#include <urespcp.h>

Inheritance diagram for UResPcp:

Public Member Functions
UPcpItem *	add (const char *name)

UPcpItem *	add (const char *name, const double x, const double y, const double z=0.0)

UPcpItem *	add (const char *name, UPcpItem::POINT_CLOUD_TYPE type)

bool	codePcpXml (const char tagName, char buf, const int bufCnt, int idx)

virtual const char *	commandList ()

UPcpItem *	copy (pcl::PointCloud< pcl::PointXYZ > source, const char name)

UPcpItem *	copy (pcl::PointCloud< pcl::PointXYZRGB > source, const char name)

virtual void	createResources ()

bool	del (const char *name)

UPcpItem *	getItem (const char *name)

UPcpItem *	getItem (int idx)

UPcpItem *	getItemXYZ (const char *name)

const char *	getList (const char preStr, char buff, const int buffCnt)

UPcpItem *	getNext (int p1, int p2, const char name)

int	getPolysCnt ()

void	gotNewData ()

virtual void	handleNewData (USmlTag tag, const char ifname)

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

virtual bool	methodCallV (const char name, const char paramOrder, UVariable params[], UDataBase returnStruct=NULL, int returnStructCnt=NULL)

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

bool	savePCD (const char idName, const char filename)

	UResPcp ()

void	UResPcpInit ()

virtual	~UResPcp ()

Public Member Functions inherited from UResIfBase
	UResIfBase ()

	~UResIfBase ()

Public Member Functions inherited from UClientFuncBase
virtual void	changedNamespace (const char *newNamespace)

virtual void	doTimeTick ()

int	getMsgCnt ()

bool	getVerbose ()

virtual const char *	name ()

bool	sendMsg (UClientPortSml cnn, const char buff, int buffCnt)

bool	sendMsg (UClientPortSml cnn, const char buff)

void	setVerbose (bool value)

	UClientFuncBase ()

virtual	~UClientFuncBase ()

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)

virtual bool	setResource (UResBase *resource, bool remove)

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	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	~UVarMethodImplement ()

Public Member Functions inherited from ULogFile
void	closeLog ()

void	doFlush ()

FILE *	getF ()

const char *	getLogFileName ()

const char *	getLogName ()

bool	isLogOpen ()

bool	isOpen ()

void	logLock ()

bool	logRename (const char *name)

void	logUnlock ()

bool	openLog ()

bool	openLog (bool doOpen)

bool	openLog (const char *resName)

void	setLogFlush (bool doFlush)

void	setLogName (const char resName, const char ext="log")

void	setLogNameNumber (int number)
	add a number to the logfile name, That is if the logName is 'svs' and number is 2 (and logPath is '/rhome/demo'), then logfilename is set to '/rhome/demo/svs_2.log'. The purpose is to have an alternative, if the file renaming fails (if the file system is locked or something). More...

void	setLogTime (UTime timestamp)

void	toLog (const char *logString)

void	toLog (const char s1, const char s2)

void	toLog (const int num, const char s1, const char s2)

void	toLog (const char s1, const int num, const char s2)

void	toLog (const char s1, const int n1, const int n2, const char s2)

void	toLog (const char s1, const int num, const char s2, const char *s3)

void	toLog (const char s1, const int n1, const int n2, const char s2, const char *s3)

	ULogFile ()

void	useLogTime (bool value)

	~ULogFile ()

Public Attributes
bool	verbose

Public Attributes inherited from UClientFuncBase
ULock	decodeLock

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Protected Member Functions
void	createBaseVar ()

Protected Member Functions inherited from UClientFuncBase
void	handleHelp (USmlTag *tag)

void	printReply (USmlTagIn tag, const char preString)

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
UPcpItem *	pcps [MAX_POLYS_CNT]
	array of pcp handles More...

int	pcpsCnt
	Number of pcps allocated. More...

UVariable *	varCallDispOnNewData
	inform a potential display plugin, that new data is available More...

UVariable *	varPolyCnt
	number of established pcp items More...

UVariable *	varUpdTime
	last update time for pcpgons More...

