TeamMessageCollection Class Reference

Represents a collection of all actual team messages received from other robots and has the ability to send to them too. More...

#include <TeamMessageCollection.h>

Collaboration diagram for TeamMessageCollection:

[legend]List of all members.

Public Types
enum	{ robotTimeoutTime = 4000, masterTimeoutTime = 2000, masterClaimTimeoutTime = 1500 }
	Timeout-constants for the processMasterSync method. More...
enum	{ maxNumberOfTeamMessages = Player::numOfPlayerNumbers-1 }
	the maximum number of team-messages More...
Public Member Functions
	TeamMessageCollection ()
	Constructor.
const TeamMessage &	operator[] (int index) const
	Constant access operator to a certain team message.
void	processMessages ()
	This method processes the incomming messages to calculate time-offsets for the time syncronisation, to find out which Robot is Master and to find out if one robot is missing.
void	setOutTeamMessages (TeamMessage &tm)
	The function sets the internal references to the outgoing TeamMessages.
void	setInTeamMessages (TeamMessage &tm)
	The function sets the internal references to the incoming TeamMessages.
void	send (const RobotPose &robotPose, bool sendNow=false) const
	This function sets the robotPose field in the outgoing TeamMessage.
void	send (const BehaviorTeamMessage &behaviorTeamMessage, bool sendNow=false) const
	This function sets the BehaviorTeamMessage field in the outgoing TeamMessage.
void	send (const SeenBallPosition &seenBallPosition, bool sendNow=false) const
	This function sets the BehaviorTeamMessage field in the outgoing TeamMessage.
bool	processOutMessages ()
	This function processes the outgoing messages.
int	getDelay () const
	get the delay between two subsequent sends
void	setDelay (int delay)
	set the delay between two subsequent sends
Public Attributes
int	numberOfTeamMessages
	count of actual TeamMessages
Private Member Functions
void	processTimeStamps ()
	This method is called by processMessages() to find out the time-offsets between the robots.
void	processMessagePlayerRole ()
	This method is calls by processMessages() to set the fields of the teamMessageForTarget[] array.
Private Attributes
int	delay
	the delay between two subsequent sends
const TeamMessage *	teamMessages [maxNumberOfTeamMessages]
	pointer to the incomming teamMessages
TeamMessage *	outTeamMessages [maxNumberOfTeamMessages]
	pointer to outgoing teamMessages
int	teamMessagesForActualTeamMessages [maxNumberOfTeamMessages]
	Array to translate teamMessage number for backwards compability.
unsigned	lastSendingTimeStamp
	TimeStamp when sending the last TeamMessage.
unsigned	teamMessageTimeStamp [maxNumberOfTeamMessages]
	TimeStamps of the latest incoming TeamMessages.
unsigned	incomingTimeStamp [maxNumberOfTeamMessages]
	Local TimeStamp of the latest incoming TeamMessages.
RingBuffer< signed long, 100 >	offsets [maxNumberOfTeamMessages]
	Ringbuffer to save the last 100 time offsets for the 3 TeamMessages.
signed long	timeOffsetSum [maxNumberOfTeamMessages]
	Sum of all the values in the ringBuffers.
bool	messagesSent
	set true if the messages have been sent
bool	sendNow
	pointer to a bool which shows that the robot has to send the messages
long	lastSendTime
	time when *sendNow was last true
int	numberOfInTeamMessages
int	numberOfOutTeamMessages

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Detailed Description

Represents a collection of all actual team messages received from other robots and has the ability to send to them too.

Definition at line 26 of file TeamMessageCollection.h.

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Member Enumeration Documentation

anonymous enum

Timeout-constants for the processMasterSync method. Enumeration values: robotTimeoutTime  masterTimeoutTime  masterClaimTimeoutTime  Definition at line 33 of file TeamMessageCollection.h.

anonymous enum

the maximum number of team-messages Enumeration values: maxNumberOfTeamMessages  Definition at line 37 of file TeamMessageCollection.h.

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Constructor & Destructor Documentation

TeamMessageCollection::TeamMessageCollection (   )

Constructor. Definition at line 15 of file TeamMessageCollection.cpp. References RingBuffer< signed long, 100 >::add(), delay, RingBuffer< signed long, 100 >::init(), lastSendingTimeStamp, lastSendTime, maxNumberOfTeamMessages, messagesSent, numberOfInTeamMessages, numberOfOutTeamMessages, offsets, sendNow, teamMessages, teamMessagesForActualTeamMessages, teamMessageTimeStamp, and timeOffsetSum.

