)
data_ptr;
1246 return data->orientation;
1266 data->orientation = new_orientation;
1294 data_size =
sizeof(CartesianGotoWithFrameMessage_data_t);
1297 data = (CartesianGotoWithFrameMessage_data_t *)
data_ptr;
1301 data->orientation = ini_orientation;
1302 strncpy(data->target_frame, ini_target_frame, 64-1);
1303 data->target_frame[64-1] = 0;
1305 enum_map_DriveMode[(int)
Forward] =
"Forward";
1307 enum_map_DriveMode[(int)
Backward] =
"Backward";
1308 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1309 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1319 data_size =
sizeof(CartesianGotoWithFrameMessage_data_t);
1322 data = (CartesianGotoWithFrameMessage_data_t *)
data_ptr;
1325 enum_map_DriveMode[(int)
Forward] =
"Forward";
1327 enum_map_DriveMode[(int)
Backward] =
"Backward";
1328 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1329 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1351 data = (CartesianGotoWithFrameMessage_data_t *)
data_ptr;
1423 return data->orientation;
1443 data->orientation = new_orientation;
1453 return data->target_frame;
1473 strncpy(data->target_frame, new_target_frame,
sizeof(data->target_frame)-1);
1474 data->target_frame[
sizeof(data->target_frame)-1] = 0;
1501 data_size =
sizeof(PolarGotoMessage_data_t);
1504 data = (PolarGotoMessage_data_t *)
data_ptr;
1506 data->phi = ini_phi;
1507 data->dist = ini_dist;
1508 data->orientation = ini_orientation;
1510 enum_map_DriveMode[(int)
Forward] =
"Forward";
1512 enum_map_DriveMode[(int)
Backward] =
"Backward";
1513 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1514 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1523 data_size =
sizeof(PolarGotoMessage_data_t);
1526 data = (PolarGotoMessage_data_t *)
data_ptr;
1529 enum_map_DriveMode[(int)
Forward] =
"Forward";
1531 enum_map_DriveMode[(int)
Backward] =
"Backward";
1532 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1533 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1554 data = (PolarGotoMessage_data_t *)
data_ptr;
1586 data->phi = new_phi;
1616 data->dist = new_dist;
1626 return data->orientation;
1646 data->orientation = new_orientation;
1671 data_size =
sizeof(PlaceGotoMessage_data_t);
1674 data = (PlaceGotoMessage_data_t *)
data_ptr;
1676 strncpy(data->place, ini_place, 64-1);
1677 data->place[64-1] = 0;
1679 enum_map_DriveMode[(int)
Forward] =
"Forward";
1681 enum_map_DriveMode[(int)
Backward] =
"Backward";
1682 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1683 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1690 data_size =
sizeof(PlaceGotoMessage_data_t);
1693 data = (PlaceGotoMessage_data_t *)
data_ptr;
1696 enum_map_DriveMode[(int)
Forward] =
"Forward";
1698 enum_map_DriveMode[(int)
Backward] =
"Backward";
1699 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1700 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1719 data = (PlaceGotoMessage_data_t *)
data_ptr;
1751 strncpy(data->place, new_place,
sizeof(data->place)-1);
1752 data->place[
sizeof(data->place)-1] = 0;
1778 data_size =
sizeof(PlaceWithOriGotoMessage_data_t);
1781 data = (PlaceWithOriGotoMessage_data_t *)
data_ptr;
1783 strncpy(data->place, ini_place, 64-1);
1784 data->place[64-1] = 0;
1785 data->orientation = ini_orientation;
1787 enum_map_DriveMode[(int)
Forward] =
"Forward";
1789 enum_map_DriveMode[(int)
Backward] =
"Backward";
1790 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1791 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1799 data_size =
sizeof(PlaceWithOriGotoMessage_data_t);
1802 data = (PlaceWithOriGotoMessage_data_t *)
data_ptr;
1805 enum_map_DriveMode[(int)
Forward] =
"Forward";
1807 enum_map_DriveMode[(int)
Backward] =
"Backward";
