#include <usmltag.h>

Inheritance diagram for USmlTag:

Public Member Functions
bool	cnnVerbose ()

bool	codeLineSegment (ULineSegment seg, char s, const unsigned int bufferLength, const char name, const char extra=NULL)

char *	codeManoeuvre (UManoeuvre man, char buf, int bufCnt, char *name)

bool	codeManPPSeq (UManPPSeq manseq, char buf, int bufCnt, char *name)

const char *	codeObstacle (UObstacle obst, char buf, int bufCnt, char *name)

const char *	codePolygon (UPolygon poly, char buf, int bufCnt, char name, const char extra)

char *	codePose (UPose pose, char buf, int bufCnt, const char name, const char *extraAtt=NULL)

char *	codePoseTime (UPoseTime pt, char buf, int bufCnt, const char name)

char *	codePoseTime1 (UPoseTime pt, char buf, int bufCnt, const char name, const char *extraAtt=NULL)

char *	codePoseV (UPoseV pv, char buf, int bufCnt, const char name)

const char *	codePosition (UPosition pos, char s, const unsigned int bufferLength, const char name, const char extra=NULL)

const char *	codePosition (UPosition pos, char s, const unsigned int bufferLength, const char name, const char *extra=NULL)

const char *	codeRotation (URotation rot, char s, const unsigned int bufferLength, const char *name)

const char *	codeRotation (URotation rot, char s, const unsigned int bufferLength, const char name)

const char *	codeTime (const UTime time, char s, const unsigned int bufferLength, const char name)

bool	getGmk (UGmk *gmk)

const char *	getIfName ()

bool	getLineSegment (ULineSegment *seg)

bool	getManSeq (UManSeq *man)

int	getNBytes (char *buffer, int n, int msTimeout)

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

bool	getObstacle (UObstacle obst, char name)

bool	getObstacleGroup (UObstacleGroup oGrp, char name)

bool	getPolygon (UPolygon poly, char name)

bool	getPose (UPose *pose)

bool	getPoseT (UPoseTime *pose)

bool	getPoseTime (UPoseTime pose, char name)

bool	getPoseTVQ (UPoseTVQ *pose)

bool	getPoseV (UPoseV *pose)

bool	getPosition (UPosition *pos)

bool	getProbPoly (UProbPoly *poly)

bool	getRotation (URotation *rot)

bool	getTimeofday (UTime time, char name)

bool	outputData (const char *message)

bool	sendProbPoly (UProbPoly poly, UServerInMsg msg, const char name, const char extraAtt, UCmdExe *exe)

void	setCnn (USmlSource *connection)

bool	skipNBytes (int n, int msTimeout)

bool	skipToEndTag (int msTimeout)

	USmlTag ()

Public Member Functions inherited from USmlTagIn
void	allowTagEndInString ()

int	findEndTag (const char *data, const int dataCnt)

bool	getAttBool (const char name, bool value, bool defaultValue=true)

int	getAttCnt ()

bool	getAttDouble (const char name, double value, double defaultValue=0.0)

bool	getAttInteger (const char name, int value, int defaultValue=0)

bool	getAttTime (const char name, UTime value)

bool	getAttTime (const char name, UTime value, double defaultValue)

bool	getAttTime (const char name, UTime value, UTime defaultValue)

bool	getAttUnsignedLong (const char name, unsigned long value, unsigned long defaultValue=0)

bool	getAttValue (const char name, char value, const int bufLength)

bool	getAttValueBool (const char name, bool value, bool defValue)

bool	getAttValueD (const char name, double value)

bool	getAttValueInt (const char name, int value)

const char *	getNext ()

bool	getNextAttribute (char name, char value, const int valBufLength, const int nameMaxCnt=MAX_SML_NAME_LENGTH, bool *overflow=NULL)

int	getTagCnt ()

const char *	getTagName ()

const char *	getTagStart ()

bool	getTime (UTime *time)

const char *	getToEnd ()

bool	isAFullTag ()

bool	isAnEndTag ()

bool	isAPhonyTag ()

bool	isAStartTag ()

bool	isTagA (const char *tag)

bool	isTagAnEnd (const char *tag)

bool	isTagEndFound ()

bool	isValid ()

void	print (const char *preString)

bool	reset ()

void	setBinaryTag (const char name, const char data, int dataCnt)

bool	setTag (const char *tagString)

bool	setTag (const char *tagString, int tagStringCnt)

void	setValid (bool value)

