ArMapChanger Class Reference

#include <ArMapChanger.h>

Detailed Description

ArMapChanger is a helper class that can send and receive ArMapChangeDetails over the network and apply them to an associated Aria map.

An instance of ArMapChanger must be instantiated on both the client and the server side. (Note that there are two different versions of the constructors for this.)

TODO: Possibly subclass this into ArClientMapChanger and ArServerMapChanger?

See also:: ArMapChangeDetails

Public Member Functions

virtual bool addChangeCB (ArFunctor2< ArServerClient *, std::list< ArNetPacket * > * > *functor)

This method is primarily used on the central server.

virtual void addPostWriteFileCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)

This method is primarily used to restore the server's directory write status, if necessary.

virtual void addPreWriteFileCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)

This method is primarily used to temporarily make the server's directory writeable, if necessary.

virtual bool applyMapChanges (ArMapChangeDetails *changeDetails)

Applies the given map changes received from the client to the associated Aria map.

ArMapChanger (ArMapInterface *map)

This method is primarily used for debugging.

ArMapChanger (ArClientBase *client, const std::list< std::string > &infoNames)

The map changer will send map change details to the server.

ArMapChanger (ArServerBase *server, ArMapInterface *map)

The map changer will automatically apply the received map change details to the given map.

virtual bool remChangeCB (ArFunctor2< ArServerClient *, std::list< ArNetPacket * > * > *functor)

Removes a callback from the map change list.

virtual void remPostWriteFileCB (ArFunctor *functor)

Removes a callback from the post-write file list.

virtual void remPreWriteFileCB (ArFunctor *functor)

Removes a callback from the pre-write file list.

virtual bool sendMapChanges (ArMapChangeDetails *changeDetails)

Sends the given map changes from the client to the server.

virtual bool sendPacketList (const std::list< ArNetPacket * > &packetList)

Transmits the given map change packet list from the client to the server.

virtual ~ArMapChanger ()

Destructor.

Static Public Attributes

static const char * CHANGES_IN_PROGRESS_PACKET_NAME

Name of a network packet that is broadcast when the map is being changed.

static const char * PROCESS_CHANGES_PACKET_NAME

Name of the network packet that contains the incremental map changes.

Protected Types

enum { CHANGE_DATA_TYPE_COUNT = LAST_CHANGE_DATA_TYPE + 1, CHANGE_COMMAND_COUNT = LAST_CHANGE_COMMAND + 1, MAX_POINTS_IN_PACKET = 1000, MAX_LINES_IN_PACKET = 500 }

Miscellaneous constants. More...

CANCEL_CHANGES = 3

Cancel the request to change the map.

CHANGE_COMMAND_COUNT = LAST_CHANGE_COMMAND + 1

CHANGE_DATA_TYPE_COUNT = LAST_CHANGE_DATA_TYPE + 1

CHANGE_FAILED = 0

CHANGE_SUCCESS = 10

CONTINUE_CHANGES = 1

Request to continue applying changes to the map.

FINISH_CHANGES = 2

Last packet that contains changes to be applied to the map.

INFO_DATA = 2

Any of the info data, e.g. MapInfo, RouteInfo.

LAST_CHANGE_COMMAND = CANCEL_CHANGES

Last value in the enumeration.

LAST_CHANGE_DATA_TYPE = LINES_DATA

Last value in the enumeration.

LINES_DATA = 6

Map data lines.

enum MapChangeCommand {
  START_CHANGES = 0, CONTINUE_CHANGES = 1, FINISH_CHANGES = 2, CANCEL_CHANGES = 3,
  LAST_CHANGE_COMMAND = CANCEL_CHANGES
}

Indicates the current stage of the map change network packets. More...

enum MapChangeDataType {
  NO_CHANGE = 0, SUMMARY_DATA = 1, INFO_DATA = 2, SUPPLEMENT_DATA = 3,
  OBJECTS_DATA = 4, POINTS_DATA = 5, LINES_DATA = 6, LAST_CHANGE_DATA_TYPE = LINES_DATA
}

Type of data contained in the map change network packet. More...

enum MapChangeReplyType { CHANGE_FAILED = 0, CHANGE_SUCCESS = 10 }

Reply status for a map change request. More...

MAX_LINES_IN_PACKET = 500

MAX_POINTS_IN_PACKET = 1000

NO_CHANGE = 0

No change data.

OBJECTS_DATA = 4

Map objects, i.e. Cairn lines.

POINTS_DATA = 5

Map data points.

START_CHANGES = 0

First packet that contains changes to be applied to the map.

SUMMARY_DATA = 1

Summary data, e.g. min/max pos, number of points.

SUPPLEMENT_DATA = 3

Miscellaneous supplemental data such as origin lat/long/alt.

