#include <ulaserpool.h>

Inheritance diagram for ULaserPool:

Public Member Functions
bool	addDevice (ULaserDevice *newDevice)

ULaserDevice *	getDefDevice ()

int	getDefDeviceNumber ()

ULaserDevice *	getDevice (int deviceNumber)

ULaserDevice *	getDevice (const char *deviceID)

int	getDeviceCnt ()

int	getDeviceMax ()

int	getDeviceNumber (ULaserDevice *device)

UPosRot *	getDevicePose (int idx)

ULaserData *	getScan (const int device, ULaserDevice *las, ULaserData dataBuff, ULaserData *pushData, const int fake)
	get the next scan from laser scanner device More...

ULaserData *	getScan (const char device, ULaserDevice las, ULaserData dataBuff, ULaserData *pushData, const int fake)
	get the next scan from laser scanner device More...

bool	gotAllResources (char *missingThese, int missingTheseCnt)

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

virtual void	replayAdvanceTime (UTime untilTime)

virtual bool	replayToTime (UTime untilTime)

void	setCmdExe (UCmdExe *server)

void	setDefDevice (int value)

bool	setDefDevice (const char *device)

bool	setResource (UResBase *ress, bool remove)

virtual void	stop (bool andWait)

	ULaserPool ()

void	ULaserPoolInit ()

	~ULaserPool ()

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)

virtual void	createResources ()

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	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)

void	replaySetBaseFileName (const char name, const char preName="")

void	replaySetFileName (const char *name)

virtual bool	replayStep ()

int	replayStep (int steps)

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 ()

Static Public Member Functions
static const char *	getResClassID ()

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

Protected Member Functions
void	createBaseVar ()

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
UCmdExe *	cmdExe

ULaserDevice *	lasDevs [MAX_LASER_DEVS]

int	lasDevsCnt

struct {
UVariable * def

UVariable * deviceCnt

UVariable * devices

}	var
	variable pointers More...

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

Additional Inherited Members
Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

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

Pool of laserscanner devices

Author: Christian Andersen

Constructor & Destructor Documentation

ULaserPool::ULaserPool ( )

inline

Constructor

References createBaseVar(), getResClassID(), UResVarPool::setDescription(), UResBase::setResID(), ULaserPoolInit(), and ~ULaserPool().

ULaserPool::~ULaserPool ( )

Destructor

References lasDevs, and lasDevsCnt.

Referenced by ULaserPool().

Member Function Documentation

bool ULaserPool::addDevice ( ULaserDevice * newDevice )

Add device

References UResVarPool::addStruct(), cmdExe, ULaserDevice::createBaseVars(), ULaserDevice::getDeviceName(), ULaserDevice::getName(), lasDevs, lasDevsCnt, MAX_LASER_DEVS, UServerPush::setCmdExe(), ULaserDevice::setCore(), ULaserDevice::setDeviceNum(), ULaserDevice::setVarStructure(), and var.

Referenced by getDeviceCnt(), and UFunctionLaser::handleSetCommand().

void ULaserPool::createBaseVar ( )

protected

Make the variables that will be available to other plugins

References UResVarPool::addVar(), and var.

Referenced by getDeviceMax(), and ULaserPool().

ULaserDevice* ULaserPool::getDefDevice ( )

inline

Get a device pointer

References getDevice(), getDeviceNumber(), and var.

Referenced by UResV360::getSourceData(), UFuncPpl::handleCommand(), UFunctionPassable::handlePass(), UFunctionLaser::handleScanGetCommand(), UFunctionLaser::handleScanPushCommand(), UFunctionLaser::handleSetCommand(), UResLocater::locate(), and UResV360::update().

int ULaserPool::getDefDeviceNumber ( )

inline

Get defauylt device number

References getDevicePose(), gotAllResources(), print(), server, setCmdExe(), and var.

Referenced by getScan(), UFunctionPassable::handlePass(), UFunctionLaser::handleScanGetCommand(), and UFunctionPassable::sendRoadLines().

ULaserDevice * ULaserPool::getDevice ( int deviceNumber )

Get a device pointer

References lasDevs, and lasDevsCnt.

Referenced by getDefDevice(), getResClassID(), UFuncLaserBase::getScan(), getScan(), UResV360::getSourceData(), UFunctionPassable::handlePass(), UFunctionLaser::handleScanGetCommand(), UFunctionLaser::handleScanPushCommand(), UFunctionLaser::handleSetCommand(), replayToTime(), setDefDevice(), UResV360::setDefDevice(), and UResV360::update().

ULaserDevice * ULaserPool::getDevice ( const char * deviceID )

Get a device pointer from specification string

References ULaserDevice::getDeviceName(), ULaserDevice::getName(), lasDevs, lasDevsCnt, and MAX_LASER_DEVS.

int ULaserPool::getDeviceCnt ( )

inline

Get number of created devices

References addDevice(), lasDevsCnt, and setDefDevice().

Referenced by UFunctionLaser::handleSetCommand().

int ULaserPool::getDeviceMax ( )

inline

Get maximum number of laser devices allowed in laser pool (a hard coded constant)

References createBaseVar(), getScan(), MAX_LASER_DEVS, replayAdvanceTime(), and replayToTime().

int ULaserPool::getDeviceNumber ( ULaserDevice * device )

Get device number from a device pointer. Returns -1 if device is not found.

References lasDevs, and lasDevsCnt.

Referenced by getDefDevice(), and getScan().

UPosRot* ULaserPool::getDevicePose ( int idx )

Get pose (3D) of the laser scanner sensor

Referenced by getDefDeviceNumber().

static const char* ULaserPool::getResClassID ( )

inlinestatic

Fixed name of this resource type

References getDevice(), setResource(), and stop().

