GT2005: Tools/MessageQueue/MessageIDs.h Source File

00001 /**
00002 * @file MessageIDs.h
00003 *
00004 * Declaration of ids for debug messages.
00005 * 
00006 * @author Martin Lötzsch
00007 */
00008 
00009 #ifndef __MessageIDs_h_
00010 #define __MessageIDs_h_
00011 
00012 
00013 /** 
00014 * IDs for debug messages
00015 *
00016 * To distinguish debug messages, they all have an id.
00017 */
00018 enum MessageID
00019 {
00020   undefined = 0, /*!< undefined message type */
00021     
00022     idText, /*!< the message contains plain unstructured text */ 
00023     
00024     // percepts, models
00025     idSensorData = 3, /*!< the message is SensorData */
00026     idPercepts = 8, /*!< the message contains percepts (see macro SEND_PERCEPTS) */
00027     idSpecialPercept, /*!< the message is a SpecialPercept */
00028     idWorldState, /*!< the message contains the world state (see macro SEND_WORLDSTATE) */
00029     idOracledWorldState, /*!< the message is an oracled WorldState */
00030     idGTCamWorldState,   /*!< the message is a GTCam WorldState */
00031     idRemoteCamWorldState, /*!< the message is a WorldState from the remote camera */
00032 
00033     // images
00034     idLowResImage = 2, /*!< the message is an old image (this should be id 2 for compatibility with old logfiles) */
00035     idJPEGImage = 37, /*!< the message is a JPEGImage */ ////////////////////////////////////
00036     idImage, /*!< the message is an Image (see macro SEND_IMAGE) */
00037 
00038     idDebugImage, /*!< the message is a debug image (see macro SEND_DEBUG_IMAGE) */
00039     idDebugColorClassImage, /*!< the message is a debug color class image (see macro SEND_DEBUG_COLOR_CLASS_IMAGE) */
00040 
00041 
00042     // debugging
00043     idDebugKeyTable, /*!< the message is a DebugKeyTable */
00044     idQueueFillRequest, /*!< the message is a QueueFillRequest */
00045     idGenericDebugData, /*!< data/parameters used for debugging and parameter optimization */
00046     idSolutionRequest, /*!< the message is a SolutionRequest */
00047     idDebugDrawing, /*!< the message is a DebugDrawing */
00048     idDebugDrawing2, /*!< the message is a DebugDrawing */
00049     idDebugDrawingFinished, /*!< the message is a DebugDrawing */
00050     idStopwatch, /*!< the message contains stopwatch data */
00051     idHistogram, /*!< contains a histogram */
00052     idSyncTimestampRobot, /*!< contains the robots system time on time synchronization with remote cam */
00053     idSyncTimestampRemoteCam, /*!< contains the remote-cam-servers system time on time synchronization with the robot */
00054 
00055 
00056     // motion
00057     idMotionRequest, /*!< the message is a MotionRequest */
00058     idOdometryData, /*!< the message is OdometryData */
00059     idJointData, /*!< the message is a JointData */
00060     idJointDataSequence, /*!< the message is a JointDataSequence */
00061     idHeadMotionRequest, /*!< the message is a HeadMotionRequest */
00062     idHeadControlMode, /*!< the message is a HeadControlMode */
00063     idFourierCoefficients,     /*!< the message contains a set of fourier coefficients */
00064     idLEDRequest, /*!< the message is a LEDRequest */
00065     idInvKinWalkingParameters, /*!< the message contains parameters for the InvKinWalkingEngine */
00066     idYetAnotherInvKinParams, /*!< contains a parameters for an inv kin engine */
00067     idYetAnotherInvKinPaws, /*!< contains a parameters for the paws positions of an inv kin engine */
00068     idMotionInfo, /*!< the message is the MotionInfo including the executed MotionRequest */
00069     idBodyPosture, /*!< the message is the a BodyPosture */
00070     idPIDData, /*!< The message is a PIDData */
00071     idJoystickData, /*!< the message is a JoystickData */
00072     idSoundRequest, /*!< The message is a SoundRequest */
00073     idGT2004Parameters, /*!< the message contains UDParameters set for the UDWalkingEngine */
00074     idGT2004EvolutionRequest, /*!< the message contains a request like 'current individual to measure is #7' */
00075     idMotionNet, /*!< The message contains a complete motion net for the special actions */
