#include <ufunctionpassable.h>

Inheritance diagram for UFunctionPassable:

Public Member Functions
virtual void	createResources ()

virtual bool	handleCommand (UServerInMsg msg, void extra)

bool	handleObstGet (UServerInMsg msg, void extra)

bool	handleRoad (UServerInMsg msg, void extra)

bool	makePoly (int maxCnt, bool newestUpdatesOnly, bool andFixed)

bool	polygonToPolyPlugin (UPolygon poly, char name, int coordinateSystem, char color)

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

bool	sendObstacles (UServerInMsg *msg, int maxCnt, bool updateOnly, bool andFixed)

bool	sendRoadLines (UServerInMsg *msg, int upds, double qual, bool bestOnly)

virtual bool	setResource (UResBase *resource, bool remove)

	UFunctionPassable ()

virtual	~UFunctionPassable ()

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 ()

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 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)

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	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 ()

Protected Attributes
ULaserPool *	lasPool

unsigned long	lastSerial [MAX_LASER_DEVS]

UResObstacle *	obsts

bool	obstsLocal

UResPoseHist *	odoHist

UResPassable *	pass

UResRoadLine *	roads

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

Private Member Functions
bool	handlePass (UServerInMsg msg, void extra)

bool	sendFullScan (UServerInMsg msg, const char tagName, ULaserDevice sick, ULaserScan scan)

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

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...

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

This plugin (or module) converts a laserscan to a set of passable intervals and obstacles, assuming that the laser is pointing down looking at the road at a distance of about 2.5-3 m. This class is the interface part of the module, the real work is done in the class UResPassable. The class also handles interface for obstacles and road data.

Author: Christian Andersen

Constructor & Destructor Documentation

UFunctionPassable::UFunctionPassable ( )

Constructor

References lasPool, lastSerial, MAX_LASER_DEVS, obsts, obstsLocal, odoHist, pass, roads, and UFunctionBase::setCommand().

UFunctionPassable::~UFunctionPassable ( )

virtual

Destructor

References obsts, obstsLocal, pass, and roads.

Member Function Documentation

void UFunctionPassable::createResources ( )

virtual

Called by the server core. Should return the name of function. There should be a first short part separated by a space to some additional info (e.g. version and author). The returned name is intended as informative to clients and should include compile date or version number. Called by the server core when loaded, to get a list of keywords (commands) handled by this plugin. Return a list of handled functions in one string separated by a space. e.g. return "COG". The functions should be unique on the server. Create any resources that this modules needs and add these to the resource pool to be integrated in the global variable pool and method sharing.

Reimplemented from UFunctionBase.

References UFunctionBase::addResource(), obsts, obstsLocal, pass, and roads.

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

virtual

This function is called by the server core, when it needs a resource provided by this plugin. Return a pointer to a resource with an ID taht matches this 'resID' ID string. The string match should be case sensitive. Returns false if the resource faled to be created (e.g. no memory space). return true if all ressources is available Handle incomming command (intended for command separation) Must return true if the function is handled - otherwise the client will get a failed - reply

Reimplemented from UFunctionBase.

References handleObstGet(), handlePass(), handleRoad(), USmlTagIn::isTagA(), UFunctionBase::sendDebug(), and UServerInMsg::tag.

bool UFunctionPassable::handleObstGet	(	UServerInMsg *	msg,
		void *	extra
	)

bool UFunctionPassable::handlePass	(	UServerInMsg *	msg,
		void *	extra
	)

private

Is road resource created locally Function to get closest distance

References bool2str(), UPose::clear(), UServerInMsg::client, USmlTag::codeLineSegment(), USmlTag::codePose(), USmlTag::codePosition(), USmlTag::codeRotation(), UResPassable::doFullAnalysis(), UResPassable::doObstAnalysis(), USmlTagIn::getAttValue(), ULaserPi::getCenter(), ULaserPi::getCenterValid(), ULaserPool::getDefDevice(), ULaserPool::getDefDeviceNumber(), ULaserPool::getDevice(), ULaserData::getDeviceNum(), ULaserDevice::getDevicePos(), ULaserDevice::getDevicePose(), ULaserDevice::getDeviceRot(), ULaserData::getFakePose(), ULaserPi::getFitVariance(), ULaserPi::getLeft(), UTime::getMicrosec(), ULaserDevice::getNewestData(), UResObstacle::getOutdoorExtraDist(), UResPassable::getPi(), UResPassable::getPisCnt(), UResPoseHist::getPoseAtTime(), ULaserScan::getQ(), ULaserPi::getRight(), ULaserScan::getRight(), ULaserScan::getRobotPose(), UResPassable::getScan(), ULaserData::getScanTime(), UTime::getSec(), ULaserPi::getSegment(), ULaserScan::getSerial(), ULaserData::getSerial(), USmlTagIn::getTagName(), ULaserPi::getVarMin2(), UResObstacle::isOutdoorContext(), ULaserData::isValid(), lasPool, lastSerial, obsts, odoHist, pass, roads, sendFullScan(), UFunctionBase::sendInfo(), UFunctionBase::sendMsg(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), ULaserData::setFakePose(), ULaserScan::setQ(), str2bool(), UServerInMsg::tag, ULaserScan::time, UResObstacle::updateMappedObstacles(), and ULaserScan::valid.

