#include <ucampool.h>

Inheritance diagram for UCamPool:

Public Member Functions
void	closeImageLogging ()

bool	findDevices ()

void	flushClientCmds (int clientIdx)

UCamPush *	getCam (int device)

UCamPush *	getCam (const char *posName)

UCamPush *	getCamByPoolIndex (int index)

int	getDeviceCount ()

int	getFirstCamDevice ()

const char *	getImagelogFilename ()

bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isImagelogOpen ()

bool	isLogPng ()

bool	isLogSaveImg ()

UCamPush *	makeDevice (int devNum, const char *posName)

bool	openImageLogging (const char *name)

bool	openImageLogging ()

virtual void	print (const char *preString)

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

bool	saveSettings (Uconfig *ini)

virtual void	saveSettings ()

void	setCmdExe (UCmdExe *executor)

void	setLogPng (bool value)

void	setLogSaveImg (bool value)

bool	setResource (UResBase *resource, bool remove)

void	setVerbose (bool value)

	UCamPool ()

void	UCamPoolInit ()

virtual	~UCamPool ()

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)

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)

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 bool	decodeReplayLine (char *line)

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
UImageLog *	imageLog

UVariable *	varCams
	camera devices More...

UVariable *	varCamsCnt
	number of camera devices More...

UVariable *	varUseGigE
	guppy support More...

UVariable *	varUseGuppy
	guppy support More...

UVariable *	varUseIeeeOld
	guppy support 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

Private Attributes
UCamPush *	cam [MAX_MOUNTED_CAMERAS]

int	camCnt

UCmdExe *	cmdExe

UImagePool *	imgPool

bool	verboseMessages

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 cameras mounted on a robot.

Author: Christian Andersen

Constructor & Destructor Documentation

UCamPool::UCamPool ( )

inline

Constructor

References getResClassID(), UResBase::setResID(), UCamPoolInit(), and ~UCamPool().

UCamPool::~UCamPool ( )

virtual

destructor

References cam, camCnt, UCamBase::getDev(), and imageLog.

Referenced by UCamPool().

Member Function Documentation

void UCamPool::closeImageLogging ( )

Close logfile - and stop logging

References UImageLog::closeLogging(), imageLog, and ULogFile::isOpen().

Referenced by getImagelogFilename(), and UFunctionImage::handleImageGetCommand().

void UCamPool::createBaseVar ( )

protected

Create initial var-pool variables

References UResVarPool::addVar(), UResBase::createReplayVar(), UResVarPool::getVarPool(), UVariable::setBool(), varCams, varCamsCnt, varUseGigE, varUseGuppy, and varUseIeeeOld.

Referenced by getImagelogFilename(), and UCamPoolInit().

bool UCamPool::decodeReplayLine ( char * line )

protectedvirtual

Decode this replay line, that is assumed to be valid.

Parameters

line	is a pointer to the line.

Returns: true if the line is valid and used (step is successfull).; false if line is not a valid step.

Reimplemented from UReplay.

References UPosition::dist(), getCam(), UImagePool::getImage(), UCamMounted::getPos(), UPosRot::getPos(), UPosRot::getRot(), UResBase::getStaticResource(), UImage::imageNumber, img, imgPool, UImage::imgTime, URotation::Kappa, UResBase::line, UImage::loadBMP(), UImage::loadPNG(), mini(), URotation::Omega, URotation::Phi, UReplay::replayLine, replayPath, UImage::setName(), UCamMounted::setPosOnRobot(), UTime::setTimeTod(), UImage::updated(), UTime::valid, UPosition::x, UPosition::y, and UPosition::z.