Protected Member Functions

bool addFileLineSetPackets (MapChangeDataType dataType, ArMapChangeDetails::MapLineChangeType changeType, const char *scanType, const char *extra, ArMapFileLineSet *fileLineSet, std::list< ArNetPacket * > *packetListOut)

bool addFileLineToPacketList (MapChangeDataType dataType, ArMapChangeDetails::MapLineChangeType changeType, const char *scanType, const ArMapFileLine &fileLine, std::list< ArNetPacket * > *packetListOut)

Creates network packets for the specified file line and adds them to the given list.

bool addGroupToPacketList (MapChangeDataType dataType, ArMapChangeDetails::MapLineChangeType changeType, const char *scanType, ArMapFileLineGroup &group, std::list< ArNetPacket * > *packetListOut)

Creates network packets for the specified file line group and adds them to the given list.

void addHeaderToPacket (MapChangeCommand command, MapChangeDataType dataType, ArMapChangeDetails::MapLineChangeType changeType, const char *scanType, ArNetPacket *packet)

bool addLinesPackets (ArMapChangeDetails::MapLineChangeType changeType, const char *scanType, std::vector< ArLineSegment > *lineSegmentList, std::list< ArNetPacket * > *packetListOut)

Creates network packets for the given map data lines and adds them to the given list.

bool addPointsPackets (ArMapChangeDetails::MapLineChangeType changeType, const char *scanType, std::vector< ArPose > *pointList, std::list< ArNetPacket * > *packetListOut)

Creates network packets for the given map data points and adds them to the given list.

void addToCallbackList (ArFunctor *functor, ArListPos::Pos position, std::list< ArFunctor * > *cbList)

Adds the given functor to the given callback list.

bool applyInfoChanges (ArMapChangeDetails *changeDetails)

bool applyObjectChanges (ArMapChangeDetails *changeDetails)

bool applyScanChanges (ArMapChangeDetails *changeDetails, const char *scanType, ArFileParser &parser)

bool applyScanChanges (ArMapChangeDetails *changeDetails)

Scan data include summary data, map data points, and map data lines.

bool applySupplementChanges (ArMapChangeDetails *changeDetails)

bool convertChangeDetailsToPacketList (ArMapChangeDetails *changeDetails, std::list< ArNetPacket * > *packetListOut, bool isRelay=false)

Creates a list of network packets for the given map change details.

bool convertPacketListToChangeDetails (std::list< ArNetPacket * > &packetList, ArMapChangeDetails *changeDetailsOut)

Unpacks the given network packet list and populates the given map change details.

virtual void handleChangePacket (ArServerClient *client, ArNetPacket *packet)

Server handler for packets that contain map change details.

virtual void handleChangeReplyPacket (ArNetPacket *packet)

Client handler for the results of applying the map changes on the server.

virtual void handleChangesInProgressPacket (ArNetPacket *packet)

Client handler for the map-changes-in-progress broadcast packet.

virtual void handleClientShutdown ()

Client handler for when the robot disconnects or is shutdown.

virtual void handleIdleProcessingPacket (ArNetPacket *packet)

Client handler for the server's idle-processing-pending broadcast packet.

bool isIdleProcessingPending ()

Determines whether idle processing is pending on the server.

bool isMatchingObjects (ArMapObject *obj1, ArMapObject *obj2)

If the objects have a name, then the name must be identical.

void remFromCallbackList (ArFunctor *functor, std::list< ArFunctor * > *cbList)

Removes the given functor from the given callback list.

void resetPacketList (std::list< ArNetPacket * > *packetList)

Resets all of the network packets in the given list so that they can be read again.

bool unpackFileLineSet (ArNetPacket *packet, MapChangeDataType dataType, ArMapChangeDetails::MapLineChangeType changeType, const char *scanType, int *numGroups, int *numChildren, ArMapChangeDetails *changeDetails)

The file line set is added to the given change details.

bool unpackHeader (ArNetPacket *packet, MapChangeCommand *commandOut, ArMapId *origMapIdOut, ArMapId *newMapIdOut=NULL, MapChangeDataType *dataTypeOut=NULL, ArMapChangeDetails::MapLineChangeType *changeTypeOut=NULL, std::string *scanTypeOut=NULL)

bool unpackLines (ArNetPacket *packet, ArMapChangeDetails::MapLineChangeType changeType, const char *scanType, int *numLines, ArMapChangeDetails *changeDetails)

The data lines are added to the given change details.

bool unpackPoints (ArNetPacket *packet, ArMapChangeDetails::MapLineChangeType changeType, const char *scanType, int *numPoints, ArMapChangeDetails *changeDetails)

The data points are added to the given change details.

bool waitForReply (ArTime &started)

If a reply is not received within 30 seconds, this method will timeout and return false.

Protected Attributes

std::list< ArFunctor2< ArServerClient *,
std::list< ArNetPacket * > * > * > myChangeCBList

List of server client callbacks to be invoked after the map has been changed.

ArMapChangeDetails * myChangeDetails

Change details to apply to the Aria map.

ArClientBase * myClient

Associated client base; non-NULL only when changer instantiated on the client.

ClientChangeInfo * myClientInfo

Information regarding the server client that is currently sending map changes.

