#include <urule.h>

Inheritance diagram for UMisRule:

Public Member Functions
void	addIniLine (UMisItem *newLine)

void	addMainLine (UMisItem *newLine)

void	addPostLine (UMisItem *newLine)

virtual const char *	getDataType ()

const char *	getFileName ()

UMisItem *	getIniLines ()

int	getIniLinesCnt ()

UMisItem *	getMainLines ()

int	getMainLinesCnt ()

const char *	getName ()

UMisItem *	getPostLines ()

int	getPostLinesCnt ()

virtual bool	isEdit ()

virtual const char *	print (const char preStr, char buf, const int bufCnt)

virtual int	setBusyCnt (int delta)

void	setCalc (UVarCalc *calculator)

void	setLogFile (ULogFile *logFile)

void	setName (const char *toName)

	UMisRule ()

bool	unpackRule (USmlSource cnn, USmlTag tag)

virtual	~UMisRule ()

Public Member Functions inherited from UMisItem
virtual ResultValue	execute (UVarCalc *calc, int state)

const char *	findStopChar (const char *source, char stop)

int	getLineNumber ()

bool	isA (const char *matchType)

virtual bool	setLine (const int lineNum, const char value, UVarCalc calc)

void	setLineNumber (const int line)

	UMisItem ()

virtual	~UMisItem ()

Public Member Functions inherited from UDataBase
bool	isA (const char *typeString)

virtual bool	isAlsoA (const char *typeString)

virtual void	snprint (const char preString, char buff, const int buffCnt)

	UDataBase ()

virtual	~UDataBase ()

Public Attributes
char *	condition

string	dependPlugin

string	description

char *	destination

bool	isFull

bool	isLoop

bool	isRule

bool	isRun

bool	isSwitch

bool	isTop

ULogFile *	logm

int	order
	Priority order of this plan - relative to other (sub) plans. This value controls in wich order the list of (sub) plans are assigned processing time, i.e. if a number of sub-plans evaluate some value - e.g. the robot pose - then thise can be assigned to be evaluated before another subplan, that combines or selects the usable results from the others. A priority with a low number is executed first. The value range is 1..100, where 1 is executed before the others. if two plans have the same priority order, then the order is un-determined. Default value is 50. More...

char *	parameters

int	parametersCnt

int	switchValue

Public Attributes inherited from UMisItem
UMisItem *	next

Protected Types
enum	MisPart { MP_INIT, MP_MAIN, MP_POST }

Protected Member Functions
void	addLine (UMisItem elemList, UMisItem newLine)

virtual bool	checkSyntax (USmlSource *cnn)

virtual const char *	getEditLines ()

int	getLinesCnt (UMisItem *fromLine)

int	trimWhiteSpace (char *s)

bool	unpackBlock (USmlSource cnn, USmlTag tag, UMisItem **itemList)

bool	unpackInitPostBlock (USmlSource cnn, USmlTag tag, UMisItem **itemList, MisPart iniBlock)

bool	unpackLine (USmlSource cnn, char line, UMisItem **itemNext, int lineNum, MisPart iniBlock)

bool	unpackSequence (USmlSource cnn, char lines, UMisItem **itemList, int lineNum, MisPart iniBlock=MP_MAIN)

Protected Member Functions inherited from UMisItem
int	symbolLength (const char *exp)

Protected Attributes
UVarCalc *	calc

char	fileName [MAX_FILENAME_LENGTH]

bool	inEditAppend

UMisItem *	iniLines

UMisItem *	mainLines

char	name [MAX_VAR_NAME_SIZE]

UMisItem *	postLines

Protected Attributes inherited from UMisItem
int	lineNumber

Additional Inherited Members
Public Types inherited from UMisItem
enum	ResultValue { RV_EMPTY, RV_OK, RV_OK_FALSE, RV_OK_AGAIN, RV_SYNTAX_ERROR, RV_FAILED, RV_IF_TRUE, RV_IF_FALSE }

Static Public Member Functions inherited from UMisItem
static bool	isRem (const char *r)

Detailed Description

Class that holds the base for a mission or a mission segment

Member Enumeration Documentation

enum UMisRule::MisPart

protected

Possible return values of an evaluation

Enumerator
MP_INIT
MP_MAIN
MP_POST

Constructor & Destructor Documentation

UMisRule::UMisRule ( )

Constructor

UMisRule::~UMisRule ( )

virtual

DEstructor

Member Function Documentation

void UMisRule::addIniLine ( UMisItem * newLine )

inline

Add a line to the ini-segment

void UMisRule::addLine	(	UMisItem *	elemList,
		UMisItem *	newLine
	)

protected

Add a line to this segment

References UMisItem::next.

void UMisRule::addMainLine ( UMisItem * newLine )

inline

Add a line to the ini-segment

void UMisRule::addPostLine ( UMisItem * newLine )

inline

Add a line to the ini-segment

bool UMisRule::checkSyntax ( USmlSource * cnn )

protectedvirtual

Check the syntax validity of the block statement (not the lines in the block).

Parameters

cnn	is a pointer to the source - may be NULL if the source is unavailable

Returns: true if no errors were found.

