533 lines
13 KiB
C++
533 lines
13 KiB
C++
/*
|
|
* Copyright (C) 2018 dimercur
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include "messages.h"
|
|
#include <exception>
|
|
#include <stdexcept>
|
|
#include <string>
|
|
|
|
/*
|
|
* @brief Constants used with ToString method, for printing message id
|
|
*/
|
|
|
|
const string MESSAGE_ID_STRING[] = {
|
|
"Empty",
|
|
"Log",
|
|
"Answer [Acknowledge]",
|
|
"Answer [Not Acknowledge]",
|
|
"Answer [Command timeout]",
|
|
"Answer [Command unknown]",
|
|
"Answer [Command error]",
|
|
"Answer [Communication error]",
|
|
"Monitor connection lost",
|
|
"Open serial com",
|
|
"Close serial com",
|
|
"Open camera",
|
|
"Close camera",
|
|
"Ask for arena",
|
|
"Arena confirmed",
|
|
"Arena infirmed",
|
|
"Compute position",
|
|
"Stop compute position",
|
|
"Position",
|
|
"Image",
|
|
"Robot ping",
|
|
"Robot reset",
|
|
"Robot start with watchdog",
|
|
"Robot start without watchdog",
|
|
"Robot reload watchdog",
|
|
"Robot move",
|
|
"Robot turn",
|
|
"Robot go forward",
|
|
"Robot go backward",
|
|
"Robot go left",
|
|
"Robot go right",
|
|
"Robot stop",
|
|
"Robot poweroff",
|
|
"Robot get battery",
|
|
"Robot battery level",
|
|
"Robot get state",
|
|
"Robot current state",
|
|
"Robot state [Not busy]",
|
|
"Robot state [Busy]"
|
|
};
|
|
|
|
/*
|
|
* @brief Constants used with ToString method, for printing answer id
|
|
*/
|
|
const string ANSWER_ID_STRING[] = {
|
|
"Acknowledge",
|
|
"Not Acknowledge",
|
|
"Robot lost",
|
|
"Timeout error",
|
|
"Unknown command",
|
|
"Invalid or refused command",
|
|
"Checksum error"
|
|
};
|
|
|
|
/**
|
|
* Create a new, empty message
|
|
*/
|
|
Message::Message() {
|
|
this->messageID = MESSAGE_EMPTY;
|
|
}
|
|
|
|
/**
|
|
* Create a new, empty message
|
|
*/
|
|
Message::Message(MessageID id) {
|
|
SetID(id);
|
|
}
|
|
|
|
/**
|
|
* Destroy message
|
|
*/
|
|
Message::~Message() {
|
|
}
|
|
|
|
/**
|
|
* Set message ID
|
|
* @param id Message ID
|
|
*/
|
|
void Message::SetID(MessageID id) {
|
|
if (CheckID(id)) {
|
|
this->messageID = id;
|
|
} else throw std::runtime_error {"Invalid message id for Message"};
|
|
}
|
|
|
|
/**
|
|
* Translate content of message into a string that can be displayed
|
|
* @return A string describing message contents
|
|
*/
|
|
string Message::ToString() {
|
|
if (CheckID(this->messageID))
|
|
return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"";
|
|
else
|
|
return "Invalid message";
|
|
}
|
|
|
|
/**
|
|
* Allocate a new mesage and copy contents of current message
|
|
* @return A message, copy of current
|
|
*/
|
|
Message* Message::Copy() {
|
|
Message *msg = new Message(this->messageID);
|
|
|
|
return msg;
|
|
}
|
|
|
|
/**
|
|
* Get message ID
|
|
* @return Current message ID
|
|
*/
|
|
bool Message::CheckID(MessageID id) {
|
|
if ((id == MESSAGE_CAM_IMAGE) ||
|
|
(id == MESSAGE_CAM_POSITION) ||
|
|
(id == MESSAGE_ROBOT_MOVE) ||
|
|
(id == MESSAGE_ROBOT_TURN) ||
|
|
(id == MESSAGE_LOG) ||
|
|
(id == MESSAGE_ROBOT_BATTERY_LEVEL)) {
|
|
return false;
|
|
} else return true;
|
|
}
|
|
|
|
/* MessageInt */
|
|
|
|
/**
|
|
* Create a new, empty int message
|
|
*/
|
|
MessageInt::MessageInt() {
|
|
value = 0.0;
|
|
}
|
|
|
|
/**
|
|
* Create a new int message, with given ID and value
|
|
* @param id Message ID
