rcll_refbox_peer_node.cpp File Reference

#include <ros/ros.h>
#include <protobuf_comm/peer.h>
#include <llsf_msgs/BeaconSignal.pb.h>
#include <llsf_msgs/VersionInfo.pb.h>
#include <llsf_msgs/GameState.pb.h>
#include <llsf_msgs/MachineInfo.pb.h>
#include <llsf_msgs/RobotInfo.pb.h>
#include <llsf_msgs/ExplorationInfo.pb.h>
#include <llsf_msgs/MachineReport.pb.h>
#include <llsf_msgs/OrderInfo.pb.h>
#include <llsf_msgs/RingInfo.pb.h>
#include <llsf_msgs/MachineInstructions.pb.h>
#include <rcll_ros_msgs/BeaconSignal.h>
#include <rcll_ros_msgs/GameState.h>
#include <rcll_ros_msgs/Team.h>
#include <rcll_ros_msgs/MachineInfo.h>
#include <rcll_ros_msgs/ExplorationInfo.h>
#include <rcll_ros_msgs/MachineReportInfo.h>
#include <rcll_ros_msgs/OrderInfo.h>
#include <rcll_ros_msgs/RingInfo.h>
#include <rcll_ros_msgs/SendBeaconSignal.h>
#include <rcll_ros_msgs/SendMachineReport.h>
#include <rcll_ros_msgs/SendPrepareMachine.h>
#include <tf2/LinearMath/Quaternion.h>
#include <tf2/utils.h>
#include <mutex>
#include <condition_variable>
#include <chrono>

Include dependency graph for rcll_refbox_peer_node.cpp:

Go to the source code of this file.

Macros
#define	GET_PRIV_PARAM(P)

Functions
void	handle_message (boost::asio::ip::udp::endpoint &sender, uint16_t component_id, uint16_t msg_type, std::shared_ptr< google::protobuf::Message > msg)
void	handle_recv_error (boost::asio::ip::udp::endpoint &endpoint, std::string msg)
void	handle_send_error (std::string msg)
int	main (int argc, char **argv)
int	pb_to_ros_team_color (const llsf_msgs::Team &team_color)
llsf_msgs::Team	ros_to_pb_team_color (int team_color)
void	setup_private_peer (llsf_msgs::Team team_color)
bool	srv_cb_send_beacon (rcll_ros_msgs::SendBeaconSignal::Request &req, rcll_ros_msgs::SendBeaconSignal::Response &res)
bool	srv_cb_send_machine_report (rcll_ros_msgs::SendMachineReport::Request &req, rcll_ros_msgs::SendMachineReport::Response &res)
bool	srv_cb_send_prepare_machine (rcll_ros_msgs::SendPrepareMachine::Request &req, rcll_ros_msgs::SendPrepareMachine::Response &res)

Variables
std::condition_variable	cdv_machine_info_
std::string	cfg_crypto_cipher_
std::string	cfg_crypto_key_
std::string	cfg_peer_address_
bool	cfg_peer_cyan_local_
int	cfg_peer_cyan_port_
int	cfg_peer_cyan_recv_port_
int	cfg_peer_cyan_send_port_
bool	cfg_peer_magenta_local_
int	cfg_peer_magenta_port_
int	cfg_peer_magenta_recv_port_
int	cfg_peer_magenta_send_port_
bool	cfg_peer_public_local_
int	cfg_peer_public_port_
int	cfg_peer_public_recv_port_
int	cfg_peer_public_send_port_
std::string	cfg_robot_name_
int	cfg_robot_number_
int	cfg_team_color_
std::string	cfg_team_name_
std::shared_ptr< MachineInfo >	msg_machine_info_
std::mutex	mtx_machine_info_
ProtobufBroadcastPeer *	peer_private_ = NULL
ProtobufBroadcastPeer *	peer_public_ = NULL
ros::Publisher	pub_beacon_
ros::Publisher	pub_exploration_info_
ros::Publisher	pub_game_state_
ros::Publisher	pub_machine_info_
ros::Publisher	pub_machine_report_info_
ros::Publisher	pub_order_info_
ros::Publisher	pub_ring_info_
ros::ServiceServer	srv_send_beacon_
ros::ServiceServer	srv_send_machine_report_
ros::ServiceServer	srv_send_prepare_machine_

Macro Definition Documentation

#define GET_PRIV_PARAM

(

P

)

Value:

{ \
                if (! ros::param::get("~" #P, cfg_ ## P ## _)) { \
                        ROS_ERROR("Failed to retrieve parameter " #P ", aborting"); \
                        exit(-1); \
                } \
        }

Definition at line 57 of file rcll_refbox_peer_node.cpp.

