UClientFuncLaser Class Reference

#include <uclientfunclaser.h>

Inheritance diagram for UClientFuncLaser:

Public Member Functions
virtual void	changedNamespace (const char *newNamespace)
virtual const char *	commandList ()
virtual void	handleNewData (USmlTag *tag, const char *ifname)
virtual const char *	name ()
	UClientFuncLaser ()
virtual	~UClientFuncLaser ()
Public Member Functions inherited from UClientFuncBase
virtual void	doTimeTick ()
int	getMsgCnt ()
bool	getVerbose ()
bool	sendMsg (UClientPortSml *cnn, const char *buff, int buffCnt)
bool	sendMsg (UClientPortSml *cnn, const char *buff)
void	setVerbose (bool value)
	UClientFuncBase ()
virtual	~UClientFuncBase ()

Protected Member Functions
UTime	getLaserTime (int histNum)
virtual bool	gotNewData (ULaserDataSet *scan)
virtual bool	gotNewEkfData ()
virtual bool	gotNewFreePolyData ()
virtual bool	gotNewPathData ()
virtual bool	gotNewPlanData ()
void	setPose (UPoseTime poseTime)
void	setPoseIfNewer (UPose pose, UTime t)
Protected Member Functions inherited from UClientFuncBase
void	handleHelp (USmlTag *tag)
void	printReply (USmlTagIn *tag, const char *preString)

Protected Attributes
UPosition	ciGoal
UPose	ekfPose
UTime	ekfTime
int	ekfuSkipd
int	ekfuUsed
UProbPoly	freePoly [MAX_FREE_POLY_HIST]
int	freePolyCnt
int	freePolyNewest
UPosRot	laserPose
UPoseTime	odoPose
ULaserPathResult *	paths [MAX_NEW_PATH_CANDIDATES]
int	pathsCnt
UPlannerData	planner
UPoseTime	poseHist [MAX_POSE_HIST]
int	poseHistCnt
int	poseHistNewest
ULaserDataHistory	scanHist
UPose	toPose
ULaserWpc	wpcData
Protected Attributes inherited from UClientFuncBase
int	msgHandled
char	serverNamespace [MAX_SML_NAME_LENGTH]
int	serverNamespaceValue
bool	verboseMessages

Private Member Functions
bool	handleControlIntervals (USmlTag *ciTag)
bool	handleEkf (USmlTag *tag)
bool	handleGetComplexData (USmlTag *tag)
bool	handleLaserScan (USmlTag *tag)
bool	handleOdo (USmlTag *tag)
bool	handlePath (USmlTag *tag)
bool	handlePlan (USmlTag *tag)
bool	handleVarData (USmlTag *tag)
bool	handleWpc (USmlTag *tag)
bool	handleWpf (USmlTag *ciTag)

Additional Inherited Members
Public Attributes inherited from UClientFuncBase
ULock	decodeLock

Detailed Description

Support for laser scanner results

Author

Christian Andersen

Constructor & Destructor Documentation

UClientFuncLaser::UClientFuncLaser

(

)

Constructor

References ekfuSkipd, ekfuUsed, freePolyCnt, freePolyNewest, MAX_NEW_PATH_CANDIDATES, paths, pathsCnt, and poseHistCnt.

UClientFuncLaser::~UClientFuncLaser ( )

virtual

Destructor

References MAX_NEW_PATH_CANDIDATES, and paths.

Member Function Documentation

void UClientFuncLaser::changedNamespace ( const char *  newNamespace )

virtual

The server has set (or changed) the namespace

Reimplemented from UClientFuncBase.

References MAX_SML_NAME_LENGTH, NAMESPACE_LASER, NAMESPACE_MMRD, NAMESPACE_MMRSR2, UClientFuncBase::serverNamespace, and UClientFuncBase::serverNamespaceValue.

const char * UClientFuncLaser::commandList ( )

virtual

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

Reimplemented from UClientFuncBase.

UTime UClientFuncLaser::getLaserTime ( int  histNum )

protected

get time of laser-data

References ULaserDataHistory::getScan(), ULaserDataSet::getTime(), and scanHist.

bool UClientFuncLaser::gotNewData ( ULaserDataSet *  scan )

protectedvirtual

Called when a new scan is received

Reimplemented in UClientFuncLaserGui.

References ULaserDataSet::print().