1808 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1809 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1829 data = (PlaceWithOriGotoMessage_data_t *)
data_ptr;
1861 strncpy(data->place, new_place,
sizeof(data->place)-1);
1862 data->place[
sizeof(data->place)-1] = 0;
1872 return data->orientation;
1892 data->orientation = new_orientation;
1919 data_size =
sizeof(ObstacleMessage_data_t);
1922 data = (ObstacleMessage_data_t *)
data_ptr;
1926 data->width = ini_width;
1928 enum_map_DriveMode[(int)
Forward] =
"Forward";
1930 enum_map_DriveMode[(int)
Backward] =
"Backward";
1931 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1932 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1941 data_size =
sizeof(ObstacleMessage_data_t);
1944 data = (ObstacleMessage_data_t *)
data_ptr;
1947 enum_map_DriveMode[(int)
Forward] =
"Forward";
1949 enum_map_DriveMode[(int)
Backward] =
"Backward";
1950 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
1951 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
1972 data = (ObstacleMessage_data_t *)
data_ptr;
2064 data->width = new_width;
2087 data_size =
sizeof(ResetOdometryMessage_data_t);
2090 data = (ResetOdometryMessage_data_t *)
data_ptr;
2093 enum_map_DriveMode[(int)
Forward] =
"Forward";
2095 enum_map_DriveMode[(int)
Backward] =
"Backward";
2096 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2097 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2115 data = (ResetOdometryMessage_data_t *)
data_ptr;
2142 data_size =
sizeof(SetMaxVelocityMessage_data_t);
2145 data = (SetMaxVelocityMessage_data_t *)
data_ptr;
2147 data->max_velocity = ini_max_velocity;
2149 enum_map_DriveMode[(int)
Forward] =
"Forward";
2151 enum_map_DriveMode[(int)
Backward] =
"Backward";
2152 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2153 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2160 data_size =
sizeof(SetMaxVelocityMessage_data_t);
2163 data = (SetMaxVelocityMessage_data_t *)
data_ptr;
2166 enum_map_DriveMode[(int)
Forward] =
"Forward";
2168 enum_map_DriveMode[(int)
Backward] =
"Backward";
2169 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2170 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2189 data = (SetMaxVelocityMessage_data_t *)
data_ptr;
2201 return data->max_velocity;
2221 data->max_velocity = new_max_velocity;
2246 data_size =
sizeof(SetMaxRotationMessage_data_t);
2249 data = (SetMaxRotationMessage_data_t *)
data_ptr;
2251 data->max_rotation = ini_max_rotation;
2253 enum_map_DriveMode[(int)
Forward] =
"Forward";
2255 enum_map_DriveMode[(int)
Backward] =
"Backward";
2256 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2257 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2264 data_size =
sizeof(SetMaxRotationMessage_data_t);
2267 data = (SetMaxRotationMessage_data_t *)
data_ptr;
2270 enum_map_DriveMode[(int)
Forward] =
"Forward";
2272 enum_map_DriveMode[(int)
Backward] =
"Backward";
2273 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2274 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2293 data = (SetMaxRotationMessage_data_t *)
data_ptr;
2305 return data->max_rotation;
2325 data->max_rotation = new_max_rotation;
2350 data_size =
sizeof(SetEscapingMessage_data_t);
2353 data = (SetEscapingMessage_data_t *)
data_ptr;
2355 data->escaping_enabled = ini_escaping_enabled;
2357 enum_map_DriveMode[(int)
Forward] =
"Forward";
2359 enum_map_DriveMode[(int)
Backward] =
"Backward";
2360 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2361 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2368 data_size =
sizeof(SetEscapingMessage_data_t);
2371 data = (SetEscapingMessage_data_t *)
data_ptr;
2374 enum_map_DriveMode[(int)
Forward] =