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Member Function Documentation

const TeamMessage& TeamMessageCollection::operator[] (  int  index  )  const [inline]

Constant access operator to a certain team message. Only actual team-messages are given back. (TeamMessage.isActual() == true) Parameters: index  The index of the team message. Returns: The team message with the requested index. Definition at line 53 of file TeamMessageCollection.h. References teamMessages, and teamMessagesForActualTeamMessages.

void TeamMessageCollection::processMessages (   )

This method processes the incomming messages to calculate time-offsets for the time syncronisation, to find out which Robot is Master and to find out if one robot is missing. Definition at line 93 of file TeamMessageCollection.cpp. References TeamMessage::isActual(), messagesSent, numberOfInTeamMessages, numberOfTeamMessages, outTeamMessages, processTimeStamps(), teamMessages, and teamMessagesForActualTeamMessages. Referenced by Cognition::main().

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void TeamMessageCollection::setOutTeamMessages (  TeamMessage &  tm  )

The function sets the internal references to the outgoing TeamMessages. Parameters: tm  the outgoing teamMessage to add Definition at line 118 of file TeamMessageCollection.cpp. References numberOfOutTeamMessages, and outTeamMessages. Referenced by Cognition::Cognition().

void TeamMessageCollection::setInTeamMessages (  TeamMessage &  tm  )

The function sets the internal references to the incoming TeamMessages. Parameters: tm  the incoming teamMessage to add Definition at line 125 of file TeamMessageCollection.cpp. References numberOfInTeamMessages, and teamMessages. Referenced by Cognition::Cognition().

void TeamMessageCollection::send (  const RobotPose &  robotPose, bool  sendNow = false )  const

This function sets the robotPose field in the outgoing TeamMessage. Parameters: robotPose  The RobotPose to be sent sendNow  bool to indicate that the message needs to be sent now (default = false) Definition at line 132 of file TeamMessageCollection.cpp. References numberOfOutTeamMessages, outTeamMessages, TeamMessage::robotPose, and TeamMessage::sendRobotPose. Referenced by Cognition::main().

void TeamMessageCollection::send (  const BehaviorTeamMessage &  behaviorTeamMessage, bool  sendNow = false )  const

This function sets the BehaviorTeamMessage field in the outgoing TeamMessage. Parameters: behaviorTeamMessage  The BehaviorTeamMessage to be sent sendNow  bool to indicate that the message needs to be sent now Definition at line 152 of file TeamMessageCollection.cpp. References TeamMessage::behaviorTeamMessage, numberOfOutTeamMessages, outTeamMessages, and TeamMessage::sendBehaviorTeamMessage.

void TeamMessageCollection::send (  const SeenBallPosition &  seenBallPosition, bool  sendNow = false )  const

This function sets the BehaviorTeamMessage field in the outgoing TeamMessage. Parameters: seenBallPosition  The SeenBallPosition to be sent sendNow  bool to indicate that the message needs to be sent now Definition at line 142 of file TeamMessageCollection.cpp. References numberOfOutTeamMessages, outTeamMessages, TeamMessage::seenBallPosition, and TeamMessage::sendSeenBallPosition.

bool TeamMessageCollection::processOutMessages (   )

This function processes the outgoing messages. Returns: A bool that is true when the messages should be send. Definition at line 162 of file TeamMessageCollection.cpp. References delay, SystemCall::getCurrentSystemTime(), lastSendTime, messagesSent, numberOfOutTeamMessages, outTeamMessages, sendNow, and TeamMessage::timeStamp. Referenced by Cognition::main().

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int TeamMessageCollection::getDelay (   )  const

get the delay between two subsequent sends Definition at line 187 of file TeamMessageCollection.cpp. References delay.

void TeamMessageCollection::setDelay (  int  delay  )

set the delay between two subsequent sends Definition at line 182 of file TeamMessageCollection.cpp. Referenced by Cognition::handleMessage().

void TeamMessageCollection::processTimeStamps (   )  [private]

This method is called by processMessages() to find out the time-offsets between the robots. It saves the time-difference in the corresponding TeamMessage accesed by operator[] Definition at line 52 of file TeamMessageCollection.cpp. References RingBuffer< signed long, 100 >::add(), SystemCall::getCurrentSystemTime(), RingBuffer< signed long, 100 >::getEntry(), RingBuffer< signed long, 100 >::getNumberOfEntries(), idText, TeamMessage::incomingTimeStamp, INFO, TeamMessage::lastReceivedTimeStamp, numberOfInTeamMessages, offsets, outTeamMessages, teamMessages, timeOffsetSum, and TeamMessage::timeStamp. Referenced by processMessages().