	USmlTagIn ()

	~USmlTagIn ()

Protected Attributes
USmlSource *	cnn

Protected Attributes inherited from USmlTagIn
bool	ignoreTagEndInString

bool	isEndTag

bool	isFullTag

bool	isStartTag

const char *	next

const char *	tag

int	tagCnt

bool	tagEndFound

char	tagName [MAX_SML_NAME_LENGTH]

const char *	toEnd

bool	valid

Detailed Description

Class that codes and decodes more complex structores to and from the SML format

Constructor & Destructor Documentation

USmlTag::USmlTag ( )

inline

Constructor

References cnn.

Member Function Documentation

bool USmlTag::cnnVerbose ( )

inline

Is connection verbose

References cnn, codePosition(), and USmlSource::isVerbose().

Referenced by UClientFuncCam::handleCamGet(), UClientFuncGmk::handleGmkGet(), UClientFuncImage::handleImages(), UResLaserIfObst::handleObst(), UResIfVar::handleOther(), and UClientFuncPath::handlePathPolygonData().

bool USmlTag::codeLineSegment	(	ULineSegment *	seg,
		char *	s,
		const unsigned int	bufferLength,
		const char *	name,
		const char *	extra = `NULL`
	)

Code the line segment to in a XML like text of the form <lineSeg name="name" legngth=1.234 extra/> <pos3d name="start" x=1.0e12 y=2.0 z=2.0/> <pos3d name="vec" x=9.9 y=9.9 z=9.9/> </lineSeg>. If extra is not NULL, then the extra string info is inserted as 'extra' into start tag. Returns true if data is fitted into buffer.

References codePosition(), ULineSegment::length, ULine::pos, and ULine::vec.

Referenced by codeRotation(), UFunctionPassable::handlePass(), UFunctionAvoid::sendCurrentAvoidPath(), UFunctionPassable::sendRoadLines(), and testSmlEncoding().

char * USmlTag::codeManoeuvre	(	UManoeuvre *	man,
		char *	buf,
		int	bufCnt,
		char *	name
	)

Code a manoeuvre. Returns a pointer to the coded string (buf).

References a, buf, UManoeuvre::getAcc(), UManoeuvre::getDistance(), UManoeuvre::getManType(), UManoeuvre::getVel(), UManoeuvre::MAN_ARC, UManoeuvre::MAN_LINE, and UManoeuvre::MAN_STOP.

Referenced by codeManPPSeq(), and codeRotation().

bool USmlTag::codeManPPSeq	(	UManPPSeq *	manseq,
		char *	buf,
		int	bufCnt,
		char *	name
	)

Code a small sequence of manoeuvres to d a pose-to-pose manoeuvre. Returns a pointer to the coded string (buf).

References codeManoeuvre(), codePoseV(), UManPPSeq::getEndPoseV(), UManPPSeq::getEndVel(), UManPPSeq::getMan(), UManPPSeq::getManTime(), UManPPSeq::getSeqCnt(), and UManPPSeq::getStartPoseV().

Referenced by codeRotation(), UFunctionRoadDrive::handleCommand(), UFunctionDrivePos::handleDrivePos(), UFunctionAvoid::sendCurrentAvoidPath(), UFunctionAvoid::sendCurrentPath(), and UFunctionAvoid::sendManSeq().

const char * USmlTag::codeObstacle	(	UObstacle *	obst,
		char *	buf,
		int	bufCnt,
		char *	name
	)

Code an obstacle polygon including start and end pose etc. Requires approc 90 bytes per vertice plus about 400 characters for other values

References buf, codePolygon(), codePoseTime(), UObstacle::codeXmlAttributes(), UObstacle::getDataType(), UObstacle::getPoseFirst(), UObstacle::getPoseLast(), and mini().

