UFuncView Class Reference

#include <ufuncview.h>

Inheritance diagram for UFuncView:

Public Member Functions
virtual bool	handleCommand (UServerInMsg *msg, void *extra)
void	run ()
	UFuncView ()
virtual	~UFuncView ()
Public Member Functions inherited from UFuncPlugBase
	UFuncPlugBase ()
virtual	~UFuncPlugBase ()
Public Member Functions inherited from UFunctionBase
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)
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 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	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 ()

Protected Member Functions
void	createBaseVar ()
virtual bool	methodCall (const char *name, const char *paramOrder, char **strings, const double *pars, double *value, UDataBase **returnStruct, int *returnStructCnt)
void	paintBold (bool bold)
void	setRangeRingCnt (int value)
bool	setResource (UResBase *resource, bool remove)
void	setRobot (const char *robname)
void	setRobotPose (char *value)
bool	start ()
void	stop (bool andWait)
Protected Member Functions inherited from UFunctionBase
int	getCmdIndex ()
UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...
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
ULock	dispSync
bool	globalNavRedisplay
UImagePool *	imgPool
UNavView	navPaint
bool	newDataImgPool
UTime	newDataImgPoolAt
bool	newDataLaser
UTime	newDataLaserAt
bool	newDataNav
UTime	newDataNavAt
UResPoseHist *	poseHist
UResPoseHist *	poseMap
UResPoseHist *	poseUtm
bool	resetView
int	updListCnt
UVariable *	varAutoHereNow
	should coordinate systems be alligned at robot always More...
UVariable *	varAutoPanView
	pan automatically [0]=1 active, [1]=pan angle (degrees), [2]=deg/sec More...
UVariable *	varBold
	paint bold More...
UVariable *	varFollowRobot
	try to make view follow robot More...
UVariable *	varPCLspinTime
	PCL viewer spin time value [1..100] approximately in ms - if available CPU power. More...
UVariable *	varRangeRings
	number of range rings to paint (each 1m) More...
UVariable *	varResetView
	reset to default view camera position More...
UVariable *	varResetViewFocus
	Default focus position (when reset) More...
UVariable *	varResetViewPos
	Default position of view camera. More...
UResVarPool *	varRoot
UVariable *	varRunning
pcl::visualization::PCLVisualizer *	viewer
Protected Attributes inherited from UFunctionBase
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

Static Protected Attributes
static const int	UPD_LIST_MAX_CNT = 100
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...

Private Attributes
bool	saveAsPng
char	saveAsPngName [MAX_FILENAME_SIZE]
pthread_t	threadHandle
bool	threadRunning
	thread runnung flag More...
bool	threadStop
	stop thread flag More...
UVariable *	varPoolImg
	pointer to limiting red values redMin, redMax, greenMin, greenMax More...

Additional Inherited Members
Static Public Member Functions inherited from UResVarPool
static const char *	getResClassID ()
Public Attributes inherited from UFunctionBase
bool	silent
	is reply to client and console to be limited More...
Public Attributes inherited from UReplay
bool	replayTimeAdvancePending
UTime	replayTimeNow
Static Public Attributes inherited from UFunctionBase
static const int	MAX_ID_LENGTH = 30
static const int	MAX_RESOURCE_LIST_SIZE = 250

Detailed Description

3D viewer - from PCL library

Author

Christian Andersen

Constructor & Destructor Documentation

UFuncView::UFuncView ( )

inline

Constructor

References createBaseVar(), handleCommand(), methodCall(), UFunctionBase::msg, UFunctionBase::name(), run(), UFunctionBase::setCommand(), setResource(), start(), stop(), and ~UFuncView().

Referenced by setRobot().

UFuncView::~UFuncView ( )

virtual

Destructor - to delete the resource (etc) when finished

Referenced by UFuncView().

Member Function Documentation

void UFuncView::createBaseVar ( )

protected

Make the variables that will be available to other plugins

References UResVarPool::addMethod(), UResVarPool::addVar(), UResVarPool::addVarA(), varAutoHereNow, varAutoPanView, varBold, varFollowRobot, varPCLspinTime, varRangeRings, varResetView, varResetViewFocus, varResetViewPos, and varRunning.

Referenced by UFuncView().

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

virtual

Handle incomming command Must return true if the function is handled - otherwise the client will get a 'failed' reply

Reimplemented from UFunctionBase.