ArMutex myClientInfoMutex

Mutex that protects access to the myClientInfo member.

ArMutex myClientMutex

Mutex that protects access to the myClient member.

ArFunctorC< ArMapChanger > myClientShutdownCB

Handler invoked when the client shuts down.

ArFunctor2C< ArMapChanger,
ArServerClient *, ArNetPacket * > myHandleChangePacketCB

Server handler for the network packets that describe map chagnes.

ArFunctor1C< ArMapChanger,
ArNetPacket * > myHandleChangesInProgressPacketCB

Client handler for the map-changes-in-progress packet.

ArFunctor1C< ArMapChanger,
ArNetPacket * > myHandleIdleProcessingPacketCB

Client handler for the idle-processing-in-progress packet.

ArFunctor1C< ArMapChanger,
ArNetPacket * > myHandleReplyPacketCB

Client handler for the reply packet.

ArMutex myIdleProcessingMutex

Mutex that protects access to the myIsIdleProcessingPending member.

std::list< std::string > myInfoNames

List of info types in the associated info map.

ArMutex myInterleaveMutex

Mutex that protects access to the interleave data.

bool myIsIdleProcessingPending

Whether the server has data to process once it becomes idle.

bool myIsWaitingForReturn

Whether the client is waiting for a reply from the server.

ArMapInterface * myMap

Aria map currently in use.

std::list< ArFunctor * > myPostWriteCBList

List of callbacks to be invoked after the changed map file is written.

std::list< ArFunctor * > myPreWriteCBList

List of callbacks to be invoked before the changed map file is written.

bool myReadyForNextPacket

Whether the client is ready to send another packet.

ArServerBase * myServer

Associated server base; non-NULL only when changer instantiated on the server.

ArMapInterface * myWorkingMap

Copy of the current Aria map, used to make sure the changes can be successfully made.

Classes

struct ClientChangeInfo

Accumulates the packet list that describes map changes received from a specified client. More...

Member Enumeration Documentation

anonymous enum [protected]

Miscellaneous constants.

Enumerator:

CHANGE_DATA_TYPE_COUNT
CHANGE_COMMAND_COUNT
MAX_POINTS_IN_PACKET
MAX_LINES_IN_PACKET

enum ArMapChanger::MapChangeCommand [protected]

Indicates the current stage of the map change network packets.

Enumerator:

START_CHANGES	First packet that contains changes to be applied to the map.
CONTINUE_CHANGES	Request to continue applying changes to the map.
FINISH_CHANGES	Last packet that contains changes to be applied to the map.
CANCEL_CHANGES	Cancel the request to change the map.
LAST_CHANGE_COMMAND	Last value in the enumeration.

enum ArMapChanger::MapChangeDataType [protected]

Type of data contained in the map change network packet.

Enumerator:

NO_CHANGE	No change data.
SUMMARY_DATA	Summary data, e.g. min/max pos, number of points.
INFO_DATA	Any of the info data, e.g. MapInfo, RouteInfo.
SUPPLEMENT_DATA	Miscellaneous supplemental data such as origin lat/long/alt.
OBJECTS_DATA	Map objects, i.e. Cairn lines.
POINTS_DATA	Map data points.
LINES_DATA	Map data lines.
LAST_CHANGE_DATA_TYPE	Last value in the enumeration.

enum ArMapChanger::MapChangeReplyType [protected]

Reply status for a map change request.

Enumerator:

CHANGE_FAILED
CHANGE_SUCCESS

Constructor & Destructor Documentation

ArMapChanger::ArMapChanger	(	ArServerBase *	server,
		ArMapInterface *	map
	)

The map changer will automatically apply the received map change details to the given map.

Parameters:

	server	the ArServerBase * that receives the network packets
	map	the ArMapInterface * to which to apply the map changes

ArMapChanger::ArMapChanger	(	ArClientBase *	client,
		const std::list< std::string > &	infoNames
	)

The map changer will send map change details to the server.

The application must request this by calling sendMapChanges.

Parameters:

	client	the ArClientBase * which is used to send the map change details
	infoNames	the list of info names included in the map

ArMapChanger::ArMapChanger ( ArMapInterface * map )

This method is primarily used for debugging.

Parameters:

map

the ArMapInterface * to which to apply the map changes

ArMapChanger::~ArMapChanger ( ) [virtual]

Destructor.

Member Function Documentation

bool ArMapChanger::addChangeCB ( ArFunctor2< ArServerClient *, std::list< ArNetPacket * > * > * functor ) [virtual]

This method is primarily used on the central server.