Referenced by codeRotation(), UFuncObj3d::sendObjects(), and UFunctionPassable::sendObstacles().

const char * USmlTag::codePolygon	(	UPolygon *	poly,
		char *	buf,
		int	bufCnt,
		char *	name,
		const char *	extra
	)

Code a polygon using the tagname 'polygon'. Handles any number of vertices, but require a buffer of about 90 characters per vertice (+ about 50 for frame)

Parameters

poly	is the polygon to code,
buf	is the buffer to code to,
bufCnt	is the length of the buffer,
name	is an optional extra name attribute value - is added as name value in quotes.
extra	is a full string of extra attributes (assumed to be coded to legal xml standard, i.e. aaa="bbb" ccc="555" ....

Returns: pointer to buffer

References UPolygon::codeXml().

Referenced by codeObstacle(), codeRotation(), and UPolyItem::codeXML().

char * USmlTag::codePose	(	UPose	pose,
		char *	buf,
		int	bufCnt,
		const char *	name,
		const char *	extraAtt = `NULL`
	)

Code a pose to this string, and include a name attribute, if name holds a name. Additional attributes (like time, velocity may be placed in 'extraAtt'

References buf, UPose::h, UPose::x, and UPose::y.

Referenced by codePoseTime(), codePoseTime1(), codeRotation(), UFunctionPassable::handlePass(), UFunctionAvoid::sendCurrentPath(), UFunctionPassable::sendFullScan(), UFuncEfLine::sendRobotPoseAndSensorPosition(), and UFunctionLaser::sendScan().

char * USmlTag::codePoseTime	(	UPoseTime	pt,
		char *	buf,
		int	bufCnt,
		const char *	name
	)

Code a pose-time structure as a combination of pose and time tags

References buf, codePose(), codeTime(), UPoseTime::getPose(), and UPoseTime::t.

Referenced by codeObstacle(), codeRotation(), UFuncObj3d::sendObjects(), and UFunctionPassable::sendObstacles().

char * USmlTag::codePoseTime1	(	UPoseTime	pt,
		char *	buf,
		int	bufCnt,
		const char *	name,
		const char *	extraAtt = `NULL`
	)

Code pose time as one tag. Extra attributes may be added in 'extraAtt'

References codePose(), UTime::getMicrosec(), UPoseTime::getPose(), UTime::getSec(), and UPoseTime::t.

Referenced by codeRotation(), and UFunctionPoseHist::handlePoseHistCommand().

char * USmlTag::codePoseV	(	UPoseV	pv,
		char *	buf,
		int	bufCnt,
		const char *	name
	)

Code a robot pose including velocity. All is in metric units, meter and radians Returns a pointer to the coded string (buf).

References buf, UPoseV::getVel(), UPose::h, UPose::x, and UPose::y.

Referenced by codeManPPSeq(), codeRotation(), and UFunctionRoadDrive::handleCommand().

const char * USmlTag::codePosition	(	UPosition *	pos,
		char *	s,
		const unsigned int	bufferLength,
		const char *	name,
		const char *	extra = `NULL`
	)

Make position to SML string <pos3d name="name" x="123.456" y="123.456" z="123.2"/ [extra]> Returns pointer to the buffer string 's', if buffer is too short the message will be truncated. If name is NULL or an empty string, the name attribute will be omitted. The 'extra' is extra attributes appended before the '/>' close tag.

References UPosition::codeXml().

Referenced by cnnVerbose(), codeLineSegment(), codePosition(), UFuncBall_improved::handleCommand(), UFuncBall::handleCommand(), UFunctionPassable::handlePass(), UFunctionPassable::sendFullScan(), UFunctionCamGmk::sendGmk(), UFuncEfLine::sendRobotPoseAndSensorPosition(), UFunctionLaser::sendScan(), and testSmlEncoding().

const char* USmlTag::codePosition	(	UPosition	pos,
		char *	s,
		const unsigned int	bufferLength,
		const char *	name,
		const char *	extra = `NULL`
	)

inline

Slight variation of the main function with the same name

References codePosition(), and codeRotation().

const char * USmlTag::codeRotation	(	URotation *	rot,
		char *	s,
		const unsigned int	bufferLength,
		const char *	name
	)

Code a rotation structore into string s of length 'buffer length. Returns a pointer to s, if buffer length is sufficient, else NULL is returned

References URotation::Kappa, URotation::Omega, and URotation::Phi.