00076     idOdometryScale, /*!< the message is the generic debug data for odoemtry scale. */
00077     idMotionRatingBehaviorMessage, /*!< the message is a MotionRatingBehavior debug message */
00078     
00079     // configuration
00080     idCameraParameters, /*!< the message is CameraParameters */
00081     idColorTable64, /*!< the message is a ColorTable64 */
00082     idGameSpeed, /*! the message contains a desired game speed */
00083     idMotionControlSlowMotion, /*! the message contains a number configuring the times MotionControl is run within Motion */
00084     idBodyOffsets, /*!< the message is the generic debug data for body offsets. */
00085     idImageProcessorParameters, /*!< parameters for the image processor. */
00086 
00087     //behavior
00088     idXabsl2DebugRequest, /*!< the message is a Xabsl2DebugRequest */
00089     idXabsl2DebugMessage, /*!< the message contains a debug message from the Xabsl2BehaviorControl */
00090     idXabsl2IntermediateCode, /*!< intermediate code for a Xabsl2BehaviorControl */
00091     idKickSelectionTable, /*!< A KickSelectionTable */
00092     idKickRecord, /*!< the message contains information about a kick performed and the resulting ball position */
00093     idGlobalGameControlData, /*!< the message is a GlobalGameControlData */
00094     idGameControlData, /*!< the message is a GameControlData */
00095 
00096     //perception
00097     idBallPercept, /*!<  contains the ballpercept from the cognition process*/
00098     idCollisionPercept, /*!<  contains the collision percept from the cognition process*/
00099     idLandmarksPercept, /*!<  contains the landmarks percept from the cognition process*/
00100     idLinesPercept, /*!<  contains the lines percept from the cognition process*/
00101     idEdgesPercept, /*!<  contains the edges percept from the cognition process*/
00102     idObstaclesPercept, /*!<  contains the obstacles percept from the cognition process*/
00103     idPlayersPercept, /*!<  contains the players percept from the cognition process*/
00104     idColorTableCuboids, /*!< contains a colorTableCuboids */
00105     idColorTableReferenceColor, /*!< contains a colorTableReferenceColor */
00106     idColorTableTSL, /*!< the message is a ColorTableTSL */
00107 
00108     //modelling
00109     idRobotPose,
00110     idBallModel,
00111     idLinesSelfLocatorParameters,
00112     idGT2004BallLocatorData, /*!< settings for Kalman Ball Locator Filter */
00113     idDDDSelfLocatorParameters,
00114     
00115     //BEGIN ATH
00116     idPerceptOracle = 120, /*!< the message is a percept oracle */
00117     idDebugDrawing3, /*!< the message is a DebugDrawing */
00118     idDebugRequest, /*!< contains a debug request */
00119     idDebugResponse, /*!< contains a debug response */
00120     idStreamSpecification, /*!<  contains the specification of streamable objects held by the StreamHandler */
00121     idATH2005SLInfo, /*!< The message contains special date from the ATH2005 SelfLocator */
00122     idBehaviorEvolutionPopulation, /*!< The message contains a population of behavior parameters */
00123     idBehaviorEvolutionParameters, /*!< The message contains parameters for the evolution of behavior*/
00124     idBehaviorEvolutionCurrentIndividual,
00125     idMessageForRobotControl,
00126     idModuleSolutionTable,
00127     idDrawingManager, /*!<  contains the specification of streamable objects held by the StreamHandler */
00128     idDebugDataResponse,
00129     idDebugDataChangeRequest,
00130     idProcessBegin,
00131     idProcessFinished,
00132     idJPEGImage2,
00133     
00134     idGT2005BallLocator1 = 150,
00135     idGT2005BallLocator2,
00136     idGT2005TeamBallLocator,
00137     idComboBallLocator,
00138     //****for GT2005WalkingEngine****
00139     idGT2005Request, // for GT2005 Walking Engine
00140     idGT2005DebugData,
00141 
00142     idGTCamKalmanBallFilter,   // Tuning parameters
00143     idMSHBallLocatorEvolution,
00144     idDebugGrayScaleImage,
00145     idTestFun,
00146     idDebugJPEGImage,
00147     idDebugJPEGImage2,
00148     idCameraMatrix,
00149 
00150     numOfMessageIDs /*!< the number of message ids */
00151 };
00152 
00153 #ifdef USE_GETMESSAGEIDNAME
