#include <uressmr.h>

Inheritance diagram for UResSmrIf:

Public Member Functions
virtual void	closeConnection ()

double	doSmrDrive (const char *cmd, int repeat)

double	doUserEvent (int repeat)

virtual void	eventGpsUpdate (UPoseTime odoState, double easting, double northing, double heading, double quality, double satellites, double dop)

virtual void	eventHakoVarUpdate (int hakoManual, int liftPos, int ptoSpeed)

virtual void	eventInsUpdate (UPoseTime odoState, double accx, double accy, double accz, double roll, double tilt, double pan, double insTime)

virtual void	eventPoseUpdated (bool streamSource)

virtual void	eventWatchFired (const char *name, double atTime)
	A watch event occured, update as needed. More...

double	getAcc ()

double	getMinTurnRad ()

double	getSpeed ()

double	getTurnAcc ()

bool	isInsLogOpen ()
	is the INS logfile (ins.log) open More...

bool	isStreaming ()

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

void	openINSlog (bool open)
	opens or reopens the INS logfile. The logfile is intended to be used with data streamed from MRC, and especially when connected to HAKO tractor with cross-bow INS module. More...

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

bool	sendAddWatch (const char name, const char condition)

int	sendUserEvent (const char *evPreString, int evNumber)

bool	setResource (UResBase *resource, bool remove)

void	stopRobot ()

bool	testEvent (int evID, UTime *eventTime, bool removeIfFound)

	UResSmrIf ()

void	UResSmrIfInit ()

virtual	~UResSmrIf ()

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 ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isLogFileOpen ()

bool	isLogFileOpen (const char *structName)

bool	isVarPoolUpdated (int lastCnt, int *newCnt)

void	logFileClose ()

bool	logFileOpen ()

void	logFileStart (const char *structName, bool open)

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)

virtual void	createResources ()

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	print (const char *preString)

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 Member Functions inherited from USmrCl
bool	doDisconnect ()

char *	getHost ()

int	getLogMode ()

int	getPort ()

virtual bool	getSimulatedPose ()

int	getStopCondition ()

bool	handleLineData (const int timeoutMs)

bool	isConnected ()

bool	isLogging ()

void	print (const char *prestring)

void	run ()

void	saveMrcLog (bool restart)

bool	sendSMReval (const char varName, double timeoutSec, double value, char *valStr=NULL, const int valStrCnt=0)

bool	sendString (const char s1, const char s2=NULL, const char *s3=NULL)

int	setHost (const char *iHost)

bool	setIOLog (const char path, const char name, const int mode)

void	setIOLogClosed ()

void	setLogMode (int value)

bool	setOdoLog (const char , const char )

bool	setOdoLogClosed ()

int	setPort (int iPort)

void	setVerbose (bool value)

bool	start ()

bool	startOdoStream (const int samplesInterval)

void	stop (bool andWait)

bool	tryConnect ()

	USmrCl ()

virtual	~USmrCl ()

Public Member Functions inherited from UServerPush
int	addPushCommand (UServerInMsg *msg)

virtual void	callGotNewDataWithObject ()

bool	doPushCall (UServerPushElement pe, const char value)

void	flushClientCmds (int clientIdx)

UServerPushImplement *	getImplementor ()

int	getPushCmdCnt (int cmdCnt, int callCnt)

UServerPushQueue *	getPushQueue ()

bool	gotCmdExe ()

void	gotNewData (void *pData)

bool	isUpdated (int lastCnt, int *newCnt)

bool	needNewData ()

void	print (const char *preString)

void	print (const char preString, char buff, int buffCnt)

void	servicePendingPushCmds ()

void	setCmdExe (UServerPushImplement *executor)

void	setImplementor (UServerPushImplement *executor)

bool	setResource (UResBase *resource, bool remove)

bool	setUpdated (const char *value)
	Add watch object if needed. An image or other object is updated. set object as updated, with an extra qualifier, that may be used as a parameter in a push call. this push list is then added to the to the push list examined by the server thread. when server thread reach this push list it will call to get a possible associated data structure by a call to needNewData() whish is expected to call gotNewData(void * data_structure) - but now in the server thread. More...

