#include <ufunctionbase.h>

Inheritance diagram for UFunctionBase:

Public Member Functions
bool	addResource (UResBase resource, UFunctionBase owner)

void	closeLogfile ()

virtual const char *	commandList ()

virtual void	createResources ()

const char *	getAliasName ()

const char *	getLoadedFileName ()

void *	getLoadedModuleRef ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isMine (const char *cmdName)

bool	isStatic ()
	is the module loaded as static A module is static if the ldFilename has a length of zero. More...

virtual const char *	name ()

bool	newCmd (UServerInMsg newMsg, UDataBase extra)

bool	newCommand (UServerInMsg newMsg, void extra)

bool	openLogfile (const char *name)

void	print (const char *preString)

virtual void	resourceUpdated ()

bool	sendEndTag (UServerInMsg *msg)

bool	sendEndTag ()

bool	sendFullTag (const char *attributes)

bool	sendHelpDone (UServerInMsg *msg)

bool	sendHelpDone ()

bool	sendHelpStart (UServerInMsg msg, const char subject)

bool	sendHelpStart (const char *subject)

bool	sendHelpStart ()

bool	sendMsg (UServerInMsg msg, const char message, int size)

bool	sendMsg (const char *message)

bool	sendMsg (UServerInMsg msg, const char message)

bool	sendMsg (int clientIdx, const char *message, int size)

bool	sendMsgInt (int clientIdx, const char *message)

bool	sendStartTag (const char *attributes)

bool	sendText (UServerInMsg msg, const char text)

bool	sendText (const char *text)

virtual void	setAliasName (const char *name)

virtual void	setCommand (const char cmdList, const char name, const char *note)

void	setLoadedModuleRef (void module, const char moduleFileName)

virtual void	setLoadTime (UTime)

void	setName (const char *name)

virtual bool	setResource (UResBase *resource, bool remove)

void	setVerbose (bool value)

	UFunctionBase ()

virtual	~UFunctionBase ()

Public Member Functions inherited from UCallBack
bool	addOnEvent (UOnEvent *dataObject)

virtual bool	onEvent (const char interface, const char dataType, void *data)

	UCallBack ()

virtual	~UCallBack ()

Public Member Functions inherited from UResVarPool
int	addMethod (const char formalName, const char paramTypes, const char *comment)

int	addMethodV (const char formalName, const char paramTypes, const char *comment)

UVarPool *	addStruct (const char name, const char comment, bool copy=false)

UVariable *	addVar (const char name, const double initialValue, const char type, const char *comment)

UVariable *	addVar (const char name, const char initialValue, const char type, const char comment)

UVariable *	addVarA (const char name, const char initialValue, const char type, const char comment)

bool	callGlobal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callGlobalV (const char name, const char paramOrder, UVariable params, UDataBase returnStruct, int *returnStructCnt)
	Call a method from the root var pool scope It may be in the structure direct (no '.') or in any sub-structure that the 'name.subname' indicate. More...

bool	callLocal (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct, int returnStructCnt)

bool	callVS (const char function, const char stringParam)

int	callVSCD (const char function, const char strPar, UDataBase *data, int cooSys)

void	createBaseVar ()

virtual bool	createVarSpace (const int varCnt, const int structCnt, const int methCnt, const char *note, bool copy=false)

bool	getGlobalString (const char name, const char *value)

bool	getGlobalValue (const char name, double value)

bool	getGlobalValue (const char name, const char *value)

bool	getGlobalValue (const char name, bool value)

bool	getGlobalValue (const char name, UTime value)

bool	getLocalValue (const char name, double value)
	get a value in this variable tree More...

bool	getLocalValue (const char name, bool value)

bool	getLocalValue (const char name, UTime value)

double	getLocalValue (int idx)

UPosition	getLocalValue3D (int idx)

UPosRot	getLocalValue6D (int idx)

bool	getLocalValueBool (int idx)

int	getLocalValueInt (int idx)

UTime	getLocalValueTime (int idx)

const char *	getLogFileName ()

const char *	getVarDescription (int idx)

UVarCalc *	getVarPool ()

bool	isLogFileOpen ()

bool	isLogFileOpen (const char *structName)

bool	isVarPoolUpdated (int lastCnt, int *newCnt)

void	logFileClose ()

bool	logFileOpen ()

void	logFileStart (const char *structName, bool open)

virtual bool	methodCall (const char name, const char paramOrder, char *strings, const double doubles, double value, UDataBase returnStruct=NULL, int returnStructCnt=NULL)

virtual const char *	print (const char preString, char buff, int buffCnt)

bool	setGlobalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar (int idx, double value, const int element)

bool	setLocalVar (const char *name, const double value, bool mayAdd)
	Assigns a value to a variable. The variable may be a part of a structure. More...