After the map changes are successfully applied to its map, they are propagated to all of the connected robots.

bool ArMapChanger::addFileLineSetPackets	(	MapChangeDataType	dataType,
		ArMapChangeDetails::MapLineChangeType	changeType,
		const char *	scanType,
		const char *	extra,
		ArMapFileLineSet *	fileLineSet,
		std::list< ArNetPacket * > *	packetListOut
	)			`[protected]`

Parameters:

	dataType	the MapChangeDataType that specifies which map data is to be added
	changeType	the MapLineChangeType that specifies the type of map change (lines added or deleted)
	scanType	the char * identifier of the scan source to add; valid only when dataType is SUMMARY_DATA
	extra	an optional const char * identifier that clarifies which data to add; when dataType is INFO_DATA, this is the info name; otherwise, ignored
	fileLineSet	the ArMapFileLineSet * component of the map change details that is to be converted to network packets
	packetListOut	the list of ArNetPackets to which new packets are added

bool ArMapChanger::addFileLineToPacketList	(	MapChangeDataType	dataType,
		ArMapChangeDetails::MapLineChangeType	changeType,
		const char *	scanType,
		const ArMapFileLine &	fileLine,
		std::list< ArNetPacket * > *	packetListOut
	)			`[protected]`

Creates network packets for the specified file line and adds them to the given list.

bool ArMapChanger::addGroupToPacketList	(	MapChangeDataType	dataType,
		ArMapChangeDetails::MapLineChangeType	changeType,
		const char *	scanType,
		ArMapFileLineGroup &	group,
		std::list< ArNetPacket * > *	packetListOut
	)			`[protected]`

Creates network packets for the specified file line group and adds them to the given list.

void ArMapChanger::addHeaderToPacket	(	MapChangeCommand	command,
		MapChangeDataType	dataType,
		ArMapChangeDetails::MapLineChangeType	changeType,
		const char *	scanType,
		ArNetPacket *	packet
	)			`[protected]`

Parameters:

	command	the MapChangeCommand that specifies which command identifier to add to this packet
	dataType	the MapChangeDataType that specifies which map data is to be added
	changeType	the MapLineChangeType that specifies the type of map change (lines added or deleted)
	scanType	the char * identifier of the scan source to add; valid only when dataType is SUMMARY_DATA
	packet	the ArNetPacket * to be modified; must be non-NULL

bool ArMapChanger::addLinesPackets	(	ArMapChangeDetails::MapLineChangeType	changeType,
		const char *	scanType,
		std::vector< ArLineSegment > *	lineSegmentList,
		std::list< ArNetPacket * > *	packetListOut
	)			`[protected]`

Creates network packets for the given map data lines and adds them to the given list.

bool ArMapChanger::addPointsPackets	(	ArMapChangeDetails::MapLineChangeType	changeType,
		const char *	scanType,
		std::vector< ArPose > *	pointList,
		std::list< ArNetPacket * > *	packetListOut
	)			`[protected]`

Creates network packets for the given map data points and adds them to the given list.

void ArMapChanger::addPostWriteFileCB	(	ArFunctor *	functor,
		ArListPos::Pos	position = `ArListPos::LAST`
	)			`[virtual]`

This method is primarily used to restore the server's directory write status, if necessary.

void ArMapChanger::addPreWriteFileCB	(	ArFunctor *	functor,
		ArListPos::Pos	position = `ArListPos::LAST`
	)			`[virtual]`

This method is primarily used to temporarily make the server's directory writeable, if necessary.

void ArMapChanger::addToCallbackList	(	ArFunctor *	functor,
		ArListPos::Pos	position,
		std::list< ArFunctor * > *	cbList
	)			`[protected]`

Adds the given functor to the given callback list.

bool ArMapChanger::applyInfoChanges ( ArMapChangeDetails * changeDetails ) [protected]

Parameters:

changeDetails

the ArMapChangeDetails * that describes how the map should be modified; must be non-NULL

bool ArMapChanger::applyMapChanges ( ArMapChangeDetails * changeDetails ) [virtual]

Applies the given map changes received from the client to the associated Aria map.

bool ArMapChanger::applyObjectChanges ( ArMapChangeDetails * changeDetails ) [protected]

Parameters:

changeDetails

the ArMapChangeDetails * that describes how the map should be modified; must be non-NULL

bool ArMapChanger::applyScanChanges	(	ArMapChangeDetails *	changeDetails,
		const char *	scanType,
		ArFileParser &	parser
	)			`[protected]`

Parameters:

	changeDetails	the ArMapChangeDetails * that describes how the map should be modified; must be non-NULL
	scanType	the char * identifier of the scan type to be updated
	parser	the ArFileParser used to parse the changeDetails

bool ArMapChanger::applyScanChanges ( ArMapChangeDetails * changeDetails ) [protected]

Scan data include summary data, map data points, and map data lines.

If the map contains scan data for multiple sources, then this method applies all of the applicable changes.

