#include <ulasersim.h>

Inheritance diagram for ULaserSim:

Public Member Functions
virtual bool	changeMode (int scanangle, double resolution)

virtual bool	getNewestData (ULaserData *dest, unsigned long lastSerial, int fake)

virtual bool	isPortOpen ()

virtual bool	logSourceData (const char *data, int dataCnt)

	ULaserSim ()

	~ULaserSim ()

Public Member Functions inherited from ULaserDevice
virtual void	callGotNewDataWithObject ()

virtual void	createBaseVars ()

unsigned int	getBad ()

char *	getDeviceName ()

int	getDeviceNum ()

UPosition	getDevicePos ()

UPosRot	getDevicePose ()

URotation	getDeviceRot ()

unsigned int	getGood ()

char *	getLogFileName (char *buffer, int bufferCnt)

int	getLogInterval ()

bool	getLogUsedScans ()

int	getMaxMeasurements ()

bool	getMirror ()

double	getMsgRate ()

char *	getName ()

int	getScanAngle ()

double	getScanAngle (int measurement)

double	getScanResolution ()

unsigned long	getSerial ()

void	gotNewScan (ULaserData *gotData)

virtual bool	isLogFileOpen ()

virtual bool	isReplayDevice ()

bool	isRunning ()

bool	isSend ()

virtual bool	isVerbose ()

void	logFileClose ()

bool	logFileOpen ()

void	logThisScan (ULaserData *scan)

void	openRequest (bool toOpen)

void	print (char *preString)

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

void	send (char *msg)

virtual void	setDeviceName (const char *device)

void	setDeviceNum (int value)

void	setDevicePose (UPosRot *newPose)

void	setLogInterval (int value)

void	setLogUsedScans (bool value)

void	setMirror (bool value)

void	setVarStructure (UVarPool *varStruct)

void	setVerbose (bool value)

bool	start ()

void	stop (bool justClosePort)

void	threadRunLoop ()

	ULaserDevice ()

virtual	~ULaserDevice ()

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 ()

Public Member Functions inherited from UClientHandler
unsigned long	addDataTrap (const char key, EVENT_CALL onEvent, void object)

bool	addFunction (UClientFuncBase *functionHandler, bool remove=false)

void	closeConnection ()

virtual void	connectionChange (bool nowConnected)

void	delDataTrap (unsigned long serial)

bool	getNamespaceUse ()

const char *	getServerNamespaceName ()

double	getServerToLocalTime ()

bool	isServerToLocalTimeValid ()

bool	isThreadRunning ()

bool	openConnection ()

void	print (const char *preString)

void	sendPing ()

void	setHost (const char *host)

void	setNamespace (const char toName, const char attributeString)

void	setNamespaceLost ()

void	setNamespaceUse (bool value)

void	setPort (const int port)

void	setVerbose (bool value)

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

bool	start ()

void	stop (bool andWait)

void	threadRunLoop ()

	UClientHandler ()

virtual	~UClientHandler ()

Public Member Functions inherited from UClientPortSml
virtual const char *	getSourceName ()

	UClientPortSml ()

Public Member Functions inherited from UClientPort
bool	blockSend (const char *buffer, int length)

void	closeConnection ()

int	getDataFromLine (char *buffer, int bufferSize, int pollTimeoutMs)

const char *	getHost ()

const char *	getHostIP ()

int	getPort ()

bool	isConnected ()

bool	isVerbose ()

bool	sendMsg (const char *message)

bool	sendWithLock (const char *message)

void	setHost (const char *toHost)

void	setPort (int toPort)

void	setVerbose (bool value)

bool	tryConnect ()

	UClientPort ()

virtual	~UClientPort ()

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 USmlSource
void	allowTagAtStartOfLineOnly ()

const char *	getErrorBuffer ()

virtual int	getLineNumber ()

virtual int	getNBytes (char *buffer, int n, int msTimeout=100)

virtual bool	getNextTag (USmlTag tag, int msTimeout=100, USmlTagIn failEndTag=NULL, char beforeTagBuffer=NULL, int beforeTagCnt=NULL)

char *	getRxDataBuffer ()

int	getRxDataBufferCnt ()

bool	getToEndTag (USmlTagIn tag, char buffer, const int bufferSize, int msTimeout=100, USmlTagIn *lastTag=NULL)

bool	isErrorText ()

bool	isVerbose ()

void	setErrorBuffer (char *buf, const int bufCnt)

virtual void	setLineNumber (int)

int	setRxDataBufferCnt (int newMaxLength)

virtual bool	skipNBytes (int n, int msTimeout=100)

virtual bool	skipToEndTag (USmlTagIn *tag, int msTimeout=100)

virtual void	syntaxError (const char *message)