Referenced by codePosition(), codeRotation(), UFunctionPassable::handlePass(), UFunctionPassable::sendFullScan(), UFunctionCamGmk::sendGmk(), UFuncEfLine::sendRobotPoseAndSensorPosition(), and UFunctionLaser::sendScan().

const char* USmlTag::codeRotation	(	URotation	rot,
		char *	s,
		const unsigned int	bufferLength,
		const char *	name
	)

inline

Slight variation of the main function with the same name

References buf, codeLineSegment(), codeManoeuvre(), codeManPPSeq(), codeObstacle(), codePolygon(), codePose(), codePoseTime(), codePoseTime1(), codePoseV(), codeRotation(), codeTime(), getGmk(), getLineSegment(), getManSeq(), getObstacle(), getObstacleGroup(), getPolygon(), getPose(), getPoseT(), getPoseTime(), getPoseV(), getPosition(), getProbPoly(), getRotation(), getTimeofday(), and sendProbPoly().

const char * USmlTag::codeTime	(	const UTime	time,
		char *	s,
		const unsigned int	bufferLength,
		const char *	name
	)

Code a time of dat as a single tag. Returns a pointer to s, if buffer length is sufficient, else NULL is returned

References UTime::getMicrosec(), and UTime::getSec().

Referenced by codePoseTime(), codeRotation(), and UFunctionCamGmk::sendGmk().

bool USmlTag::getGmk ( UGmk * gmk )

decode a guidemark and store result in the provided structure. Returns true if full guidemari is obtained.

References cnn, USmlTagIn::getNextAttribute(), USmlSource::getNextTag(), UPosRot::getPos(), getPosition(), UPosRot::getRot(), getRotation(), USmlTagIn::getTagName(), USmlTagIn::getTime(), USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), USmlSource::isVerbose(), UGmk::MAX_CODE_LENGTH, MAX_SML_NAME_LENGTH, USmlTagIn::print(), USmlTagIn::reset(), UGmk::set(), UGmk::setPosValid(), UGmk::setTime(), and USmlSource::skipToEndTag().

Referenced by codeRotation(), and UClientFuncGmk::handleGmkGet().

const char* USmlTag::getIfName ( )

inline

Get interface name - if set

References cnn, getPoseTVQ(), and USmlSource::ifName.

Referenced by UResLaserIfScan::handleLaserScan().

bool USmlTag::getLineSegment ( ULineSegment * seg )

Decode line segment from a SML-string. Returns true if all data were present.

References cnn, USmlTagIn::getAttValue(), USmlSource::getNextTag(), getPosition(), USmlTagIn::getTagName(), USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), USmlSource::isVerbose(), ULineSegment::length, ULine::pos, USmlTagIn::print(), USmlTagIn::reset(), USmlSource::skipToEndTag(), and ULine::vec.

Referenced by codeRotation(), UClientFuncSF::handlePass(), UResLaserIfSf::handlePass(), UClientFuncSF::handleRoad(), UResLaserIfSf::handleRoad(), UResLaserIfRoad::handleRoad(), UClientManSeq::setFromTag(), and ULaserPathResult::setFromTag().

bool USmlTag::getManSeq ( UManSeq * man )

int USmlTag::getNBytes	(	char *	buffer,
		int	n,
		int	msTimeout
	)

inline

Shortcut to cnn (UClientPortSml) function

References cnn, and USmlSource::getNBytes().

Referenced by UClientFuncImage::handleImages(), UClientFuncSimScan::handleLaserScan(), UResLaserIfScan::handleLaserScan(), and UClientFuncLaser::handleLaserScan().

bool USmlTag::getNextTag	(	USmlTag *	tag,
		int	msTimeout,
		USmlTagIn *	failEndTag = `NULL`,
		char *	beforeTagBuffer = `NULL`,
		int *	beforeTagCnt = `NULL`
	)

Shortcut to cnn (UClientPortSml) function Read the next available tag into the provided buffer.

