WorldStateSerializerBehavior Class Reference

#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 processEvent() 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 32 of file WorldStateSerializerBehavior.h.

Public Member Functions

WorldStateSerializerBehavior ()

constructor

virtual void DoStart ()

starts listening for sensor update events

virtual void DoStop ()

stops listening for events

virtual void processEvent (const EventBase &e)

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, int num)

writes num copies of T 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 9 of file WorldStateSerializerBehavior.cc.

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

don't call

Member Function Documentation

template<class T>

static void WorldStateSerializerBehavior::copy	(	char **	dst,
		const T *	src,
		int	num
	)			`[inline, 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 63 of file WorldStateSerializerBehavior.h.

template<class T>

static void WorldStateSerializerBehavior::copy	(	char **	dst,
		const T &	value
	)			`[inline, 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 55 of file WorldStateSerializerBehavior.h.

Referenced by processEvent().

void WorldStateSerializerBehavior::DoStart ( ) [virtual]

starts listening for sensor update events

Reimplemented from BehaviorBase.

Definition at line 14 of file WorldStateSerializerBehavior.cc.

void WorldStateSerializerBehavior::DoStop ( ) [virtual]

stops listening for events

Reimplemented from BehaviorBase.

Definition at line 33 of file WorldStateSerializerBehavior.cc.

static std::string WorldStateSerializerBehavior::getClassDescription ( ) [inline, 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 39 of file WorldStateSerializerBehavior.h.

Referenced by getDescription().

virtual std::string WorldStateSerializerBehavior::getDescription ( ) const [inline, 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 44 of file WorldStateSerializerBehavior.h.

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

returns string corresponding to the Java GUI which should be launched

Definition at line 47 of file WorldStateSerializerBehavior.h.

Referenced by DoStart(), and DoStop().

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

returns port number the Java GUI should connect to

Definition at line 49 of file WorldStateSerializerBehavior.h.

Referenced by DoStart().

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

don't call