References UMisItem::symbolLength(), and USmlSource::syntaxError().

virtual const char* UMisRule::getDataType ( )

inlinevirtual

Get (end) type of this structure

Reimplemented from UMisItem.

virtual const char* UMisRule::getEditLines ( )

inlineprotectedvirtual

Get the edit lines (un-implemented parts of a plan)

Returns: NULL if no edit lines are available.

Reimplemented in UMisLoadedRule.

const char* UMisRule::getFileName ( )

inline

Get plan name

Returns: a pointer to the filename string

References buf.

Referenced by UMisRuleState::getStateStr(), and UFuncRule::listMission().

UMisItem* UMisRule::getIniLines ( )

inline

Get the first ini-line

Returns: NULL is no init lines are defined.

Referenced by UMisRuleState::step().

int UMisRule::getIniLinesCnt ( )

inline

Get number of ini-lines returns number of ini-lines

int UMisRule::getLinesCnt ( UMisItem * fromLine )

protected

Count number of (remaining lines fstarting at this line

References UMisItem::next.

UMisItem* UMisRule::getMainLines ( )

inline

Get the first main-line

Returns: NULL is no init lines are defined.

Referenced by UMisRuleState::getStateStr(), and UMisRuleState::step().

int UMisRule::getMainLinesCnt ( )

inline

Get number of main-lines returns number of main-lines

const char* UMisRule::getName ( )

inline

Get plan name

Returns: a pointer to the name attribute

Referenced by UResRuleState::addRule(), UMisRuleState::getCaller(), UResRule::getRule(), UMisRuleState::getStateStr(), UMisRuleState::getSubRule(), UMisRuleState::getSubRuleState(), UFuncRule::listAllMissions(), UMisRuleState::methodCallV(), UMisRuleState::remove(), UMisRuleState::runBreak(), UMisRuleState::runCall(), UMisRuleState::runControl(), UMisRuleState::setParameters(), UMisRuleState::setRule(), and UFuncRule::unloadRule().

UMisItem* UMisRule::getPostLines ( )

inline

Get the first post-line

Returns: NULL is no init lines are defined.

Referenced by UMisRuleState::step().

int UMisRule::getPostLinesCnt ( )

inline

Get number of post-lines returns number of post-lines

virtual bool UMisRule::isEdit ( )

inlinevirtual

Is this plan in editing mode - i.e. append is allowed

Returns: true if plan is marked as under edit, i.e. not runable and not active

Reimplemented in UMisLoadedRule.

const char * UMisRule::print	(	const char *	preStr,
		char *	buf,
		const int	bufCnt
	)

virtual

Print mission plan to buffer

Parameters

preStr	a string to add before the plan lines
buf	a string buffer to hold the plan
bufCnt	the size of the buffer

Reimplemented from UMisItem.

References buf, UMisItem::isA(), UMisItem::next, UMisItem::print(), str2xml(), and str2xmlMin().

Referenced by UResRule::getRuleList(), UFuncRule::listAllMissions(), and UResRule::UResRule().

virtual int UMisRule::setBusyCnt ( int delta )

inlinevirtual

Adjust the number of times this plan is beeing used by the sequencer - add 1 every time it is used in a plan state and remove one when plan state is released

Returns: 0 busy is not implemented at this level.

Reimplemented in UMisLoadedRule.

Referenced by UMisRuleState::initCall(), UMisRuleState::remove(), UMisRuleState::runCall(), and UMisRuleState::runControl().

void UMisRule::setCalc ( UVarCalc * calculator )

inline

set syntax check var pool calculator

Referenced by UMisLoadedRule::completeEdit(), UMisLoadedRule::unpack(), and unpackBlock().

void UMisRule::setLogFile ( ULogFile * logFile )

inline

Set logfile

Referenced by UResRule::completeEdit(), unpackBlock(), and UResRule::unpackMissionRule().

void UMisRule::setName ( const char * toName )

inline

Set just name pf plan

References MAX_VAR_NAME_SIZE.

Referenced by UResRule::addNewRule().

int UMisRule::trimWhiteSpace ( char * s )

protected

TRim off all pre and post white space and line feeds

Parameters

s	c-string to trim

Returns: length of trimmed string

bool UMisRule::unpackBlock	(	USmlSource *	cnn,
		USmlTag *	tag,
		UMisItem **	itemList
	)

protected

Unpack a block structure - either a command or an block (if, loop or otherwise) This is the same as a plan, but without the init and post structures.

Parameters

cnn	is the source for more data (the XML file)
tag	is the block start tag
itemList	is the position of the pointer, where the block is to be added

Returns: true

References setCalc(), setLogFile(), and unpackRule().

bool UMisRule::unpackInitPostBlock	(	USmlSource *	cnn,
		USmlTag *	tag,
		UMisItem **	itemList,
		MisPart	iniBlock
	)

protected

Unpacks a sequence of statements until the end-tag is discovered. The statements are added to the pointer in the item list.

