#include <uresbase.h>

Inheritance diagram for UResBase:

Public Member Functions
void	createReplayVar (UVarPool *pool)

virtual void	createResources ()

UCmdExe *	getCorePointer ()

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

int	getResFuncIdx ()

const char *	getResID ()

int	getResVersion ()

virtual bool	gotAllResources (char *, int)

bool	isA (const char *idStr)

bool	isAlsoA (const char *id)

virtual void	print (const char *preString)

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

virtual void	saveSettings ()

void	setCorePointer (UCmdExe *serverCore)

void	setResFuncIdx (int idx)

virtual void	setResID (const char *id, const int version)

virtual bool	setResource (UResBase *, bool)

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 ()

Protected Member Functions
UResBase *	getStaticResource (const char *resName, bool mayCreate, bool staticOnly=true)
	get a pointer to a static resource. More...

Protected Attributes
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
UCmdExe *	core
	max length of replay filename More...

struct {
UVariable * line

UVariable * replay

UVariable * time

}	var

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

Base class for a shared resource. Includes commen handling of replay.

Author: Christian Andersen

Constructor & Destructor Documentation

UResBase::UResBase ( )

Constructor

References core, resID, resIsAlso, setResID(), and var.

UResBase::~UResBase ( )

virtual

Destructor

References UReplay::replayFile.

Member Function Documentation

void UResBase::createReplayVar ( UVarPool * pool )

Replay N singles from the logfile.

Parameters

steps number of steps to advance true if N steps were available in replay file. 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 Set new replay file name. If replay is in progress, then the old file is closed, before assigning the new name.

name is the new mane. Create local replay variables for status updates

References UVarPool::addVar(), and var.

Referenced by UCamPool::createBaseVar(), and createResources().

virtual void UResBase::createResources ( )

inlinevirtual

Create any resources that this modules needs This method is called after the resource is registred by the server.

Reimplemented in UFuncLaserBox, UFuncTOF, UResKeep, UFuncTOF, UResPoly, UFuncPTgrey, UFuncV4lGst, UFunctionBase, UResIfVar, UResPcp, UFunctionAvoid, UFunctionRoadDrive, UImagePool, UFuncKinect, UFuncEfLine, UFunctionSmrIf, UFunctionPassable, UFunctionLaserIfScan, UFuncRule, UFuncPcp, UFuncRhdIf, UFunctionDrivePos, UFuncPlan, UFuncGndAna, UFuncKeep, UFuncPiCam, UFuncPoly, UFuncBin, UFuncCron, UFuncLobst, UFuncMapObst, UFuncFile, UFunctionLocater, UFunctionIf, UFunctionGps, UFuncObj3d, UFuncRoseBot, UFunctionDisp, UFuncV360, UFunctionPoseHist, UFunctionVarPool, UFunctionCamGmk, UFunctionLaser, UFunctionImgPool, UFuncStereo, UFunctionCamBase, and UFuncImu.

References createReplayVar(), getStaticResource(), and updateReplayStatus().

Referenced by UCmdExe::addResource().

UCmdExe* UResBase::getCorePointer ( )

inline

Get current pointer to core (UCmdExe)

References core.

Referenced by UResIfVar::handleVar(), and UResMapObst::sendMapLinesToLocalizer().

char * UResBase::getLogFileName	(	char *	fn,
		const int	fnCnt
	)

Advance replay for all resources in replay mode until just before this time The function sets a flag and the steps are performed in main command thread as soon as possible (before next user queue, and before push events) Replay one step in the logfile.

Returns: false if no more steps area available in logfile Advance replay for this resources - if in replay mode - until just before this time

Parameters

untilTime advance with steps in logfile until this time is reached

Returns: true if advanced Is the resource in replay mode 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. Get the full replay logfile name. This is the replay path followed by the resource name and the '.log' extension

Parameters

fn	buffer for destination filename
fnCnt	is the length of the provided buffer Returns pointer to fn[] string. Get the full logfile name. This is the data path followed by the resource name and the '.log' extension
fn	buffer for destination filename
fnCnt	is the length of the provided buffer Returns pointer to fn[] string.

References dataPath, and resID.

Referenced by stop().

int UResBase::getResFuncIdx ( )

inline

Get the function index of the owner of this resource

References resFuncIdx.

Referenced by UResPool::getResFunc(), UCmdExe::getStaticResource(), UCmdExe::isResourceOwner(), and UResPool::removeResourceFunc().

int UResBase::getResVersion ( )

inline

UResBase * UResBase::getStaticResource	(	const char *	resName,
		bool	mayCreate,
		bool	staticOnly = `true`
	)

protected

get a pointer to a static resource.