Parameters

tag,The	found tag is loaded into the 'tag' buffer.
int	timeout in ms
failEndTag	The search is also stopped if an end-tag is found matching the 'failEndTag' (makes the function return false).
beforeTagBuffer	is (if != NULL) filled with the data before the next tag.
beforeTagCnt	is on entry the buffer size. The number of bytes filled into the buffer returned into 'beforeTagCnt'. If there is more data before the next tag than the space in 'beforeTagBuffer' then the function returns with 'beforeTagBuffer' equal to the buffer size and the function returnes true. Note the buffer is NOT nul-terminated (to allow binary data), so the user must add a nul at the 'beforeTagCnt' position if the result is used as a string. true if tag is valid (and the beforeTagBuffer has no overflow).

References cnn, and USmlSource::getNextTag().

Referenced by UClientFuncLaser::handleGetComplexData(), UClientFuncGmk::handleGmkGet(), UClientFuncBase::handleHelp(), UClientFuncImage::handleImages(), UClientFuncSimScan::handleLaserScan(), UResLaserIfScan::handleLaserScan(), UClientFuncLaser::handleLaserScan(), UResNavIfMan::handleManData(), UResPcp::handleNewData(), UResPoly::handleNewData(), UClientFuncObstGrp::handleObst(), UResLaserIfObst::handleObst(), UClientFuncLaser::handleOdo(), UResIfVar::handleOther(), UClientFuncSF::handlePass(), UResLaserIfSf::handlePass(), UClientFuncLaser::handlePath(), UClientFuncPath::handlePathGetMsg(), UClientFuncPath::handlePathPolygonData(), UClientFuncLaser::handlePlan(), UResIfVar::handlePoseHist(), UClientFuncSF::handleRoad(), UResLaserIfSf::handleRoad(), UResLaserIfRoad::handleRoad(), UClientFuncSF::handleSF(), UResLaserIfSf::handleSF(), UClientFuncLaser::handleVarData(), UClientFuncLaser::handleWpc(), UClientManSeq::setFromTag(), ULaserPathResult::setFromTag(), and skipToEndTag().

bool USmlTag::getObstacle	(	UObstacle *	obst,
		char *	name
	)

Decode an obstacle for connection stream

References cnn, USmlTagIn::getAttValue(), USmlSource::getNextTag(), getPolygon(), getPoseTime(), UObstacle::getPPoseFirst(), UObstacle::getPPoseLast(), USmlTagIn::getTagName(), USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), USmlSource::isVerbose(), USmlTagIn::print(), UObstacle::setHits(), UObstacle::setValid(), USmlSource::skipToEndTag(), and str2bool().

Referenced by codeRotation(), and getObstacleGroup().

bool USmlTag::getObstacleGroup	(	UObstacleGroup *	oGrp,
		char *	name
	)

bool USmlTag::getPolygon	(	UPolygon *	poly,
		char *	name
	)

Decode polygon from this start tag and place result in 'poly' structure. Return any name in 'name', and get additional charracters from 'cnn' connection.

References UPolygon::add(), cnn, UPolygon::color, USmlTagIn::getAttValue(), USmlSource::getNextTag(), UPolygon::getPointsCnt(), UPolygon::getPointsMax(), getPosition(), USmlTagIn::getTagName(), USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), USmlSource::isVerbose(), USmlTagIn::print(), UPolygon::setAsPolygon(), USmlSource::skipToEndTag(), and str2bool2().

Referenced by codeRotation(), getObstacle(), and UResPoly::handleNewData().

bool USmlTag::getPose ( UPose * pose )

Extract pose attributes from this tag.

References USmlTagIn::getNextAttribute(), UPose::h, MAX_SML_NAME_LENGTH, USmlTagIn::reset(), UPose::x, and UPose::y.

Referenced by codeRotation(), getPoseT(), getPoseTime(), UResLaserIfScan::handleLaserScan(), UClientFuncLaser::handleLaserScan(), UClientFuncSF::handlePass(), UResLaserIfSf::handlePass(), UClientFuncSF::handleSF(), UResLaserIfSf::handleSF(), UClientManSeq::setFromTag(), and ULaserPathResult::setFromTag().

bool USmlTag::getPoseT ( UPoseTime * pose )

Get pose time in compact form. <pt od="1234567890.123456" x=0.123 y="1.234" th="0.0123"/>. Returns true if all needed attributes were present.