Protected Attributes inherited from UClientFuncBase
int	msgHandled

char	serverNamespace [MAX_SML_NAME_LENGTH]

int	serverNamespaceValue

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

Protected Attributes inherited from ULogFile
int	failCnt

FILE *	logFile

ULock	logFileLock

char	logFileName [MAX_FILENAME_SIZE]

bool	logFlush

char	logName [MAX_FILENAME_SIZE]

UTime	logTime

bool	logTimeUse

Static Protected Attributes
static const int	MAX_POLYS_CNT = 1000
	maximum number of pcps More...

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...

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

Detailed Description

This is the shared resource class.

This class implements a point cloud pool (PCP) All pool items has an ID - a text string (< 32 chars) and is also used by the AUVIEW opengl 3D viewer) The items can be retrieved by other plugins for on-line viewing/saving through this plugin

Author: Christian Andersen

Constructor & Destructor Documentation

UResPcp::UResPcp ( )

inline

Constructor

References UResBase::setResID(), UResPcpInit(), and ~UResPcp().

UResPcp::~UResPcp ( )

virtual

Destructor

Referenced by UResPcp().

Member Function Documentation

UPcpItem * UResPcp::add ( const char * name )

Add a new pcp item

Parameters

name	is the name of the new item. The name must be unique,

Returns: a pointer to the new item, or null if it exist already, or could not be added.

References UPcpItem::getPointsCnt(), ULock::lock(), UPcpItem::setAsPolyline(), UPcpItem::setName(), ULock::unlock(), and UPcpItem::UPcpItem().

Referenced by copy(), getItem(), and UFuncPcp::handleCommand().

UPcpItem * UResPcp::add	(	const char *	name,
		const double	x,
		const double	y,
		const double	z = `0.0`
	)

Add a new XYZ position to this cloud, creates cloud if none exist.

Parameters

name	is the name of a new or existing item. Names are unique,
x,y,z	is a position that is added to the end of the item points, z is optional.

Returns: a pointer to the item, or null if it do not exist and could not be added.

References UPcpItem::add(), UPcpItem::deleteCloud(), UPcpItem::getPointsCnt(), UPcpItem::isXYZ(), ULock::lock(), UPcpItem::makeCloud(), UPcpItem::PointXyz, UPcpItem::setAsPolyline(), UPcpItem::setName(), UPcpItem::setUpdated(), ULock::unlock(), UPcpItem::UPcpItem(), UPosition::x, UPosition::y, and UPosition::z.

UPcpItem * UResPcp::add	(	const char *	name,
		UPcpItem::POINT_CLOUD_TYPE	type
	)

Add a new (empty) cloud item

Parameters

[in]	name	is the name of a new or existing item. Names are unique,
[in]	type	is type of new cloud

Returns: pointer to new item

References UPcpItem::clear(), UPcpItem::getCloudType(), UPcpItem::getPointsCnt(), ULock::lock(), UPcpItem::makeCloud(), UPcpItem::setAsPolyline(), UPcpItem::setName(), UPcpItem::setUpdated(), ULock::unlock(), and UPcpItem::UPcpItem().

bool UResPcp::codePcpXml	(	const char *	tagName,
		char *	buf,
		const int	bufCnt,
		int	idx
	)

code all pcpgons to an XML message into this buffer

Parameters

tagName	is the name to the tag, in wich the pcpgons are to be listed.
buff	is the buffer, where to write the code.
buffCnt	is the size of the buffer
updatedSince	only items updated later than this is XML packed

Returns: a pointer to buff code one pcp to an XML message into this buffer

Parameters

tagName	is the name to the tag, in wich the pcpgons are to be listed.
buff	is the buffer, where to write the code.
buffCnt	is the size of the buffer
updatedSince	only items updated later than this is XML packed
idx	is index to the pcpgon to code.

Returns: true if the update time is later than updatedSince (else not coded)

References buf, and UPcpItem::codeXML().

Referenced by getPolysCnt(), and UFuncPcp::handleCommand().

virtual const char* UResPcp::commandList ( )

inlinevirtual

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

Reimplemented from UClientFuncBase.

References createResources(), getItem(), getItemXYZ(), handleNewData(), methodCall(), methodCallV(), UClientFuncBase::name(), and print().

