GT RoboCup SSL
Soccer software, robot firmware
•All Classes Namespaces Functions Variables Typedefs Modules Pages
Classes | Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | Protected Member Functions | List of all members
Processor Class Reference

Brings all the pieces together. More...

Classes

struct  Status
 

Public Types

enum  VisionChannel { primary, secondary, full }
 

Public Member Functions

 Processor (bool sim, bool defendPlus, VisionChannel visionChannel, bool blueTeam, std::string readLogFile)
 
void stop ()
 
bool autonomous ()
 
bool joystickValid () const
 
JoystickControlValues getJoystickControlValue (Joystick &joy)
 
std::vector< JoystickControlValues > getJoystickControlValues ()
 
void externalReferee (bool value)
 
bool externalReferee () const
 
void manualID (int value)
 
int manualID () const
 
void multipleManual (bool value)
 
bool multipleManual () const
 
bool useFieldOrientedManualDrive () const
 
void setUseFieldOrientedManualDrive (bool foc)
 
void goalieID (int value)
 Set the shell ID of the goalie. More...
 
int goalieID ()
 Shell ID of the goalie robot.
 
void dampedRotation (bool value)
 
void dampedTranslation (bool value)
 
void joystickKickOnBreakBeam (bool value)
 
void setupJoysticks ()
 
std::vector< int > getJoystickRobotIds ()
 
void blueTeam (bool value)
 sets the team More...
 
bool blueTeam () const
 
std::shared_ptr< Gameplay::GameplayModule > gameplayModule () const
 
std::shared_ptr< NewRefereeModule > refereeModule () const
 
SystemState * state ()
 
bool simulation () const
 
void defendPlusX (bool value)
 
bool defendPlusX ()
 
Status status ()
 
float framerate ()
 
const Logger & logger () const
 
bool openLog (const QString &filename)
 
void closeLog ()
 
void useOurHalf (bool value)
 
void useOpponentHalf (bool value)
 
QMutex & loopMutex ()
 
Radio * radio ()
 
void changeVisionChannel (int port)
 
VisionChannel visionChannel ()
 
void recalculateWorldToTeamTransform ()
 
void setFieldDimensions (const Field_Dimensions &dims)
 
bool isRadioOpen () const
 
bool isInitialized () const
 
Context * context ()
 

Static Public Member Functions

static void createConfiguration (Configuration *cfg)
 

Public Attributes

std::optional< RJ::Time > firstLogTime
 

Protected Member Functions

void run () override
 program loop More...
 
void applyJoystickControls (const JoystickControlValues &controlVals, Packet::Control *txRobot, OurRobot *robot)
 

Detailed Description

Brings all the pieces together.

The processor ties together all the moving parts for controlling a team of soccer robots. Its responsibities include:

  • receiving and handling vision packets (see VisionReceiver)
  • receiving and handling referee packets (see RefereeModule)
  • radio IO (see Radio)
  • running the BallTracker
  • running the Gameplay::GameplayModule
  • running the Logger
  • handling the Configuration
  • handling the Joystick
  • running motion control for each robot (see OurRobot::motionControl)
+ Inheritance diagram for Processor:
+ Collaboration diagram for Processor:

Member Function Documentation

◆ blueTeam()

void Processor::blueTeam ( bool  value)

sets the team

Parameters
valuethe value indicates whether or not the current team is blue or yellow

◆ goalieID()

void Processor::goalieID ( int  value)

Set the shell ID of the goalie.

The rules require us to specify at the start of a match/period which robot will be the goalie. A value of -1 indicates that there is no one assigned.

◆ run()

void Processor::run ( )
overrideprotected

program loop

Collect global obstacles

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