Referenced by handleCommand().

bool UFunctionPassable::handleRoad	(	UServerInMsg *	msg,
		void *	extra
	)

Delete a polygon (sets cont to zero) - or a wildcard set of polygons.

Parameters

name	is name of polygon to delete, may hold multiple wildcards (* or ?) to match some or all polygons (regardless of origin.

Returns: true of poly plugin says OK Handle requests for road lines

References USmlTagIn::getNextAttribute(), lasPool, MAX_SML_NAME_LENGTH, UFunctionBase::sendInfo(), UFunctionBase::sendMsg(), sendRoadLines(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), str2bool(), and UServerInMsg::tag.

Referenced by handleCommand().

bool UFunctionPassable::makePoly	(	int	maxCnt,
		bool	newestUpdatesOnly,
		bool	andFixed
	)

Make obstacle (all) groups to polygon plug-in.

Parameters

maxCnt	is the number of obstacle groups that are to be polygon'ed (from newest group).
newestUpdatesOnly	copy polygons with most recent update timestamp only.
andFixed	should the group of fixed obstacles be added too.

Returns: true if polygon plugin resopnded positively.

References UObstaclePool::getFixeds(), UObstaclePool::getGroup(), UObstaclePool::getGroupsCnt(), UObstacleGroup::getObstacle(), UObstacleGroup::getObstsCnt(), UObstacle::getPoseLast(), UObstacleGroup::getPPoseLast(), mini(), obsts, polygonToPolyPlugin(), and UPoseTime::t.

Referenced by handleObstGet().

bool UFunctionPassable::polygonToPolyPlugin	(	UPolygon *	poly,
		char *	name,
		int	coordinateSystem,
		char	color
	)

send polygon to poly plugin - mainly for display in client

Parameters

poly	is the polygin to send
name	is the name for the polygon in the poly plugin
coordinateSystem	0=odo 1=utm 2=map
color	is the color character - like MATLAB r=red ....

Returns: true if successful (else poly pluging is not found)

References UResVarPool::callGlobalV(), UPolygon::color, UVariable::getBool(), UVariable::setDouble(), and UVariable::setValues().

Referenced by makePoly().

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

virtual

print status to a string buffer

Reimplemented from UResVarPool.

bool UFunctionPassable::sendFullScan	(	UServerInMsg *	msg,
		const char *	tagName,
		ULaserDevice *	sick,
		ULaserScan *	scan
	)

private

Send full scan with analysis statistics (for display purposes)

References USmlTag::codePose(), USmlTag::codePosition(), USmlTag::codeRotation(), ULaserScan::data, ULaserScan::dataCnt, ULaserScan::getDataCnt(), ULaserDevice::getDevicePos(), ULaserDevice::getDeviceRot(), UTime::getMicrosec(), ULaserScan::getRobotPose(), UTime::GetSec(), ULaserScan::getSerial(), ULaserPoint::passQ, ULaserPoint::pos, ULaserPoint::range, UFunctionBase::sendMsg(), ULaserPoint::tilt, ULaserScan::time, ULaserPoint::varL, UPosition::x, and UPosition::y.

Referenced by handlePass().

bool UFunctionPassable::sendObstacles	(	UServerInMsg *	msg,
		int	maxCnt,
		bool	updateOnly,
		bool	andFixed
	)

Send groups of obstacles to client. May send newly updated obstacles only when 'updatesOnly' is true.

Parameters

msg	is reference to command
maxCnt	is maximum number of obstacle groups (from newest)
updateOnly	sends only updated obstacles
andFixed	sends (also) near fixed obstacles, as retreived from mapbase.

Returns: true if send.

References bool2str(), USmlTag::codeObstacle(), USmlTag::codePoseTime(), UObstaclePool::getFixeds(), UObstaclePool::getGroup(), UObstaclePool::getGroupsCnt(), UTime::getMicrosec(), UObstacleGroup::getObstacle(), UObstacleGroup::getObstsCnt(), UObstacleGroup::getPoseFirst(), UObstacleGroup::getPoseLast(), UObstacle::getPPoseLast(), UObstacleGroup::getPPoseLast(), UTime::getSec(), UObstacle::getSerial(), UObstacleGroup::getSerial(), USmlTagIn::getTagName(), mini(), obsts, UFunctionBase::sendMsg(), UPoseTime::t, and UServerInMsg::tag.

Referenced by handleObstGet().

bool UFunctionPassable::sendRoadLines	(	UServerInMsg *	msg,
		int	upds,
		double	qual,
		bool	bestOnly
	)

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

virtual

List (space separated) of shared resources provided by this function. Must be an empty string if no resources are to be shared. Each resource ID must be no longer than 20 characters long. Called by the server core, when a new resource is available (or is removed), local pointers to the resource should be updated as appropriate.

Reimplemented from UFunctionBase.

References UResPoseHist::getOdoPoseID(), ULaserPool::getResClassID(), UResObstacle::getResClassID(), UResBase::isA(), lasPool, obsts, obstsLocal, odoHist, and UFunctionBase::setResource().