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void TeamMessageCollection::processMessagePlayerRole (   )  [private]

This method is calls by processMessages() to set the fields of the teamMessageForTarget[] array. This array is used by the send-methods to find out which teamMessages send to a target.

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Member Data Documentation

int TeamMessageCollection::numberOfTeamMessages

count of actual TeamMessages Definition at line 39 of file TeamMessageCollection.h. Referenced by GT2004StrategySymbols::computeRole(), GT2004TeamBallLocator::execute(), GT2004PlayersLocator::execute(), processMessages(), and GTStandardConverter::setData().

int TeamMessageCollection::delay [private]

the delay between two subsequent sends Definition at line 115 of file TeamMessageCollection.h. Referenced by getDelay(), processOutMessages(), and TeamMessageCollection().

const TeamMessage* TeamMessageCollection::teamMessages[maxNumberOfTeamMessages] [private]

pointer to the incomming teamMessages Definition at line 116 of file TeamMessageCollection.h. Referenced by operator[](), processMessages(), processTimeStamps(), setInTeamMessages(), and TeamMessageCollection().

TeamMessage* TeamMessageCollection::outTeamMessages[maxNumberOfTeamMessages] [private]

pointer to outgoing teamMessages Definition at line 117 of file TeamMessageCollection.h. Referenced by processMessages(), processOutMessages(), processTimeStamps(), send(), and setOutTeamMessages().

int TeamMessageCollection::teamMessagesForActualTeamMessages[maxNumberOfTeamMessages] [private]

Array to translate teamMessage number for backwards compability. Definition at line 118 of file TeamMessageCollection.h. Referenced by operator[](), processMessages(), and TeamMessageCollection().

unsigned TeamMessageCollection::lastSendingTimeStamp [private]

TimeStamp when sending the last TeamMessage. Definition at line 120 of file TeamMessageCollection.h. Referenced by TeamMessageCollection().

unsigned TeamMessageCollection::teamMessageTimeStamp[maxNumberOfTeamMessages] [private]

TimeStamps of the latest incoming TeamMessages. Definition at line 121 of file TeamMessageCollection.h. Referenced by TeamMessageCollection().

unsigned TeamMessageCollection::incomingTimeStamp[maxNumberOfTeamMessages] [private]

Local TimeStamp of the latest incoming TeamMessages. Definition at line 122 of file TeamMessageCollection.h.

RingBuffer<signed long,100> TeamMessageCollection::offsets[maxNumberOfTeamMessages] [private]

Ringbuffer to save the last 100 time offsets for the 3 TeamMessages. Definition at line 125 of file TeamMessageCollection.h. Referenced by processTimeStamps(), and TeamMessageCollection().

signed long TeamMessageCollection::timeOffsetSum[maxNumberOfTeamMessages] [private]

Sum of all the values in the ringBuffers. Definition at line 126 of file TeamMessageCollection.h. Referenced by processTimeStamps(), and TeamMessageCollection().

bool TeamMessageCollection::messagesSent [private]

set true if the messages have been sent Definition at line 129 of file TeamMessageCollection.h. Referenced by processMessages(), processOutMessages(), and TeamMessageCollection().

bool TeamMessageCollection::sendNow [mutable, private]

pointer to a bool which shows that the robot has to send the messages Definition at line 130 of file TeamMessageCollection.h. Referenced by processOutMessages(), and TeamMessageCollection().

long TeamMessageCollection::lastSendTime [private]

time when *sendNow was last true Used to send after a delay Definition at line 131 of file TeamMessageCollection.h. Referenced by processOutMessages(), and TeamMessageCollection().

int TeamMessageCollection::numberOfInTeamMessages [private]

Definition at line 135 of file TeamMessageCollection.h. Referenced by processMessages(), processTimeStamps(), setInTeamMessages(), and TeamMessageCollection().

int TeamMessageCollection::numberOfOutTeamMessages [private]

Definition at line 136 of file TeamMessageCollection.h. Referenced by processOutMessages(), send(), setOutTeamMessages(), and TeamMessageCollection().

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

• Representations/WLan/TeamMessageCollection.h
• Representations/WLan/TeamMessageCollection.cpp

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