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) - <
unsignedint:timestamp> - <
unsignedint:framenumber> - <
unsignedint:NumOutputs> - for each i of NumOutputs:
- <
float:position of output i>
- <
- <
unsignedint:NumSensors> - for each i of NumSensors:
- <
float:value of sensor i>
- <
- <
unsignedint:NumButtons> - for each i of NumButtons:
- <
float:value of button i>
- <
- <
unsignedint: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 | |
Member Function Documentation
| 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.
| 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().
| 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.
The documentation for this class was generated from the following files:
