ArServerModeGoto Class Reference

#include <ArServerClasses.h>

Inheritance diagram for ArServerModeGoto:

List of all members.

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Detailed Description

Handles going to a goal or point.

Handles requests to go to a goal or point, to go to the home point, or to tour all goals. It sets the server Status and Mode strings when active.

This class adds the following data requests to the server:

gotoGoal

Sends the robot to the goal with the given name.

gotoPose

Sends the robot to the given pose. Parameters are 2 4-byte integers for X and Y, and an optional 4-byte integer for heading.

home

Sends the robot to a home point from the map, or 0,0,0 if none.

goalName

Requests a reply packet containing the name of the current goal

tourGoals

Sends the robot to each goal in the map in turn.

getGoals

Requests a reply packet containing the names of all goals in the map (separated by null byte)

Examples:

guiServer.cpp, and justPathPlanningGuiServer.cpp.

Public Member Functions
void	tourGoals (void)
void	tourGoalsInList (std::deque< std::string > goalList)
void	addTourGoalsInListSimpleCommand (ArServerHandlerCommands *commandsServer)
Protected Member Functions
void	reset (void)
void	goalDone (ArPose pose)
void	goalFailed (ArPose pose)
void	findNextTourGoal (void)
	Set myGoalName to the name of the next goal in the tour.
size_t	numGoalsTouring ()
	number of goals in current tour, or 0 if none
void	planToNextTourGoal ()
	Keep trying to plan paths to goals in a tour, until either a plan succeeds or all the goals fail.
void	tourGoalsInListCommand (ArArgumentBuilder *args)
	Used as callback from ArServerHandlerCommands (simple/custom commands).
Protected Attributes
std::deque< std::string >	myTouringGoalsList

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Member Function Documentation

void ArServerModeGoto::addTourGoalsInListSimpleCommand (  ArServerHandlerCommands *  commandsServer  )

Add a "tour" command to the given "simple commands" object. This simple (custom) command accepts a comma-separated list of goals, builds a list of goals, expanding items ending in a wildcard (*) to maching goals, and omitting invalid goals, and then calls tourGoalsInList().

void ArServerModeGoto::goalDone (  ArPose  pose  )  [protected]

Callback from ARNL when a goal is reached. Set myStatus and other state. If touring, plan the next goal in the tour.

void ArServerModeGoto::goalFailed (  ArPose  pose  )  [protected]

Callback from ARNL when a goal fails. Set myStatus and other state. If touring, plan the next goal in the tour.

void ArServerModeGoto::reset (  void   )  [protected]

Reset state

void ArServerModeGoto::tourGoals (  void   )

Enter a "tour goals" mode, in which the robot is sent to each goal in the map in turn. This mode can be entered using the tourGoals networking request.

void ArServerModeGoto::tourGoalsInList (  std::deque< std::string >  goalList  )

Enter a "tour goals" mode, in which the robot is sent to each goal in the given list in turn.

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Member Data Documentation

std::deque<std::string> ArServerModeGoto::myTouringGoalsList [protected]

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