Interloc Class Reference

#include <Interloc.h>

Inheritance diagram for Interloc:

Collaboration diagram for Interloc:

Public Member Functions
	Interloc (ILogger &logger, IInterlocManager &interlocManager, IInterlocMessageHandler &messageHandler, ICircularQueue< uint16_t > &positionUpdateOutputQueue, INotificationQueue< InterlocUpdate > &positionUpdateInputQueue)
virtual	~Interloc ()=default
std::optional< RelativePosition >	getRobotPosition (uint16_t robotId) const override
	Returns the last known relative position of a given robot. More...
bool	isLineOfSight (uint16_t robotId) const override
	Tells if a robot is in line of sight. More...
const PositionsTable &	getPositionsTable () const override
	Returns the position table for all robots in the swarm. More...
void	process ()
	Spins the interloc task checking if any updates happened. Processing them and pushing update values to the output queue. More...

Static Public Attributes
static constexpr uint8_t	INTERLOC_UDPATES_QUEUE_SIZE = 5

Private Member Functions
std::optional< uint8_t >	getRobotArrayIndex (uint16_t robotId) const
void	processPositionUpdate (const InterlocUpdate &positionUpdate)
void	dumpUpdatesHistory ()

Static Private Member Functions
static void	updateRobotPosition (RelativePosition &positionToUpdate, InterlocUpdate update)
static constexpr float	filterValue (float oldValue, float newValue, float alpha)

Private Attributes
ILogger &	m_logger
IInterlocManager &	m_interlocManager
IInterlocMessageHandler &	m_messageHandler
PositionsTable	m_positionsTable
ICircularQueue< uint16_t > &	m_positionUpdateOutputQueue
INotificationQueue< InterlocUpdate > &	m_positionUpdateInputQueue
std::array< InterlocUpdate, InterlocDumpDTO::MAX_UPDATES_SIZE >	m_updatesHistory
uint8_t	m_updateHistoryIdx

Constructor & Destructor Documentation

Interloc()

Interloc::Interloc	(	ILogger &	logger,
		IInterlocManager &	interlocManager,
		IInterlocMessageHandler &	messageHandler,
		ICircularQueue< uint16_t > &	positionUpdateOutputQueue,
		INotificationQueue< InterlocUpdate > &	positionUpdateInputQueue
	)

~Interloc()

virtual Interloc::~Interloc ( )

virtualdefault

Member Function Documentation

dumpUpdatesHistory()

void Interloc::dumpUpdatesHistory ( )

private

Here is the call graph for this function:

Here is the caller graph for this function:

filterValue()

constexpr float Interloc::filterValue ( float  oldValue, float  newValue, float  alpha  )

staticconstexprprivate

Here is the caller graph for this function:

getPositionsTable()

const PositionsTable & Interloc::getPositionsTable ( ) const

overridevirtual

Returns the position table for all robots in the swarm.

Returns

The position table

Implements IInterloc.

getRobotArrayIndex()

std::optional< uint8_t > Interloc::getRobotArrayIndex ( uint16_t  robotId ) const

private

Here is the caller graph for this function:

getRobotPosition()

std::optional< RelativePosition > Interloc::getRobotPosition ( uint16_t  robotId ) const

overridevirtual

Returns the last known relative position of a given robot.

Parameters

robotId

The ID of the robot to get the position

Returns

The relative position of the robot

Implements IInterloc.

Here is the call graph for this function:

Here is the caller graph for this function:

isLineOfSight()

bool Interloc::isLineOfSight ( uint16_t  robotId ) const

overridevirtual

Tells if a robot is in line of sight.

Parameters

robotId

The ID of the robot to get

Returns

Is in line of sight

Implements IInterloc.

Here is the call graph for this function:

process()

void Interloc::process ( )

virtual

Spins the interloc task checking if any updates happened. Processing them and pushing update values to the output queue.

Implements IInterloc.

Here is the call graph for this function:

processPositionUpdate()

void Interloc::processPositionUpdate ( const InterlocUpdate &  positionUpdate )

private

Here is the call graph for this function:

Here is the caller graph for this function:

updateRobotPosition()

void Interloc::updateRobotPosition ( RelativePosition &  positionToUpdate, InterlocUpdate  update  )

staticprivate

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

INTERLOC_UDPATES_QUEUE_SIZE

constexpr uint8_t Interloc::INTERLOC_UDPATES_QUEUE_SIZE = 5

staticconstexpr

m_interlocManager

IInterlocManager& Interloc::m_interlocManager

private

m_logger

ILogger& Interloc::m_logger

private

m_messageHandler

IInterlocMessageHandler& Interloc::m_messageHandler

private

m_positionsTable

PositionsTable Interloc::m_positionsTable

private

m_positionUpdateInputQueue

INotificationQueue<InterlocUpdate>& Interloc::m_positionUpdateInputQueue

private

m_positionUpdateOutputQueue

ICircularQueue<uint16_t>& Interloc::m_positionUpdateOutputQueue

private

m_updateHistoryIdx

uint8_t Interloc::m_updateHistoryIdx

private

m_updatesHistory

std::array<InterlocUpdate, InterlocDumpDTO::MAX_UPDATES_SIZE> Interloc::m_updatesHistory

private

---

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

• src/interloc/include/interloc/Interloc.h
• src/interloc/src/Interloc.cpp