|
|
* @param val Message value
|
|
* @throw std::runtime_error if message ID is incompatible with int data
|
|
*/
|
|
MessageInt::MessageInt(MessageID id, int val) {
|
|
MessageInt::SetID(id);
|
|
|
|
value = val;
|
|
}
|
|
|
|
/**
|
|
* Set message ID
|
|
* @param id Message ID
|
|
* @throw std::runtime_error if message ID is incompatible with float data
|
|
*/
|
|
void MessageInt::SetID(MessageID id) {
|
|
if (CheckID(id))
|
|
messageID = id;
|
|
else
|
|
throw std::runtime_error {
|
|
"Invalid message id for MessageInt"
|
|
};
|
|
}
|
|
|
|
/**
|
|
* Translate content of message into a string that can be displayed
|
|
* @return A string describing message contents
|
|
*/
|
|
string MessageInt::ToString() {
|
|
if (CheckID(this->messageID))
|
|
return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nValue: " + to_string(this->value);
|
|
else
|
|
return "Invalid message";
|
|
}
|
|
|
|
/**
|
|
* Allocate a new message and copy contents of current message
|
|
* @return A message, copy of current
|
|
*/
|
|
Message* MessageInt::Copy() {
|
|
return new MessageInt(this->messageID, this->value);
|
|
}
|
|
|
|
/**
|
|
* Verify if message ID is compatible with current message type
|
|
* @param id Message ID
|
|
* @return true, if message ID is acceptable, false otherwise
|
|
*/
|
|
bool MessageInt::CheckID(MessageID id) {
|
|
if ((id != MESSAGE_ROBOT_TURN) &&
|
|
(id != MESSAGE_ROBOT_MOVE)) {
|
|
return false;
|
|
} else return true;
|
|
}
|
|
|
|
/* class MessageString */
|
|
|
|
/**
|
|
* Create a new, empty string message
|
|
*/
|
|
MessageString::MessageString() {
|
|
s = string("");
|
|
}
|
|
|
|
/**
|
|
* Create a new string message, with given ID and string
|
|
* @param id Message ID
|
|
* @param s Message string
|
|
* @throw std::runtime_error if message ID is incompatible with string data
|
|
*/
|
|
MessageString::MessageString(MessageID id, string s) {
|
|
MessageString::SetID(id);
|
|
|
|
this->s = s;
|
|
}
|
|
|
|
/**
|
|
* Set message ID
|
|
* @param id Message ID
|
|
* @throw std::runtime_error if message ID is incompatible with string data
|
|
*/
|
|
void MessageString::SetID(MessageID id) {
|
|
if (CheckID(id))
|
|
messageID = id;
|
|
else
|
|
throw std::runtime_error {
|
|
"Invalid message id for MessageString"
|
|
};
|
|
}
|
|
|
|
/**
|
|
* Translate content of message into a string that can be displayed
|
|
* @return A string describing message contents
|
|
*/
|
|
string MessageString::ToString() {
|
|
if (CheckID(this->messageID))
|
|
return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nString: \"" + this->s + "\"";
|
|
else
|
|
return "Invalid message";
|
|
}
|
|
|
|
/**
|
|
* Allocate a new message and copy contents of current message
|
|
* @return A message, copy of current
|
|
*/
|
|
Message* MessageString::Copy() {
|
|
return new MessageString(this->messageID, this->s);
|
|
}
|
|
|
|
/**
|
|
* Verify if message ID is compatible with current message type
|
|
* @param id Message ID
|
|
* @return true, if message ID is acceptable, false otherwise
|
|
*/
|
|
bool MessageString::CheckID(MessageID id) {
|
|
if ((id != MESSAGE_LOG)) {
|
|
return false;
|
|
} else return true;
|
|
}
|
|
|
|
/* class MessageImg */
|
|
|
|
/**
|
|
* Create a new, empty image message
|
|
*/
|
|
MessageImg::MessageImg() {
