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166 | #ifndef TEAMMESSAGEDATA_H
#define TEAMMESSAGEDATA_H
/*
* INFO:
* To add a new field to the teamcomm message, do as follows:
* - edit the "Representation.proto" file and extend the "BUUserTeamMessage" definition
* - (re-)compile the protobuf files
* - add a class variable to the TeamMessageCustom class
* - use constructor to initialize/copy your variable
* - edit the toProto() & parseFromProto() and make sure your variable gets written/parsed to/from the protobuf message
* [ - add the variable to print(), so it gets printed out ... ]
*/
#include <vector>
#include "Tools/DataStructures/Printable.h"
#include "Tools/Math/Vector2.h"
#include "Tools/Math/Pose2D.h"
//#include "Tools/DataStructures/Serializer.h"
#include "MessagesSPL/SPLStandardMessage.h"
// needed by BUUserTeamMessage
#include "Messages/TeamMessage.pb.h"
#include "Representations/Infrastructure/FrameInfo.h"
#include "Representations/Modeling/PlayerInfo.h"
#include "Representations/Infrastructure/Roles.h"
using namespace naoth;
// this key is sent with every team message to indicate that the message belongs to us
#define NAOTH_TEAMCOMM_MESAGE_KEY "naoth"
/** Contains data for a NTP request. */
struct NtpRequest
{
NtpRequest(unsigned int p = 0, unsigned long long s = 0, unsigned long long r = 0)
: playerNumber(p), sent(s), received(r)
{}
unsigned int playerNumber;
unsigned long long sent;
unsigned long long received;
};
// this message is communicated as the user part of the standard spl message
class TeamMessageCustom : public naoth::Printable
{
public:
// we define this struct private because no one else needs to know about the internals of the MixedTeamHeader
struct MixedTeamHeader
{
// 1 bit == penalized, 2 bit == striker goalie
int8_t data;
int8_t role;
// uint64_t timestamp;
// int8_t teamID;
// int8_t isPenalized;
// int8_t whistleDetected;
// int8_t intention;
};
public:
TeamMessageCustom();
std::string key; // key making shur that the message was sent by one of our robots
unsigned long long timestamp; // timestamp in ms when the message was send; 0 if it wasn't send
std::string bodyID; // the body ID of the robot
bool wasStriker;
bool wantsToBeStriker;
unsigned int timeToBall; // the shorest time, in which the robot can reach the ball [ms]
double batteryCharge; // the battery charge
double temperature; // the max. temperature of the left or right leg!
double cpuTemperature; // the temperature of the cpu
bool whistleDetected; // whether the robot heard/detected the whistle
int whistleCount; // who many whistle the robot detected
Vector2d teamBall; // global position of the team ball for visualization in RC!!
std::vector<NtpRequest> ntpRequests; // ntp requests to teammates
Vector2d ballVelocity; // velocity of the ball
// opponents ?
PlayerInfo::RobotState robotState; // state of the robot (initial, ready, set, play, finish, penalized)
Roles::Role robotRole; // role of the robot (static & dynamic)
bool readyToWalk; // indicates, whether the robot is ready to walk
/** Sets the data according to the protobuf message. */
void parseFromProto(const naothmessages::BUUserTeamMessage& userData);
/** Creates a protobuf message with the registered data. */
naothmessages::BUUserTeamMessage toProto() const;
/** Sets the data according to a binary mixed team header */
void parseFromMixedTeamHeader(const uint8_t *rawHeader, size_t headerSize);
/** Creates a binary array containing some of the registered data in the mixed team header "format" */
void toMixedTeamHeader(MixedTeamHeader& header) const;
static size_t getCustomOffset() {return sizeof(MixedTeamHeader);}
void print(std::ostream &stream) const;
};
class TeamMessageData : public naoth::Printable
{
public:
FrameInfo frameInfo;
unsigned long long timestampParsed; //Timestamp when the message was parsed.
/*** BEGIN +++ TEAMMESSAGEFIELDS *****************************************/
/*************************************************************************/
/* SPL-Message-Fields ****************************************************/
/*************************************************************************/
unsigned int playerNumber; // the number of the player
unsigned int teamNumber; // the number of the team
bool fallen; // true means that the robot is fallen, false means that the robot can play
Pose2D pose; // robot pose
double ballAge; // milliseconds since this robot last saw the ball. -1 if we haven't seen it
Vector2d ballPosition; // position of ball relative to the robot coordinates in millimeters; 0,0 is in centre of the robot
// custom BU-Message-Fields
TeamMessageCustom custom;
/*** END +++ TEAMMESSAGEFIELDS *******************************************/
bool isBerlinUnitedMessage() { return custom.key == NAOTH_TEAMCOMM_MESAGE_KEY; }
TeamMessageData();
TeamMessageData(FrameInfo fi);<--- Class 'TeamMessageData' has a constructor with 1 argument that is not explicit. [+]Class 'TeamMessageData' has a constructor with 1 argument that is not explicit. Such constructors should in general be explicit for type safety reasons. Using the explicit keyword in the constructor means some mistakes when using the class can be avoided.
virtual ~TeamMessageData() {}
/** Prints all known data to the given output stream. */
virtual void print(std::ostream& stream) const;
/** Creates a spl message object with currently known data. */
SPLStandardMessage createSplMessage() const;
/** Creates a string of the spl message.
* The createSplMessage() method is called and the returned spl object is "converted" to a string.
*/
std::string createSplMessageString() const;
/** Parses the informations of the spl message and updates the corresponding fields of this object. */
bool parseFromSplMessage(const SPLStandardMessage &spl);
//TODO: do we need to reset the values?! (see TeamCommReceiver::execute())
//void clear();
private:
/** Parses the SPL user data to a protobuf message and sets the data accordingly. */
//void parseFromSplMessageData(const unsigned char *data, uint16_t size);
};
/*
namespace naoth {
template<> class Serializer<TeamMessageCustom>
{
public:
static void serialize(const TeamMessageCustom& representation, std::ostream& stream);
static void deserialize(std::istream& stream, TeamMessageCustom& representation);
};
}*/
#endif // TEAMMESSAGEDATA_H
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