Referenced by handleLaserScan(), handleNewData(), handlePath(), and handleVarData().

bool UClientFuncLaser::gotNewEkfData ( )

protectedvirtual

Called when new ekf data is available

Referenced by handleEkf().

bool UClientFuncLaser::gotNewFreePolyData ( )

protectedvirtual

Got new polygon data with passable area. Newest data is in freePoly[freePolyNewest]

Referenced by handleGetComplexData().

bool UClientFuncLaser::gotNewPathData ( )

protectedvirtual

Called when new ekf data is available

References paths, and pathsCnt.

bool UClientFuncLaser::gotNewPlanData ( )

protectedvirtual

Called when new ekf data is available

Referenced by handlePlan().

bool UClientFuncLaser::handleControlIntervals ( USmlTag *  ciTag )

private

Handle control interval data

bool UClientFuncLaser::handleEkf ( USmlTag *  tag )

private

Handle EKF message

References ekfPose, ekfTime, ekfuSkipd, ekfuUsed, USmlTagIn::getNextAttribute(), gotNewEkfData(), UPose::h, HEX, MAX_SML_NAME_LENGTH, UTime::setTime(), UPose::x, and UPose::y.

Referenced by handleNewData().

bool UClientFuncLaser::handleGetComplexData ( USmlTag *  tag )

private

Handle complex data from get command.

References absf(), freePoly, freePolyCnt, freePolyNewest, USmlTagIn::getAttValue(), USmlTag::getNextTag(), UPolygon::getPointsCnt(), UProbPoly::getPoseTime(), USmlTag::getProbPoly(), USmlTagIn::getTagName(), gotNewFreePolyData(), USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), MAX_FREE_POLY_HIST, pathsCnt, UProbPoly::setValid(), USmlTag::skipToEndTag(), and UClientFuncBase::verboseMessages.

Referenced by handleNewData().

bool UClientFuncLaser::handleLaserScan ( USmlTag *  tag )

private

Decode laser scan parameters

References ULaserDataSet::addPassableInterval(), UPose::clear(), ULaserDataSet::clear(), ULaserDataSet::getData(), USmlTag::getNBytes(), ULaserDataHistory::getNewScan(), USmlTagIn::getNextAttribute(), USmlTag::getNextTag(), USmlTag::getPose(), USmlTag::getPosition(), USmlTag::getRotation(), ULaserDataSet::getSensorPose(), USmlTagIn::getTagName(), gotNewData(), UPose::h, HEX, hex2int(), USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), laserPose, MAX_SML_NAME_LENGTH, mini(), poseHist, poseHistCnt, poseHistNewest, scan, scanHist, ULaserDataSet::setData(), ULaserData::setFromTag(), ULaserPi::setFromTag(), UPosRot::setPos(), ULaserDataSet::setPose(), setPoseIfNewer(), UPosRot::setRot(), UTime::setTime(), ULaserData::setValue(), USmlTag::skipToEndTag(), str2bool(), UPose::x, and UPose::y.

Referenced by handleNewData().

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

virtual

Got fresh data destined to this function.

Reimplemented from UClientFuncBase.

References USmlTagIn::getNextAttribute(), gotNewData(), handleEkf(), handleGetComplexData(), handleLaserScan(), handleOdo(), handlePath(), handlePlan(), handleVarData(), handleWpc(), handleWpf(), USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), MAX_SML_NAME_LENGTH, odoPose, planner, USmlTagIn::print(), UClientFuncBase::printReply(), USmlTagIn::reset(), UPlannerData::setVarFromTag(), and UClientFuncBase::verboseMessages.

bool UClientFuncLaser::handleOdo ( USmlTag *  tag )

private

Handle Odometry controller data

References USmlTagIn::getNextAttribute(), USmlTag::getNextTag(), USmlTagIn::getTagName(), UPose::h, HEX, USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), MAX_POSE_HIST, MAX_SML_NAME_LENGTH, odoPose, poseHist, poseHistCnt, USmlTagIn::print(), UTime::setTime(), UPoseTime::t, UPose::x, and UPose::y.

Referenced by handleNewData().

bool UClientFuncLaser::handlePath ( USmlTag *  tag )

private

Handle a group of detected path options

References UTime::clear(), USmlTagIn::getAttValue(), ULaserPathResult::getManSeq(), USmlTagIn::getNextAttribute(), USmlTag::getNextTag(), UTime::getSec(), UManSeq::getStartPoseV(), USmlTagIn::getTagName(), gotNewData(), UPose::h, USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), MAX_NEW_PATH_CANDIDATES, MAX_SML_NAME_LENGTH, odoPose, paths, pathsCnt, ULaserPathResult::setFromTag(), setPose(), UPoseTime::setPt(), UTime::setTimeTod(), UPoseTime::t, UClientFuncBase::verboseMessages, UPose::x, and UPose::y.