"Forward";
2376 enum_map_DriveMode[(int)
Backward] =
"Backward";
2377 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2378 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2397 data = (SetEscapingMessage_data_t *)
data_ptr;
2410 return data->escaping_enabled;
2431 data->escaping_enabled = new_escaping_enabled;
2456 data_size =
sizeof(SetSecurityDistanceMessage_data_t);
2459 data = (SetSecurityDistanceMessage_data_t *)
data_ptr;
2461 data->security_distance = ini_security_distance;
2463 enum_map_DriveMode[(int)
Forward] =
"Forward";
2465 enum_map_DriveMode[(int)
Backward] =
"Backward";
2466 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2467 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2474 data_size =
sizeof(SetSecurityDistanceMessage_data_t);
2477 data = (SetSecurityDistanceMessage_data_t *)
data_ptr;
2480 enum_map_DriveMode[(int)
Forward] =
"Forward";
2482 enum_map_DriveMode[(int)
Backward] =
"Backward";
2483 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2484 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2503 data = (SetSecurityDistanceMessage_data_t *)
data_ptr;
2515 return data->security_distance;
2535 data->security_distance = new_security_distance;
2560 data_size =
sizeof(SetDriveModeMessage_data_t);
2563 data = (SetDriveModeMessage_data_t *)
data_ptr;
2565 data->drive_mode = ini_drive_mode;
2567 enum_map_DriveMode[(int)
Forward] =
"Forward";
2569 enum_map_DriveMode[(int)
Backward] =
"Backward";
2570 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2571 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2578 data_size =
sizeof(SetDriveModeMessage_data_t);
2581 data = (SetDriveModeMessage_data_t *)
data_ptr;
2584 enum_map_DriveMode[(int)
Forward] =
"Forward";
2586 enum_map_DriveMode[(int)
Backward] =
"Backward";
2587 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2588 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2607 data = (SetDriveModeMessage_data_t *)
data_ptr;
2639 data->drive_mode = new_drive_mode;
2664 data_size =
sizeof(SetStopAtTargetMessage_data_t);
2667 data = (SetStopAtTargetMessage_data_t *)
data_ptr;
2669 data->stop_at_target = ini_stop_at_target;
2671 enum_map_DriveMode[(int)
Forward] =
"Forward";
2673 enum_map_DriveMode[(int)
Backward] =
"Backward";
2674 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2675 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2682 data_size =
sizeof(SetStopAtTargetMessage_data_t);
2685 data = (SetStopAtTargetMessage_data_t *)
data_ptr;
2688 enum_map_DriveMode[(int)
Forward] =
"Forward";
2690 enum_map_DriveMode[(int)
Backward] =
"Backward";
2691 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2692 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2711 data = (SetStopAtTargetMessage_data_t *)
data_ptr;
2723 return data->stop_at_target;
2743 data->stop_at_target = new_stop_at_target;
2768 data_size =
sizeof(SetOrientationModeMessage_data_t);
2771 data = (SetOrientationModeMessage_data_t *)
data_ptr;
2773 data->orientation_mode = ini_orientation_mode;
2775 enum_map_DriveMode[(int)
Forward] =
"Forward";
2777 enum_map_DriveMode[(int)
Backward] =
"Backward";
2778 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2779 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2781 add_fieldinfo(
IFT_ENUM,
"orientation_mode", 1, &data->orientation_mode,
"OrientationMode", &enum_map_OrientationMode);
2786 data_size =
sizeof(SetOrientationModeMessage_data_t);
2789 data = (SetOrientationModeMessage_data_t *)
data_ptr;
2792 enum_map_DriveMode[(int)
Forward] =
"Forward";
2794 enum_map_DriveMode[(int)
Backward] =
"Backward";
2795 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2796 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2798 add_fieldinfo(
