24 #ifndef __INTERFACES_NAVIGATORINTERFACE_H_ 25 #define __INTERFACES_NAVIGATORINTERFACE_H_ 27 #include <interface/interface.h> 28 #include <interface/message.h> 29 #include <interface/field_iterator.h> 56 int64_t timestamp_sec;
57 int64_t timestamp_usec;
76 bool escaping_enabled;
80 } NavigatorInterface_data_t;
83 NavigatorInterface_data_t *data;
93 int64_t timestamp_sec;
94 int64_t timestamp_usec;
98 StopMessage_data_t *data;
115 int64_t timestamp_sec;
116 int64_t timestamp_usec;
120 } TurnMessage_data_t;
123 TurnMessage_data_t *data;
126 TurnMessage(
const float ini_angle,
const float ini_velocity);
133 void set_angle(
const float new_angle);
134 size_t maxlenof_angle()
const;
135 float velocity()
const;
136 void set_velocity(
const float new_velocity);
137 size_t maxlenof_velocity()
const;
147 int64_t timestamp_sec;
148 int64_t timestamp_usec;
152 } CartesianGotoMessage_data_t;
155 CartesianGotoMessage_data_t *data;
165 void set_x(
const float new_x);
168 void set_y(
const float new_y);
170 float orientation()
const;
171 void set_orientation(
const float new_orientation);
172 size_t maxlenof_orientation()
const;
182 int64_t timestamp_sec;
183 int64_t timestamp_usec;
187 } PolarGotoMessage_data_t;
190 PolarGotoMessage_data_t *data;
193 PolarGotoMessage(
const float ini_phi,
const float ini_dist,
const float ini_orientation);
200 void set_phi(
const float new_phi);
201 size_t maxlenof_phi()
const;
203 void set_dist(
const float new_dist);
204 size_t maxlenof_dist()
const;
205 float orientation()
const;
206 void set_orientation(
const float new_orientation);
207 size_t maxlenof_orientation()
const;
217 int64_t timestamp_sec;
218 int64_t timestamp_usec;
220 } PlaceGotoMessage_data_t;
223 PlaceGotoMessage_data_t *data;
232 char * place()
const;
233 void set_place(
const char * new_place);
234 size_t maxlenof_place()
const;
244 int64_t timestamp_sec;
245 int64_t timestamp_usec;
249 } ObstacleMessage_data_t;
252 ObstacleMessage_data_t *data;
255 ObstacleMessage(
const float ini_x,
const float ini_y,
const float ini_width);
262 void set_x(
const float new_x);
265 void set_y(
const float new_y);
268 void set_width(
const float new_width);
269 size_t maxlenof_width()
const;
279 int64_t timestamp_sec;
280 int64_t timestamp_usec;
281 } ResetOdometryMessage_data_t;
284 ResetOdometryMessage_data_t *data;
301 int64_t timestamp_sec;
302 int64_t timestamp_usec;
304 } SetMaxVelocityMessage_data_t;
307 SetMaxVelocityMessage_data_t *data;
328 int64_t timestamp_sec;
329 int64_t timestamp_usec;
330 bool escaping_enabled;
334 } SetEscapingMessage_data_t;
337 SetEscapingMessage_data_t *data;
358 int64_t timestamp_sec;
359 int64_t timestamp_usec;
362 } SetSecurityDistanceMessage_data_t;
365 SetSecurityDistanceMessage_data_t *data;
387 uint32_t
flags()
const;
388 void set_flags(
const uint32_t new_flags);
391 void set_x(
const float new_x);
394 void set_y(
const float new_y);
408 uint32_t
msgid()
const;
409 void set_msgid(
const uint32_t new_msgid);
429 virtual const char *
enum_tostring(
const char *enumtype,
int val)
const;
size_t maxlenof_security_distance() const
Get maximum length of security_distance value.
~StopMessage()
Destructor.
Base class for all messages passed through interfaces in Fawkes BlackBoard.
float max_velocity() const
Get max_velocity value.
void set_escaping_enabled(const bool new_escaping_enabled)
Set escaping_enabled value.
virtual Message * clone() const
Clone this message.
float y() const
Get y value.
uint32_t flags() const
Get flags value.
size_t maxlenof_dest_ori() const
Get maximum length of dest_ori value.
const char * type() const
Get message type.
