Backend Class Reference

#include <backend.h>

Inheritance diagram for Backend:

Collaboration diagram for Backend:

Public Member Functions
void	receiveRobotStatus (TbotsProto::RobotStatus msg)
void	receiveSSLWrapperPacket (SSLProto::SSL_WrapperPacket msg)
void	receiveSSLReferee (SSLProto::Referee msg)
void	receiveSensorProto (SensorProto sensor_msg)
Public Member Functions inherited from Subject< SensorProto >
void	registerObserver (std::shared_ptr< Observer< SensorProto > > observer)
Public Member Functions inherited from FirstInFirstOutThreadedObserver< World >
	FirstInFirstOutThreadedObserver (size_t buffer_size, bool log_buffer_full=true)
std::optional< World >	getNextValue (const Duration &max_wait_time) final override
Public Member Functions inherited from ThreadedObserver< T >
	ThreadedObserver (size_t buffer_size=Observer< T >::DEFAULT_BUFFER_SIZE, bool log_buffer_full=true)
ThreadedObserver &	operator= (const ThreadedObserver &)=delete
	ThreadedObserver (const ThreadedObserver &)=delete
Public Member Functions inherited from Observer< T, Clock >
	Observer (size_t buffer_size=DEFAULT_BUFFER_SIZE, bool log_buffer_full=true)
virtual void	receiveValue (T val)
virtual double	getDataReceivedPerSecond () final
Public Member Functions inherited from FirstInFirstOutThreadedObserver< TbotsProto::PrimitiveSet >
	FirstInFirstOutThreadedObserver (size_t buffer_size, bool log_buffer_full=true)
std::optional< TbotsProto::PrimitiveSet >	getNextValue (const Duration &max_wait_time) final override

Additional Inherited Members
Static Public Attributes inherited from Observer< T, Clock >
static constexpr size_t	TIME_BUFFER_SIZE = 5
Protected Member Functions inherited from Subject< SensorProto >
virtual void	sendValueToObservers (SensorProto val) final
Protected Member Functions inherited from Observer< T, Clock >
virtual std::optional< T >	popMostRecentlyReceivedValue (Duration max_wait_time) final
virtual std::optional< T >	popLeastRecentlyReceivedValue (Duration max_wait_time) final
Static Protected Attributes inherited from Observer< T, Clock >
static constexpr size_t	DEFAULT_BUFFER_SIZE = 1

Detailed Description

A Backend is an abstraction around communication with robots, vision, and the gamecontroller (Referee). It produces SensorProtos, and consumes primitives that can be sent to the robots.

This produce/consume pattern is performed by extending both "Observer" and "Subject". Please see the implementation of those classes for details.

Member Function Documentation

receiveRobotStatus()

void receiveRobotStatus

(

TbotsProto::RobotStatus

msg

)

Callback function to send components of SensorProto via Subject<SensorProto> Immediately makes a SensorProto from msg and sends it to Observers

Parameters

msg	The component of SensorProto

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

• src/software/backend/backend.h
• src/software/backend/backend.cpp