Parameters

resName	The name of the resource to be acquired.
mayCreate	if set to true, then the resource will be created if it do not exist already.
staticOnly	if true only a static resource is returned. Should realy only be used for non-static resources if inside the same plugin.

Returns: NULL if not found, else a bointer to an existing type

References core, and UCmdExe::getStaticResource().

Referenced by UResAvoid::copyAvoidObstacles(), UResAvoid::copyCellPolys(), UResAvoid::copyFootprintPolys(), createResources(), UCamPool::decodeReplayLine(), UResPassable::doObstAnalysis(), UResMapObst::getNearObstacles(), ULaserPool::getScan(), UResLocater::locate(), UResLobst::methodCallV(), UResLocater::polygonToPolyPlugin(), UResLobst::sendAsObstacles(), UResMapObst::sendMapLinesToLocalizer(), UResLocater::set_poselast(), UResLocater::set_state(), UResLocater::set_utmstate(), UImagePool::setLogImg(), UResLocater::setUtmPoseToMapPose(), UQtgui::updateImg(), UResObstacle::updateMappedObstacles(), and UQtgui::updateVar().

virtual bool UResBase::gotAllResources	(	char *	,
		int
	)

inlinevirtual

Test if all needed resources are loaded. 'missingThese is a buffer where missing resources should be written. 'missingTheseCnt' isthe buffer size not to be resexceeded. Should return true if all resources are available.

Reimplemented in UFunctionBase, UResNavIfMan, UCamPool, UResVarPool, UResDisp, UResLaserIfRoad, ULaserPool, UImagePool, UResLaserIfScan, UResDrivePos, UResRoadDrive, UResCamIf, UResPoseHist, UResCamIfImg, and UResV360.

References isAlsoA().

Referenced by UResPoseHist::gotAllResources(), UResRoadDrive::gotAllResources(), UResDrivePos::gotAllResources(), ULaserPool::gotAllResources(), UResLaserIfRoad::gotAllResources(), and UResVarPool::gotAllResources().

bool UResBase::isA ( const char * idStr )

Tests if this resource matches the provided name

References resID.

bool UResBase::isAlsoA ( const char * id )

Test if this object has inherited from a ressource with this ID

References inThisStringList(), and resIsAlso.

Referenced by gotAllResources(), UFunctionVarPool::setResource(), UResIf::setResource(), UResCamIf::setResource(), UResLaserIf::setResource(), UResSmrIf::setResource(), UServerPort::setResource(), and UServerPush::setResource().

void UResBase::print ( const char * preString )

virtual

Print the (short) status of resource

Reimplemented in UFunctionBase, UCmdExe, and UCamPool.

Referenced by getResVersion(), and UResPool::print().

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

virtual

Print the (short) status of resource - to a string buffer

Reimplemented in UResRuleState, UResGps, UResObj3d, UResKeep, UResPoseHist, UResNavIfMan, UResRule, UResPoly, UResDisp, UPoseHistNotUsed, UResCron, UResLaserIfRoad, ULaserPool, UResIfVar, UCamPool, UFunctionAvoid, UFunctionRoadDrive, UFunctionPassable, UImagePool, UFunctionIf, UFunctionLaserIfData, UFunctionLaserIfScan, UResSmrIf, UFunctionDrivePos, UResLaserIfScan, UResPcp, UResRoadLine, UFunctionSmrIf, UResDrivePos, UFuncRule, UResLaserIf, UResRoadDrive, UResV360, UResCamIf, UResAuEf, UResAvoid, UFunctionLocater, UResCamIfImg, UResPassable, UResLaserIfObst, UResVarPool, UResSmrCtl, UResCamIfGmk, UResObstacle, UResCamIfPath, UResCamIfCam, UResIf, and UResMapObst.

virtual void UResBase::saveSettings ( )

inlinevirtual

Save settings for this resource as needed This is called after the stop call, so all action should be stopped at this call. but all modules are still loaded.

Reimplemented in UCamPool.

References setResID().

Referenced by UResPool::saveSettings().

void UResBase::setCorePointer ( UCmdExe * serverCore )

inline

Set pointer to core (UCmdExe)

References core.

Referenced by UCmdExe::addResource(), and UCmdExe::UCmdExeInit().

void UResBase::setResFuncIdx ( int idx )

inline

Set reference index to function owning the resource. This is called by server core and should not be changed.

References resFuncIdx.

Referenced by UCmdExe::addResource().

void UResBase::setResID	(	const char *	id,
		const int	version
	)

virtual

Function to set a resource ID, this should NOT be called after the resource is known to the server.