00154 /** returns names for message ids */
00155 static const char* getMessageIDName(MessageID id)
00156 {
00157   switch (id)
00158   {
00159   case undefined: return "undefined";
00160   case idText: return "Text";
00161 
00162   // images
00163   case idImage: return "Image";
00164   case idLowResImage: return "LowResImage";
00165   case idDebugImage: return "DebugImage"; 
00166   case idDebugColorClassImage: return "DebugColorClassImage"; 
00167   case idDebugGrayScaleImage: return "DebugGrayScaleImage";
00168   case idDebugJPEGImage: return "idDebugJPEGImage";
00169   case idDebugJPEGImage2: return "idDebugJPEGImage2";
00170   case idCameraMatrix: return "idCameraMatrix";
00171 
00172   // percepts"; models
00173   case idSensorData: return "SensorData";
00174   case idPercepts: return "Percepts";
00175   case idSpecialPercept: return "SpecialPercept";
00176   case idWorldState: return "WorldState";
00177   case idOracledWorldState: return "OracledWorldState";
00178   case idRemoteCamWorldState: return "RemoteCamWorldState";
00179   case idMotionRequest: return "MotionRequest";
00180 
00181   // motion
00182   case idOdometryData: return "OdometryData";
00183   case idJointData: return "JointData";
00184   case idJointDataSequence: return "JointDataSequence";
00185   case idHeadMotionRequest: return "HeadMotionRequest";
00186   case idHeadControlMode: return "HeadControlMode";
00187   case idFourierCoefficients: return "FourierCoefficients";
00188   case idLEDRequest: return "LEDRequest";
00189   case idInvKinWalkingParameters: return "InvKinWalkingParameters";
00190   case idMotionInfo: return "MotionInfo";
00191   case idPIDData: return "PidData";
00192   case idJoystickData: return "JoystickData";
00193   case idSoundRequest: return "SoundRequest";
00194   case idMotionRatingBehaviorMessage: return "idMotionRatingBehaviorMessage";
00195 
00196   // debugging
00197   case idGenericDebugData: return "GenericDebugData";
00198   case idDebugKeyTable: return "DebugKeyTable";
00199   case idSolutionRequest: return "SolutionRequest";
00200   case idDebugDrawing: return "DebugDrawing";
00201   case idDebugDrawing2: return "DebugDrawing2";
00202   case idDebugDrawing3: return "DebugDrawing3";
00203   case idDebugDrawingFinished: return "DebugDrawingFinished";
00204   case idQueueFillRequest: return "QueueFillRequest";
00205   case idStopwatch: return "Stopwatch";
00206   case idHistogram: return "Histogram";
00207   case idSyncTimestampRobot: return "SyncTimestampRobot";
00208   case idSyncTimestampRemoteCam: return "SyncTimestampRemoteCam";
00209   case idDebugRequest: return "DebugRequest";
00210   case idDebugResponse: return "DebugResponse";
00211   case idGTCamWorldState: return "GTCamWorldState";
00212   case idStreamSpecification: return "StreamSpecification";
00213   case idBallPercept: return "BallPercept";
00214   case idCollisionPercept: return "CollisionPercept";
00215 //****for GT2005WalkingEngine****
00216   case idGT2005Request: return "idGT2005Request";
00217   case idGT2005DebugData: return "idGT2005DebugData";
00218 
00219   // configuration
00220   case idCameraParameters: return "CameraParameters";
00221   case idColorTable64: return "ColorTable64";
00222   case idGameSpeed: return "GameSpeed";
00223   case idMotionControlSlowMotion: return "MotionControlSlowMotion";
00224   case idBodyOffsets: return "BodyOffsets";
00225   case idImageProcessorParameters: return "ImageProcessorParameters";
00226 
00227   //////////////////////////////////////////////////////////////////////
00228   case idJPEGImage: return "JPEGImage";
00229   case idJPEGImage2: return "JPEGImage2";
00230   //////////////////////////////////////////////////////////////////////
00231 
00232   case idGlobalGameControlData: return "GlobalGameControlData";
00233   case idGameControlData: return "GameControlData";
00234 
00235   case idXabsl2DebugRequest: return "Xabsl2DebugRequest";
00236   case idXabsl2DebugMessage: return "Xabsl2DebugMessage";
00237   case idXabsl2IntermediateCode: return "Xabsl2IntermediateCode";
00238   case idKickRecord: return "KickRecord";
00239 
00240   case idLinesSelfLocatorParameters: return "LinesSelfLocatorParameters";
