Platform/Aperios1.3.2/BroadCastStatusHandler.h

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/*******************************************************************
* Broadcast Status Handler                                        *
* @Author: Matthias Meyer (robocup@ja-me.de)                      *
******************************************************************/
#ifndef _BroadCastStatusHandler_H_
#define _BroadCastStatusHandler_H_

#include <stdio.h>
#include <iostream.h>
#include "NetConfig.h"
#include "Tools/Debugging/Debugging.h"
#include "UDPEndpoint.h"
#include "Tools/Player.h"

// Redifinition to use .cs in .h
#define ignoreThisCSPartInCPP defined doNotDefineThisDefineAsItWillMakeBAAAADThings

class DebugDataWorldStateMessage 
{
public:
  int robotPoseX;
  int robotPoseY;
  double robotPoseRotation;
  bool robotPoseColor;
};

class DebugDataBallStateMessage 
{
public:
  int seenBallStateX;
  int seenBallStateY;
  int propagatedBallStateX;
  int propagatedBallStateY;
  int communicatedBallStateX;
  int communicatedBallStateY;
};

class DebugDataStatusStateMessage 
{
public:
  int batteryStatus;
  unsigned long Systemtime;
  unsigned long freeMem;
  unsigned long MAC;
  unsigned int WLANSignalStrengh;
};

class DebugDataRunTimeMessage 
{
public:
  double CognitionAverage;
  double GTCamAverage;
  double SpecialVisionAverage;
  double SensorBehaviorControlAverage;
  double BehaviorControlAverage;
  double SelfLocatorAverage;
  double ObstaclesLocatorAverage;
  double PlayersLocatorAverage;
  double TeamBallLocatorAverage;
  double BallLocatorAverage;
  double RobotStateDetectorAverage;
  double CollisionDetectorAverage;
  double SensorDataProcessorAverage;
  double ImageProcessorAverage;
  double ColorTableModAverage;
};

class DebugDataDebugStateMessage 
{
public:
  int DebugPort;
};



/**
* DebugDataControler
*/

class DebugDataControlerBase {
private:
  unsigned int size;

public:

  int getHeaderSize() {
    // HeaderSize = id + sizeOf(int)
    return sizeof(id) + 4;
  }

#include <RobotControl2/RobotControl/Tools/BroadCastStatus/BroadCastStatusEnum.cs>

  TYPEOFDEBUGDATA id;

  DebugDataControlerBase(TYPEOFDEBUGDATA _id)  {
    id = _id;
  };

  virtual unsigned int getSize() =0;

  virtual int write(char* dst, int pos) {
    int writePos = 0;
    memcpy(&dst[pos], &id, sizeof(id));
    writePos += sizeof(id);

    unsigned int tmpSizeOfData = getSize();
    memcpy(&dst[pos+writePos], &tmpSizeOfData, sizeof(unsigned int));
    writePos += sizeof(unsigned int);
    return writePos;
  };
};



class DebugDataControlerWorldStateMessage : public DebugDataControlerBase {
public:
  DebugDataWorldStateMessage _data;

  DebugDataControlerWorldStateMessage() : DebugDataControlerBase(worldStateMessage) {
  };

  virtual unsigned int getSize() {
    return sizeof(_data);
  };

  virtual int write(char* dst, int pos) {
    int writePos = DebugDataControlerBase::write(dst,pos);
    memcpy(&dst[pos + writePos],&_data,sizeof(_data));
    writePos += sizeof(_data);
    return writePos;
  };
};

class DebugDataControlerBallStateMessage : public DebugDataControlerBase {
public:
  DebugDataBallStateMessage _data;

  DebugDataControlerBallStateMessage() : DebugDataControlerBase(ballStateMessage) {
  };

  virtual unsigned int getSize() {
    return sizeof(_data);
  };

  virtual int write(char* dst, int pos) {
    int writePos = DebugDataControlerBase::write(dst,pos);
    memcpy(&dst[pos + writePos],&_data,sizeof(_data));
    writePos += sizeof(_data);
    return writePos;
  };
};

class DebugDataControlerStatusStateMessage : public DebugDataControlerBase {
public:
  DebugDataStatusStateMessage _data;

  DebugDataControlerStatusStateMessage() : DebugDataControlerBase(statusStateMessage) {
  };

  virtual unsigned int getSize() {
    return sizeof(_data);
  };

  virtual int write(char* dst, int pos) {
    int writePos = DebugDataControlerBase::write(dst,pos);
    memcpy(&dst[pos + writePos],&_data,sizeof(_data));
    writePos += sizeof(_data);
    return writePos;
  };
};

class DebugDataControlerDebugStateMessage : public DebugDataControlerBase {
public:
  DebugDataDebugStateMessage _data;

  DebugDataControlerDebugStateMessage() : DebugDataControlerBase(debugStateMessage) {
  };

  virtual unsigned int getSize() {
    return sizeof(_data);
  };

  virtual int write(char* dst, int pos) {
    int writePos = DebugDataControlerBase::write(dst,pos);
    memcpy(&dst[pos + writePos],&_data,sizeof(_data));
    writePos += sizeof(_data);
    return writePos;
  };
};

class DebugDataControlerRunTimeMessage : public DebugDataControlerBase {
public:
  DebugDataRunTimeMessage _data;

  DebugDataControlerRunTimeMessage() : DebugDataControlerBase(runTime) {
  };

  virtual unsigned int getSize() {
    return sizeof(_data);
  };

  virtual int write(char* dst, int pos) {
    int writePos = DebugDataControlerBase::write(dst,pos);
    memcpy(&dst[pos + writePos],&_data,sizeof(_data));
    writePos += sizeof(_data);
    return writePos;
  };
};



/**
* Main class
*/
class BroadCastStatusHandler : public UDPEndpoint
{
public:
  BroadCastStatusHandler();
  ~BroadCastStatusHandler();
  void initBroadCastStatusHandler();
  void sendStatusPackage();
  DebugDataControlerBase* thePackage[DebugDataControlerBase::nrOfDebugTypes];
};

#undef ignoreThisCSPartInCPP
#endif 

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