	UServerPush ()

virtual	~UServerPush ()

Static Public Member Functions
static const char *	getResClassID ()

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

Protected Member Functions
virtual void	connectionChange (bool connected)

void	createBaseVar ()
	Create the smrif related variables. More...

void	flushMRCUserEvents ()

virtual void	gotUserEvent (const char *eventString)

virtual void	lineStateUpdated ()

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 Member Functions inherited from USmrCl
bool	getDataFromLine (int timeout, bool waitFullTime)

bool	getLineFromSocket (int timeout_ms)

virtual void	info (const char *msg, int type=0)

bool	isMessageInBuffer ()

bool	setDriveState (bool idEevent, bool eventTimeout, bool *streamData)

void	toLog (const char *logString, const int logLevel)

Protected Attributes
int	driveCommandID

int	driveUserEventID

UMRCUserEvent *	events

ULock	eventsLock

ULogFile	logGPS

bool	logGPSuse

FILE *	logINS

UResPoseHist *	poseHist

bool	poseStreaming

UResPoseHist *	utmPose

UVariable *	varAcc

UVariable *	varHakoManual

UVariable *	varIdFinished

UVariable *	varIdQueued

UVariable *	varIdStarted

UVariable *	varIdSyntaxErr

UVariable *	varIdUserEvent

UVariable *	varLiftPos

UVariable *	varMinTurnRad

UVariable *	varPtoSpeed

UVariable *	varSpeed

UVariable *	varTurnAcc

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

Protected Attributes inherited from USmrCl
unsigned int	connCnt

bool	connected

unsigned int	errCnt

int	evalReq

int	evalRes

char	evalResult [MaxEvalLen]

char	host [MAX_HOST_LENGTH]

int	logIOMode

int	port

unsigned int	readCnt

char	reply [MAX_REPLY_LENGTH]

int	replyCnt

char	replyLine [MAX_REPLY_LENGTH]

bool	running

bool	stopRead

bool	streamImu

unsigned int	txCnt

bool	verbose

Static Protected Attributes
static const int	MAX_DRIVE_COMMAND_LENGTH = 500

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...

Static Protected Attributes inherited from USmrCl
static const int	MaxEvalLen = 500

Additional Inherited Members
Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Public Attributes inherited from USmrCl
int	cmdLineFinished

int	cmdLineQueued

int	cmdLineStarted

int	cmdLineStopCnd

int	cmdLineSyntaxError

int	cmdLineUserEvent

bool	cmdStop

double	gpsVals [maxGpsVals]

double	ins [INSV]

ULogFile	logIO

USmrOdoState	odoState

double	streamInsTime

int	streamShowGpsCnt

int	streamShowGpsEvery

int	streamShowInsCnt

int	streamShowInsEvery

int	streamShowOdoCnt

int	streamShowOdoEvery

bool	tryHoldConnection

Static Public Attributes inherited from USmrCl
static const int	INSV = 7

static const int	maxGpsVals = 6
	number of doubles in gps streaming array (E,N,H, mode, sats, dof) More...

Detailed Description

This is the shared resource class. It must enherit from the resource base class (or one of its decendent) as shown.

Author: Christian Andersen

Constructor & Destructor Documentation

UResSmrIf::UResSmrIf ( )

inline

Constructor

UResSmrIf::~UResSmrIf ( )

virtual

Destructor

References USmrCl::doDisconnect(), flushMRCUserEvents(), and logINS.

Member Function Documentation

void UResSmrIf::closeConnection ( )

virtual

Stop the robot and shut down the socket connection

Reimplemented from USmrCl.

References USmrCl::closeConnection(), USmrCl::connected, and stopRobot().

void UResSmrIf::connectionChange ( bool connected )

protectedvirtual

Called when connection to MRC is created or lost.

Reimplemented from USmrCl.

