OverheadVisionClient Class Reference

#include <overhead_vision_client.h>

Inheritance diagram for OverheadVisionClient:

List of all members.

Public Member Functions
	OverheadVisionClient (int patternNumber=0)
	Constructor for base vision client class.
virtual	~OverheadVisionClient (void)
	Short Description.
int	nextPacket (void)
	Gets next packet in vision packet queue.
int	findMyPattern (void)
int	findPattern (int patternNumber)
	Short Description.
int	getIndex (int index)
	Short Description.
virtual int	recv (void)=0
virtual int	recvNoWait (void)=0
int	getSeqNum (void)
int	getCount (void)
int	getID (void)
float	getX (void)
float	getZ (void)
float	getAngle (void)
Protected Types
enum	{ CONTROL_DATA = 0, VISION_DATA = 1, CRAFT2CRAFT = 2 }
Protected Attributes
int	myPatternNumber
std::queue< srv_packet_t >	packetQ
const srv_packet_t *	currentPacket
const unsigned short *	currentData
Static Protected Attributes
static const float	toMeters = 1.0 / 10000.0
static const float	toRadians = M_PI / 1800.0
Private Member Functions
	OverheadVisionClient (const OverheadVisionClient &o)
const OverheadVisionClient &	operator= (const OverheadVisionClient &o)

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Detailed Description

Definition at line 83 of file overhead_vision_client.h.

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Member Enumeration Documentation

anonymous enum [protected]

Enumerator: CONTROL_DATA  VISION_DATA  CRAFT2CRAFT  Definition at line 87 of file overhead_vision_client.h.

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Constructor & Destructor Documentation

OverheadVisionClient::OverheadVisionClient (  int  patternNumber = 0  )

Constructor for base vision client class. In normal operation the system will be connect to the server and it will continously send vision packets to this client. You can use either a blocking or non-blocking recieve to get the packets from the network. Calling recv[NoWait]() will only queue packets locally. nextPacket() must be used to iterate through packets in the queue. The reasons for queue packets is two-fold. First with network stream protocols (TCP / Bluetooth RFCOMM) there is no gaurantee that recv will only return one vision packet with each call. It's also possible to put the recv() and nextPacket() functions in seperate threads, where one thread recv()'s in a tight loop, and the other thread could be a realtime thread that can quickly read packets from the queue. Each vision packet may contain data for multiple vehicles so findPattern() can be used to lookup the data for a specific pattern number (if it exists). If you want to iterate over over all the data in the vision packet use getIndex(). Parameters: <patternNumber>  <used as the default pattern number for findMyPattern(), it is also need when connecting to server> Author: <Derek> Definition at line 70 of file overhead_vision_client.cpp.

OverheadVisionClient::~OverheadVisionClient (  void   )  [virtual]

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 43 of file overhead_vision_client.cpp.

OverheadVisionClient::OverheadVisionClient (  const OverheadVisionClient &  o  )  [inline, private]

Definition at line 125 of file overhead_vision_client.h.

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Member Function Documentation

int OverheadVisionClient::findMyPattern (  void   )  [inline]

Definition at line 96 of file overhead_vision_client.h. References findPattern(), and myPatternNumber. Referenced by main().

int OverheadVisionClient::findPattern (  int  patternNumber  )

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 123 of file overhead_vision_client.cpp. References currentData, currentPacket, srv_packet_t::data, srv_packet_t::header, i, and srv_pkt_header_t::num_hc_included. Referenced by findMyPattern().

float OverheadVisionClient::getAngle (  void   )  [inline]

Definition at line 162 of file overhead_vision_client.h. References currentData, and toRadians.

int OverheadVisionClient::getCount (  void   )  [inline]

Definition at line 138 of file overhead_vision_client.h. References currentPacket, srv_packet_t::header, and srv_pkt_header_t::num_hc_included. Referenced by main().

int OverheadVisionClient::getID (  void   )  [inline]

Definition at line 144 of file overhead_vision_client.h. References currentData.

int OverheadVisionClient::getIndex (  int  index  )

Short Description. Long Description if necessary. Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 150 of file overhead_vision_client.cpp. References currentData, currentPacket, and srv_packet_t::data.

int OverheadVisionClient::getSeqNum (  void   )  [inline]

Definition at line 132 of file overhead_vision_client.h. References currentPacket, srv_packet_t::header, and srv_pkt_header_t::seq_number. Referenced by main().

float OverheadVisionClient::getX (  void   )  [inline]

Definition at line 150 of file overhead_vision_client.h. References currentData, and toMeters. Referenced by main().

float OverheadVisionClient::getZ (  void   )  [inline]

Definition at line 156 of file overhead_vision_client.h. References currentData, and toMeters. Referenced by main().

int OverheadVisionClient::nextPacket (  void   )

Gets next packet in vision packet queue. In normal operation recv will be called and will usually get no more than one packet at a time. But it may be possible re Parameters: <parameter_name>  <parameter_descreption> Returns: <information on="" what="" is="" being="" returned>=""> Author: <author name>=""> Definition at line 93 of file overhead_vision_client.cpp. References currentPacket, and packetQ. Referenced by main().

const OverheadVisionClient& OverheadVisionClient::operator= (  const OverheadVisionClient &  o  )  [inline, private]

Definition at line 126 of file overhead_vision_client.h.

virtual int OverheadVisionClient::recv (  void   )  [pure virtual]

Implemented in OverheadVisionClientBluetooth, and OverheadVisionClientWifi. Referenced by main().

virtual int OverheadVisionClient::recvNoWait (  void   )  [pure virtual]

Implemented in OverheadVisionClientBluetooth, and OverheadVisionClientWifi.

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Member Data Documentation

const unsigned short* OverheadVisionClient::currentData [protected]

Definition at line 116 of file overhead_vision_client.h. Referenced by findPattern(), getAngle(), getID(), getIndex(), getX(), and getZ().

const srv_packet_t* OverheadVisionClient::currentPacket [protected]

Definition at line 115 of file overhead_vision_client.h. Referenced by findPattern(), getCount(), getIndex(), getSeqNum(), and nextPacket().

int OverheadVisionClient::myPatternNumber [protected]

Definition at line 112 of file overhead_vision_client.h. Referenced by findMyPattern().

std::queue<srv_packet_t> OverheadVisionClient::packetQ [protected]

Definition at line 114 of file overhead_vision_client.h. Referenced by nextPacket(), OverheadVisionClientWifi::tcpRecv(), and OverheadVisionClientWifi::udpRecv().

const float OverheadVisionClient::toMeters = 1.0 / 10000.0 [static, protected]

Definition at line 118 of file overhead_vision_client.h. Referenced by getX(), and getZ().

const float OverheadVisionClient::toRadians = M_PI / 1800.0 [static, protected]

Definition at line 119 of file overhead_vision_client.h. Referenced by getAngle().

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

• ovision_client/overhead_vision_client.h
• ovision_client/overhead_vision_client.cpp

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