00241   case idColorTableCuboids: return "ColorTableCuboids";
00242   case idColorTableReferenceColor: return "ColorTableReferenceColor";
00243   case idColorTableTSL: return "ColorTableTSL";
00244 
00245   case idGT2004Parameters: return "GT2004Parameters";
00246   case idGT2004EvolutionRequest: return "UDEvolutionRequest";
00247   case idMotionNet: return "MotionNet";
00248 
00249   case idKickSelectionTable: return "KickSelectionTable";
00250   case idGT2004BallLocatorData: return "KalmanData";
00251   case idDDDSelfLocatorParameters: return "DDDSelfLocatorParameters";
00252 
00253   case idGT2005BallLocator1: return "GT2005BallLocator1";
00254   case idGT2005BallLocator2: return "GT2005BallLocator2";
00255   
00256   case idGT2005TeamBallLocator: return "GT2005TeamBallLocator";
00257 
00258   case idComboBallLocator: return "ComboBallLocator";
00259 
00260   case idGTCamKalmanBallFilter: return "gtCamKalmanBallFilter";
00261 
00262   case idATH2005SLInfo: return "idATH2005SLInfo";
00263   case idBehaviorEvolutionPopulation: return "idBehaviorEvolutionPopulation";
00264   case idBehaviorEvolutionParameters: return "idBehaviorEvolutionParameters";
00265   case idBehaviorEvolutionCurrentIndividual: return "idBehaviorEvolutionCurrentIndividual";
00266 
00267   case idMSHBallLocatorEvolution: return "idMSHBallLocatorEvolution";
00268   case idMessageForRobotControl: return "idMessageForRobotControl";
00269   case idModuleSolutionTable: return "idModuleSolutionTable";
00270   case idDrawingManager: return "idDrawingManager";
00271   case idBallModel: return "idBallModel";
00272   case idRobotPose: return "idRobotPose";
00273   case idDebugDataResponse: return "idDebugDataResponse";
00274   case idDebugDataChangeRequest: return "idDebugDataChangeRequest";
00275   case idProcessFinished: return "idProcessFinished";
00276   case idProcessBegin: return "idProcessBegin";
00277   
00278   default: return "unknown";
00279   }
00280 }
00281 #endif
00282 
00283 /** Composes the idImage message into a message queue */
00284 #define SEND_IMAGE(i,cm) static_cast<Image&>(i) << static_cast<CameraMatrix&>(cm) 
00285 /** Receives the idImage message from a message queue */
00286 #define RECEIVE_IMAGE(i,cm) static_cast<Image&>(i) >> static_cast<CameraMatrix&>(cm)
00287 
00288 /** Composes the idPercepts message into a message queue */
00289 #define SEND_PERCEPTS(rp,cm,ci,ballp,lmp,lnsp,ep,plp,op,psdp,cp) \
00290   static_cast<RobotPose&>(rp) << static_cast<CameraMatrix&>(cm) << static_cast<CameraInfo&>(ci) << static_cast<BallPercept&>(ballp) \
00291   << static_cast<LandmarksPercept&>(lmp) << static_cast<LinesPercept&>(lnsp) << static_cast<EdgesPercept&>(ep) << static_cast<PlayersPercept&>(plp) << static_cast<ObstaclesPercept&>(op) << static_cast<PSDPercept&>(psdp) << static_cast<CollisionPercept&>(cp)
00292 /** Receives the idPercepts message from a message queue */
00293 #define RECEIVE_PERCEPTS(rp,cm,ci,ballp,lmp,lnsp,ep,plp,op,psdp,cp) \
00294   static_cast<RobotPose&>(rp) >> static_cast<CameraMatrix&>(cm) >> static_cast<CameraInfo&>(ci) >> static_cast<BallPercept&>(ballp) \
00295   >> static_cast<LandmarksPercept&>(lmp) >> static_cast<LinesPercept&>(lnsp) >> static_cast<EdgesPercept&>(ep) >> static_cast<PlayersPercept&>(plp) >> static_cast<ObstaclesPercept&>(op) >> static_cast<PSDPercept&>(psdp) >> static_cast<CollisionPercept&>(cp)
00296 
00297 /** Composes the idWorldState message into a message queue */
00298 #define SEND_WORLD_STATE(rp,bp,ppc,om,rs,cm,ci) static_cast<RobotPose&>(rp) \
00299   << static_cast<BallModel&>(bp) << static_cast<PlayerPoseCollection&>(ppc) << static_cast<ObstaclesModel&>(om) << static_cast<RobotState&>(rs) << static_cast<CameraMatrix&>(cm) << static_cast<CameraInfo&>(ci)
00300 /** Receives the idWorldState message from a message queue */
00301 #define RECEIVE_WORLDSTATE(rp,bp,ppc,om,rs,cm,ci) static_cast<RobotPose&>(rp) \
00302   >> static_cast<BallModel&>(bp) >> static_cast<PlayerPoseCollection&>(ppc) >> static_cast<ObstaclesModel&>(om) >> static_cast<RobotState&>(rs) >> static_cast<CameraMatrix&>(cm) >> static_cast<CameraInfo&>(ci)
00303 
00304 #endif //__MessageIDs_h_