IFT_ENUM,
"orientation_mode", 1, &data->orientation_mode,
"OrientationMode", &enum_map_OrientationMode);
2815 data = (SetOrientationModeMessage_data_t *)
data_ptr;
2847 data->orientation_mode = new_orientation_mode;
2870 data_size =
sizeof(ResetParametersMessage_data_t);
2873 data = (ResetParametersMessage_data_t *)
data_ptr;
2876 enum_map_DriveMode[(int)
Forward] =
"Forward";
2878 enum_map_DriveMode[(int)
Backward] =
"Backward";
2879 enum_map_DriveMode[(int)
ESCAPE] =
"ESCAPE";
2880 enum_map_OrientationMode[(int)
OrientAtTarget] =
"OrientAtTarget";
2898 data = (ResetParametersMessage_data_t *)
data_ptr;
2920 const StopMessage *m0 = dynamic_cast<const StopMessage *>(message);
2924 const TurnMessage *m1 = dynamic_cast<const TurnMessage *>(message);
2936 const PolarGotoMessage *m4 = dynamic_cast<const PolarGotoMessage *>(message);
2940 const PlaceGotoMessage *m5 = dynamic_cast<const PlaceGotoMessage *>(message);
2948 const ObstacleMessage *m7 = dynamic_cast<const ObstacleMessage *>(message);
2961 if ( m10 != NULL ) {
2965 if ( m11 != NULL ) {
2969 if ( m12 != NULL ) {
2973 if ( m13 != NULL ) {
2977 if ( m14 != NULL ) {
2981 if ( m15 != NULL ) {
2985 if ( m16 != NULL ) {
bool is_auto_drive_mode() const
Get auto_drive_mode value.
size_t maxlenof_orientation() const
Get maximum length of orientation value.
size_t maxlenof_max_rotation() const
Get maximum length of max_rotation value.
~CartesianGotoMessage()
Destructor.
~ResetOdometryMessage()
Destructor.
~SetMaxRotationMessage()
Destructor.
CartesianGotoWithFrameMessage()
Constructor.
void set_target_frame(const char *new_target_frame)
Set target_frame value.
size_t maxlenof_phi() const
Get maximum length of phi value.
float x() const
Get x value.
float max_velocity() const
Get max_velocity value.
~StopMessage()
Destructor.
size_t maxlenof_drive_mode() const
Get maximum length of drive_mode value.
size_t maxlenof_y() const
Get maximum length of y value.
void * data_ptr
Pointer to memory that contains local data.
void set_stop_at_target(const bool new_stop_at_target)
Set stop_at_target value.
static const uint32_t ERROR_PATH_GEN_FAIL
ERROR_PATH_GEN_FAIL constant.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
float y() const
Get y value.
size_t maxlenof_msgid() const
Get maximum length of msgid value.
void set_dist(const float new_dist)
Set dist value.
void set_angle(const float new_angle)
Set angle value.
float y() const
Get y value.
void set_escaping_enabled(const bool new_escaping_enabled)
Set escaping_enabled value.
~SetStopAtTargetMessage()
Destructor.
char * place() const
Get place value.
size_t maxlenof_dist() const
Get maximum length of dist value.
virtual Message * clone() const
Clone this message.
float orientation() const
Get orientation value.
float velocity() const
Get velocity value.
virtual Message * clone() const
Clone this message.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
void set_hash(unsigned char *ihash)
Set hash.
void set_y(const float new_y)
Set y value.
size_t maxlenof_orientation_mode() const
Get maximum length of orientation_mode value.
SetMaxVelocityMessage()
Constructor.
size_t maxlenof_orientation() const
Get maximum length of orientation value.
~SetEscapingMessage()
Destructor.
void set_max_velocity(const float new_max_velocity)
Set max_velocity value.
virtual Message * clone() const
Clone this message.
Fawkes library namespace.
void set_place(const char *new_place)
Set place value.
virtual Message * clone() const
Clone this message.
ObstacleMessage Fawkes BlackBoard Interface Message.
void set_final(const bool new_final)
Set final value.
bool is_stop_at_target() const
Get stop_at_target value.