Fawkes library namespace.
ObstacleMessage Fawkes BlackBoard Interface Message.
void set_final(const bool new_final)
Set final value.
float dest_y() const
Get dest_y value.
static const uint32_t ERROR_MOTOR
ERROR_MOTOR constant.
SetSecurityDistanceMessage Fawkes BlackBoard Interface Message.
static const uint32_t FLAG_CART_GOTO
FLAG_CART_GOTO constant.
size_t maxlenof_dest_dist() const
Get maximum length of dest_dist value.
uint32_t msgid() const
Get msgid value.
bool is_final() const
Get final value.
uint32_t error_code() const
Get error_code value.
size_t maxlenof_y() const
Get maximum length of y value.
PolarGotoMessage Fawkes BlackBoard Interface Message.
static const uint32_t ERROR_UNKNOWN_PLACE
ERROR_UNKNOWN_PLACE constant.
size_t maxlenof_error_code() const
Get maximum length of error_code value.
Base class for all Fawkes BlackBoard interfaces.
float dest_ori() const
Get dest_ori value.
size_t maxlenof_max_velocity() const
Get maximum length of max_velocity value.
static const uint32_t FLAG_POLAR_GOTO
FLAG_POLAR_GOTO constant.
void set_security_distance(const float new_security_distance)
Set security_distance value.
virtual bool message_valid(const Message *message) const
Check if message is valid and can be enqueued.
SetEscapingMessage Fawkes BlackBoard Interface Message.
virtual Message * create_message(const char *type) const
Create message based on type name.
virtual const char * enum_tostring(const char *enumtype, int val) const
Convert arbitrary enum value to string.
float dest_x() const
Get dest_x value.
size_t maxlenof_dest_y() const
Get maximum length of dest_y value.
PlaceGotoMessage Fawkes BlackBoard Interface Message.
size_t maxlenof_flags() const
Get maximum length of flags value.
CartesianGotoMessage Fawkes BlackBoard Interface Message.
void set_flags(const uint32_t new_flags)
Set flags value.
bool is_escaping_enabled() const
Get escaping_enabled value.
float security_distance() const
Get security_distance value.
void set_max_velocity(const float new_max_velocity)
Set max_velocity value.
virtual void copy_values(const Interface *other)
Copy values from other interface.
size_t maxlenof_final() const
Get maximum length of final value.
void set_error_code(const uint32_t new_error_code)
Set error_code value.
static const uint32_t FLAG_ESCAPING
FLAG_ESCAPING constant.
static const uint32_t ERROR_OBSTRUCTION
ERROR_OBSTRUCTION constant.
size_t maxlenof_escaping_enabled() const
Get maximum length of escaping_enabled value.
float x() const
Get x value.
void set_dest_ori(const float new_dest_ori)
Set dest_ori value.
void set_y(const float new_y)
Set y value.
TurnMessage Fawkes BlackBoard Interface Message.
static const uint32_t FLAG_SECURITY_DISTANCE
FLAG_SECURITY_DISTANCE constant.
void set_dest_dist(const float new_dest_dist)
Set dest_dist value.
void set_dest_x(const float new_dest_x)
Set dest_x value.
static const uint32_t ERROR_NONE
ERROR_NONE constant.
static const uint32_t FLAG_UPDATES_DEST_DIST
FLAG_UPDATES_DEST_DIST constant.
void set_dest_y(const float new_dest_y)
Set dest_y value.
static const uint32_t FLAG_NONE
FLAG_NONE constant.
void set_msgid(const uint32_t new_msgid)
Set msgid value.
size_t maxlenof_x() const
Get maximum length of x value.
float dest_dist() const
Get dest_dist value.
void set_x(const float new_x)
Set x value.
size_t maxlenof_msgid() const
Get maximum length of msgid value.
SetMaxVelocityMessage Fawkes BlackBoard Interface Message.
size_t maxlenof_dest_x() const
Get maximum length of dest_x value.
ResetOdometryMessage Fawkes BlackBoard Interface Message.
static const uint32_t FLAG_PLACE_GOTO
FLAG_PLACE_GOTO constant.
StopMessage Fawkes BlackBoard Interface Message.
NavigatorInterface Fawkes BlackBoard Interface.
StopMessage()
Constructor.