References bool2str(), UNavView::followRobot, UTime::getForFilename(), USmlTagIn::getNextAttribute(), USmlTagIn::getTagStart(), globalNavRedisplay, imagePath, MAX_FILENAME_SIZE, MAX_SML_NAME_LENGTH, UNavView::maxStrLng, navPaint, UTime::now(), paintBold(), UNavView::paintCam, UNavView::paintCurves, UNavView::paintGmk, UNavView::paintGridOdo, UNavView::paintGridSize, UNavView::paintIntervalLines, UNavView::paintMapPose, UNavView::paintObstCnt, UNavView::paintOdoPose, UNavView::paintPathLinesCnt, UNavView::paintPathMidPoses, UNavView::paintPcpHide, UNavView::paintPcpShow, UNavView::paintPoly, UNavView::paintPolyHide, UNavView::paintPolyNameCnt, UNavView::paintPolyShow, UNavView::paintPoseHistCnt, UNavView::paintPoseHistVecCnt, UNavView::paintPoseHistVecLng, UNavView::paintPoseRef, UNavView::paintRoadAll, UNavView::paintRoadHistCnt, UNavView::paintScanHistCnt, UNavView::paintUtmPose, UNavView::paintVar, UNavView::paintVarAdd(), UNavView::paintVisPolyCnt, resetView, saveAsPng, saveAsPngName, UFunctionBase::sendInfo(), UFunctionBase::sendMsg(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), setRangeRingCnt(), UNavView::setRefSystemsHere(), setRobot(), UVariable::setValued(), str2bool2(), UServerInMsg::tag, and varAutoHereNow.

Referenced by UFuncView().

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

protectedvirtual

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 return true if the method call is allowed.

Reimplemented from UResVarPool.

References newDataLaser, newDataLaserAt, newDataNav, newDataNavAt, and UTime::Now().

Referenced by UFuncView().

void UFuncView::paintBold ( bool  bold )

protected

Set the paint bold flag

Parameters

bold	true or false

References navPaint, UNavView::paintBold, UVariable::setValued(), and varBold.

Referenced by handleCommand().

void UFuncView::run

(

)

Create viewer thread that updated the view

References deg2rad, dispSync, UNavView::followRobot, UVariable::get3D(), UVariable::getBool(), UVariable::getDouble(), UVariable::getInt(), UTime::getTimePassed(), globalNavRedisplay, limitToPi(), ULock::lock(), UNavView::moveViewPose(), navPaint, newDataLaser, newDataLaserAt, newDataNav, newDataNavAt, UTime::now(), UNavView::paint(), UNavView::rangeRingCnt, resetView, saveAsPng, saveAsPngName, UVariable::setBool(), UNavView::setRefSystemsHere(), UNavView::setViewer(), threadRunning, threadStop, ULock::unlock(), varAutoHereNow, varAutoPanView, varFollowRobot, varPCLspinTime, varRangeRings, varResetView, varResetViewFocus, varResetViewPos, viewer, Wait(), UPosition::x, UPosition::y, and UPosition::z.

Referenced by startUFuncViewThread(), and UFuncView().

void UFuncView::setRangeRingCnt ( int  value )

protected

Set number of range rings

References navPaint, UNavView::rangeRingCnt, UVariable::setValued(), and varRangeRings.

Referenced by handleCommand().

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

protectedvirtual

Set ressource as needed (probably not used by this resource)

Reimplemented from UFunctionBase.

References UResPoseHist::getMapPoseID(), UResPoseHist::getOdoPoseID(), UImagePool::getResClassID(), UResBase::getResID(), UResPoseHist::getUtmPoseID(), imgPool, UResBase::isA(), navPaint, poseHist, poseMap, poseUtm, UFunctionBase::setResource(), UNavView::setResource(), and varRoot.

Referenced by UFuncView().

void UFuncView::setRobot ( const char *  robname )

protected

Set robot type.

Parameters

robname

is the type name of the robot - smr, mmr or hako

References createFunc(), navPaint, UNavView::paintRobot, UVariable::setValued(), UFuncView(), and varRangeRings.

Referenced by handleCommand().

void UFuncView::setRobotPose ( char *  value )

protected

Set position of robot on display - in meters from bottom position

Parameters

value

is a string with pose values as a string, p.t. the first cvalue is used only.

References UPose::h, navPaint, UNavView::robotPose, UPose::x, and UPose::y.

bool UFuncView::start ( )

protected

Start viewer thread

References startUFuncViewThread(), threadHandle, threadRunning, and threadStop.