bool	setLocalVar3D (int idx, UPosition *value)

bool	setLocalVar6D (int idx, UPosRot *value)

bool	setLocalVarAdd (int idx, double value, const int element)

bool	setLocalVarPose (int idx, UPose *value)

void	setVarPool (UVarCalc *sharedVarPool)

int	updateQTvars (int structIdx)

	UResVarPool ()

virtual	~UResVarPool ()

Public Member Functions inherited from UResBase
void	createReplayVar (UVarPool *pool)

UCmdExe *	getCorePointer ()

char *	getLogFileName (char *fn, const int fnCnt)

int	getResFuncIdx ()

const char *	getResID ()

int	getResVersion ()

bool	isA (const char *idStr)

bool	isAlsoA (const char *id)

virtual void	saveSettings ()

void	setCorePointer (UCmdExe *serverCore)

void	setResFuncIdx (int idx)

virtual void	setResID (const char *id, const int version)

virtual void	stop (bool)

virtual void	updateReplayStatus ()

	UResBase ()

virtual	~UResBase ()

Public Member Functions inherited from UReplay
void	addChild (UReplay *child)

virtual bool	decodeReplayLine (char *)

char *	getLogFileName (char *fn, const int fnCnt)

char *	getReplayFileName (char *fn, const int fnCnt)

int	getReplayLogLine ()

bool	isReplay ()

bool	isReplayFileOpen ()

void	removeChild (UReplay *child)

virtual void	replayAdvanceTime (UTime untilTime)

void	replaySetBaseFileName (const char name, const char preName="")

void	replaySetFileName (const char *name)

virtual bool	replayStep ()

int	replayStep (int steps)

virtual bool	replayToTime (UTime untilTime)

void	setParent (UReplay *parent)

bool	setReplay (bool value)

	UReplay ()

virtual	~UReplay ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Public Member Functions inherited from UVarMethodImplement
virtual bool	methodCallV (const char name, const char paramOrder, UVariable params[], UDataBase returnStruct, int returnStructCnt)

virtual	~UVarMethodImplement ()

Public Attributes
bool	silent
	is reply to client and console to be limited More...

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Static Public Attributes
static const int	MAX_ID_LENGTH = 30

static const int	MAX_RESOURCE_LIST_SIZE = 250

Protected Member Functions
int	getCmdIndex ()

UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

virtual bool	handleCommand (UServerInMsg msg, void extra)

bool	isClientAlive (int clientIdx, double holdOffTime)

bool	sendDebug (UServerInMsg msg, const char debugText)

bool	sendDebug (const char *debugText)

bool	sendError (UServerInMsg msg, const char errorText)

bool	sendError (const char *errorText)

bool	sendHelp (UServerInMsg msg, const char infoText)

bool	sendHelp (const char *infoText)

bool	sendInfo (UServerInMsg msg, const char infoText)

bool	sendInfo (const char *infoText)

bool	sendWarning (UServerInMsg msg, const char warningText)

bool	sendWarning (const char *warningText)

UResBase *	setThisResource (const char ID, UResBase resource, bool remove, bool changed, UResBase currentResPtr, bool *isLocal)

Protected Member Functions inherited from UResVarPool
void	setDescription (const char *note, bool copy=false)

Protected Member Functions inherited from UResBase
UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

Protected Attributes
char	aliasName [MAX_ID_LENGTH]

UCmdExe *	cmdHandler

char *	cmdToks [20]

int	cmdToksCnt

char	commandsHandled [MAX_RESOURCE_LIST_SIZE]

UServerInMsg *	msg

char	pluginName [MAX_RESOURCE_LIST_SIZE]

bool	verboseMessages

Protected Attributes inherited from UResBase
int	resFuncIdx

char	resID [MAX_RESOURCE_ID_LENGTH]

char	resIsAlso [MAX_RESOURCE_ISALSO_LENGTH]

int	resVersion

Protected Attributes inherited from UReplay
bool	replay

FILE *	replayFile

char	replayFileName [REPLAY_FILE_NAME_LENGTH]
	replay filename More...

char	replayLine [MAX_LOG_LINE_LENGTH]

int	replayLogLine

UReplay *	replayParent

UTime	replayTimeNext

Private Attributes
int	cmdIndex

char	ldFileName [MAX_FILENAME_LENGTH]

void *	ldModule

Additional Inherited Members
Static Public Member Functions inherited from UResVarPool
static const char *	getResClassID ()

Static Protected Attributes inherited from UReplay
static const int	MAX_LOG_LINE_LENGTH = 10000

static const int	REPLAY_FILE_NAME_LENGTH = 264
	max length of replay filename More...

Detailed Description

Basic class for loadable functions for this component server.

Author: Christian Andersen

Constructor & Destructor Documentation

UFunctionBase::UFunctionBase ( )

Constructor

References aliasName, cmdHandler, commandsHandled, ldFileName, ldModule, MAX_RESOURCE_LIST_SIZE, msg, UResBase::setResID(), silent, and verboseMessages.