UPcpItem* UResPcp::copy	(	pcl::PointCloud< pcl::PointXYZ > *	source,
		const char *	name
	)

inline

make a new cloud (XYZRGB) for this source

Parameters

source	is the source cloud to copy
name	is the name of the new item. The name must be unique,

Returns: a pointer to the new item, or null if it exist already, or could not be added.

References add(), UPcpItem::copy(), getItem(), and UPcpItem::PointXyz.

UPcpItem* UResPcp::copy	(	pcl::PointCloud< pcl::PointXYZRGB > *	source,
		const char *	name
	)

make a new cloud (XYZRGB) for this source

Parameters

source	is the source cloud to copy
name	is the name of the new item. The name must be unique,

Returns: a pointer to the new item, or null if it exist already, or could not be added.

void UResPcp::createBaseVar ( )

protected

Make the variables that will be available to other plugins

Referenced by savePCD().

void UResPcp::createResources ( )

virtual

Create any resources that this modules needs This method is called after the resource is registred by the server.

Reimplemented from UResBase.

Referenced by commandList().

bool UResPcp::del ( const char * name )

Delete a pcp, that is, set vertex count to 0 This marks that the pcpgon is empty and the pcpgon slot may be reused.

Parameters

name	is the name of the pcp

Returns: true if deleted pcp, false if not existed.

References UPcpItem::clear(), ULock::lock(), and ULock::unlock().

Referenced by getItem(), and UFuncPcp::handleCommand().

UPcpItem * UResPcp::getItem ( const char * name )

Get pcp item pointer

Parameters

name	is the name of the pcp

Returns: NULL if a pcp with this name is not found

Referenced by commandList(), copy(), UFuncPcp::handleCommand(), and savePCD().

UPcpItem* UResPcp::getItem ( int idx )

inline

get an item by index, NB no range check

Parameters

idx	the index to the items available, should be in the range 0..getPolysCnt()-1.

Returns: a pointer to the iten, NB! the pointer may be NULL

References add(), del(), getNext(), and pcps.

UPcpItem * UResPcp::getItemXYZ ( const char * name )

Get pcp item pointer

Parameters

name	is the name of the pcp

Returns: a pointer to an existing or if not found, a pointer to an empty item of this name

References UPcpItem::add(), UPcpItem::makeCloud(), UPcpItem::PointXyz, and UPcpItem::setName().

Referenced by commandList().

const char * UResPcp::getList	(	const char *	preStr,
		char *	buff,
		const int	buffCnt
	)

Get list of current pcps

Parameters

preStr	is a short string, that is added at the start of the buffer.
buff	is the buffer, where to write the list.
buffCnt	is the size of the buffer

Returns: a pointer to buff

Referenced by getPolysCnt(), and UFuncPcp::handleCommand().

UPcpItem * UResPcp::getNext	(	int	p1,
		int *	p2,
		const char *	name
	)

Get pcp item pointer starting at index 'p1'

Parameters

p1	is the first pcpgon to search for the next name that matches 'name'
p2	is set (if not NULL) to the next pcpgon after the found
name	is the name of the pcp

Returns: NULL if a pcp with this name is not found

References UPcpItem::isA(), and UPcpItem::match().

Referenced by getItem().

int UResPcp::getPolysCnt ( )

inline

Get number of current pcp processes

Returns: number of pcps, active or not

References buf, codePcpXml(), getList(), gotNewData(), and pcpsCnt.

Referenced by UFuncPcp::handleCommand().

void UResPcp::gotNewData ( )

Tell a display plugin that new data exist - for a potential redraw.

Referenced by getPolysCnt(), and UFuncPcp::handleCommand().

void UResPcp::handleNewData	(	USmlTag *	tag,
		const char *	ifname
	)

virtual

Got fresh data from a stream destined to this function. that is, the received XML tag is in the commandList() for this resource.

Reimplemented from UClientFuncBase.