Referenced by getImagelogFilename().

bool UCamPool::findDevices ( )

Create camera structures from found devices

References UResVarPool::addStruct(), cam, camCnt, UCamDevBase::closeDevice(), cmdExe, UCamDevBase::deviceExist(), FIRST_GIGE_DEVICE_NUMBER, FIRST_GRABBER_DEVICE_NUMBER, FIRST_IEEE1394_DEVICE_NUMBER, FIRST_REPLAY_DEVICE_NUMBER, getCam(), UCamDevBase::getCameraName(), UCamPanTiltDevice::getPanPos(), UVarPool::getStruct(), UCamPanTiltDevice::getTiltPos(), UResVarPool::getVarPool(), imageLog, UCamDevBase::isCameraOpen(), ULock::lock(), MAX_MOUNTED_CAMERAS, UCamDevBase::openDeviceDefault(), UCamPanTiltDevice::pantiltSetPosition(), UCamPanTiltDevice::pantiltToHomePosition(), print(), UServerPush::setCmdExe(), UCamDevBase::setDeviceNumber(), UComCam::setFromCam(), UCamMounted::setImageLogging(), UCamDevBase::setInitialized(), UVariable::setInt(), UCamBase::setVarPool(), ULock::unlock(), varCams, varCamsCnt, verboseMessages, and Wait().

Referenced by UFunctionCamBase::createResources(), UFunctionCam::handleCamsGetCommand(), and setVerbose().

void UCamPool::flushClientCmds ( int clientIdx )

Flush all active commands from (a dead) client

References cam, and camCnt.

Referenced by getCamByPoolIndex().

UCamPush * UCamPool::getCam ( int device )

Get a camera device from the device number

References cam, camCnt, UCamBase::getDev(), and UCamDevBase::getDeviceNumber().

Referenced by UFuncCog::centerOfGravity(), decodeReplayLine(), UFuncFocus::doFocus(), findDevices(), UFunctionCamBase::getCam(), UFunctionCamBase::getCamAndRawImage(), UFunctionCamBase::getImage(), UFuncKinect::GetXYZCoordinates(), UFunctionCam::handleCamGetCommand(), UFunctionCam::handleCamPushCommand(), UFunctionCam::handleCamSetCommand(), UFunctionCam::handleCamsGetCommand(), UFuncRectify::handleCommand(), UFuncBall_improved::handleCommand(), UFuncBallKL::handleCommand(), UFuncCropRow::handleCommand(), UFuncStraightLine::handleCommand(), UFuncLinefinder::handleCommand(), UFuncFz::handleCommand(), UFunctionCamGmk::handleGmkGetCommand(), UFuncPiCam::logImageToFile(), UFuncPTgrey::logImageToFile(), UFuncKinect::logImageToFile(), UFuncTOF::logImageToFile(), UImageLog::logImgPoolImage(), makeDevice(), UFuncKinect::makeObj3Dcloud(), UFuncStereo::processImages(), UFuncPiCam::run(), UFuncKinect::run(), setVerbose(), and UFuncKinect::updateCloud().

UCamPush * UCamPool::getCam ( const char * posName )

Get a camera device from the camera position name, i.e. 'cameraLeft'

References cam, camCnt, and UCamMounted::getPosName().

UCamPush* UCamPool::getCamByPoolIndex ( int index )

inline

Get camera by index number in cam-pool. this may not be in device order

References cam, flushClientCmds(), print(), and saveSettings().

Referenced by UFunctionCamBase::getImage(), and UFunctionCam::handleCamsGetCommand().

int UCamPool::getDeviceCount ( )

inline

Get camera device count

References camCnt.

Referenced by UFunctionCamBase::getImage(), and UFunctionCam::handleCamsGetCommand().

int UCamPool::getFirstCamDevice ( )

Get first camera device number.

Returns: -1 if no camera is available, else device number of first camera.

References cam, camCnt, UCamBase::getDev(), and UCamDevBase::getDeviceNumber().

Referenced by UFunctionCamBase::getDefaultCamDevice(), and setVerbose().

const char* UCamPool::getImagelogFilename ( )

inline

Get image log filename

References closeImageLogging(), createBaseVar(), decodeReplayLine(), ULogFile::getLogName(), gotAllResources(), imageLog, UResBase::line, and setResource().

Referenced by UFunctionImage::handleImageGetCommand().

static const char* UCamPool::getResClassID ( )

inlinestatic

Resource ID for this class

Referenced by UFunctionCamBase::setResource(), and UCamPool().