UFunctionBase::~UFunctionBase ( )

virtual

Destructor

Member Function Documentation

bool UFunctionBase::addResource	(	UResBase *	resource,
		UFunctionBase *	owner
	)

Add one resource into the resource structure with this parent module true if added (false if no more space or core pointer is not valid).

References UCmdExe::addResource(), cmdHandler, and UResBase::getResID().

void UFunctionBase::closeLogfile ( )

Close logfile

Referenced by setVerbose().

virtual const char* UFunctionBase::commandList ( )

inlinevirtual

Function, that shall return a string with all handled commands, i.e. should return "gmk gmk2d guidemark", if commands starting with any of these three keywords are handled by this function

Reimplemented in UFunctionSmrIf.

References addResource(), commandsHandled, and setResource().

Referenced by print(), and UCmdExe::sysModuleCmd().

virtual void UFunctionBase::createResources ( )

inlinevirtual

Create any resources that this modules needs and add these to the resource pool to be integrated in the global variable pool and method sharing.

Reimplemented from UResBase.

Reimplemented in UFuncLaserBox, UFuncTOF, UFuncTOF, UFuncPTgrey, UFuncV4lGst, UFunctionAvoid, UFunctionRoadDrive, UFuncKinect, UFuncEfLine, UFunctionSmrIf, UFunctionPassable, UFunctionLaserIfScan, UFuncRule, UFuncPcp, UFuncRhdIf, UFunctionDrivePos, UFuncPlan, UFuncGndAna, UFuncKeep, UFuncPiCam, UFuncPoly, UFuncBin, UFuncCron, UFuncLobst, UFuncMapObst, UFuncFile, UFunctionLocater, UFunctionIf, UFunctionGps, UFuncObj3d, UFuncRoseBot, UFunctionDisp, UFuncV360, UFunctionPoseHist, UFunctionVarPool, UFunctionCamGmk, UFunctionLaser, UFunctionImgPool, UFuncStereo, UFunctionCamBase, and UFuncImu.

Referenced by UFunctionCamBase::createResources().

const char* UFunctionBase::getAliasName ( )

inline

Get the alias name. An alias name renames some generic plugins to give a new command keyword and a new resource and plugin name. This is especially used for the generic server interface plugin, as this can handle plugins from more than one server, the base name is if, but the alias name could be "laser" for an interface to the laser server or "cam" for tnterface to the camera server. Both plugins loaded into e.g. a behaviour server.

Returns: the alias name (a single name, starting with a character and continue alfanumeric (no spaces), max length 32 chars).

References aliasName.

Referenced by UFuncPiCam::callGotNewDataWithObject(), UFuncPiCam::createResources(), UFuncKinect::createResources(), UFuncPTgrey::createResources(), UFuncPTgrey::handlePTgrey(), UFuncPTgrey::logImageToFile(), UFuncPTgrey::PrintCameraInfo(), UFuncPTgrey::Receiver(), UFuncPTgrey::runSetting(), setCommand(), UFuncPTgrey::stop(), UCmdExe::sysModuleCmd(), and UCmdExe::unloadFunctionModule().

int UFunctionBase::getCmdIndex ( )

inlineprotected

Get the command index

Returns: the command number in the command string list. first is 0.

References cmdIndex.

Referenced by UFunctionImgPool::handleCommand(), UFuncPiCam::handleCommand(), UFuncKinect::handleCommand(), UFunctionIf::handleCommand(), and UFuncPTgrey::handleCommand().

const char* UFunctionBase::getLoadedFileName ( )

inline

Get loaded module name. Returns an empty string if not a dynamic loaded module

References gotAllResources(), ldFileName, sendEndTag(), sendFullTag(), sendStartTag(), sendText(), and setAliasName().

Referenced by UCmdExe::sysModuleCmd(), UCmdExe::unloadFunctionModule(), and UCmdExe::unloadThisModule().

void* UFunctionBase::getLoadedModuleRef ( )

inline

Get loadable module pointer for further symbol ref

References ldModule.

Referenced by UCmdExe::getLoadedModuleRef(), and UCmdExe::sysModuleCmd().

UResBase * UFunctionBase::getStaticResource	(	const char *	resName,
		bool	mayCreate,
		bool	staticOnly = `true`
	)

protected

get a pointer to a static resource.

Parameters

resName	The name of the resource to be acquired.
mayCreate	if set to true, then the resource will be created if it do not exist.
staticOnly	if true, then static resources - like 'odoPose' - are searched only.

Returns: NULL if not found (or core not available), else a bointer to an existing type

References cmdHandler, and UCmdExe::getStaticResource().

Referenced by UFuncKinect::callGotNewDataWithObject(), UFuncLoca2::correlateLines(), UFuncKinect::decodeReplayLine(), UFuncPpl::drawPolygons(), UFuncBallKL::filterMask(), UFuncPiPi::filterMask(), UFuncCropRow::filterMask(), UFuncBall::filterMask(), UFuncBall_improved::filterMask(), UFuncLinefinder::filterMask(), UFuncBallKL::findBall(), UFuncPiPi::findBall(), UFuncBall::findBall(), UFuncBall_improved::findBall(), UFuncCropRow::findPlants(), UFuncImSeg::findSegments(), UFuncTracking::FirstImage(), UFuncEfLine::getCurrentOdoPose(), UFuncLaserBase::getDevice(), UFuncLaserBase::getScan(), UFuncLobst::getScan(), UFuncEfLine::getScan(), UFuncKinect::GetXYZCoordinates(), UFuncLocalize::handleAddLine(), UFuncLoca2::handleAddLine(), UFunctionAvoid::handleAvoid(), Funcavoid::handleCommand(), UFuncRectify::handleCommand(), UFuncObj3d::handleCommand(), UFuncRoseBot::handleCommand(), UFuncCropRow::handleCommand(), UFuncPpl::handleCommand(), UFuncLoca2::handleCommand(), UFuncLocalize::handleLocalize(), UFunctionAvoid::handlePoseToPose(), UFuncLinefinder::houghTest(), UFuncImgPoly::initializeFindPath(), UFuncPiCam::logImageToFile(), UFuncPTgrey::logImageToFile(), UFuncKinect::logImageToFile(), UFuncTOF::logImageToFile(), UFuncBall::makeDisplayPolygon(), UFuncImSeg::makeDisplayPolygon(), UFuncImSeg::makeLBPimage(), UFuncPCLTest::MakeMap(), UFuncKinect::makeObj3Dcloud(), UFuncStraightLine::polygonToPolyPlugin(), UFuncTOF::processChannel8(), UFuncKinect::processDepthImages(), UFuncStereo::processImages(), UFuncTOF::processImages(), UFuncPTgrey::Receiver(), UFuncPiCam::run(), UFuncKinect::run(), setLoadTime(), UFuncStraightLine::toRobot(), UFuncStraightLine::toWorld(), UFuncTracking::TrackObjects(), UFuncKinect::updateCloud(), UFuncLoca2::updateStatus(), and UFuncLocalize::updateStatus().

bool UFunctionBase::gotAllResources	(	char *	missingThese,
		int	missingTheseCnt
	)

virtual

Test if all resources are loaded as intended

Reimplemented from UResVarPool.

References cmdHandler, and UCmdExe::getResClassID().

Referenced by UFuncCog::centerOfGravity(), getLoadedFileName(), UFunctionImage::handleImageGetCommand(), UFunctionImgPool::handleImageListCommand(), UFunctionPoseHist::handlePoseHistCommand(), and UFuncV360::handleV360Command().

bool UFunctionBase::handleCommand	(	UServerInMsg *	msg,
		void *	extra
	)

protectedvirtual

Handle command from client (or console). Return true if command is handles and alle needed actions are taken. Return false if command is not known (due to syntax error or that it belongs to another function)

Reimplemented in UFuncLaserBox, UFuncTracking, UFuncTOF, UFuncTOF, UFuncImgPoly, UFuncLocalize, UFuncFz, UFuncPTgrey, UFuncV4lGst, UFunctionAvoid, UFunctionRoadDrive, UFunctionPassable, UFunctionIf, UFunctionLaserIfData, UFunctionLaserIfScan, UFuncPCLTest, UFuncCog, UFunctionDrivePos, UFuncLinefinder, UFuncKinect, UFuncEfLine, UFuncPcp, UFunctionSmrIf, UFuncLoca2, UFuncRule, UFuncFocus, UFuncStraightLine, UFuncImSeg, UFunctionLaser, UFuncRadar, UFuncRhdIf, UFuncPpl, UFuncGndAna, UFuncCron, UFuncKeep, UFuncMapObst, UFuncPiCam, UFuncPoly, UFuncBin, UFunctionLocater, UFuncCropRow, UFuncLobst, UFunctionCam, UFuncFile, UFuncBall, UFunctionGps, UFuncRoseBot, UFuncObj3d, UFunctionCamGmk, UFuncBallKL, UFuncPlan, UFuncPiPi, UFuncView, UFunctionDisp, UFunctionCamData, UFuncV360, UFunctionVarPool, UFuncBall_improved, UFunctionCamPath, UFuncStereo, UFunctionPoseHist, UFunctionImgPool, UFunctionImage, UFuncRectify, UFuncVarMrc, Funcavoid, and UFuncImu.

References sendDebug().

Referenced by newCommand(), and setLoadTime().

bool UFunctionBase::isClientAlive	(	int	clientIdx,
		double	holdOffTime
	)

protected

Test to see if client is active. Especially for event push messages.

References cmdHandler, and UCmdExe::isClientAlive().