Timestamp data, must be present and first entries for each interface data structs!...
size_t maxlenof_max_rotation() const
Get maximum length of max_rotation value.
virtual Message * clone() const
Clone this message.
float width() const
Get width value.
virtual Message * clone() const
Clone this message.
void set_orientation_mode(const OrientationMode new_orientation_mode)
Set orientation_mode value.
OrientationMode
Orientation mode enum.
static const uint32_t ERROR_MOTOR
ERROR_MOTOR constant.
SetEscapingMessage()
Constructor.
SetSecurityDistanceMessage Fawkes BlackBoard Interface Message.
~TurnMessage()
Destructor.
virtual Message * clone() const
Clone this message.
bool is_escaping_enabled() const
Get escaping_enabled value.
virtual Message * clone() const
Clone this message.
void set_place(const char *new_place)
Set place value.
static const uint32_t FLAG_CART_GOTO
FLAG_CART_GOTO constant.
float max_rotation() const
Get max_rotation value.
size_t maxlenof_orientation() const
Get maximum length of orientation value.
void set_escaping_enabled(const bool new_escaping_enabled)
Set escaping_enabled value.
virtual Message * create_message(const char *type) const
Create message based on type name.
~PlaceWithOriGotoMessage()
Destructor.
PolarGotoMessage Fawkes BlackBoard Interface Message.
SetOrientationModeMessage()
Constructor.
float max_velocity() const
Get max_velocity value.
size_t maxlenof_auto_drive_mode() const
Get maximum length of auto_drive_mode value.
static const uint32_t ERROR_UNKNOWN_PLACE
ERROR_UNKNOWN_PLACE constant.
uint32_t error_code() const
Get error_code value.
virtual Message * clone() const
Clone this message.
void set_orientation(const float new_orientation)
Set orientation value.
virtual Message * clone() const
Clone this message.
SetOrientationModeMessage Fawkes BlackBoard Interface Message.
Base class for all Fawkes BlackBoard interfaces.
size_t maxlenof_dest_dist() const
Get maximum length of dest_dist value.
bool is_stop_at_target() const
Get stop_at_target value.
SetSecurityDistanceMessage()
Constructor.
float dest_ori() const
Get dest_ori value.
SetMaxRotationMessage()
Constructor.
size_t maxlenof_max_velocity() const
Get maximum length of max_velocity value.
void set_phi(const float new_phi)
Set phi value.
const char * tostring_DriveMode(DriveMode value) const
Convert DriveMode constant to string.
size_t maxlenof_y() const
Get maximum length of y value.
float orientation() const
Get orientation value.
size_t maxlenof_velocity() const
Get maximum length of velocity value.
static const uint32_t FLAG_POLAR_GOTO
FLAG_POLAR_GOTO constant.
size_t maxlenof_x() const
Get maximum length of x value.
void set_security_distance(const float new_security_distance)
Set security_distance value.
message_data_ts_t * data_ts
data timestamp aliasing pointer
float dist() const
Get dist value.
unsigned int data_size
Size of memory needed to hold all data.
SetStopAtTargetMessage Fawkes BlackBoard Interface Message.
SetEscapingMessage Fawkes BlackBoard Interface Message.
OrientationMode orientation_mode() const
Get orientation_mode value.
virtual Message * clone() const
Clone this message.
Orient when at target, if orientation is given.
char * target_frame() const
Get target_frame value.
size_t maxlenof_stop_at_target() const
Get maximum length of stop_at_target value.
size_t maxlenof_orientation_mode() const
Get maximum length of orientation_mode value.
void add_messageinfo(const char *name)
Add an entry to the message info list.
void set_orientation(const float new_orientation)
Set orientation value.
float dest_y() const
Get dest_y value.
size_t maxlenof_x() const
Get maximum length of x value.
size_t maxlenof_security_distance() const
Get maximum length of security_distance value.
SetDriveModeMessage Fawkes BlackBoard Interface Message.
bool data_changed
Indicator if data has changed.
DriveMode drive_mode() const
Get drive_mode value.