References UVariable::b, UResVarPool::getVarPool(), poseStreaming, USmrCl::sendString(), UVarPool::setLocalVar(), and UServerPush::setUpdated().

void UResSmrIf::createBaseVar ( )

protected

Create the smrif related variables.

References UResVarPool::addMethod(), UResVarPool::addVar(), varAcc, varHakoManual, varIdFinished, varIdQueued, varIdStarted, varIdSyntaxErr, varIdUserEvent, varLiftPos, varMinTurnRad, varPtoSpeed, varSpeed, and varTurnAcc.

Referenced by UResSmrIfInit().

double UResSmrIf::doSmrDrive	(	const char *	cmd,
		int	repeat
	)

Issue a drive command (and wait until finished

References doUserEvent(), and USmrCl::sendString().

Referenced by methodCall().

double UResSmrIf::doUserEvent ( int repeat )

Issue a drive command (and wait until finished

References USmrCl::cmdLineUserEvent, driveUserEventID, UTime::getMicrosec(), UTime::getSec(), and sendUserEvent().

Referenced by doSmrDrive(), UResSmrCtl::methodCall(), and methodCall().

void UResSmrIf::eventGpsUpdate	(	UPoseTime	odoState,
		double	easting,
		double	northing,
		double	heading,
		double	quality,
		double	satellites,
		double	dop
	)

virtual

A new GPS position is received from MRC with these values. is called from smr interface when streaming is active only.

Parameters

heading may be from odo-gps kalman filter This requires that the MRC is connected to a gps, as for the HAKO.

Reimplemented from USmrCl.

References UResPoseHist::addIfNeeded(), ULogFile::getF(), UTime::getMicrosec(), UTime::getSec(), UPose::h, ULogFile::isOpen(), logGPS, logGPSuse, UTime::now(), ULogFile::openLog(), UPoseTVQ::q, ULogFile::setLogName(), UPoseTime::t, utmPose, UPoseTVQ::vel, UPose::x, and UPose::y.

void UResSmrIf::eventHakoVarUpdate	(	int	hakoManual,
		int	liftPos,
		int	ptoSpeed
	)

virtual

hako status variables are received

Reimplemented from USmrCl.

References UVariable::setValued(), varHakoManual, varLiftPos, and varPtoSpeed.

void UResSmrIf::eventInsUpdate	(	UPoseTime	odoState,
		double	accx,
		double	accy,
		double	accz,
		double	roll,
		double	tilt,
		double	pan,
		double	insTime
	)

virtual

A new INS data is received from MRC with these values. It is called if ins-time is updated.

Reimplemented from USmrCl.

References UTime::getMicrosec(), UTime::getSec(), logINS, and UTime::now().

void UResSmrIf::eventPoseUpdated ( bool streamSource )

virtual

A new pose state is available in the odoPose structure - update pose history

Reimplemented from USmrCl.

References UResPoseHist::addIfNeeded(), UPose::h, USmrCl::odoState, USmrOdoState::pose, poseHist, poseStreaming, UPoseTVQ::set(), UPoseTime::t, USmrOdoState::velocity, UPose::x, and UPose::y.

void UResSmrIf::eventWatchFired	(	const char *	name,
		double	atTime
	)

virtual

A watch event occured, update as needed.

Parameters

name	is the name of the watch fired
atTime	is the MRC time reported.

Reimplemented from USmrCl.

References UResVarPool::getLocalValue(), and UResVarPool::setLocalVar().

void UResSmrIf::flushMRCUserEvents ( )

protected

Flush all received but not yet tested user events

References events, and UMRCUserEvent::next.

Referenced by methodCall(), and ~UResSmrIf().

double UResSmrIf::getAcc ( )

Returns: desired acceleration

References UVariable::getValued(), and varAcc.

Referenced by UResSmrCtl::sendNewManoeuvreToSMR().

double UResSmrIf::getMinTurnRad ( )

Returns: desired minimum turn radius

References UVariable::getValued(), and varMinTurnRad.