Referenced by setLoadTime().

bool UFunctionBase::isMine ( const char * cmdName )

if a command with this name mine.

Parameters

cmdName is the searched command name.

Returns: true if found. The command name index is saved, and can be obtaind by thje function getCmdIndex().

References cmdIndex, cmdToks, and cmdToksCnt.

Referenced by UCmdExe::executeFunction(), and setLoadTime().

bool UFunctionBase::isStatic ( )

inline

is the module loaded as static A module is static if the ldFilename has a length of zero.

Returns: true if the module is loaded as static

References ldFileName.

Referenced by UCmdExe::isModuleStatic().

virtual const char* UFunctionBase::name ( )

inlinevirtual

Name of function The returned name is intended as informative to clients and should include a version number

Reimplemented in UFunctionSmrIf, and UFunctionIf.

References pluginName.

Referenced by UCmdExe::addFunction(), UCmdExe::addResource(), UFuncTracking::call_tree_cluster(), UFuncLocalize::handleAddLine(), UFuncLoca2::handleAddLine(), UFuncFile::handleCommand(), UFuncPoly::handleCommand(), UFuncPcp::handleCommand(), UFuncKeep::handleKeep(), UFuncKinect::makeObj3Dcloud(), print(), UFunctionPoseHist::setAliasName(), setVerbose(), UCmdExe::sysModuleCmd(), testPlugBase(), UFuncKinect::UFuncKinect(), UFuncPiCam::UFuncPiCam(), UFuncPpl::UFuncPpl(), UFuncRule::UFuncRule(), UFuncView::UFuncView(), UCmdExe::unloadFunctionModule(), and UCmdExe::unloadThisModule().

bool UFunctionBase::newCmd	(	UServerInMsg *	newMsg,
		UDataBase *	extra
	)

New command to be handled by this module - NB!

Todo:: move all push functions and plugins to this type - rather than the void in newCommand

Parameters

msg	is a pointer to the queue element with the command
extra	is an optional data element acheived form a push command casted to type UDataBase

Returns: true, if command is handled

References msg.

Referenced by setLoadTime().

bool UFunctionBase::newCommand	(	UServerInMsg *	newMsg,
		void *	extra
	)

New command to be handled by this module

Parameters

msg	is a pointer to the queue element with the command
extra	is an optional void pointer to a data element acheived form a push command

Returns: true, if command is handled

References handleCommand(), and msg.

Referenced by UCmdExe::executeFunction(), UCmdExe::handleOneServerPushMessage(), and setLoadTime().

bool UFunctionBase::openLogfile ( const char * name )

Open logfile - in default image directory

Referenced by setVerbose().

void UFunctionBase::print ( const char * preString )

virtual

Print information on this object to console.

Reimplemented from UResBase.

References commandList(), ldFileName, ldModule, and name().

Referenced by setVerbose().

virtual void UFunctionBase::resourceUpdated ( )

inlinevirtual

This function is called if a resource for this function is updated - this could be used to verify that all resources are available and full functionality may be available.

References msg, sendHelpDone(), sendHelpStart(), sendMsg(), and sendMsgInt().

Referenced by UCmdExe::deleteFunction(), and UCmdExe::resourcesUpdate().

bool UFunctionBase::sendDebug	(	UServerInMsg *	msg,
		const char *	debugText
	)

protected

Send a standard warning reply of the form: <'tagname' debug="'warning text'"/>, where 'tagname' is that tagname of the command and 'warning text' is the provided reply text (quotes are added by the function). Returns true if send.

References cmdHandler, UQevent::consoleReply(), qevent, UCmdExe::sendDebug(), and silent.

bool UFunctionBase::sendDebug ( const char * debugText )

protected

Send a standard warning reply of the form: <'tagname' debug="'warning text'"/>, where 'tagname' is that tagname of the command and 'warning text' is the provided reply text (quotes are added by the function). true if send.

References cmdHandler, UQevent::consoleReply(), msg, qevent, UCmdExe::sendDebug(), and silent.

bool UFunctionBase::sendEndTag ( UServerInMsg * msg )

Send a closing end-tag for this message. Returns true if the message was send.

References USmlTagIn::getTagName(), sendMsg(), and UServerInMsg::tag.

bool UFunctionBase::sendEndTag ( )

Send a closing end-tag for this message. Returns true if the message was send.

References USmlTagIn::getTagName(), msg, sendMsg(), and UServerInMsg::tag.

Referenced by getLoadedFileName(), UFuncFile::handleCommand(), UFunctionRoadDrive::handleCommand(), UFunctionDrivePos::handleDrivePos(), UFunctionAvoid::handlePoseToPose(), UFuncRule::listMission(), UFuncRule::listState(), UFunctionVarPool::makeAMethodCall(), UFuncEfLine::sendAllLines(), and UFuncEfLine::sendBoxLines().

bool UFunctionBase::sendError	(	UServerInMsg *	msg,
		const char *	errorText
	)

protected

Send a standard error reply of the form: < 'tagname' debug="warning text"/>, where 'tagname' is that tagname of the command and 'warning text' is the provided reply text (quotes are added by the function). true if send.