	USmlSource ()

virtual	~USmlSource ()

Protected Member Functions
virtual void	closePort ()

virtual const char *	getNameFromDevice ()

virtual bool	openPort ()

virtual bool	receiveData ()

virtual bool	sendToDevice (const char *msg, int lng)

virtual void	setCore (UCmdExe *pCore)

Protected Member Functions inherited from ULaserDevice
virtual double	getDefaultDelay ()

void	getFakeScan (ULaserData *dest, unsigned long lastSerial, int fake, double fakeDt=0.2)

void	updateScanData (UTime scanTime)

Protected Member Functions inherited from UClientHandler
virtual void	interfaceAlive ()

virtual void	interfaceAliveTag (USmlTag *)

virtual void	interfaceTick ()

void	sendNamespaceCloseTag ()

virtual void	sendNamespaceOpenTag ()

Protected Member Functions inherited from UClientPortSml
virtual bool	doVerboseMessages ()

virtual int	getMoreData (char *buffer, int bufferSize, int pollTimeoutMs)

virtual bool	isSourceAvailable ()

virtual bool	outputData (const char *message)

Protected Member Functions inherited from USmlSource
void	clearRxBuffer ()

Protected Attributes
UCmdExe *	core
	server core pointer More...

UTime	dataTime

bool	newData

bool	repeatGetScan

unsigned long	rxSerial

ULaserData *	scan

UClientFuncSimScan *	scanf

ULogFile	sourceLogFile
	potential logfile More...

Protected Attributes inherited from ULaserDevice
double	angleResolution

ULogFile	datalog

int	datalogSeq

bool	datalogUsedScans

int	deviceNum

char	devName [MAX_DEVICE_NAME_LNG]

UTime	lastScanTime

int	loopCnt

double	maxValidRange

bool	mirrorData

int	modeAngleScan

char	name [MAX_NAME_LNG]

ULaserData *	pushData

bool	replayOrFake

bool	sendNewData

char	sendStr [MAX_SEND_MSG_LNG]

int	sendStrCnt

unsigned long	serial

unsigned int	statBadCnt

unsigned int	statGoodCnt

double	statMsgRate

pthread_t	threadHandle

bool	threadRunning

bool	threadStop

struct {
UVariable * framerate

UVariable * logData

UVariable * logDataInterval

UVariable * logSource

UVariable * maxRange

UVariable * name

UVariable * open

UVariable * pose

UVariable * scanDelay

UVariable * scanres

UVariable * scanwidth

UVariable * serial

UVariable * type

UVariable * versionInfo

}	var

UVarPool *	vars

bool	verbose

Protected Attributes inherited from UClientHandler
bool	binData
	is all data binary More...

char	binTagName [MAX_BIN_NAME_LENGTH+1]

char	namespaceAttributes [MAX_NORMAL_MESSAGE_LENGTH]

char	namespaceName [MAX_SML_NAME_LENGTH]

bool	namespaceUse

int	notConnectedLoop

int	rxTimeoutMs
	rx timeout value in ms More...

int	serverNamespaceLevel

char	serverNamespaceName [MAX_SML_NAME_LENGTH]

bool	tryReConnect

Protected Attributes inherited from UClientPort
enum UClientPort:: { ... }	connectionLostReason

UTime	connectTime

char	host [MAX_HOST_LENGTH]

char	hostIP [MAX_HOST_LENGTH]

int	port

unsigned int	readCnt

bool	verboseMessages

Protected Attributes inherited from USmlSource
int	dataCnt

char *	errorBuffer

int	errorBufferCnt

bool	gotFirstTag

bool	tagStartAtStartOfLineOnly

Additional Inherited Members
Public Attributes inherited from UClientHandler
bool	showInfo

bool	showWarnings

bool	tryHoldConnection

Public Attributes inherited from UClientPort
int	rxByteCnt

ULock	tx

Public Attributes inherited from USmlSource
const char *	ifName

Static Public Attributes inherited from UClientHandler
static const int	MAX_DATA_TRAPS = 100

Protected Types inherited from UClientPort
enum	{ notLost, forReopen, rxError, txError }

Static Protected Attributes inherited from UClientHandler
static const int	MAX_BIN_NAME_LENGTH = 30
	binary tag name More...