Referenced by UResSmrCtl::sendNewManoeuvreToSMR().

static const char* UResSmrIf::getResClassID ( )

inlinestatic

Fixed name of this resource type

Referenced by UResSmrCtl::setResource().

double UResSmrIf::getSpeed ( )

Stop any running action, we are going down

Returns: desired speed

References UVariable::getValued(), and varSpeed.

Referenced by UResSmrCtl::sendNewManoeuvreToSMR().

double UResSmrIf::getTurnAcc ( )

Returns: desired maximum turn acceleration

References UVariable::getValued(), and varTurnAcc.

Referenced by UResSmrCtl::sendNewManoeuvreToSMR().

void UResSmrIf::gotUserEvent ( const char * eventString )

protectedvirtual

Is called by interface when a non-numeric userevent is received from MRC

Parameters

eventstring is the string returned by MRC after the keyword 'userevent' and stripped for whitespace.

Reimplemented from USmrCl.

References events, eventsLock, UMRCUserEvent::eventTime, UMRCUserEvent::id, ULock::lock(), UMRCUserEvent::next, UTime::now(), and ULock::unlock().

bool UResSmrIf::isInsLogOpen ( )

inline

is the INS logfile (ins.log) open

Returns: true if open

References UMRCUserEvent::eventTime.

bool UResSmrIf::isStreaming ( )

inline

Is pose updates received from MRC and transferred to poseHist?

Referenced by UFunctionSmrIf::handleSmr(), and UResSmrCtl::startPoseStreaming().

void UResSmrIf::lineStateUpdated ( )

protectedvirtual

This function is called when an ID-queued -started or finished is received

Reimplemented from USmrCl.

References USmrCl::cmdLineFinished, USmrCl::cmdLineQueued, USmrCl::cmdLineStarted, USmrCl::cmdLineSyntaxError, USmrCl::cmdLineUserEvent, UVariable::setValued(), varIdFinished, varIdQueued, varIdStarted, varIdSyntaxErr, and varIdUserEvent.

bool UResSmrIf::methodCall	(	const char *	name,
		const char *	paramOrder,
		char **	strings,
		const double *	pars,
		double *	value,
		UDataBase **	returnStruct = `NULL`,
		int *	returnStructCnt = `NULL`
	)

virtual

The varPool has methods, and a call to one of these are needed. Do the call now and return (a double sized) result in 'value' and

Returns: true if the method call is allowed.

Reimplemented from UResVarPool.

References doSmrDrive(), doUserEvent(), flushMRCUserEvents(), UTime::getDecSec(), roundi(), USmrCl::saveMrcLog(), sendAddWatch(), USmrCl::sendSMReval(), USmrCl::sendString(), sendUserEvent(), testEvent(), and USmrCl::verbose.

void UResSmrIf::openINSlog ( bool open )

opens or reopens the INS logfile. The logfile is intended to be used with data streamed from MRC, and especially when connected to HAKO tractor with cross-bow INS module.

References dataPath, logINS, and MAX_FILENAME_LENGTH.

Referenced by UFunctionSmrIf::handleSmr().

const char * UResSmrIf::print	(	const char *	preString,
		char *	buff,
		int	buffCnt
	)

virtual

print status to a string buffer

Reimplemented from UResVarPool.

References bool2str(), USmrCl::getPort(), and USmrCl::isConnected().

bool UResSmrIf::sendAddWatch	(	const char *	name,
		const char *	condition
	)

send command to MRC to create a new watch trap

Parameters

name	name of the watch - a local structure will be added with this name
condition	the condition on wich the watch should be fired (using MRC variables)

Returns: true if send.

References UResVarPool::getLocalValue(), USmrCl::sendString(), and UResVarPool::setLocalVar().

Referenced by methodCall().

int UResSmrIf::sendUserEvent	(	const char *	evPreString,
		int	evNumber
	)

Send a user event (with a new unique ID (increasing number from 101 and up).

Parameters

evPreString	This string is put in fromt of the ID number - if empty (""), then no string is added.
evNumber	This is the number (positive) put after the pre-string. if evNumber is negative, the autogenerated number is used (old type) -1 if not send (not connected or communication error).