#include <uresv360.h>

Inheritance diagram for UResV360:

Public Member Functions
virtual void	callGotNewDataWithObject ()

int	getDefDevice ()

UPose	getLaserPose ()

ULaserDevice *	getLastDevice ()

int	getMeasurementCnt ()

bool	getNewestData (ULaserData *laserData, int last, int fake)

int	getSectorCnt ()

bool	gotAllResources (char *missingThese, int missingTheseCnt)

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

int	setDefDevice (const char *devString)

void	setLaserPose (UPose newLaserPose)

bool	setResource (UResBase *resource, bool remove)

bool	update (ULaserData laserData, ULaserDevice laserDevice, int fake)

	UResV360 ()

	~UResV360 ()

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)

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 UServerPush
int	addPushCommand (UServerInMsg *msg)

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
void	createBaseVar ()

bool	getSourceData (ULaserData *laserData, int last, int fake)

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
int	defDevice

int	fakeTargetState

ULaserDevice *	lasDev

ULaserPool *	lasPool

UResPoseHist *	poseHist

ULaserData	pushData

ULaserData	sourceData

UV360Scan *	v360

struct {
UVariable * lastSerial
	last scan number used to update More...

UVariable * notValidArea
	area where self-detect should be suppressed. More...

UVariable * resolution
	virtual scan resolution (in degrees) More...

UVariable * updateCnt
	number of updates of virtual scanner More...

UVariable * updateTime
	timestamp of last update More...

}	var
	pointers to local variables in the global variables database More...

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

Additional Inherited Members
Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

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

Ressource for virtual laserscanner with 360 deg coverage

Author: Christian Andersen

Constructor & Destructor Documentation

UResV360::UResV360 ( )

inline

Constructor

References createBaseVar(), defDevice, fakeTargetState, getResClassID(), lasDev, lasPool, poseHist, UResBase::setResID(), v360, and ~UResV360().

UResV360::~UResV360 ( )

Destructor

References v360.

Referenced by UResV360().

Member Function Documentation

void UResV360::callGotNewDataWithObject ( )

virtual

Called by cmdExe to get push object followed by a call to 'gotNewData(object)'. Should be overwritten by push object holder.

Reimplemented from UServerPush.

References ULaserData::getDeviceNum(), UV360Scan::getScan(), UServerPush::gotNewData(), ULock::lock(), pushData, ULaserData::setDeviceNum(), sourceData, ULock::unlock(), and v360.

Referenced by getLastDevice().

void UResV360::createBaseVar ( )

protected

Make the variables that will be available to other plugins

References UResVarPool::addVar(), and var.

Referenced by getLastDevice(), and UResV360().

int UResV360::getDefDevice ( )

inline

GEt the default device number for laser scanner source

References defDevice.

Referenced by UFuncV360::handleV360Command().

UPose UResV360::getLaserPose ( )

Get current setting of laser scanner position on robot

References UV360Scan::getLaserPose(), and v360.

Referenced by getResClassID(), and UFuncV360::handleV360Command().

ULaserDevice* UResV360::getLastDevice ( )

inline

Get the last used device for laser scanner source

References callGotNewDataWithObject(), createBaseVar(), getSourceData(), lasDev, and setDefDevice().

Referenced by ULaserPool::getScan().

int UResV360::getMeasurementCnt ( )

inline

Get number of stored measurements in a scan

References UV360Scan::getSectorCnt(), ULock::lock(), ULock::unlock(), update(), and v360.

bool UResV360::getNewestData	(	ULaserData *	laserData,
		int	last,
		int	fake
	)

Get newest virtual scan with a source serial number grater than 'last'

Parameters

laserData	is where the result is to be placed.
last	is the scannumber of the last scan, newest scannumber has to be bigger that this,
fake	if > 0 then scan is generated from fake source.

Returns: true if a v360 scan is available

References UV360Scan::getScan(), UV360Scan::getScanSerial(), gotAllResources(), ULock::lock(), ULock::unlock(), update(), and v360.

Referenced by getResClassID(), UFuncLaserBase::getScan(), ULaserPool::getScan(), and UFunctionLaser::handleScanGetCommand().

static const char* UResV360::getResClassID ( )

inlinestatic

Fixed name of this resource type

References getLaserPose(), getNewestData(), gotAllResources(), print(), setLaserPose(), and setResource().

Referenced by UFunctionLaser::setResource(), and UResV360().

int UResV360::getSectorCnt ( )

inline

Get number of sectors each scan

References UV360Scan::getSectorCnt(), and v360.

bool UResV360::getSourceData	(	ULaserData *	laserData,
		int	last,
		int	fake
	)

protected

Get fresh source from default device. The data serial number must be newer than 'last' to avoid reuse of same dataset. Data is returned into the user provided buffer 'laserData'. The function returns true if data is in buffer (and is valid).

References defDevice, ULaserPool::getDefDevice(), ULaserPool::getDevice(), ULaserDevice::getNewestData(), lasPool, and sourceData.

Referenced by getLastDevice().

bool UResV360::gotAllResources	(	char *	missingThese,
		int	missingTheseCnt
	)

virtual

Checks if needed ressources are available

Reimplemented from UResVarPool.

References UResPoseHist::getOdoPoseID(), ULaserPool::getResClassID(), lasPool, and poseHist.

Referenced by getNewestData(), getResClassID(), and update().

const char * UResV360::print	(	const char *	preString,
		char *	buff,
		int	buffCnt
	)

virtual

Print status to string preceding the string with this 'preString'. The target string is 'buff' with a maximum length of 'buffCnt'.

Reimplemented from UResVarPool.

References UV360Scan::getCurrentPose(), UV360Scan::getMeasurementCnt(), UResBase::getResID(), UV360Scan::getScanSerial(), UV360Scan::getSectorCnt(), UPose::h, v360, UPose::x, and UPose::y.

Referenced by getResClassID().

int UResV360::setDefDevice ( const char * devString )

Set the default device number for laser scanner source

References defDevice, ULaserPool::getDevice(), ULaserDevice::getDeviceNum(), and lasPool.

Referenced by getLastDevice(), and UFuncV360::handleV360Command().

void UResV360::setLaserPose ( UPose newLaserPose )

Set current setting of laser scanner position on robot

References UV360Scan::setLaserPose(), and v360.

Referenced by getResClassID(), and UFuncV360::handleV360Command().

bool UResV360::setResource	(	UResBase *	resource,
		bool	remove
	)

virtual

Set Resource is called by the core on change of ressource configuration (added or removed). The function should return true if ressource is used (the link is used)

Reimplemented from UResVarPool.

References UResPoseHist::getOdoPoseID(), ULaserPool::getResClassID(), UResBase::isA(), lasPool, ULock::lock(), poseHist, UServerPush::setResource(), and ULock::unlock().

Referenced by getResClassID().

bool UResV360::update	(	ULaserData *	laserData,
		ULaserDevice *	laserDevice,
		int	fake
	)

Update the virtual laserscan with this laserdata, or get a new from this device

Parameters

laserData	is a pointer to scandata - NULL if new data is to be obtained
laserDevice	is a pointer to the laserdevice, from where to obtain data, NULL will use default device (may not be V360).
fake	is a fake number - if > 0, then this is used to obtain data.