Function Documentation

void handle_message	(	boost::asio::ip::udp::endpoint &	sender,
		uint16_t	component_id,
		uint16_t	msg_type,
		std::shared_ptr< google::protobuf::Message >	msg
	)

Definition at line 142 of file rcll_refbox_peer_node.cpp.

void handle_recv_error	(	boost::asio::ip::udp::endpoint &	endpoint,
		std::string	msg
	)

Definition at line 110 of file rcll_refbox_peer_node.cpp.

void handle_send_error

(

std::string

msg

)

Definition at line 117 of file rcll_refbox_peer_node.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 631 of file rcll_refbox_peer_node.cpp.

int pb_to_ros_team_color

(

const llsf_msgs::Team &

team_color

)

Definition at line 124 of file rcll_refbox_peer_node.cpp.

llsf_msgs::Team ros_to_pb_team_color

(

int

team_color

)

Definition at line 133 of file rcll_refbox_peer_node.cpp.

void setup_private_peer

(

llsf_msgs::Team

team_color

)

Definition at line 329 of file rcll_refbox_peer_node.cpp.

bool srv_cb_send_beacon	(	rcll_ros_msgs::SendBeaconSignal::Request &	req,
		rcll_ros_msgs::SendBeaconSignal::Response &	res
	)

Definition at line 371 of file rcll_refbox_peer_node.cpp.

bool srv_cb_send_machine_report	(	rcll_ros_msgs::SendMachineReport::Request &	req,
		rcll_ros_msgs::SendMachineReport::Response &	res
	)

Definition at line 421 of file rcll_refbox_peer_node.cpp.

bool srv_cb_send_prepare_machine	(	rcll_ros_msgs::SendPrepareMachine::Request &	req,
		rcll_ros_msgs::SendPrepareMachine::Response &	res
	)

Definition at line 466 of file rcll_refbox_peer_node.cpp.

Variable Documentation

std::condition_variable cdv_machine_info_

Definition at line 104 of file rcll_refbox_peer_node.cpp.

std::string cfg_crypto_cipher_

Definition at line 73 of file rcll_refbox_peer_node.cpp.

std::string cfg_crypto_key_

Definition at line 72 of file rcll_refbox_peer_node.cpp.

std::string cfg_peer_address_

Definition at line 74 of file rcll_refbox_peer_node.cpp.

bool cfg_peer_cyan_local_

Definition at line 79 of file rcll_refbox_peer_node.cpp.

int cfg_peer_cyan_port_

Definition at line 80 of file rcll_refbox_peer_node.cpp.

int cfg_peer_cyan_recv_port_

Definition at line 82 of file rcll_refbox_peer_node.cpp.

int cfg_peer_cyan_send_port_

Definition at line 81 of file rcll_refbox_peer_node.cpp.

bool cfg_peer_magenta_local_

Definition at line 83 of file rcll_refbox_peer_node.cpp.

int cfg_peer_magenta_port_

Definition at line 84 of file rcll_refbox_peer_node.cpp.

int cfg_peer_magenta_recv_port_

Definition at line 86 of file rcll_refbox_peer_node.cpp.

int cfg_peer_magenta_send_port_

Definition at line 85 of file rcll_refbox_peer_node.cpp.

bool cfg_peer_public_local_

Definition at line 75 of file rcll_refbox_peer_node.cpp.

int cfg_peer_public_port_

Definition at line 76 of file rcll_refbox_peer_node.cpp.

int cfg_peer_public_recv_port_

Definition at line 78 of file rcll_refbox_peer_node.cpp.

int cfg_peer_public_send_port_

Definition at line 77 of file rcll_refbox_peer_node.cpp.

std::string cfg_robot_name_

Definition at line 69 of file rcll_refbox_peer_node.cpp.

int cfg_robot_number_

Definition at line 70 of file rcll_refbox_peer_node.cpp.

int cfg_team_color_

Definition at line 71 of file rcll_refbox_peer_node.cpp.

std::string cfg_team_name_

Definition at line 68 of file rcll_refbox_peer_node.cpp.

std::shared_ptr<MachineInfo> msg_machine_info_

Definition at line 105 of file rcll_refbox_peer_node.cpp.

std::mutex mtx_machine_info_

Definition at line 103 of file rcll_refbox_peer_node.cpp.

ProtobufBroadcastPeer* peer_private_ = NULL

Definition at line 101 of file rcll_refbox_peer_node.cpp.

ProtobufBroadcastPeer* peer_public_ = NULL

Definition at line 100 of file rcll_refbox_peer_node.cpp.

ros::Publisher pub_beacon_

Definition at line 88 of file rcll_refbox_peer_node.cpp.

ros::Publisher pub_exploration_info_

Definition at line 91 of file rcll_refbox_peer_node.cpp.

ros::Publisher pub_game_state_

Definition at line 89 of file rcll_refbox_peer_node.cpp.

ros::Publisher pub_machine_info_

Definition at line 90 of file rcll_refbox_peer_node.cpp.

ros::Publisher pub_machine_report_info_

Definition at line 92 of file rcll_refbox_peer_node.cpp.

ros::Publisher pub_order_info_

Definition at line 93 of file rcll_refbox_peer_node.cpp.

ros::Publisher pub_ring_info_

Definition at line 94 of file rcll_refbox_peer_node.cpp.

ros::ServiceServer srv_send_beacon_

Definition at line 96 of file rcll_refbox_peer_node.cpp.

ros::ServiceServer srv_send_machine_report_

Definition at line 97 of file rcll_refbox_peer_node.cpp.

ros::ServiceServer srv_send_prepare_machine_

Definition at line 98 of file rcll_refbox_peer_node.cpp.