PlaceGotoMessage Fawkes BlackBoard Interface Message.
size_t maxlenof_final() const
Get maximum length of final value.
virtual Message * clone() const
Clone this message.
float x() const
Get x value.
const char * type() const
Get type of interface.
ObstacleMessage()
Constructor.
void * data_ptr
Pointer to local memory storage.
virtual Message * clone() const
Clone this message.
size_t maxlenof_stop_at_target() const
Get maximum length of stop_at_target value.
bool is_final() const
Get final value.
SetMaxRotationMessage Fawkes BlackBoard Interface Message.
void set_x(const float new_x)
Set x value.
CartesianGotoMessage Fawkes BlackBoard Interface Message.
CartesianGotoWithFrameMessage Fawkes BlackBoard Interface Message.
Moving backward constant.
void set_flags(const uint32_t new_flags)
Set flags value.
size_t maxlenof_dest_ori() const
Get maximum length of dest_ori value.
size_t maxlenof_msgid() const
Get maximum length of msgid value.
DriveMode drive_mode() const
Get drive_mode value.
void set_msgid(const uint32_t new_msgid)
Set msgid value.
char * place() const
Get place value.
void set_auto_drive_mode(const bool new_auto_drive_mode)
Set auto_drive_mode value.
uint32_t flags() const
Get flags value.
float orientation() const
Get orientation value.
size_t maxlenof_error_code() const
Get maximum length of error_code value.
CartesianGotoMessage()
Constructor.
~PolarGotoMessage()
Destructor.
size_t maxlenof_x() const
Get maximum length of x value.
Moving allow backward constant.
size_t maxlenof_escaping_enabled() const
Get maximum length of escaping_enabled value.
size_t maxlenof_dest_y() const
Get maximum length of dest_y value.
float angle() const
Get angle value.
size_t maxlenof_orientation() const
Get maximum length of orientation value.
void set_y(const float new_y)
Set y value.
~SetSecurityDistanceMessage()
Destructor.
void set_drive_mode(const DriveMode new_drive_mode)
Set drive_mode value.
void set_max_velocity(const float new_max_velocity)
Set max_velocity value.
void set_y(const float new_y)
Set y value.
size_t maxlenof_dest_x() const
Get maximum length of dest_x value.
void set_width(const float new_width)
Set width value.
float security_distance() const
Get security_distance value.
virtual void copy_values(const Interface *other)
Copy values from other interface.
PolarGotoMessage()
Constructor.
size_t maxlenof_x() const
Get maximum length of x value.
PlaceWithOriGotoMessage()
Constructor.
void set_error_code(const uint32_t new_error_code)
Set error_code value.
~ObstacleMessage()
Destructor.
ResetParametersMessage()
Constructor.
Moving not allowed constant.
virtual Message * clone() const
Clone this message.
PlaceGotoMessage()
Constructor.
float security_distance() const
Get security_distance value.
static const uint32_t FLAG_ESCAPING
FLAG_ESCAPING constant.
static const uint32_t ERROR_OBSTRUCTION
ERROR_OBSTRUCTION constant.
~CartesianGotoWithFrameMessage()
Destructor.
float y() const
Get y value.
virtual Message * clone() const
Clone this message.
void set_dest_ori(const float new_dest_ori)
Set dest_ori value.
void set_orientation(const float new_orientation)
Set orientation value.
void set_y(const float new_y)
Set y value.
void set_stop_at_target(const bool new_stop_at_target)
Set stop_at_target value.
size_t maxlenof_max_velocity() const
Get maximum length of max_velocity value.
~ResetParametersMessage()
Destructor.
TurnMessage Fawkes BlackBoard Interface Message.
void set_velocity(const float new_velocity)
Set velocity value.
float x() const
Get x value.