References cmdHandler, UQevent::consoleReply(), qevent, and UCmdExe::sendError().

Referenced by UFunctionDisp::handleCommand(), UFunctionVarPool::handleVar(), setLoadTime(), and UFuncRule::unloadRule().

bool UFunctionBase::sendError ( const char * errorText )

protected

Send a standard error reply of the form: < 'tagname' debug="warning text"/>, where 'tagname' is that tagname of the command and 'warning text' is the provided reply text (quotes are added by the function). true if send.

References cmdHandler, UQevent::consoleReply(), msg, qevent, and UCmdExe::sendError().

bool UFunctionBase::sendFullTag ( const char * attributes )

send a full tag message with these attributes. I.e. a "<tagname attributes/>\n" The tag name is the same as the command name (the command tag name)

Parameters

attributes is a string with all additional attributes to be placed inside the tag.

Returns: true if send successfully.

References USmlTagIn::getTagName(), msg, sendMsg(), and UServerInMsg::tag.

Referenced by getLoadedFileName().

bool UFunctionBase::sendHelp	(	UServerInMsg *	msg,
		const char *	infoText
	)

protected

Send a standard warning reply of the form: <'tagname' info="'warning text'"/>, where 'tagname' is that tagname of the command and 'warning text' is the provided reply text (quotes are added by the function). Returns true if send.

References cmdHandler, UQevent::consoleReply(), qevent, and UCmdExe::sendHelp().

Referenced by UFunctionCamGmk::handleGmkGetCommand(), UFunctionPoseHist::handlePoseHistCommand(), UFunctionLaser::handleSetCommand(), and setLoadTime().

bool UFunctionBase::sendHelp ( const char * infoText )

protected

Send a standard warning reply of the form: <'tagname' info="'warning text'"/>, where 'tagname' is that tagname of the command and 'warning text' is the provided reply text (quotes are added by the function). true if send.

References cmdHandler, UQevent::consoleReply(), msg, qevent, and UCmdExe::sendHelp().

bool UFunctionBase::sendHelpDone ( UServerInMsg * msg )

Send an help close tag and an info message matching the message in msg

Parameters

msg	reference to client connection

Returns: true if send

References cmdHandler, and UCmdExe::sendHelpDone().

bool UFunctionBase::sendHelpDone ( )

Send an help close tag and an info message matching the message in msg

Returns: true if send

References cmdHandler, msg, and UCmdExe::sendHelpDone().

bool UFunctionBase::sendHelpStart	(	UServerInMsg *	msg,
		const char *	subject
	)

Send an help open tag with the provided subject, like <help subject="subject">

Parameters

msg	reference to client connection
subject	help subject

Returns: true if send

References cmdHandler, and UCmdExe::sendHelpStart().

bool UFunctionBase::sendHelpStart ( const char * subject )

Send an help open tag with the provided subject, like <help subject="subject">

Parameters

subject help subject

Returns: true if send

References cmdHandler, msg, and UCmdExe::sendHelpStart().

bool UFunctionBase::sendHelpStart ( )

Send an help open tag with the provided subject, like <help subject="subject"> where subject is the plug-in (alias) name

Returns: true if send

References aliasName, cmdHandler, msg, and UCmdExe::sendHelpStart().

bool UFunctionBase::sendInfo	(	UServerInMsg *	msg,
		const char *	infoText
	)

protected

Send a standard warning reply of the form: <'tagname' info="warning text"/>, where 'tagname' is that tagname of the command and 'warning text' is the provided reply text (quotes are added by the function). true if send.

References cmdHandler, UQevent::consoleReply(), USmlTagIn::getAttBool(), qevent, UCmdExe::sendInfo(), silent, and UServerInMsg::tag.

bool UFunctionBase::sendInfo ( const char * infoText )

protected

Send a standard warning reply of the form: <'tagname' info="warning text"/>, where 'tagname' is that tagname of the command and 'warning text' is the provided reply text (quotes are added by the function). true if send.

References cmdHandler, UQevent::consoleReply(), msg, qevent, UCmdExe::sendInfo(), and silent.

bool UFunctionBase::sendMsg	(	UServerInMsg *	msg,
		const char *	message,
		int	size
	)

Send reply message to client with specific length

can be used for binary messages as well. Returns true if send. Returns false if client (or server) has gone.

References cmdHandler, and UCmdExe::sendMsg().

bool UFunctionBase::sendMsg ( const char * message )

Send text reply mesage to client. Returns true if send. Returns false if client (or server) has gone.

References cmdHandler, msg, and UCmdExe::sendMsg().

bool UFunctionBase::sendMsg	(	UServerInMsg *	msg,
		const char *	message
	)

Send text reply mesage to client. Returns true if send. Returns false if client (or server) has gone.