Parameters

cnn	is the source for more data (the XML file)
tag	is the block start tag
itemList	is the position of the pointer, where the block is to be added
iniBlock	flag for specific block part 0=main, 1=ini, 2=post

Returns: true

References USmlSource::getLineNumber(), USmlSource::getNextTag(), USmlTagIn::getTagName(), USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), UMisItem::next, USmlSource::skipToEndTag(), USmlSource::syntaxError(), and xml2str().

bool UMisRule::unpackLine	(	USmlSource *	cnn,
		char *	line,
		UMisItem **	itemNext,
		int	lineNum,
		MisPart	iniBlock
	)

protected

Unpack a text line to any of the allowed line types, that is if, call, remark, control or assignment.

Parameters

line	the line to unpack
itemNext	the pointer that should point to the new line
iniBlock	flag for specific block part 0=main, 1=ini, 2=post

Returns: true if a line is added, otherwise syntax error

References UMisItem::findStopChar(), UMisItem::setLine(), UMisItem::symbolLength(), and USmlSource::syntaxError().

bool UMisRule::unpackRule	(	USmlSource *	cnn,
		USmlTag *	tag
	)

bool UMisRule::unpackSequence	(	USmlSource *	cnn,
		char *	lines,
		UMisItem **	itemList,
		int	lineNum,
		MisPart	iniBlock = `MP_MAIN`
	)

protected

Unpacks a sequence of statements until the end-tag is discovered. The statements are added to the pointer in the item list.

Parameters

cnn	is the source for more data (the XML file)
lines	text buffer with line separated expressions
itemList	is the position of the pointer, where the block is to be added
iniBlock	flag for specific block part 0=main (default), 1=ini, 2=post

Returns: true

References UMisItem::next.

Member Data Documentation

UVarCalc* UMisRule::calc

protected

Syntax check calculator

char* UMisRule::condition

Condition string at start of block Must be evaluated to true to execute block

Referenced by UMisRuleState::getStateStr(), UMisRuleState::methodCall(), and UMisRuleState::step().

string UMisRule::dependPlugin

Dependency, this is a list of plugin dependecies - a space separated list of plug-in modules that need to be present for this mission to succeed. If some of the listed plug-ins are optional, there should be a note in the description, so that the user may select to start the mission anyhow. The list is therefore not enforced as mandatory, but a tool for the user.

string UMisRule::description

Description string

char* UMisRule::destination

destination if the block is to be implemented by another command enterpreter. This could be 'server.send' or 'smr.send'

Referenced by UMisRuleState::runRuleCommands(), and UMisRuleState::step().

char UMisRule::fileName[MAX_FILENAME_LENGTH]

protected

filename

Referenced by UResRule::getSyntaxErrorString().

bool UMisRule::inEditAppend

protected

is the current plan in edit-append mode. this will affect the handling of xml blocks to allow end of (file) with no XML end tag.

Referenced by UMisLoadedRule::completeEdit().

UMisItem* UMisRule::iniLines

protected

First ini-line

bool UMisRule::isFull

Is this a full rule or just a block (isPlan == false) - only full rules have init and post structures

Referenced by UResRule::addNewRule(), UMisRuleState::runBreak(), UMisRuleState::runMainLines(), and UMisRuleState::step().

bool UMisRule::isLoop

Is this block a loop

bool UMisRule::isRule

Is this plan a rule - has an if attrubute

Referenced by UMisRuleState::addRule(), UFuncRule::listAllMissions(), and UMisRuleState::runEnable().

bool UMisRule::isRun

Is this plan a flagged to run when loaded

Referenced by UMisRuleState::addRule(), and UFuncRule::listAllMissions().

bool UMisRule::isSwitch

It this block part of a switch statement

Referenced by UMisRuleState::runBreak(), UMisRuleState::runSwitch(), and UMisRuleState::step().

bool UMisRule::isTop

Is this plan a top level executable mission

Referenced by UResRule::addNewRule(), UMisRuleState::runBreak(), and UResRule::unpackMissionRule().

ULogFile* UMisRule::logm

Logfile for any mission load statements

UMisItem* UMisRule::mainLines

protected

First main-line

char UMisRule::name[MAX_VAR_NAME_SIZE]

protected

Name of rule or block

Referenced by UResRule::getRule(), UResRule::tryUnloadRule(), and UResRule::UResRule().

int UMisRule::order

Priority order of this plan - relative to other (sub) plans. This value controls in wich order the list of (sub) plans are assigned processing time, i.e. if a number of sub-plans evaluate some value - e.g. the robot pose - then thise can be assigned to be evaluated before another subplan, that combines or selects the usable results from the others. A priority with a low number is executed first. The value range is 1..100, where 1 is executed before the others. if two plans have the same priority order, then the order is un-determined. Default value is 50.

Referenced by UMisRuleState::runMainLines().

char* UMisRule::parameters

Parameter string to be implemented at start of block Could be 'x=1 y=2 th=0.57' these should be created on varpool with these default values.

Referenced by UMisRuleState::createParameterVar(), and UMisRuleState::setRule().

int UMisRule::parametersCnt

number of parameters found in plan

Referenced by UMisRuleState::createParameterVar(), UMisRuleState::initCall(), and UMisRuleState::setParameters().

UMisItem* UMisRule::postLines

protected

First post-line

int UMisRule::switchValue

The switch value