An Aria map must have been previously associated with the map changer.

bool ArMapChanger::applySupplementChanges ( ArMapChangeDetails * changeDetails ) [protected]

Parameters:

changeDetails

the ArMapChangeDetails * that describes how the map should be modified; must be non-NULL

bool ArMapChanger::convertChangeDetailsToPacketList	(	ArMapChangeDetails *	changeDetails,
		std::list< ArNetPacket * > *	packetListOut,
		bool	isRelay = `false`
	)			`[protected]`

Creates a list of network packets for the given map change details.

bool ArMapChanger::convertPacketListToChangeDetails	(	std::list< ArNetPacket * > &	packetList,
		ArMapChangeDetails *	changeDetailsOut
	)			`[protected]`

Unpacks the given network packet list and populates the given map change details.

void ArMapChanger::handleChangePacket	(	ArServerClient *	client,
		ArNetPacket *	packet
	)			`[protected, virtual]`

Server handler for packets that contain map change details.

void ArMapChanger::handleChangeReplyPacket ( ArNetPacket * packet ) [protected, virtual]

Client handler for the results of applying the map changes on the server.

void ArMapChanger::handleChangesInProgressPacket ( ArNetPacket * packet ) [protected, virtual]

Client handler for the map-changes-in-progress broadcast packet.

void ArMapChanger::handleClientShutdown ( ) [protected, virtual]

Client handler for when the robot disconnects or is shutdown.

void ArMapChanger::handleIdleProcessingPacket ( ArNetPacket * packet ) [protected, virtual]

Client handler for the server's idle-processing-pending broadcast packet.

bool ArMapChanger::isIdleProcessingPending ( ) [protected]

Determines whether idle processing is pending on the server.

bool ArMapChanger::isMatchingObjects	(	ArMapObject *	obj1,
		ArMapObject *	obj2
	)			`[protected]`

If the objects have a name, then the name must be identical.

Otherwise, the type and position must be the same.

bool ArMapChanger::remChangeCB ( ArFunctor2< ArServerClient *, std::list< ArNetPacket * > * > * functor ) [virtual]

Removes a callback from the map change list.

void ArMapChanger::remFromCallbackList	(	ArFunctor *	functor,
		std::list< ArFunctor * > *	cbList
	)			`[protected]`

Removes the given functor from the given callback list.

void ArMapChanger::remPostWriteFileCB ( ArFunctor * functor ) [virtual]

Removes a callback from the post-write file list.

void ArMapChanger::remPreWriteFileCB ( ArFunctor * functor ) [virtual]

Removes a callback from the pre-write file list.

void ArMapChanger::resetPacketList ( std::list< ArNetPacket * > * packetList ) [protected]

Resets all of the network packets in the given list so that they can be read again.

bool ArMapChanger::sendMapChanges ( ArMapChangeDetails * changeDetails ) [virtual]

Sends the given map changes from the client to the server.

bool ArMapChanger::sendPacketList ( const std::list< ArNetPacket * > & packetList ) [virtual]

Transmits the given map change packet list from the client to the server.

bool ArMapChanger::unpackFileLineSet	(	ArNetPacket *	packet,
		MapChangeDataType	dataType,
		ArMapChangeDetails::MapLineChangeType	changeType,
		const char *	scanType,
		int *	numGroups,
		int *	numChildren,
		ArMapChangeDetails *	changeDetails
	)			`[protected]`

The file line set is added to the given change details.

bool ArMapChanger::unpackHeader	(	ArNetPacket *	packet,
		MapChangeCommand *	commandOut,
		ArMapId *	origMapIdOut,
		ArMapId *	newMapIdOut = `NULL`,
		MapChangeDataType *	dataTypeOut = `NULL`,
		ArMapChangeDetails::MapLineChangeType *	changeTypeOut = `NULL`,
		std::string *	scanTypeOut = `NULL`
	)			`[protected]`

Parameters:

	packet	the ArNetPacket * from which to extract the header information; must be non-NULL
	commandOut	the MapChangeCommand * extracted from the packet
	origMapIdOut	the original ArMapId * extracted from the packet
	newMapIdOut	the optional new ArMapId * extracted from the packet
	dataTypeOut	the optional MapChangeDataType * extracted from the packet
	changeTypeOut	the optional MapLineChangeType * extracted from the packet
	scanTypeOut	the optional std::string * extracted from the packet

Returns:: bool true if all of the header information was succesfully extracted; false, otherwise

bool ArMapChanger::unpackLines	(	ArNetPacket *	packet,
		ArMapChangeDetails::MapLineChangeType	changeType,
		const char *	scanType,
		int *	numLines,
		ArMapChangeDetails *	changeDetails
	)			`[protected]`

The data lines are added to the given change details.

bool ArMapChanger::unpackPoints	(	ArNetPacket *	packet,
		ArMapChangeDetails::MapLineChangeType	changeType,
		const char *	scanType,
		int *	numPoints,
		ArMapChangeDetails *	changeDetails
	)			`[protected]`

The data points are added to the given change details.

bool ArMapChanger::waitForReply ( ArTime & started ) [protected]

If a reply is not received within 30 seconds, this method will timeout and return false.

Returns:: bool true if the reply was received; false otherwise

Member Data Documentation

const char * ArMapChanger::CHANGES_IN_PROGRESS_PACKET_NAME [static]

Initial value:

 
                              "mapChangesInProgress"

Name of a network packet that is broadcast when the map is being changed.

std::list< ArFunctor2<ArServerClient *, std::list<ArNetPacket *> *> *> ArMapChanger::myChangeCBList [protected]

List of server client callbacks to be invoked after the map has been changed.