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

virtual

Test if pool has all needed resources.

Reimplemented from UResVarPool.

References cmdExe, and UCmdExe::getResClassID().

Referenced by getImagelogFilename().

bool UCamPool::isImagelogOpen ( )

inline

Is image log open

References imageLog, and ULogFile::isOpen().

Referenced by UFunctionCam::handleCamSetCommand(), and UFunctionImage::handleImageGetCommand().

bool UCamPool::isLogPng ( )

inline

is image log format PNG

References imageLog, and UImageLog::isPng().

Referenced by UFunctionCam::handleCamSetCommand().

bool UCamPool::isLogSaveImg ( )

inline

Is image logging set to save image itself too?

References imageLog, and UImageLog::isLogSaveImg().

Referenced by UFunctionImage::handleImageGetCommand().

UCamPush * UCamPool::makeDevice	(	int	devNum,
		const char *	posName
	)

Make a device, that needs no physical camera - or a camera with a separate interface, like the kinect

Parameters

devNum	is the device number to create.
posName	is an optional posName (must be unique), set to NULL if to be set later

Returns: a pointer to the new camera structure, or to the existing camera with this device number

References UResVarPool::addStruct(), cam, UCamDevBase::CAM_DEV_REPLAY, camCnt, UCamDevBase::closeDevice(), cmdExe, UCamDevBase::deviceExist(), FIRST_GRABBER_DEVICE_NUMBER, FIRST_USERCAM_DEVICE_NUMBER, getCam(), UCamDevBase::getCameraName(), UCamBase::getDev(), UCamDevBase::getDeviceNumber(), UVarPool::getStruct(), UResVarPool::getVarPool(), imageLog, UCamDevBase::isThisA(), ULock::lock(), MAX_MOUNTED_CAMERAS, UServerPush::setCmdExe(), UCamDevBase::setDeviceNumber(), UCamMounted::setImageLogging(), UCamDevBase::setInitialized(), UVariable::setInt(), UCamMounted::setMountName(), UCamBase::setVarPool(), ULock::unlock(), varCams, and varCamsCnt.

Referenced by UFunctionCamBase::getCam(), UFunctionCam::handleCamSetCommand(), UFuncPiCam::logImageToFile(), UFuncPTgrey::logImageToFile(), UFuncKinect::logImageToFile(), UFuncTOF::logImageToFile(), UFuncPiCam::run(), UFuncKinect::run(), and setVerbose().

bool UCamPool::openImageLogging ( const char * name )

Open logfile - same as request logging of images

References imageLog, ULogFile::isOpen(), and UImageLog::openLogging().

Referenced by UFunctionCam::handleCamSetCommand(), and UFunctionImage::handleImageGetCommand().

bool UCamPool::openImageLogging ( )

inline

Open image logging in default logfile

Referenced by saveSettings().

void UCamPool::print ( const char * preString )

virtual

Print the state of cameras

Reimplemented from UResBase.

Referenced by findDevices(), and getCamByPoolIndex().

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

virtual

Print the state of cameras to a string buffer

Reimplemented from UResVarPool.

References cam, camCnt, MAX_MOUNTED_CAMERAS, and UCamPush::print().

bool UCamPool::saveSettings ( Uconfig * ini )

Save camera settings to configuration file. This saves the settings if the position name is different from the default 'posUnknown'. If the position is 'posUnknown', then the position name is set to 'posD' (D beeing the device number) and the parametes are set under this name. If two cameras has the same position name, then the last are assigned a new name. If 'ini' is NULL, then the values are saved in the default config-file.

virtual void UCamPool::saveSettings ( )

inlinevirtual

Save settings to default configuration file - the file mentioned in the global string configFileCal (defined in ugen4/ucommon.h.

Reimplemented from UResBase.

References openImageLogging().

Referenced by getCamByPoolIndex().

void UCamPool::setCmdExe ( UCmdExe * executor )

inline

Set command executor

References cmdExe.

void UCamPool::setLogPng ( bool value )

inline