Detailed Description

Class to connect to a simulated laserscanner

Author: Christian Andersen

Constructor & Destructor Documentation

ULaserSim::ULaserSim ( )

Constructor

References UClientHandler::addFunction(), core, dataTime, MAX_NAME_LNG, ULaserDevice::maxValidRange, ULaserDevice::name, UClientHandler::namespaceUse, newData, UTime::Now(), repeatGetScan, rxSerial, scan, scanf, UClientFuncSimScan::setLaserData(), ULogFile::setLogName(), and sourceLogFile.

ULaserSim::~ULaserSim ( )

Destructor

References scan, and scanf.

Member Function Documentation

bool ULaserSim::changeMode	(	int	scanangle,
		double	resolution
	)

virtual

Change scanner resolution mode. (modeAngleScan and angleResolution) Returns true if new resolution is implemented. If not open, then values are just saved

Reimplemented from ULaserDevice.

References ULaserDevice::angleResolution, ULaserDevice::getDeviceName(), and ULaserDevice::modeAngleScan.

Referenced by isPortOpen().

void ULaserSim::closePort ( )

protectedvirtual

Close serial port

Reimplemented from ULaserDevice.

References UClientHandler::closeConnection(), UClientPort::isConnected(), and UClientHandler::tryHoldConnection.

Referenced by isPortOpen().

const char * ULaserSim::getNameFromDevice ( )

protectedvirtual

Get name of device

Reimplemented from ULaserDevice.

Referenced by isPortOpen().

bool ULaserSim::getNewestData	(	ULaserData *	dest,
		unsigned long	lastSerial,
		int	fake
	)

virtual

Get newest available data to this destination structure. Returns true if data is available.

Reimplemented from ULaserDevice.

References ULaserData::copy(), ULaserDevice::datalogUsedScans, ULaserDevice::deviceNum, ULaserDevice::getFakeScan(), ULaserData::getSerial(), UClientPort::isConnected(), ULock::lock(), ULaserDevice::logThisScan(), ULaserDevice::mirrorData, repeatGetScan, scan, UClientPort::sendMsg(), ULaserData::setDeviceNum(), ULaserData::setMaxValidRange(), ULaserData::setMirror(), ULaserData::setSerial(), ULaserDevice::start(), ULock::unlock(), ULaserDevice::var, and Wait().

Referenced by isPortOpen().

virtual bool ULaserSim::isPortOpen ( )

inlinevirtual

Is the port to the device open

Reimplemented from ULaserDevice.

References changeMode(), closePort(), USmlSource::data, USmlSource::dataCnt, getNameFromDevice(), getNewestData(), UClientPort::isConnected(), logSourceData(), openPort(), receiveData(), and sendToDevice().

bool ULaserSim::logSourceData	(	const char *	data,
		int	dataCnt
	)

virtual

is called when new data is fetched. gives the possibility to log all received data.

Parameters

data	is the string received - NULL teminated, but data may hold binary 0 too!
dataCnt	is length of data

Returns: true if data is logged (or should return true)

Reimplemented from USmlSource.

References ULogFile::closeLog(), USmlSource::data, ULogFile::getF(), ULogFile::isOpen(), ULogFile::openLog(), sourceLogFile, and ULaserDevice::var.

Referenced by isPortOpen().

bool ULaserSim::openPort ( )

protectedvirtual

Open serial post. Return true if open(ed)

Reimplemented from ULaserDevice.

References UClientHandler::closeConnection(), ULaserDevice::devName, UClientPort::isConnected(), UClientHandler::isThreadRunning(), mini(), UClientHandler::openConnection(), UClientHandler::setHost(), UClientHandler::setPort(), UClientHandler::start(), and UClientHandler::tryHoldConnection.

Referenced by isPortOpen().

bool ULaserSim::receiveData ( )

protectedvirtual

Receive data from device – called from device loop, should return as fast as possible after dooing the job, i.e. no blocking read. Should add number of good and bad blocks of data to statBadCnt and statGootcnt. Returns true if data received.

Reimplemented from ULaserDevice.

References dataTime, ULaserDevice::deviceNum, ULaserData::getSerial(), UTime::getTimePassed(), ULaserDevice::gotNewScan(), UClientPort::isConnected(), ULaserDevice::mirrorData, newData, UTime::Now(), rxSerial, scan, sendToDevice(), ULaserData::setDeviceNum(), ULaserData::setMaxValidRange(), ULaserData::setMirror(), ULaserData::setValid(), ULaserDevice::var, and Wait().