ArMapChangeDetails* ArMapChanger::myChangeDetails [protected]

Change details to apply to the Aria map.

ArClientBase* ArMapChanger::myClient [protected]

Associated client base; non-NULL only when changer instantiated on the client.

ClientChangeInfo* ArMapChanger::myClientInfo [protected]

Information regarding the server client that is currently sending map changes.

ArMutex ArMapChanger::myClientInfoMutex [protected]

Mutex that protects access to the myClientInfo member.

ArMutex ArMapChanger::myClientMutex [protected]

Mutex that protects access to the myClient member.

ArFunctorC<ArMapChanger> ArMapChanger::myClientShutdownCB [protected]

Handler invoked when the client shuts down.

ArFunctor2C<ArMapChanger, ArServerClient *, ArNetPacket *> ArMapChanger::myHandleChangePacketCB [protected]

Server handler for the network packets that describe map chagnes.

ArFunctor1C<ArMapChanger, ArNetPacket *> ArMapChanger::myHandleChangesInProgressPacketCB [protected]

Client handler for the map-changes-in-progress packet.

ArFunctor1C<ArMapChanger, ArNetPacket *> ArMapChanger::myHandleIdleProcessingPacketCB [protected]

Client handler for the idle-processing-in-progress packet.

ArFunctor1C<ArMapChanger, ArNetPacket *> ArMapChanger::myHandleReplyPacketCB [protected]

Client handler for the reply packet.

ArMutex ArMapChanger::myIdleProcessingMutex [protected]

Mutex that protects access to the myIsIdleProcessingPending member.

std::list<std::string> ArMapChanger::myInfoNames [protected]

List of info types in the associated info map.

ArMutex ArMapChanger::myInterleaveMutex [protected]

Mutex that protects access to the interleave data.

bool ArMapChanger::myIsIdleProcessingPending [protected]

Whether the server has data to process once it becomes idle.

bool ArMapChanger::myIsWaitingForReturn [protected]

Whether the client is waiting for a reply from the server.

ArMapInterface* ArMapChanger::myMap [protected]

Aria map currently in use.

std::list<ArFunctor*> ArMapChanger::myPostWriteCBList [protected]

List of callbacks to be invoked after the changed map file is written.

std::list<ArFunctor*> ArMapChanger::myPreWriteCBList [protected]

List of callbacks to be invoked before the changed map file is written.

bool ArMapChanger::myReadyForNextPacket [protected]

Whether the client is ready to send another packet.

ArServerBase* ArMapChanger::myServer [protected]

Associated server base; non-NULL only when changer instantiated on the server.

ArMapInterface* ArMapChanger::myWorkingMap [protected]

Copy of the current Aria map, used to make sure the changes can be successfully made.

const char * ArMapChanger::PROCESS_CHANGES_PACKET_NAME [static]

Initial value:

 
                              "processMapChanges"

Name of the network packet that contains the incremental map changes.

