SimulatorSyncronizedMessage Struct Reference

#include <SimulatorMessage.h>

Inheritance diagram for SimulatorSyncronizedMessage:

Collaboration diagram for SimulatorSyncronizedMessage:

Public Member Functions
void	init ()
void	waitForSimulator ()
void	simulatorIsDone ()
void	waitForRobot ()
bool	tryWaitForRobot ()
bool	waitForRobotWithTimeout ()
void	robotIsDone ()

Private Attributes
SharedMemorySemaphore	robotToSimSemaphore
SharedMemorySemaphore	simToRobotSemaphore

Additional Inherited Members
Public Attributes inherited from SimulatorMessage
RobotToSimulatorMessage	robotToSim
SimulatorToRobotMessage	simToRobot

Detailed Description

A SimulatorSyncronizedMessage is stored in shared memory and is accessed by both the simulator and the robot The simulator and robot take turns have exclusive access to the entire message. The intended sequence is:

• robot: waitForSimulator()
• simulator: simulates robot (simulator can read/write, robot cannot do anything)
• simulator: simDone()
• simulator: waitForRobot()
• robot: runs controller (robot can read/write, simulator cannot do anything)
• robot: robotDone();
• robot: waitForSimulator() ...

Definition at line 87 of file SimulatorMessage.h.

Member Function Documentation

void SimulatorSyncronizedMessage::init ( )

inline

The init() method should only be called after shared memory is connected!

Definition at line 91 of file SimulatorMessage.h.

              {
    robotToSimSemaphore.init(0);
    simToRobotSemaphore.init(0);
  }

void SimulatorSyncronizedMessage::robotIsDone ( )

inline

Definition at line 108 of file SimulatorMessage.h.

{ robotToSimSemaphore.increment(); }

void SimulatorSyncronizedMessage::simulatorIsDone ( )

inline

Definition at line 98 of file SimulatorMessage.h.

{ simToRobotSemaphore.increment(); }

bool SimulatorSyncronizedMessage::tryWaitForRobot ( )

inline

Definition at line 102 of file SimulatorMessage.h.

{ return robotToSimSemaphore.tryDecrement(); }

void SimulatorSyncronizedMessage::waitForRobot ( )

inline

Definition at line 100 of file SimulatorMessage.h.

{ robotToSimSemaphore.decrement(); }

bool SimulatorSyncronizedMessage::waitForRobotWithTimeout ( )

inline

Definition at line 104 of file SimulatorMessage.h.

                                 {
    return robotToSimSemaphore.decrementTimeout(1, 0);
  }

void SimulatorSyncronizedMessage::waitForSimulator ( )

inline

Definition at line 96 of file SimulatorMessage.h.

{ simToRobotSemaphore.decrement(); }

Member Data Documentation

SharedMemorySemaphore SimulatorSyncronizedMessage::robotToSimSemaphore

private

Definition at line 111 of file SimulatorMessage.h.

SharedMemorySemaphore SimulatorSyncronizedMessage::simToRobotSemaphore

private

Definition at line 111 of file SimulatorMessage.h.

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The documentation for this struct was generated from the following file:

• SimulatorMessage.h