|
|
image = NULL;
|
|
}
|
|
|
|
/**
|
|
* Create a new image message, with given ID and image
|
|
* @param id Message ID
|
|
* @param image Image
|
|
* @throw std::runtime_error if message ID is incompatible with image
|
|
*/
|
|
MessageImg::MessageImg(MessageID id, Img* image) {
|
|
MessageImg::SetID(id);
|
|
MessageImg::SetImage(image);
|
|
}
|
|
|
|
/**
|
|
* Destroy Image message
|
|
*/
|
|
MessageImg::~MessageImg() {
|
|
delete (this->image);
|
|
}
|
|
|
|
/**
|
|
* Set message ID
|
|
* @param id Message ID
|
|
* @throw std::runtime_error if message ID is incompatible with image
|
|
*/
|
|
void MessageImg::SetID(MessageID id) {
|
|
if (CheckID(id))
|
|
messageID = id;
|
|
else
|
|
throw std::runtime_error {
|
|
"Invalid message id for MessageImg"
|
|
};
|
|
}
|
|
|
|
/**
|
|
* Set message image
|
|
* @param image Reference to image object
|
|
*/
|
|
void MessageImg::SetImage(Img* image) {
|
|
this->image = image->Copy();
|
|
}
|
|
|
|
/**
|
|
* Translate content of message into a string that can be displayed
|
|
* @return A string describing message contents
|
|
*/
|
|
string MessageImg::ToString() {
|
|
if (CheckID(this->messageID))
|
|
return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\n" + this->image->ToString();
|
|
else
|
|
return "Invalid message";
|
|
}
|
|
|
|
/**
|
|
* Allocate a new message and copy contents of current message
|
|
* @return A message, copy of current
|
|
*/
|
|
Message* MessageImg::Copy() {
|
|
|
|
return new MessageImg(this->messageID, this->image->Copy());
|
|
}
|
|
|
|
/**
|
|
* Verify if message ID is compatible with current message type
|
|
* @param id Message ID
|
|
* @return true, if message ID is acceptable, false otherwise
|
|
*/
|
|
bool MessageImg::CheckID(MessageID id) {
|
|
if (id != MESSAGE_CAM_IMAGE) {
|
|
return false;
|
|
} else return true;
|
|
}
|
|
|
|
/* class MessageBattery */
|
|
|
|
/**
|
|
* Create a new, empty battery message
|
|
*/
|
|
MessageBattery::MessageBattery() {
|
|
this->level = BATTERY_UNKNOWN;
|
|
}
|
|
|
|
/**
|
|
* Create a new battery message, with given ID and battery level
|
|
* @param id Message ID
|
|
* @param level Battery level
|
|
* @throw std::runtime_error if message ID is incompatible with battery
|
|
*/
|
|
MessageBattery::MessageBattery(MessageID id, BatteryLevel level) {
|
|
MessageBattery::SetID(id);
|
|
MessageBattery::SetLevel(level);
|
|
}
|
|
|
|
/**
|
|
* Set message ID
|
|
* @param id Message ID
|
|
* @throw std::runtime_error if message ID is incompatible with battery
|
|
*/
|
|
void MessageBattery::SetID(MessageID id) {
|
|
if (CheckID(id))
|
|
messageID = id;
|
|
else
|
|
throw std::runtime_error {
|
|
"Invalid message id for MessageBattery"
|
|
};
|
|
}
|
|
|
|
/**
|
|
* Set battery level
|
|
* @param level Battery level
|
|
*/
|
|
void MessageBattery::SetLevel(BatteryLevel level) {
|
|
if ((level < BATTERY_UNKNOWN) || (level > BATTERY_FULL)) {
|
|
throw std::runtime_error{
|
|
"Invalid battery level for MessageBattery"};
|
|
} else {
|
|
this->level = level;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Translate content of message into a string that can be displayed
|
|
* @return A string describing message contents
|
|
*/
|
|
string MessageBattery::ToString() {
|
|
string levelString;
|
|
|
|
switch (this->level) {