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

Generated on Fri Jul 31 12:37:29 2009 for ArNetworking by

1.4.7


Public Member Functions
virtual bool	addChangeCB (ArFunctor2< ArServerClient , std::list< ArNetPacket > * > *functor)
	This method is primarily used on the central server.
virtual void	addPostWriteFileCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	This method is primarily used to restore the server's directory write status, if necessary.
virtual void	addPreWriteFileCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	This method is primarily used to temporarily make the server's directory writeable, if necessary.
virtual bool	applyMapChanges (ArMapChangeDetails *changeDetails)
	Applies the given map changes received from the client to the associated Aria map.
	ArMapChanger (ArMapInterface *map)
	This method is primarily used for debugging.
	ArMapChanger (ArClientBase *client, const std::list< std::string > &infoNames)
	The map changer will send map change details to the server.
	ArMapChanger (ArServerBase server, ArMapInterface map)
	The map changer will automatically apply the received map change details to the given map.
virtual bool	remChangeCB (ArFunctor2< ArServerClient , std::list< ArNetPacket > * > *functor)
	Removes a callback from the map change list.
virtual void	remPostWriteFileCB (ArFunctor *functor)
	Removes a callback from the post-write file list.
virtual void	remPreWriteFileCB (ArFunctor *functor)
	Removes a callback from the pre-write file list.
virtual bool	sendMapChanges (ArMapChangeDetails *changeDetails)
	Sends the given map changes from the client to the server.
virtual bool	sendPacketList (const std::list< ArNetPacket * > &packetList)
	Transmits the given map change packet list from the client to the server.
virtual	~ArMapChanger ()
	Destructor.
Static Public Attributes
static const char *	CHANGES_IN_PROGRESS_PACKET_NAME
	Name of a network packet that is broadcast when the map is being changed.
static const char *	PROCESS_CHANGES_PACKET_NAME
	Name of the network packet that contains the incremental map changes.
Protected Types
enum	{ CHANGE_DATA_TYPE_COUNT = LAST_CHANGE_DATA_TYPE + 1, CHANGE_COMMAND_COUNT = LAST_CHANGE_COMMAND + 1, MAX_POINTS_IN_PACKET = 1000, MAX_LINES_IN_PACKET = 500 }
	Miscellaneous constants. More...
	CANCEL_CHANGES = 3
	Cancel the request to change the map.
	CHANGE_COMMAND_COUNT = LAST_CHANGE_COMMAND + 1
	CHANGE_DATA_TYPE_COUNT = LAST_CHANGE_DATA_TYPE + 1
	CHANGE_FAILED = 0
	CHANGE_SUCCESS = 10
	CONTINUE_CHANGES = 1
	Request to continue applying changes to the map.
	FINISH_CHANGES = 2
	Last packet that contains changes to be applied to the map.
	INFO_DATA = 2
	Any of the info data, e.g. MapInfo, RouteInfo.
	LAST_CHANGE_COMMAND = CANCEL_CHANGES
	Last value in the enumeration.
	LAST_CHANGE_DATA_TYPE = LINES_DATA
	Last value in the enumeration.
	LINES_DATA = 6
	Map data lines.
enum	MapChangeCommand { START_CHANGES = 0, CONTINUE_CHANGES = 1, FINISH_CHANGES = 2, CANCEL_CHANGES = 3, LAST_CHANGE_COMMAND = CANCEL_CHANGES }
	Indicates the current stage of the map change network packets. More...
enum	MapChangeDataType { NO_CHANGE = 0, SUMMARY_DATA = 1, INFO_DATA = 2, SUPPLEMENT_DATA = 3, OBJECTS_DATA = 4, POINTS_DATA = 5, LINES_DATA = 6, LAST_CHANGE_DATA_TYPE = LINES_DATA }
	Type of data contained in the map change network packet. More...
enum	MapChangeReplyType { CHANGE_FAILED = 0, CHANGE_SUCCESS = 10 }
	Reply status for a map change request. More...
	MAX_LINES_IN_PACKET = 500
	MAX_POINTS_IN_PACKET = 1000
	NO_CHANGE = 0
	No change data.
	OBJECTS_DATA = 4
	Map objects, i.e. Cairn lines.
	POINTS_DATA = 5
	Map data points.
	START_CHANGES = 0
	First packet that contains changes to be applied to the map.
	SUMMARY_DATA = 1
	Summary data, e.g. min/max pos, number of points.
	SUPPLEMENT_DATA = 3
	Miscellaneous supplemental data such as origin lat/long/alt.
Protected Member Functions
bool	addFileLineSetPackets (MapChangeDataType dataType, ArMapChangeDetails::MapLineChangeType changeType, const char scanType, const char extra, ArMapFileLineSet fileLineSet, std::list< ArNetPacket > *packetListOut)
bool	addFileLineToPacketList (MapChangeDataType dataType, ArMapChangeDetails::MapLineChangeType changeType, const char scanType, const ArMapFileLine &fileLine, std::list< ArNetPacket > *packetListOut)
	Creates network packets for the specified file line and adds them to the given list.
bool	addGroupToPacketList (MapChangeDataType dataType, ArMapChangeDetails::MapLineChangeType changeType, const char scanType, ArMapFileLineGroup &group, std::list< ArNetPacket > *packetListOut)
	Creates network packets for the specified file line group and adds them to the given list.
void	addHeaderToPacket (MapChangeCommand command, MapChangeDataType dataType, ArMapChangeDetails::MapLineChangeType changeType, const char scanType, ArNetPacket packet)
bool	addLinesPackets (ArMapChangeDetails::MapLineChangeType changeType, const char scanType, std::vector< ArLineSegment > lineSegmentList, std::list< ArNetPacket * > *packetListOut)
	Creates network packets for the given map data lines and adds them to the given list.
bool	addPointsPackets (ArMapChangeDetails::MapLineChangeType changeType, const char scanType, std::vector< ArPose > pointList, std::list< ArNetPacket * > *packetListOut)
	Creates network packets for the given map data points and adds them to the given list.
void	addToCallbackList (ArFunctor functor, ArListPos::Pos position, std::list< ArFunctor > *cbList)