Referenced by handleNewData().

bool UClientFuncLaser::handlePlan ( USmlTag *  tag )

private

Handle Planner message

References UPlannerStopCrit::active, UPlannerData::cmdFile, UPlannerData::cmdLine, UPlannerData::cmdLineLast, UPlannerData::cmdLineNum, UPlannerData::cmdLineOverride, UPlannerData::cmdStoppedBy, USmlTagIn::getNextAttribute(), USmlTag::getNextTag(), USmlTagIn::getTagName(), gotNewPlanData(), HEX, USmlTagIn::isAStartTag(), UPlannerData::isIdle, USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), MAX_FILENAME_SIZE, MAX_PLANNER_LINE_SIZE, MAX_PLANNER_STOP_CRIT_SIZE, MAX_SML_NAME_LENGTH, MAX_STOP_CRIT_COUNT, MAX_STOP_CRIT_STATUS_LENGTH, UPlannerStopCrit::name, planner, USmlTagIn::print(), UPlannerData::running, UPlannerData::simSubDir, UPlannerData::simulated, UPlannerStopCrit::status, UPlannerData::stopCrit, UPlannerData::stopCritCnt, and str2bool().

Referenced by handleNewData().

bool UClientFuncLaser::handleVarData ( USmlTag *  tag )

private

Handle data as variables

References USmlTagIn::getAttValue(), USmlTag::getNextTag(), USmlTagIn::getTagName(), gotNewData(), USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), odoPose, pathsCnt, planner, UPlannerData::setVarFromTag(), USmlTag::skipToEndTag(), and UClientFuncBase::verboseMessages.

Referenced by handleNewData().

bool UClientFuncLaser::handleWpc ( USmlTag *  tag )

private

Handle Waypoint Controller data

References USmlTagIn::getNextAttribute(), USmlTag::getNextTag(), USmlTagIn::getTagName(), HEX, USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), MAX_SML_NAME_LENGTH, MAX_WP_POSITIONS, ULaserWpc::motorLeft, ULaserWpc::motorRight, USmlTagIn::print(), ULaserWpc::speedAdvice, ULaserWpc::speedCurrent, ULaserWpc::speedPlanned, str2bool(), wpcData, ULaserWpc::wpPos, ULaserWpc::wpPosCnt, UPosition::x, and UPosition::y.

Referenced by handleNewData().

bool UClientFuncLaser::handleWpf ( USmlTag *  ciTag )

private

Handle Waypoint Finder data

References USmlTagIn::getNextAttribute(), UPose::h, HEX, USmlTagIn::isAStartTag(), laserPose, MAX_SML_NAME_LENGTH, odoPose, UPosRot::setX(), UPosRot::setY(), UPosRot::setZ(), toPose, UPose::x, and UPose::y.

Referenced by handleNewData().

const char * UClientFuncLaser::name ( )

virtual

Name of function The returned name is intended as informative to clients and should include a version number

Reimplemented from UClientFuncBase.

Referenced by UClientFuncLaserGui::setScale().

void UClientFuncLaser::setPose ( UPoseTime  poseTime )

protected

Set pose and pose history

References MAX_POSE_HIST, odoPose, poseHist, poseHistCnt, and poseHistNewest.

Referenced by handlePath(), UClientFuncLaserGui::onEvent(), and setPoseIfNewer().

void UClientFuncLaser::setPoseIfNewer ( UPose  pose, UTime  t  )

protected

Add this to pose history if the time is newer than the newest

References poseHist, poseHistCnt, poseHistNewest, and setPose().

Referenced by handleLaserScan().

Member Data Documentation

UPosition UClientFuncLaser::ciGoal

protected

Goal position at current position in mission file

UPose UClientFuncLaser::ekfPose

protected

Estimated position by EKF

Referenced by handleEkf(), and UClientFuncLaserGui::paintEkfData().

