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

value the 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:

soccer/Processor.hpp
soccer/Processor.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Member Function Documentation

◆ blueTeam()

◆ goalieID()

◆ run()