Referenced by UFuncView().

void UFuncView::stop ( bool  andWait )

protectedvirtual

Stop viewer thread

Reimplemented from UResBase.

References threadHandle, threadRunning, and threadStop.

Referenced by UFuncView().

Member Data Documentation

ULock UFuncView::dispSync

protected

Display sync lock

Referenced by run().

bool UFuncView::globalNavRedisplay

protected

Flag for changing scale on nav display

Referenced by handleCommand(), and run().

UImagePool* UFuncView::imgPool

protected

Pointer to image pool resource

Referenced by setResource().

UNavView UFuncView::navPaint

protected

Painter for navigation image

Referenced by handleCommand(), paintBold(), run(), setRangeRingCnt(), setResource(), setRobot(), and setRobotPose().

bool UFuncView::newDataImgPool

protected

New data received to image pool

UTime UFuncView::newDataImgPoolAt

protected

Time of newest data update of image in image pool

bool UFuncView::newDataLaser

protected

New data received - laser data

Referenced by methodCall(), and run().

UTime UFuncView::newDataLaserAt

protected

Time of newest data update of data for laser plane display

Referenced by methodCall(), and run().

bool UFuncView::newDataNav

protected

New data received - navigation data

Referenced by methodCall(), and run().

UTime UFuncView::newDataNavAt

protected

Time of newest data update of data for laser plane display

Referenced by methodCall(), and run().

UResPoseHist* UFuncView::poseHist

protected

Pointer to a pose history module with current robot position

Referenced by setResource().

UResPoseHist* UFuncView::poseMap

protected

Pointer to a pose history module with current robot position in map coordinates

Referenced by setResource().

UResPoseHist* UFuncView::poseUtm

protected

Pointer to a pose history module with current robot position in GPS (UTM) coordinates

Referenced by setResource().

bool UFuncView::resetView

protected

Reset view - look at the robot from behind

Referenced by handleCommand(), and run().

bool UFuncView::saveAsPng

private

save viewed image as png-file if true

Referenced by handleCommand(), and run().

char UFuncView::saveAsPngName[MAX_FILENAME_SIZE]

private

save as PNG file using this name

Referenced by handleCommand(), and run().

pthread_t UFuncView::threadHandle

private

Thread handle for frame read thread.

Referenced by start(), and stop().

bool UFuncView::threadRunning

private

thread runnung flag

Referenced by run(), start(), and stop().

bool UFuncView::threadStop

private

stop thread flag

Referenced by run(), start(), and stop().

const int UFuncView::UPD_LIST_MAX_CNT = 100

staticprotected

allowed number of highgui displayed images

int UFuncView::updListCnt

protected

Number of used entries in the image update list

UVariable* UFuncView::varAutoHereNow

protected

should coordinate systems be alligned at robot always

Referenced by createBaseVar(), handleCommand(), and run().

UVariable* UFuncView::varAutoPanView

protected

pan automatically [0]=1 active, [1]=pan angle (degrees), [2]=deg/sec

Referenced by createBaseVar(), and run().

UVariable* UFuncView::varBold

protected

paint bold

Referenced by createBaseVar(), and paintBold().

UVariable* UFuncView::varFollowRobot

protected

try to make view follow robot

Referenced by createBaseVar(), and run().

UVariable* UFuncView::varPCLspinTime

protected

PCL viewer spin time value [1..100] approximately in ms - if available CPU power.

Referenced by createBaseVar(), and run().

UVariable* UFuncView::varPoolImg

private

pointer to limiting red values redMin, redMax, greenMin, greenMax

UVariable* UFuncView::varRangeRings

protected

number of range rings to paint (each 1m)

Referenced by createBaseVar(), run(), setRangeRingCnt(), and setRobot().

UVariable* UFuncView::varResetView

protected

reset to default view camera position

Referenced by createBaseVar(), and run().

UVariable* UFuncView::varResetViewFocus

protected

Default focus position (when reset)

Referenced by createBaseVar(), and run().

UVariable* UFuncView::varResetViewPos

protected

Default position of view camera.

Referenced by createBaseVar(), and run().

UResVarPool* UFuncView::varRoot

protected

Pointer to a (root) var-pool with access to all sub-structures

Referenced by setResource().

UVariable* UFuncView::varRunning

protected

Index to variable with thread running value

Referenced by createBaseVar().

pcl::visualization::PCLVisualizer* UFuncView::viewer

protected

The viewer

Referenced by run().

---

The documentation for this class was generated from the following files:

• ufuncview.h
• ufuncview.cpp