References cmdHandler, and UCmdExe::sendMsg().

bool UFunctionBase::sendMsg	(	int	clientIdx,
		const char *	message,
		int	size
	)

Send reply message to client with specific length

can be used for binary messages as well. Returns true if send. Returns false if client (or server) has gone. NB! call is depricated, as connection can not be locked during long transmissions.
Todo:
remove this function

References cmdHandler, and UCmdExe::sendMsg().

bool UFunctionBase::sendMsgInt	(	int	clientIdx,
		const char *	message
	)

Send text reply mesage to client. Returns true if send. Returns false if client (or server) has gone. NB! call is depricated, as connection can not be locked during long transmissions.

Todo:: remove this function

References cmdHandler, and UCmdExe::sendMsg().

Referenced by UFunctionIf::dataTrap(), and resourceUpdated().

bool UFunctionBase::sendStartTag ( const char * attributes )

send a tag start message with these attributes. The tag name is the same as the command name (the command tag name) I.e. like "<tagname attributes>\n" The tag can be closed by a call to sendEndTag()

Parameters

attributes is a string with all additional attributes to be placed inside the tag open message.

Returns: true if send successfully.

References USmlTagIn::getTagName(), msg, sendMsg(), and UServerInMsg::tag.

Referenced by getLoadedFileName(), and UFunctionAvoid::handlePoseToPose().

bool UFunctionBase::sendText	(	UServerInMsg *	msg,
		const char *	text
	)

Send a text that may contain XML reserver characters '<"'&>'. The text will be converted, so that no reserver characters remain in the transmitted text. Returns true if send.

References cmdHandler, and UCmdExe::sendText().

bool UFunctionBase::sendText ( const char * text )

Send a text that may contain XML reserver characters '<"'&>'. The text will be converted, so that no reserver characters remain in the transmitted text. Returns true if send.

References cmdHandler, msg, and UCmdExe::sendText().

bool UFunctionBase::sendWarning	(	UServerInMsg *	msg,
		const char *	warningText
	)

protected

Send a standard warning reply of the form: <'tagname' warning="warning text"/>, where 'tagname' is that tagname of the command and 'warning text'; is the provided reply text (quotes are added by the function). Returns true if send.

References cmdHandler, UQevent::consoleReply(), qevent, UCmdExe::sendWarning(), and silent.

bool UFunctionBase::sendWarning ( const char * warningText )

protected

Send a standard warning reply of the form: <'tagname' warning="warning text"/>, where 'tagname' is that tagname of the command and 'warning text'; is the provided reply text (quotes are added by the function). true if send.

References cmdHandler, UQevent::consoleReply(), msg, qevent, UCmdExe::sendWarning(), and silent.

void UFunctionBase::setAliasName ( const char * name )

virtual

Set alias name - default is empty

Parameters

aliasName is the new name for the plugin - this is used for the resource and the new single command handled.

Reimplemented in UFunctionPoseHist.

References aliasName, UResBase::getResID(), MAX_ID_LENGTH, and setCommand().

Referenced by getLoadedFileName(), UCmdExe::loadFunctionModule(), UServerStatic::loadStaticModule(), UFunctionPoseHist::setAliasName(), and UFunctionIf::UFunctionIf().

void UFunctionBase::setCommand	(	const char *	cmdList,
		const char *	name,
		const char *	note
	)

virtual

Set command list and optional version information e.g. setCommand("ball door", "ballfinder", "finds balls in images (by author)"); to set the commands "ball" and "door" to be handled by this plugin, and add some author initial and a coompile date and time for the plugin.

Parameters

cmdList	is a space separated list of commands to be handled by this plugin
name	is the resource name of the plugin, and the name of the base structure for local variables.
note	an optional text string shown in the module list - could also hold author name (shown in variable list and other places).

References aliasName, cmdToks, cmdToksCnt, commandsHandled, getAliasName(), MAX_ID_LENGTH, MAX_RESOURCE_LIST_SIZE, pluginName, UResVarPool::setDescription(), and UResBase::setResID().