|
|
case BATTERY_UNKNOWN:
|
|
levelString="Unknown";
|
|
break;
|
|
case BATTERY_EMPTY:
|
|
levelString="Empty";
|
|
break;
|
|
case BATTERY_LOW:
|
|
levelString="Low";
|
|
break;
|
|
case BATTERY_FULL:
|
|
levelString="Full";
|
|
break;
|
|
default:
|
|
levelString="Invalid";
|
|
}
|
|
|
|
if (CheckID(this->messageID))
|
|
return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nBattery level: \"" + levelString + "\"";
|
|
else
|
|
return "Invalid message";
|
|
}
|
|
|
|
/**
|
|
* Allocate a new message and copy contents of current message
|
|
* @return A message, copy of current
|
|
*/
|
|
Message* MessageBattery::Copy() {
|
|
return new MessageBattery(this->messageID, this->level);
|
|
}
|
|
|
|
/**
|
|
* Verify if message ID is compatible with current message type
|
|
* @param id Message ID
|
|
* @return true, if message ID is acceptable, false otherwise
|
|
*/
|
|
bool MessageBattery::CheckID(MessageID id) {
|
|
if ((id != MESSAGE_ROBOT_BATTERY_LEVEL)) {
|
|
return false;
|
|
} else return true;
|
|
}
|
|
|
|
/* class MessagePosition */
|
|
|
|
/**
|
|
* Create a new, empty string message
|
|
*/
|
|
MessagePosition::MessagePosition() {
|
|
this->pos.angle = 0.0;
|
|
this->pos.robotId = 0;
|
|
this->pos.center.x=0.0;
|
|
this->pos.center.y=0.0;
|
|
this->pos.direction.x=0.0;
|
|
this->pos.direction.y=0.0;
|
|
}
|
|
|
|
/**
|
|
* Create a new string message, with given ID and string
|
|
* @param id Message ID
|
|
* @param s Message string
|
|
* @throw std::runtime_error if message ID is incompatible with string data
|
|
*/
|
|
MessagePosition::MessagePosition(MessageID id, Position& pos) {
|
|
MessagePosition::SetID(id);
|
|
MessagePosition::SetPosition(pos);
|
|
}
|
|
|
|
/**
|
|
* Set message ID
|
|
* @param id Message ID
|
|
* @throw std::runtime_error if message ID is incompatible with string data
|
|
*/
|
|
void MessagePosition::SetID(MessageID id) {
|
|
if (CheckID(id))
|
|
messageID = id;
|
|
else
|
|
throw std::runtime_error {
|
|
"Invalid message id for MessagePosition"
|
|
};
|
|
}
|
|
|
|
/**
|
|
* Set position
|
|
* @param pos Reference to position
|
|
*/
|
|
void MessagePosition::SetPosition(Position& pos) {
|
|
this->pos.angle = pos.angle;
|
|
this->pos.robotId = pos.robotId;
|
|
this->pos.center = pos.center;
|
|
this->pos.direction = pos.direction;
|
|
}
|
|
|
|
/**
|
|
* Translate content of message into a string that can be displayed
|
|
* @return A string describing message contents
|
|
*/
|
|
string MessagePosition::ToString() {
|
|
if (CheckID(this->messageID))
|
|
return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nPosition: \"" + to_string(this->pos.center.x) + ";" + to_string(this->pos.center.y) + "\"";
|
|
else
|
|
return "Invalid message";
|
|
}
|
|
|
|
/**
|
|
* Allocate a new message and copy contents of current message
|
|
* @return A message, copy of current
|
|
*/
|
|
Message* MessagePosition::Copy() {
|
|
return new MessagePosition(this->messageID, this->pos);
|
|
}
|
|
|
|
/**
|
|
* Verify if message ID is compatible with current message type
|
|
* @param id Message ID
|
|
* @return true, if message ID is acceptable, false otherwise
|
|
*/
|
|
bool MessagePosition::CheckID(MessageID id) {
|
|
if ((id != MESSAGE_CAM_POSITION)) {
|
|
return false;
|
|
} else return true;
|
|
}
|