Referenced by UResV360::gotAllResources(), UFunctionLaser::setResource(), UResV360::setResource(), UFunctionPassable::setResource(), and ULaserPool().

ULaserData * ULaserPool::getScan	(	const int	device,
		ULaserDevice **	las,
		ULaserData *	dataBuff,
		ULaserData *	pushData,
		const int	fake
	)

get the next scan from laser scanner device

Parameters

device	if -1, then scan is from default device, else from the specified device
las	returns a pointer to the laser scanner device used
dataBuff	a data buffer that may be used for the laserscan if a buffer is not allocated already. The buffer is also used to hold information on last used scan (serial number and device)
pushData	may hold a scan already, if so, then only the corresponding laser device is fetched (lo las).
fake	if > 0 then a fake scan is fetched. 1=random range, 2,3,4 is measurements in a fake building with 4 rooms, with the robot moving through these rooms.

Returns: a pointer to the new scan - or NULL if no scan or if neither dataBuff nor pushData is available.

References device, getDefDeviceNumber(), getDevice(), ULaserData::getDeviceNum(), UResV360::getLastDevice(), UResV360::getNewestData(), ULaserDevice::getNewestData(), ULaserData::getSerial(), UResBase::getStaticResource(), scan, ULaserData::setDeviceNum(), and ULaserData::setSerial().

Referenced by UFuncLaserBase::getDevice(), getDeviceMax(), UFuncLaserBase::getScan(), UFuncLobst::getScan(), UFuncEfLine::getScan(), and getScan().

ULaserData * ULaserPool::getScan	(	const char *	device,
		ULaserDevice **	las,
		ULaserData *	dataBuff,
		ULaserData *	pushData,
		const int	fake
	)

get the next scan from laser scanner device

Parameters

device	the device name or number as string, e.g. v360 or sick. "-1" or NULL or "" for default scanner.
las	returns a pointer to the laser scanner device used
dataBuff	a data buffer that may be used for the laserscan if a buffer is not allocated already. The buffer is also used to hold information on last used scan (serial number and device)
pushData	may hold a scan already, if so, then only the corresponding laser device is fetched (lo las).
fake	if > 0 then a fake scan is fetched. 1=random range, 2,3,4 is measurements in a fake building with 4 rooms, with the robot moving through these rooms.

Returns: a pointer to the new scan - or NULL if no scan or if neither dataBuff nor pushData is available.

References getDevice(), getDeviceNumber(), and getScan().

bool ULaserPool::gotAllResources	(	char *	missingThese,
		int	missingTheseCnt
	)

virtual

Is this resource missing any ressource pointers to function. Returns true if all is OK. If some is missing, then the missing resource name should be added to the missingThese list,

Reimplemented from UResVarPool.

References cmdExe, UCmdExe::getResClassID(), and UResBase::gotAllResources().

Referenced by getDefDeviceNumber().

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

virtual

Print laser pool status to a string buffer

Returns: pointer to provided buffer.

Reimplemented from UResVarPool.

References lasDevs, lasDevsCnt, and ULaserDevice::print().

Referenced by getDefDeviceNumber(), and UFunctionLaser::handleSetCommand().

void ULaserPool::replayAdvanceTime ( UTime untilTime )

virtual

Advance replay for all devices in replay mode until just before this time The function sets a flag and the steps are performed in main command thread as soon as possible (before next user queue, and before push events)

Reimplemented from UReplay.

References UReplay::replayAdvanceTime(), and replayToTime().

Referenced by getDeviceMax(), and UFunctionLaser::handleSetCommand().

bool ULaserPool::replayToTime ( UTime untilTime )

virtual

Advance replay for this resources - if in replay mode - until just before this time

Parameters

untilTime advance with steps in logfile until this time is reached

Returns: true if advanced

Reimplemented from UReplay.

References getDevice(), ULaserDevice::isReplayDevice(), lasDevsCnt, and UReplayDevice::replayToTime().

Referenced by getDeviceMax(), and replayAdvanceTime().

void ULaserPool::setCmdExe ( UCmdExe * server )

Set command server to be used by push commands. NB! devices must be loaded before this call. (or the call repeated).

References lasDevs, and lasDevsCnt.

Referenced by getDefDeviceNumber().

void ULaserPool::setDefDevice ( int value )

Set default device. If value is not inside valid range, then the closest valid device is selected.

References lasDevsCnt, maxi(), mini(), and var.

Referenced by getDeviceCnt(), UFunctionLaser::handleScanGetCommand(), and UFunctionLaser::handleSetCommand().

bool ULaserPool::setDefDevice ( const char * device )

Set default device to the lase device of the type (name) of 'device'. Returns true if such a name match is found

References device, getDevice(), ULaserDevice::getName(), lasDevsCnt, and var.

bool ULaserPool::setResource	(	UResBase *	ress,
		bool	remove
	)

virtual

Fixed varsion number for this resource type. Should follow release version, i.e. version 1.28 gives number 128. Should be incremented only when there is change to this class definition, i.e new or changed functions or variables. Set ressources as needed

Reimplemented from UResVarPool.

References cmdExe, UCmdExe::getResClassID(), UResBase::isA(), and UResBase::setResource().

Referenced by getResClassID().

void ULaserPool::stop ( bool andWait )

virtual

Stop any running subthread - we are going down

Reimplemented from UResBase.

References lasDevs, lasDevsCnt, and ULaserDevice::stop().

Referenced by getResClassID().

void ULaserPool::ULaserPoolInit ( )

Initialize laser pool

References cmdExe, lasDevs, lasDevsCnt, MAX_LASER_DEVS, UResBase::replay, and UFakeMap::varPool.