Parameters

[in] *id is the new name (possibly an alias) for this version of the resource

Reimplemented in UResPoseHist.

References MAX_RESOURCE_ID_LENGTH, MAX_RESOURCE_ISALSO_LENGTH, UReplay::REPLAY_FILE_NAME_LENGTH, UReplay::replayFileName, resID, resIsAlso, and resVersion.

Referenced by UFunctionGps::createResources(), UFuncBin::createResources(), saveSettings(), UFunctionBase::setCommand(), UResPoseHist::setResID(), UCamPool::UCamPool(), UCamPool::UCamPoolInit(), UCmdExe::UCmdExe(), UFunctionBase::UFunctionBase(), UImagePool::UImagePool(), ULaserPool::ULaserPool(), UPoseHistNotUsed::UPoseHistNotUsed(), UResAuEf::UResAuEf(), UResAvoid::UResAvoid(), UResBase(), UResBin::UResBin(), UResCamIf::UResCamIf(), UResCamIfCam::UResCamIfCam(), UResCamIfGmk::UResCamIfGmk(), UResCamIfImg::UResCamIfImg(), UResCamIfPath::UResCamIfPath(), UResDrivePos::UResDrivePos(), UResDummy::UResDummy(), UResIf::UResIf(), UResIfBase::UResIfBase(), UResIfVar::UResIfVar(), UResLaserIf::UResLaserIf(), UResLaserIfObst::UResLaserIfObst(), UResLaserIfScan::UResLaserIfScan(), UResLaserIfSf::UResLaserIfSf(), UResLobst::UResLobst(), UResLocater::UResLocater(), UResMapObst::UResMapObst(), UResObstacle::UResObstacle(), UResPassable::UResPassable(), UResPcp::UResPcp(), UResRhdIf::UResRhdIf(), UResRoadDrive::UResRoadDrive(), UResRoadLine::UResRoadLine(), UResRoseBot::UResRoseBot(), UResSmrCtl::UResSmrCtl(), UResV360::UResV360(), and UResVarPool::UResVarPool().

virtual bool UResBase::setResource	(	UResBase *	,
		bool
	)

inlinevirtual

Called when resource situation has changed. No resources are needed here.

Reimplemented in UResRuleState, UFuncLaserBox, UResGps, UResNavIfMan, UCamPool, UResVarPool, UResDisp, UResLaserIfRoad, UResSmrIf, UFuncLocalize, UImagePool, UResLaserIfScan, UResIfVar, UResLaserIf, UResCamIf, UResDrivePos, UFunctionPassable, UResRoadDrive, UResAvoid, UFunctionBase, UResCamIfImg, UResPoseHist, UFunctionLaserIfData, UFunctionLaserIfScan, UFuncView, UResSmrCtl, ULaserPool, UFuncLoca2, UResIf, UResLaserIfSf, UResV360, UFunctionPoseHist, UFuncPlugBasePush, UFunctionCamData, UFunctionImgBase, UFunctionVarPool, UFunctionCamBase, and UFunctionLaser.

Referenced by UCmdExe::deleteFunction(), UCmdExe::resourcesUpdated(), ULaserPool::setResource(), UResDisp::setResource(), and UResVarPool::setResource().

virtual void UResBase::stop ( bool )

inlinevirtual

Stop any running subthread - we are going down

Reimplemented in UResRuleState, UResKeep, UFuncTOF, UFuncV4lGst, UFuncTOF, UCmdExe, UResCron, UFuncRadar, UResDisp, UFuncKinect, UFuncPTgrey, UResRhdIf, UFuncPiCam, UResSmrCtl, ULaserPool, UFuncView, and UFuncImu.

References getLogFileName().

Referenced by UResPool::stop(), UResDummy::~UResDummy(), and UResMapObst::~UResMapObst().

void UResBase::updateReplayStatus ( )

virtual

If replay status is maintained in global vars, then it is time to update

Reimplemented from UReplay.

Reimplemented in UImagePool, and UFuncKinect.

References UReplay::isReplay(), UReplay::replayFile, UReplay::replayLogLine, UReplay::replayTimeNow, and var.

Referenced by createResources().

Member Data Documentation

UCmdExe* UResBase::core

private

max length of replay filename

Is the resource in replay mode - this may trigger an update to time call Next Replay time available in logfile Replay file handlereplay filename Maximum length of a line in the logfile Buffer for latest line (but not used) line from logfile Current line number in logfile replay to time needs an update - set by the replay advance time call and reset by main command thread when serviced. Current replay time, and the time that should be advanced to by all other replaying devices Pointer to server core (UCmdExe), to access static resources

Referenced by getCorePointer(), getStaticResource(), setCorePointer(), and UResBase().