	Adds the given functor to the given callback list.
bool	applyInfoChanges (ArMapChangeDetails *changeDetails)
bool	applyObjectChanges (ArMapChangeDetails *changeDetails)
bool	applyScanChanges (ArMapChangeDetails changeDetails, const char scanType, ArFileParser &parser)
bool	applyScanChanges (ArMapChangeDetails *changeDetails)
	Scan data include summary data, map data points, and map data lines.
bool	applySupplementChanges (ArMapChangeDetails *changeDetails)
bool	convertChangeDetailsToPacketList (ArMapChangeDetails changeDetails, std::list< ArNetPacket > *packetListOut, bool isRelay=false)
	Creates a list of network packets for the given map change details.
bool	convertPacketListToChangeDetails (std::list< ArNetPacket * > &packetList, ArMapChangeDetails *changeDetailsOut)
	Unpacks the given network packet list and populates the given map change details.
virtual void	handleChangePacket (ArServerClient client, ArNetPacket packet)
	Server handler for packets that contain map change details.
virtual void	handleChangeReplyPacket (ArNetPacket *packet)
	Client handler for the results of applying the map changes on the server.
virtual void	handleChangesInProgressPacket (ArNetPacket *packet)
	Client handler for the map-changes-in-progress broadcast packet.
virtual void	handleClientShutdown ()
	Client handler for when the robot disconnects or is shutdown.
virtual void	handleIdleProcessingPacket (ArNetPacket *packet)
	Client handler for the server's idle-processing-pending broadcast packet.
bool	isIdleProcessingPending ()
	Determines whether idle processing is pending on the server.
bool	isMatchingObjects (ArMapObject obj1, ArMapObject obj2)
	If the objects have a name, then the name must be identical.
void	remFromCallbackList (ArFunctor functor, std::list< ArFunctor > *cbList)
	Removes the given functor from the given callback list.
void	resetPacketList (std::list< ArNetPacket * > *packetList)
	Resets all of the network packets in the given list so that they can be read again.
bool	unpackFileLineSet (ArNetPacket packet, MapChangeDataType dataType, ArMapChangeDetails::MapLineChangeType changeType, const char scanType, int numGroups, int numChildren, ArMapChangeDetails *changeDetails)
	The file line set is added to the given change details.
bool	unpackHeader (ArNetPacket packet, MapChangeCommand commandOut, ArMapId origMapIdOut, ArMapId newMapIdOut=NULL, MapChangeDataType dataTypeOut=NULL, ArMapChangeDetails::MapLineChangeType changeTypeOut=NULL, std::string *scanTypeOut=NULL)
bool	unpackLines (ArNetPacket packet, ArMapChangeDetails::MapLineChangeType changeType, const char scanType, int numLines, ArMapChangeDetails changeDetails)
	The data lines are added to the given change details.
bool	unpackPoints (ArNetPacket packet, ArMapChangeDetails::MapLineChangeType changeType, const char scanType, int numPoints, ArMapChangeDetails changeDetails)
	The data points are added to the given change details.
bool	waitForReply (ArTime &started)
	If a reply is not received within 30 seconds, this method will timeout and return false.
Protected Attributes
std::list< ArFunctor2< ArServerClient , std::list< ArNetPacket > * > * >	myChangeCBList
	List of server client callbacks to be invoked after the map has been changed.
ArMapChangeDetails *	myChangeDetails
	Change details to apply to the Aria map.
ArClientBase *	myClient
	Associated client base; non-NULL only when changer instantiated on the client.
ClientChangeInfo *	myClientInfo
	Information regarding the server client that is currently sending map changes.
ArMutex	myClientInfoMutex
	Mutex that protects access to the myClientInfo member.
ArMutex	myClientMutex
	Mutex that protects access to the myClient member.
ArFunctorC< ArMapChanger >	myClientShutdownCB
	Handler invoked when the client shuts down.
ArFunctor2C< ArMapChanger, ArServerClient , ArNetPacket >	myHandleChangePacketCB
	Server handler for the network packets that describe map chagnes.
ArFunctor1C< ArMapChanger, ArNetPacket * >	myHandleChangesInProgressPacketCB
	Client handler for the map-changes-in-progress packet.
ArFunctor1C< ArMapChanger, ArNetPacket * >	myHandleIdleProcessingPacketCB
	Client handler for the idle-processing-in-progress packet.
ArFunctor1C< ArMapChanger, ArNetPacket * >	myHandleReplyPacketCB
	Client handler for the reply packet.
ArMutex	myIdleProcessingMutex
	Mutex that protects access to the myIsIdleProcessingPending member.
std::list< std::string >	myInfoNames
	List of info types in the associated info map.
ArMutex	myInterleaveMutex
	Mutex that protects access to the interleave data.
bool	myIsIdleProcessingPending
	Whether the server has data to process once it becomes idle.
bool	myIsWaitingForReturn
	Whether the client is waiting for a reply from the server.
ArMapInterface *	myMap
	Aria map currently in use.
std::list< ArFunctor * >	myPostWriteCBList
	List of callbacks to be invoked after the changed map file is written.
std::list< ArFunctor * >	myPreWriteCBList
	List of callbacks to be invoked before the changed map file is written.
bool	myReadyForNextPacket
	Whether the client is ready to send another packet.
ArServerBase *	myServer
	Associated server base; non-NULL only when changer instantiated on the server.
ArMapInterface *	myWorkingMap
	Copy of the current Aria map, used to make sure the changes can be successfully made.
Classes
struct	ClientChangeInfo
	Accumulates the packet list that describes map changes received from a specified client. More...