#include <ureslaserifscan.h>

Inheritance diagram for UResLaserIfScan:

Public Member Functions
virtual const char *	commandList ()

ULaserDataHistory *	getScanHist ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

virtual void	handleNewData (USmlTag tag, const char ifname)

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

virtual bool	setResource (UResBase *resource, bool remove)

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

	UResLaserIfScan ()

virtual	~UResLaserIfScan ()

Public Member Functions inherited from UResIfBase
	UResIfBase ()

	~UResIfBase ()

Public Member Functions inherited from UClientFuncBase
virtual void	changedNamespace (const char *newNamespace)

virtual void	doTimeTick ()

int	getMsgCnt ()

bool	getVerbose ()

virtual const char *	name ()

bool	sendMsg (UClientPortSml cnn, const char buff, int buffCnt)

bool	sendMsg (UClientPortSml cnn, const char buff)

void	setVerbose (bool value)

	UClientFuncBase ()

virtual	~UClientFuncBase ()

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	stop (bool)

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)

virtual void	replayAdvanceTime (UTime untilTime)

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

void	replaySetFileName (const char *name)

virtual bool	replayStep ()

int	replayStep (int steps)

virtual bool	replayToTime (UTime untilTime)

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 ()

virtual void	gotNewData (ULaserDataSet *scan)

bool	handleLaserScan (USmlTag *tag)

Protected Member Functions inherited from UClientFuncBase
void	handleHelp (USmlTag *tag)

void	printReply (USmlTagIn tag, const char preString)

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
bool	callDispOnNewData

char	dataSourceName [MAX_DATA_SOURCE_NAME]

UResPoseHist *	poseHist

ULaserDataHistory	scanHist

UVariable *	varScan

UVariable *	varSensorOmega

UVariable *	varSensorX

Protected Attributes inherited from UClientFuncBase
int	msgHandled

char	serverNamespace [MAX_SML_NAME_LENGTH]

int	serverNamespaceValue

bool	verboseMessages

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

Static Protected Attributes
static const int	MAX_DATA_SOURCE_NAME = 10

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...

Additional Inherited Members
Public Attributes inherited from UClientFuncBase
ULock	decodeLock

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Detailed Description

Client interface for basic scan data

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

Constructor & Destructor Documentation

UResLaserIfScan::UResLaserIfScan ( )

inline

Constructor

References callDispOnNewData, commandList(), createBaseVar(), dataSourceName, getResClassID(), UResBase::getResVersion(), handleNewData(), MAX_DATA_SOURCE_NAME, poseHist, UResBase::resVersion, UResBase::setResID(), and ~UResLaserIfScan().

UResLaserIfScan::~UResLaserIfScan ( )

virtual

Destructor

Referenced by UResLaserIfScan().

Member Function Documentation

const char * UResLaserIfScan::commandList ( )

virtual

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

Referenced by snprint(), and UResLaserIfScan().

void UResLaserIfScan::createBaseVar ( )

protected

Create variables for this resource

References UResVarPool::addVar(), UResBase::getResVersion(), varScan, varSensorOmega, and varSensorX.

Referenced by getScanHist(), and UResLaserIfScan().

static const char* UResLaserIfScan::getResClassID ( )

inlinestatic

Fixed name of this resource type

References snprint().

Referenced by UNavPaint::setResource(), UFunctionLaserIfScan::setResource(), UNavView::setResource(), and UResLaserIfScan().

ULaserDataHistory* UResLaserIfScan::getScanHist ( )

inline

Get pointer to the scan history data

References createBaseVar(), gotNewData(), handleLaserScan(), scan, and scanHist.

Referenced by UFunctionLaserIfScan::handleLaserIf(), and UNavPaint::setResource().

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

virtual

Is this resource missing any base ressources

Reimplemented from UResVarPool.

References UResPoseHist::getOdoPoseID(), UResVarPool::gotAllResources(), and poseHist.

Referenced by print().

void UResLaserIfScan::gotNewData ( ULaserDataSet * scan )

protectedvirtual

The varPool has methods, and a call to one of these are needed. Do the call now and return (a double sized) result in 'value' and return true if the method call is allowed. If the returnStruct and returnStructCnt is not NULL, then a number (no more than initial value of returnStructCnt) of structures based on UDataBase may be returned into returnStruct array of pointers. The returnStructCnt should be modified to the actual number of used pointers (if needed). Called when a new scan is received

References callDispOnNewData, UResVarPool::callGlobal(), and ULaserDataSet::getSerial().

Referenced by getScanHist(), and handleLaserScan().

bool UResLaserIfScan::handleLaserScan ( USmlTag * tag )

protected

Decode laser scan parameters

References ULaserDataSet::addPassableInterval(), UPose::clear(), ULaserDataSet::clear(), dataSourceName, ULaserDataSet::getData(), USmlTag::getIfName(), 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(), MAX_DATA_SOURCE_NAME, MAX_SML_NAME_LENGTH, mini(), ULaserDataHistory::newBufferValid(), scan, scanHist, UPosRot::set(), UVariable::set6D(), ULaserDataSet::setData(), UClientLaserData::setFromTag(), UClientLaserPi::setFromTag(), UVariable::setInt(), UPosRot::setPos(), ULaserDataSet::setPose(), UPosRot::setRot(), UVariable::setRot(), UTime::setTime(), UClientLaserData::setValue(), USmlTag::skipToEndTag(), str2bool(), varScan, varSensorOmega, varSensorX, UPose::x, and UPose::y.

Referenced by getScanHist(), and handleNewData().

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

virtual

Got fresh data destined to this function.

Reimplemented from UClientFuncBase.

References USmlTagIn::getNextAttribute(), handleLaserScan(), USmlTagIn::isTagA(), MAX_SML_NAME_LENGTH, USmlTagIn::print(), UClientFuncBase::printReply(), USmlTagIn::reset(), and UClientFuncBase::verboseMessages.

Referenced by UResLaserIfScan().

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

inlinevirtual

Print status for this resource

Reimplemented from UResVarPool.

References gotAllResources(), setResource(), and snprint().

bool UResLaserIfScan::setResource	(	UResBase *	resource,
		bool	remove
	)

virtual

Set ressource as needed (probably not used by this resource)

Reimplemented from UResVarPool.

References UResPoseHist::getOdoPoseID(), UResBase::isA(), poseHist, and UResVarPool::setResource().

Referenced by print().

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

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. Print status for this resource

References commandList(), dataSourceName, UVariable::getInt(), ULaserDataHistory::getNewest(), ULaserDataHistory::getScansCnt(), UTime::getTimeAsString(), UPose::h, scanHist, varScan, UPose::x, and UPose::y.