VisionReceiver Class Reference

Receives vision packets over UDP and places them in a buffer until they are read. More...

Public Member Functions
	VisionReceiver (bool sim=false, int port=SharedVisionPortSinglePrimary)
void	stop ()
void	getPackets (std::vector< VisionPacket *> &packets)
	Copies the vector of packets and then clears it. More...

Public Attributes
bool	simulation
int	port

Protected Member Functions
virtual void	run () override

Protected Attributes
volatile bool	_running
QMutex	_mutex
	This mutex protects the vector of packets.
std::vector< VisionPacket * >	_packets

Detailed Description

Receives vision packets over UDP and places them in a buffer until they are read.

When start() is called, a new thread is spawned that listens on a UDP port for packets. If sim = true, it tries both simulator ports until one works. Otherwise, it connects to the port specified in the constructor.

Whenever a new packet comes in (encoded as Google Protobuf), it is parsed into an SSL_WrapperPacket and placed onto the circular buffer . They remain there until they are retrieved with getPackets().

Inheritance diagram for VisionReceiver:

Collaboration diagram for VisionReceiver:

Member Function Documentation

getPackets()

void VisionReceiver::getPackets

(

std::vector< VisionPacket *> &

packets

)

Copies the vector of packets and then clears it.

The vector contains only packets received since the last time this was called (or since the VisionReceiver was started, if getPackets has never been called).

The caller is responsible for freeing the packets after this function returns.

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

• soccer/VisionReceiver.hpp
• soccer/VisionReceiver.cpp