WorldStateSerializerBehavior Class Reference

Copies WorldState into a buffer for transmission over the network. More...

#include <WorldStateSerializerBehavior.h>

Inheritance diagram for WorldStateSerializerBehavior:

Detailed Description

Copies WorldState into a buffer for transmission over the network.

To determine the communication protocol, just look in the doEvent() function - it's pretty straightforward binary copy of values.

Protocol:

<char[]: modelName> (null terminated character array)
<unsigned int: timestamp>
<unsigned int: framenumber>
<unsigned int: NumOutputs>
for each i of NumOutputs:
- <float: position of output i>
<unsigned int: NumSensors>
for each i of NumSensors:
- <float: value of sensor i>
<unsigned int: NumButtons>
for each i of NumButtons:
- <float: value of button i>
<unsigned int: NumPIDJoints>
for each i of NumPIDJoints:
- <float: duty cycle of joint i>

Definition at line 33 of file WorldStateSerializerBehavior.h.

List of all members.

Public Member Functions
	WorldStateSerializerBehavior ()
	constructor
virtual void	doStart ()
	starts listening for sensor update events
virtual void	doStop ()
	stops listening for events
virtual void	doEvent ()
	core functionality - performs serialization, sends to sockets
virtual std::string	getDescription () const
	Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).
virtual std::string	getGUIType () const
	returns string corresponding to the Java GUI which should be launched
virtual unsigned int	getPort () const
	returns port number the Java GUI should connect to
Static Public Member Functions
static std::string	getClassDescription ()
	Gives a short description of what this class of behaviors does... you should override this (but don't have to).
Static Protected Member Functions
template<class T >
static void	copy (char **dst, const T &value)
	writes value to dst and advances dst by sizeof(T)
template<class T >
static void	copy (char *dst, const T src, size_t num)
	writes num copies of T from src to dst and advances dst by num * sizeof(T)
static void	copy (char **dst, const std::string &src, size_t num)
	writes num characters from src to dst and advances dst by num * sizeof(T)
Protected Attributes
Socket *	wsJoints
	socket for sending current joint data
Socket *	wsPIDs
	socket for sending current PID info
unsigned int	lastProcessedTime
	the time that the last event was processed
Private Member Functions
	WorldStateSerializerBehavior (const WorldStateSerializerBehavior &)
	don't call
WorldStateSerializerBehavior &	operator= (const WorldStateSerializerBehavior &)
	don't call

Constructor & Destructor Documentation

WorldStateSerializerBehavior::WorldStateSerializerBehavior ( )

constructor

Definition at line 16 of file WorldStateSerializerBehavior.cc.

WorldStateSerializerBehavior::WorldStateSerializerBehavior ( const WorldStateSerializerBehavior & ) [private]

don't call

Member Function Documentation

static void WorldStateSerializerBehavior::copy	(	char **	dst,
		const std::string &	src,
		size_t	num
	)			`[static, protected]`

writes num characters from src to dst and advances dst by num * sizeof(T)

Definition at line 70 of file WorldStateSerializerBehavior.h.

template<class T >

static void WorldStateSerializerBehavior::copy	(	char **	dst,
		const T *	src,
		size_t	num
	)			`[static, protected]`

writes num copies of T from src to dst and advances dst by num * sizeof(T)

doesn't do any byte swapping, so this is only used if LoadSave indicates no byte swapping is needed

Definition at line 64 of file WorldStateSerializerBehavior.h.

template<class T >

static void WorldStateSerializerBehavior::copy	(	char **	dst,
		const T &	value
	)			`[static, protected]`

writes value to dst and advances dst by sizeof(T)

doesn't do any byte swapping, so this is only used if LoadSave indicates no byte swapping is needed

Definition at line 56 of file WorldStateSerializerBehavior.h.

Referenced by doEvent().

void WorldStateSerializerBehavior::doEvent ( ) [virtual]

core functionality - performs serialization, sends to sockets

Reimplemented from BehaviorBase.

Definition at line 53 of file WorldStateSerializerBehavior.cc.

void WorldStateSerializerBehavior::doStart ( ) [virtual]

starts listening for sensor update events

Reimplemented from BehaviorBase.

Definition at line 21 of file WorldStateSerializerBehavior.cc.

void WorldStateSerializerBehavior::doStop ( ) [virtual]

stops listening for events

Reimplemented from BehaviorBase.

Definition at line 40 of file WorldStateSerializerBehavior.cc.

static std::string WorldStateSerializerBehavior::getClassDescription ( ) [static]

Gives a short description of what this class of behaviors does... you should override this (but don't have to).

If you do override this, also consider overriding getDescription() to return it

Reimplemented from BehaviorBase.

Definition at line 40 of file WorldStateSerializerBehavior.h.

Referenced by getDescription().

virtual std::string WorldStateSerializerBehavior::getDescription ( ) const [virtual]

Gives a short description of what this particular instantiation does (in case a more specific description is needed on an individual basis).

By default simply returns getName(), because any calls from a BehaviorBase function to getClassDescription() are going to call BehaviorBase::getClassDescription(), not ~YourSubClass~getClassDescription(), because static functions can't be virtual in C++ (doh!)

This means that getDescription called on a pointer to a BehaviorBase of unknown subtype would always return an empty string, which is pretty useless. So instead we return the name in this situation. If you want getDescription to return getClassDescription, you'll have to override it in your subclass to do so.

Reimplemented from BehaviorBase.

Definition at line 45 of file WorldStateSerializerBehavior.h.

virtual std::string WorldStateSerializerBehavior::getGUIType ( ) const [virtual]

returns string corresponding to the Java GUI which should be launched

Definition at line 48 of file WorldStateSerializerBehavior.h.

Referenced by doStart(), and doStop().

virtual unsigned int WorldStateSerializerBehavior::getPort ( ) const [virtual]

returns port number the Java GUI should connect to

Definition at line 50 of file WorldStateSerializerBehavior.h.

Referenced by doStart().

WorldStateSerializerBehavior& WorldStateSerializerBehavior::operator= ( const WorldStateSerializerBehavior & ) [private]

don't call