References USmlTagIn::getAttValue(), getPose(), UTime::setTimeU(), and UPoseTime::t.

Referenced by codeRotation(), getPoseTVQ(), and UResIfVar::handlePoseHist().

bool USmlTag::getPoseTime	(	UPoseTime *	pose,
		char *	name
	)

Get a pose-time structure. If there is a name attribute, then set it to the name structure (name buffer must be able to hold 30 characters).

References cnn, USmlTagIn::getAttValue(), USmlSource::getNextTag(), getPose(), USmlTagIn::getTagName(), getTimeofday(), USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), USmlSource::isVerbose(), USmlTagIn::print(), USmlTagIn::reset(), USmlSource::skipToEndTag(), and UPoseTime::t.

Referenced by codeRotation(), getObstacle(), and getObstacleGroup().

bool USmlTag::getPoseTVQ ( UPoseTVQ * pose )

DEcode a pose with time and potentiallt velocity and quality figure.

Returns: true if at least x,y,th and time is available.

References USmlTagIn::getAttValue(), getPoseT(), UPoseTVQ::q, and UPoseTVQ::vel.

Referenced by getIfName(), and UServerClient::trapMessage().

bool USmlTag::getPoseV ( UPoseV * pose )

Get a pose-velocity structure from this tag. Returns true if all fields (x,y,h,v) were present.

References USmlTagIn::getNextAttribute(), UPose::h, MAX_SML_NAME_LENGTH, USmlTagIn::reset(), UPoseV::setVel(), UPose::x, and UPose::y.

Referenced by codeRotation(), and getManSeq().

bool USmlTag::getPosition ( UPosition * pos )

Decode a position tag. Returns true if all valeues were decoded.

References USmlTagIn::getNextAttribute(), UDataBase::isA(), MAX_SML_NAME_LENGTH, USmlTagIn::reset(), UPosition::x, UPosition::y, and UPosition::z.

Referenced by codeRotation(), getGmk(), getLineSegment(), getPolygon(), getProbPoly(), UResLaserIfScan::handleLaserScan(), UClientFuncLaser::handleLaserScan(), UClientFuncSF::handlePass(), UResLaserIfSf::handlePass(), UClientFuncSF::handleSF(), UResLaserIfSf::handleSF(), and ULaserPathResult::setFromTag().

bool USmlTag::getProbPoly ( UProbPoly * poly )

bool USmlTag::getRotation ( URotation * rot )

Decode rotation from this tag. Returns true if all thress parts are present (Omega, Phi and Kappa)

References USmlTagIn::getNextAttribute(), URotation::Kappa, MAX_SML_NAME_LENGTH, URotation::Omega, URotation::Phi, and USmlTagIn::reset().

Referenced by codeRotation(), getGmk(), UResLaserIfScan::handleLaserScan(), UClientFuncLaser::handleLaserScan(), UClientFuncSF::handlePass(), UResLaserIfSf::handlePass(), UClientFuncSF::handleSF(), and UResLaserIfSf::handleSF().

bool USmlTag::getTimeofday	(	UTime *	time,
		char *	name
	)

Get time value from this tag.

References USmlTagIn::getAttValue(), USmlTagIn::reset(), and UTime::setTime().

Referenced by codeRotation(), and getPoseTime().

bool USmlTag::outputData ( const char * message )

inline

Shortcut to cnn (UClientPortSml) function Shortcut to cnn (UClientPortSml) function

References cnn, and USmlSource::outputData().

Referenced by UResCamIfImg::gotNewImage().

bool USmlTag::sendProbPoly	(	UProbPoly *	poly,
		UServerInMsg *	msg,
		const char *	name,
		const char *	extraAtt,
		UCmdExe *	exe
	)

Send an UProbPoly structure. Add some extra attributes in start tag if extraAtt is not NULL (or empty).

Parameters

poly	is the polygon to be send,
msg	is the message reference for client number etc.
name	is an optional value for a name attribute
extraAtt	an additional (optional) string with more attributes for the polygon start tag
exe	is a server core pointer that implements the send functions Returns true if send.