References UPcpItem::add(), UPcpItem::clear(), UPcpItem::cloudType, UPcpItem::cooSys, USmlTagIn::getAttBool(), USmlTagIn::getAttInteger(), USmlTagIn::getAttTime(), USmlTagIn::getAttValue(), USmlTagIn::getNextAttribute(), USmlTag::getNextTag(), USmlTagIn::getTagName(), USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), URotation::Kappa, ULock::lock(), UPcpItem::makeCloud(), MAX_SML_NAME_LENGTH, UPcpItem::MNL, UPcpItem::name, UTime::now(), URotation::Omega, URotation::Phi, UPcpItem::PointXyz, UPcpItem::PointXyzRgb, UPcpItem::relPose, UPcpItem::relPoseUse, UPcpItem::sensorTime, USmlTag::skipToEndTag(), ULock::unlock(), UPcpItem::updateTime, UPosition::x, UPcpItem::xyz, UPcpItem::xyzrgb, UPosition::y, and UPosition::z.

Referenced by commandList().

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

virtual

The varPool has methods, and a call to one of these is needed. Do the call now and return (a double sized) result in 'value' and return true if the method call is allowed. If the returnStruct and returnStructCnt is not NULL, then a number (no more than initial value of returnStructCnt) of structures based on UDataBase may be returned into returnStruct array of pointers. The returnStructCnt should be modified to the actual number of used pointers (if needed). If the call is allowed, but the result is invalid for some reason, the return value 'value' can be set to som agreed value, (e.g. 0.0 (false) and 1.0 for true).

Reimplemented from UResVarPool.

References UPcpItem::add(), UPosition::clear(), UPcpItem::getPoint(), UPcpItem::getPointsCnt(), UPcpItem::isA(), roundi(), and UVariable::set3D().

Referenced by commandList().

bool UResPcp::methodCallV	(	const char *	name,
		const char *	paramOrder,
		UVariable *	params[],
		UDataBase **	returnStruct = `NULL`,
		int *	returnStructCnt = `NULL`
	)

virtual

A varPool method with this class as implementor is called.

Parameters

name	is the name of the called function
paramOrder	is a string with one char for each parameter in the call - d is double, s is string, c is class object.
params	is an array of variable pointers with the actual parameters, in the order specified by order
returnStruct	is an array of class object pointers that can return values or objects (may be NULL) if no result value is needed (a procedure call)
returnStructCnt	is the number of objects in the returnStruct buffer

Returns: true if the method is recognised (exists), when false is returned a invalid name or parameter list is detected.

Reimplemented from UVarMethodImplement.

References UPcpItem::add(), UPosition::clear(), UPcpItem::cooSys, UPcpItem::copy(), UVariable::get3D(), UVariable::getInt(), UPcpItem::getPoint(), UPcpItem::getPointsCnt(), UPcpItem::isA(), UDataBase::isAlsoA(), UPcpItem::makeCloud(), UPcpItem::PointXyz, UPcpItem::PointXyzRgb, UPcpItem::remove(), roundi(), UVariable::set3D(), UPcpItem::setAsPolygon(), UPcpItem::setAsPolyline(), UVariable::setBool(), UPcpItem::setUpdated(), UPosition::x, UPosition::y, and UPosition::z.

Referenced by commandList().

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

virtual

print status to a string buffer

Reimplemented from UResVarPool.

Referenced by commandList().

bool UResPcp::savePCD	(	const char *	idName,
		const char *	filename
	)

inline

Save a cloud to a pcd-file

References createBaseVar(), getItem(), and UPcpItem::savePCD().

Referenced by UFuncPcp::handleCommand().

void UResPcp::UResPcpInit ( )

Initialize resource

Referenced by UResPcp().

Member Data Documentation

const int UResPcp::MAX_POLYS_CNT = 1000

staticprotected

maximum number of pcps

UPcpItem* UResPcp::pcps[MAX_POLYS_CNT]

protected

array of pcp handles

Referenced by getItem().

int UResPcp::pcpsCnt

protected

Number of pcps allocated.

Referenced by getPolysCnt().

UVariable* UResPcp::varCallDispOnNewData

protected

inform a potential display plugin, that new data is available

UVariable* UResPcp::varPolyCnt

protected

number of established pcp items

UVariable* UResPcp::varUpdTime

protected

last update time for pcpgons

bool UResPcp::verbose

Is the resource to output verbose message to console

Referenced by UFuncPcp::handleCommand().

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation