#include <ureplaydevice.h>

Inheritance diagram for UReplayDevice:

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

bool	getReplayFileExist ()

char *	getReplayFileName (char *fn, const int fnCnt)

int	getReplayLogLine ()

UTime	getReplayTimeNext ()

UTime	getReplayTimeNow ()

virtual bool	isPortOpen ()

virtual bool	isReplay ()

virtual bool	isReplayDevice ()

bool	isReplayFileOpen ()

double	maxRange ()

bool	replayStep (int steps, UResBase *lasPool)

bool	replayStepToScan (unsigned int toSerial, UResBase *lasPool)

bool	replayToTime (UTime untilTime)

bool	setReplay (bool value)

	UReplayDevice ()

	~UReplayDevice ()

Public Member Functions inherited from ULaserDevice
virtual void	callGotNewDataWithObject ()

virtual bool	changeMode (int scanangle, double resolution)

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 ()

virtual const char *	getNameFromDevice ()

int	getScanAngle ()

double	getScanAngle (int measurement)

double	getScanResolution ()

unsigned long	getSerial ()

void	gotNewScan (ULaserData *gotData)

virtual bool	isLogFileOpen ()

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	setCore (UCmdExe *pCore)

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 ()

Protected Attributes
bool	replay

FILE *	replayFile

char	replayLine [MAX_LOG_LINE_LENGTH]

int	replayLogLine

UTime	replayTimeNext

UTime	replayTimeNow

ULaserData	scan

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

Static Protected Attributes
static const int	MAX_LOG_LINE_LENGTH = 10000

Private Member Functions
bool	replayStep ()

Additional Inherited Members
Protected Member Functions inherited from ULaserDevice
virtual void	closePort ()

virtual double	getDefaultDelay ()

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

virtual bool	openPort ()

virtual bool	receiveData ()

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

void	updateScanData (UTime scanTime)

Detailed Description

Laser scanner device that gets the data from a logfile

    @author Christian Andersen <jca@oersted.dtu.dk>

Constructor & Destructor Documentation

UReplayDevice::UReplayDevice ( )

Constructor

References ULaserDevice::devName, MAX_DEVICE_NAME_LNG, MAX_NAME_LNG, ULaserDevice::maxValidRange, ULaserDevice::name, replay, replayFile, replayLine, replayLogLine, and ULaserDevice::replayOrFake.

UReplayDevice::~UReplayDevice ( )

destructor

Member Function Documentation

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

virtual

Get the newest data unpacked to this structure. Returns true if valid.

Reimplemented from ULaserDevice.

References ULaserData::copy(), ULaserDevice::getFakeScan(), ULaserData::getSerial(), ULock::lock(), scan, ULaserData::setValid(), and ULock::unlock().

Referenced by isPortOpen().

bool UReplayDevice::getReplayFileExist ( )

Test if replay file with current specifications exist (and read is allowed)

References getReplayFileName().

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

char * UReplayDevice::getReplayFileName	(	char *	fn,
		const int	fnCnt
	)

Get the full replay logfile name. Returns pointer fn[] string.

References ULaserDevice::devName, and replayPath.

Referenced by getReplayFileExist(), getReplayLogLine(), UFunctionLaser::handleSetCommand(), and setReplay().

int UReplayDevice::getReplayLogLine ( )

inline

Get current line number in replay logfile

References getReplayFileExist(), getReplayFileName(), replayLogLine, replayStep(), replayStepToScan(), and replayToTime().

Referenced by UFunctionLaser::handleSetCommand().

UTime UReplayDevice::getReplayTimeNext ( )

inline

Get replat time next

References replayTimeNext.

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

UTime UReplayDevice::getReplayTimeNow ( )

inline

Set replay subdir. Sets the value to the subdir buffer, but nothing else is changed. Get pointer to replay subdir Get replat time now

References replayTimeNow.

Referenced by UFunctionLaser::handleSetCommand().

virtual bool UReplayDevice::isPortOpen ( )

inlinevirtual

Change scanner resolution mode. Returns true if new resolution is set Is the port to the device open

Reimplemented from ULaserDevice.

References getNewestData().

virtual bool UReplayDevice::isReplay ( )

inlinevirtual

Get replay flag

References replay.

virtual bool UReplayDevice::isReplayDevice ( )

inlinevirtual

Is laserscanner a replay device scanner

Reimplemented from ULaserDevice.

References maxRange(), and setReplay().

Referenced by UFunctionLaser::handleSetCommand().

bool UReplayDevice::isReplayFileOpen ( )

inline

is replay file open

References replayFile.

Referenced by UFunctionLaser::handleSetCommand().

double UReplayDevice::maxRange ( )

Print device status to a buffer string Device name determines max range for device. Decode the range from the name.

Referenced by isReplayDevice().

bool UReplayDevice::replayStep	(	int	steps,
		UResBase *	lasPool
	)

Replay N singles from the logfile.

Parameters

steps	number of steps to advance
lasPool	is pointer to laser pool - to notify other replay partners. true if N steps were available in replay file.

References UReplay::replayAdvanceTime(), replayStep(), and replayTimeNow.

Referenced by UFunctionLaser::handleSetCommand().

bool UReplayDevice::replayStep ( )

private

Replay a single step from the logfile. true if step is performed (not EOF).

References absf(), ULaserData::addMeasurements(), ULaserDevice::angleResolution, ULaserDevice::getDeviceNum(), ULaserData::getFlags(), getReplayTimeNext(), ULaserDevice::gotNewScan(), UPose::h, ULock::lock(), MAX_LOG_LINE_LENGTH, ULaserDevice::maxValidRange, ULaserDevice::mirrorData, ULaserDevice::modeAngleScan, ULaserDevice::pose, replay, replayFile, replayLine, replayLogLine, replayTimeNext, replayTimeNow, roundi(), scan, ULaserDevice::serial, ULaserData::setAngleResAndStart(), ULaserData::setDeviceNum(), ULaserData::setMaxValidRange(), ULaserData::setMeasurement(), ULaserData::setRangeCnt(), setReplay(), ULaserData::setScanTime(), ULaserData::setSerial(), UTime::setTimeTod(), ULaserData::setUnit(), ULaserData::setValid(), UPoseTime::t, ULock::unlock(), UTime::valid, ULaserDevice::var, UPose::x, and UPose::y.

Referenced by getReplayLogLine(), replayStep(), replayStepToScan(), and replayToTime().

bool UReplayDevice::replayStepToScan	(	unsigned int	toSerial,
		UResBase *	lasPool
	)

Advance replay to this scannumber

Parameters

toSerial	is the scan serial to advance to
lasPool	is pointer to laser pool - to notify other replay partners. true if scan is found.

References ULaserData::getSerial(), UReplay::replayAdvanceTime(), replayStep(), replayTimeNow, and scan.

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

bool UReplayDevice::replayToTime ( UTime untilTime )

Replay until just before this time

References replayStep(), and replayTimeNext.

Referenced by getReplayLogLine(), and ULaserPool::replayToTime().

bool UReplayDevice::setReplay ( bool value )

Set replay flag. If replay flag is changed to true, the logfile (odo.log) is attempted opened. If successfull, the current pose history is cleared and the first record read and implemented. If not successfull, the replay flag is set to true, and the pose history is cleared only. Returns true if replay file is opened

References getReplayFileName(), MAX_LOG_LINE_LENGTH, replay, replayFile, replayLine, replayLogLine, replayTimeNext, UTime::setTimeTod(), and UTime::valid.

Referenced by UFunctionLaser::handleSetCommand(), isReplayDevice(), and replayStep().