~SetOrientationModeMessage()
Destructor.
static const uint32_t FLAG_SECURITY_DISTANCE
FLAG_SECURITY_DISTANCE constant.
void set_security_distance(const float new_security_distance)
Set security_distance value.
void set_dest_dist(const float new_dest_dist)
Set dest_dist value.
void set_orientation(const float new_orientation)
Set orientation value.
void set_max_rotation(const float new_max_rotation)
Set max_rotation value.
void set_max_rotation(const float new_max_rotation)
Set max_rotation value.
char * target_frame() const
Get target_frame value.
void set_dest_x(const float new_dest_x)
Set dest_x value.
SetDriveModeMessage()
Constructor.
float phi() const
Get phi value.
size_t maxlenof_y() const
Get maximum length of y value.
uint32_t msgid() const
Get msgid value.
const char * tostring_OrientationMode(OrientationMode value) const
Convert OrientationMode constant to string.
size_t maxlenof_target_frame() const
Get maximum length of target_frame value.
Indicating that the robot is at target and has to orient.
void set_target_frame(const char *new_target_frame)
Set target_frame value.
virtual Message * clone() const
Clone this message.
float dest_x() const
Get dest_x value.
size_t maxlenof_escaping_enabled() const
Get maximum length of escaping_enabled value.
void set_x(const float new_x)
Set x value.
PlaceWithOriGotoMessage Fawkes BlackBoard Interface Message.
OrientationMode orientation_mode() const
Get orientation_mode value.
void set_orientation_mode(const OrientationMode new_orientation_mode)
Set orientation_mode value.
static const uint32_t ERROR_NONE
ERROR_NONE constant.
float x() const
Get x value.
ResetOdometryMessage()
Constructor.
~PlaceGotoMessage()
Destructor.
virtual Message * clone() const
Clone this message.
~SetDriveModeMessage()
Destructor.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
size_t maxlenof_place() const
Get maximum length of place value.
float dest_dist() const
Get dest_dist value.
ResetParametersMessage Fawkes BlackBoard Interface Message.
static const uint32_t FLAG_UPDATES_DEST_DIST
FLAG_UPDATES_DEST_DIST constant.
bool is_escaping_enabled() const
Get escaping_enabled value.
Orient during travel BUT NOT at target, if omnidirectional platform and orientation is given.
float y() const
Get y value.
void add_fieldinfo(interface_fieldtype_t type, const char *name, size_t length, void *value, const char *enumtype=0, const interface_enum_map_t *enum_map=0)
Add an entry to the info list.
void set_x(const float new_x)
Set x value.
void set_dest_y(const float new_dest_y)
Set dest_y value.
~SetMaxVelocityMessage()
Destructor.
float orientation() const
Get orientation value.
DriveMode
Drive modes enum.
static const uint32_t FLAG_NONE
FLAG_NONE constant.
size_t maxlenof_y() const
Get maximum length of y value.
void set_msgid(const uint32_t new_msgid)
Set msgid value.
TurnMessage()
Constructor.
size_t maxlenof_security_distance() const
Get maximum length of security_distance value.
uint32_t msgid() const
Get msgid value.
size_t maxlenof_width() const
Get maximum length of width value.
void set_x(const float new_x)
Set x value.
size_t maxlenof_target_frame() const
Get maximum length of target_frame value.
size_t maxlenof_flags() const
Get maximum length of flags value.
32 bit unsigned integer field
field with interface specific enum type
void set_drive_mode(const DriveMode new_drive_mode)
Set drive_mode value.
size_t maxlenof_drive_mode() const
Get maximum length of drive_mode value.
SetMaxVelocityMessage Fawkes BlackBoard Interface Message.
ResetOdometryMessage Fawkes BlackBoard Interface Message.
static const uint32_t FLAG_PLACE_GOTO
FLAG_PLACE_GOTO constant.
SetStopAtTargetMessage()
Constructor.
size_t maxlenof_place() const
Get maximum length of place value.
StopMessage Fawkes BlackBoard Interface Message.
NavigatorInterface Fawkes BlackBoard Interface.
float max_rotation() const
Get max_rotation value.
size_t maxlenof_angle() const
Get maximum length of angle value.
StopMessage()
Constructor.