UTime UClientFuncLaser::ekfTime

protected

Update time by ekf

Referenced by handleEkf(), and UClientFuncLaserGui::paintEkfData().

int UClientFuncLaser::ekfuSkipd

protected

EKF updates skipped

Referenced by handleEkf(), UClientFuncLaserGui::paintEkfData(), and UClientFuncLaser().

int UClientFuncLaser::ekfuUsed

protected

EKF updates skipped

Referenced by handleEkf(), UClientFuncLaserGui::paintEkfData(), and UClientFuncLaser().

UProbPoly UClientFuncLaser::freePoly[MAX_FREE_POLY_HIST]

protected

Free area from vision

Referenced by UClientFuncLaserGui::doImage(), UClientFuncLaserGui::doRepaint(), and handleGetComplexData().

int UClientFuncLaser::freePolyCnt

protected

Used free poly hist entries

Referenced by UClientFuncLaserGui::doRepaint(), handleGetComplexData(), and UClientFuncLaser().

int UClientFuncLaser::freePolyNewest

protected

Newest free polygon

Referenced by UClientFuncLaserGui::doImage(), UClientFuncLaserGui::doRepaint(), handleGetComplexData(), and UClientFuncLaser().

UPosRot UClientFuncLaser::laserPose

protected

Position of laser scanner on robot

Referenced by UClientFuncLaserGui::doRepaint(), handleLaserScan(), handleWpf(), UClientFuncLaserGui::paintRobotMmr(), and UClientFuncLaserGui::paintRobotSmr().

UPoseTime UClientFuncLaser::odoPose

protected

Corrent robot pose

Referenced by UClientFuncLaserGui::doImage(), UClientFuncLaserGui::doRepaint(), handleNewData(), handleOdo(), handlePath(), handleVarData(), handleWpf(), UClientFuncLaserGui::onEvent(), UClientFuncLaserGui::paintOdoData(), UClientFuncLaserGui::paintOdoGrid(), UClientFuncLaserGui::paintPathData(), UClientFuncLaserGui::paintWpListData(), and setPose().

ULaserPathResult* UClientFuncLaser::paths[MAX_NEW_PATH_CANDIDATES]

protected

Detected path data wihin the laser-scans in front of the robot

Referenced by UClientFuncLaserGui::doImage(), UClientFuncLaserGui::doRepaint(), gotNewPathData(), handlePath(), UClientFuncLaser(), and ~UClientFuncLaser().

int UClientFuncLaser::pathsCnt

protected

Count of valid detected paths

Referenced by UClientFuncLaserGui::doImage(), UClientFuncLaserGui::doRepaint(), gotNewPathData(), handleGetComplexData(), handlePath(), handleVarData(), and UClientFuncLaser().

UPlannerData UClientFuncLaser::planner

protected

Planner data

Referenced by handleNewData(), handlePlan(), handleVarData(), UClientFuncLaserGui::paintOdoDest(), UClientFuncLaserGui::paintPlannerData(), and UClientFuncLaserGui::paintWpc().

UPoseTime UClientFuncLaser::poseHist[MAX_POSE_HIST]

protected

Odometry pose history

Referenced by handleLaserScan(), handleOdo(), UClientFuncLaserGui::paintOdoData(), setPose(), and setPoseIfNewer().

int UClientFuncLaser::poseHistCnt

protected

Time of pose history Number of pose history entries

Referenced by UClientFuncLaserGui::clear(), handleLaserScan(), handleOdo(), UClientFuncLaserGui::paintOdoData(), setPose(), setPoseIfNewer(), and UClientFuncLaser().

int UClientFuncLaser::poseHistNewest

protected

Newest pose history index

Referenced by handleLaserScan(), UClientFuncLaserGui::paintOdoData(), setPose(), and setPoseIfNewer().

ULaserDataHistory UClientFuncLaser::scanHist

protected

Data buffer for received data

Referenced by UClientFuncLaserGui::clear(), UClientFuncLaserGui::doImage(), UClientFuncLaserGui::doRepaint(), getLaserTime(), handleLaserScan(), UClientFuncLaserGui::paintNewestScan(), UClientFuncLaserGui::paintOdoData(), and UClientFuncLaserGui::saveImage().

UPose UClientFuncLaser::toPose

protected

Goal position for robot

Referenced by handleWpf().

ULaserWpc UClientFuncLaser::wpcData

protected

Waypoint controller data

Referenced by UClientFuncLaserGui::doRepaint(), handleWpc(), UClientFuncLaserGui::paintPlannerData(), and UClientFuncLaserGui::paintWpListData().

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

• uclientfunclaser.h
• uclientfunclaser.cpp