Referenced by Funcavoid::Funcavoid(), setAliasName(), setName(), UFuncBall::UFuncBall(), UFuncBall_improved::UFuncBall_improved(), UFuncBallKL::UFuncBallKL(), UFuncBin::UFuncBin(), UFuncCron::UFuncCron(), UFuncCropRow::UFuncCropRow(), UFuncEfLine::UFuncEfLine(), UFuncFile::UFuncFile(), UFuncFocus::UFuncFocus(), UFuncFz::UFuncFz(), UFuncImgPoly::UFuncImgPoly(), UFuncImSeg::UFuncImSeg(), UFuncImu::UFuncImu(), UFuncKeep::UFuncKeep(), UFuncKinect::UFuncKinect(), UFuncLinefinder::UFuncLinefinder(), UFuncLobst::UFuncLobst(), UFuncLoca2::UFuncLoca2(), UFuncLocalize::UFuncLocalize(), UFuncMapObst::UFuncMapObst(), UFuncObj3d::UFuncObj3d(), UFuncPCLTest::UFuncPCLTest(), UFuncPcp::UFuncPcp(), UFuncPiCam::UFuncPiCam(), UFuncPiPi::UFuncPiPi(), UFuncPlan::UFuncPlan(), UFuncPoly::UFuncPoly(), UFuncPpl::UFuncPpl(), UFuncPTgrey::UFuncPTgrey(), UFuncRadar::UFuncRadar(), UFuncRectify::UFuncRectify(), UFuncRhdIf::UFuncRhdIf(), UFuncRoseBot::UFuncRoseBot(), UFuncRule::UFuncRule(), UFuncStereo::UFuncStereo(), UFuncStraightLine::UFuncStraightLine(), UFunctionAvoid::UFunctionAvoid(), UFunctionCam::UFunctionCam(), UFunctionCamData::UFunctionCamData(), UFunctionCamGmk::UFunctionCamGmk(), UFunctionCamPath::UFunctionCamPath(), UFunctionDisp::UFunctionDisp(), UFunctionDrivePos::UFunctionDrivePos(), UFunctionGps::UFunctionGps(), UFunctionIf::UFunctionIf(), UFunctionImage::UFunctionImage(), UFunctionImgPool::UFunctionImgPool(), UFunctionLaser::UFunctionLaser(), UFunctionLaserIfData::UFunctionLaserIfData(), UFunctionLaserIfScan::UFunctionLaserIfScan(), UFunctionLocater::UFunctionLocater(), UFunctionPassable::UFunctionPassable(), UFunctionPoseHist::UFunctionPoseHist(), UFunctionRoadDrive::UFunctionRoadDrive(), UFunctionSmrIf::UFunctionSmrIf(), UFunctionVarPool::UFunctionVarPool(), UFuncV360::UFuncV360(), UFuncV4lGst::UFuncV4lGst(), UFuncVarMrc::UFuncVarMrc(), and UFuncView::UFuncView().

void UFunctionBase::setLoadedModuleRef	(	void *	module,
		const char *	moduleFileName
	)

Set loaded module and filename

References ldFileName, ldModule, and MAX_FILENAME_LENGTH.

Referenced by UCmdExe::loadFunctionModule(), and setVerbose().

virtual void UFunctionBase::setLoadTime ( UTime )

inlinevirtual

Set module load time, i.e. just befor call to open file This is needed by the svs-library function, as image times are relative to start of module

References getStaticResource(), handleCommand(), isClientAlive(), isMine(), newCmd(), newCommand(), sendDebug(), sendError(), sendHelp(), sendInfo(), sendWarning(), and setThisResource().

Referenced by UCmdExe::loadFunctionModule().

void UFunctionBase::setName ( const char * name )

inline

Set plugin name - the compile time will be added

References MAX_RESOURCE_LIST_SIZE, UResVarPool::note, pluginName, and setCommand().

bool UFunctionBase::setResource	(	UResBase *	resource,
		bool	remove
	)

virtual

List (space separated) of shared resources provided by this function. Must be an empty string if no resources are to be shared. Each resource ID must be no longer than 20 characters long. Get a pointer to the resource with this ID string. The match should be case sensitive. A pointer should be returned for each of the ISs in the resource ID list. Set a resource pointer as appropriate for this class. NB! this base class needs a pointer to the core for core functionality.

Reimplemented from UResVarPool.

Reimplemented in UFuncLaserBox, UFuncLocalize, UFunctionPassable, UFunctionLaserIfData, UFunctionLaserIfScan, UFuncView, UFuncLoca2, UFunctionPoseHist, UFuncPlugBasePush, UFunctionCamData, UFunctionImgBase, UFunctionVarPool, UFunctionCamBase, and UFunctionLaser.

References cmdHandler, UCmdExe::getResClassID(), and UResBase::isA().

UResBase * UFunctionBase::setThisResource	(	const char *	ID,
		UResBase *	resource,
		bool	remove,
		bool *	changed,
		UResBase *	currentResPtr,
		bool *	isLocal
	)

protected

Test if the resource has this ID, and if so set the resource pointer 'currentResPtr' to the new resource and adjust the local flag as appropriate. Returns 'changed' true if the resource pointer is changed.

References UResBase::getResID().

Referenced by setLoadTime(), UFunctionCamData::setResource(), UFunctionLaserIfData::setResource(), and UFunctionLaserIfScan::setResource().

void UFunctionBase::setVerbose ( bool value )

inline

Set verbose messages - mostly for debug purpose

References closeLogfile(), name(), openLogfile(), print(), setLoadedModuleRef(), and verboseMessages.

Referenced by runCameraServerComponent(), and testServerGen().