#include <ulaserdevice.h>

Inheritance diagram for ULaserDevice:

Public Member Functions
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 ()

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

int	getScanAngle ()

double	getScanAngle (int measurement)

double	getScanResolution ()

unsigned long	getSerial ()

void	gotNewScan (ULaserData *gotData)

virtual bool	isLogFileOpen ()

virtual bool	isPortOpen ()

virtual bool	isReplayDevice ()

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 Member Functions
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)

Protected Attributes
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

Detailed Description

Root class with basical laser scanner services, start, stop, get data etc.

Author: Christian Andersen

Constructor & Destructor Documentation

ULaserDevice::ULaserDevice ( )

Constructor

References angleResolution, datalogSeq, datalogUsedScans, loopCnt, maxValidRange, mirrorData, modeAngleScan, pushData, replayOrFake, sendNewData, sendStrCnt, serial, setDeviceName(), statBadCnt, statGoodCnt, statMsgRate, threadRunning, threadStop, var, vars, and verbose.

ULaserDevice::~ULaserDevice ( )

virtual

Destructor

References logFileClose(), and pushData.

Member Function Documentation

void ULaserDevice::callGotNewDataWithObject ( )

virtual

Called by cmdExe to get push object followed by a call to 'gotNewData(object)'. Should be overwritten by push object holder.

Reimplemented from UServerPush.

References UServerPush::gotNewData(), ULock::lock(), pushData, and ULock::unlock().

Referenced by isReplayDevice().

bool ULaserDevice::changeMode	(	int	scanangle,
		double	resolution
	)

virtual

Change scanner resolution mode. (modeAngleScan and angleResolution) Returns true if new resolution is implemented. If not open, then values are just saved

Reimplemented in USick, UHokuyo, ULaserSim, ULms500, ULms100, and UFakeDevice.

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

void ULaserDevice::closePort ( )

protectedvirtual

Close serial port

Reimplemented in USick, UHokuyo, UFakeDevice, ULms500, ULms100, and ULaserSim.

References getDeviceName().

Referenced by openRequest(), and threadRunLoop().

void ULaserDevice::createBaseVars ( )

virtual

Create entry infor the globas variable database for this device

Reimplemented in UHokuyo, and UFakeDevice.

References UVarPool::addVar(), UVarPool::addVarA(), angleResolution, datalog, deviceNum, devName, maxValidRange, modeAngleScan, name, serial, ULogFile::setLogName(), start(), var, and vars.

Referenced by ULaserPool::addDevice(), UFakeDevice::createBaseVars(), UHokuyo::createBaseVars(), and setCore().

unsigned int ULaserDevice::getBad ( )

inline

Get statistics - bad count

References statBadCnt.

Referenced by UFunctionLaser::handleSetCommand().

virtual double ULaserDevice::getDefaultDelay ( )

inlineprotectedvirtual

Get default delat estimate for the device type

Reimplemented in USick, UHokuyo, ULms500, and ULms100.

char* ULaserDevice::getDeviceName ( )

inline

Get serial device name

References devName.

Referenced by ULaserPool::addDevice(), ULaserSim::changeMode(), UHokuyo::closePort(), closePort(), ULaserPool::getDevice(), UFunctionLaser::handleScanGetCommand(), UFunctionLaser::handleSetCommand(), isPortOpen(), openPort(), receiveData(), and threadRunLoop().

int ULaserDevice::getDeviceNum ( )

inline

Get device number for device

References deviceNum.

Referenced by UFuncLaserBase::getScan(), UFunctionLaser::handleSetCommand(), UReplayDevice::replayStep(), and UResV360::setDefDevice().

UPosition ULaserDevice::getDevicePos ( )

Get the device position on robot. The position (in 3D) is part of the device pose that also includes the rotation around the three axex (see gerDeviceRot(). The position is in meter x is forward, y is left and z is up.

References var.

Referenced by getMirror(), UFuncPpl::handleCommand(), UFunctionPassable::handlePass(), UResLocater::locate(), UFunctionPassable::sendFullScan(), UFuncEfLine::sendRobotPoseAndSensorPosition(), and UFunctionLaser::sendScan().

UPosRot ULaserDevice::getDevicePose ( )

Get the full device pose including 3D position (x,y,z) (see getDevicePos()) and rotation (Omega, Phi, Kappa) (see getDeviceRot)). Returns a pointer to the structure, and can thus be used to modify the value too.

References var.

Referenced by UNamedBoxes::doDetect(), getFakeScan(), getMirror(), UFakeDevice::getNewestData(), UFuncLocalize::handleLocalize(), UFuncLocalize::handleLocalizeMHF(), UFuncLocalize::handleLocalizeUKF(), UFunctionPassable::handlePass(), UFunctionLaser::handleSetCommand(), UResLobst::makeObst(), UFuncEfLine::sendBoxPose(), and UResV360::update().

URotation ULaserDevice::getDeviceRot ( )

Get the device rotation relative to robot. The roattion (in 3D) is part of the device pose that also includes the position (see gerDeviceRos(). The rotation is in radians where Omega is rotation around the x-axis (Roll) positive is roll to the right. Phi is rotation around the Y-axis (tilt), positive is tilt down. Kappa is rotation around the Z-axis (turn) positive is left. The specified rotation order is like for a crane, forst rotation, then tilt and finally roll of the in this way turned and tilted axis.

References UPosRot::getRot(), and var.

Referenced by getMirror(), UFunctionPassable::handlePass(), UFunctionPassable::sendFullScan(), UFuncEfLine::sendRobotPoseAndSensorPosition(), and UFunctionLaser::sendScan().

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

protected

Get fake data to this destination and advance fake position if scan number is used before, otherwise maintain position

Parameters

dest	is where to load the scan.
lastSerial	is last used serial number - set next number in scan
int	fake is fake number - 0 is live
double	fakeDt is update time for fake position - default is 0.2 sec

References angleResolution, UFakeMap::currentTruePose, datalogUsedScans, deviceNum, UFakeMap::fakeAdvancePose(), fakeMap, getDevicePose(), UPoseTVQ::getPose(), gotNewScan(), logThisScan(), mirrorData, modeAngleScan, UTime::now(), UPoseTVQ::print(), serial, ULaserData::setDeviceNum(), ULaserData::setMaxValidRange(), ULaserData::setMirror(), ULaserData::setScanTime(), ULaserData::setSerial(), ULaserData::setSimData(), UPoseTime::t, var, and verbose.

Referenced by ULaserSim::getNewestData(), UReplayDevice::getNewestData(), UFakeDevice::getNewestData(), ULms100::getNewestData(), ULms500::getNewestData(), UHokuyo::getNewestData(), USick::getNewestData(), and openRequest().

unsigned int ULaserDevice::getGood ( )

inline

Get statistics - good count

References statGoodCnt.

Referenced by UFunctionLaser::handleSetCommand().

char * ULaserDevice::getLogFileName	(	char *	buffer,
		int	bufferCnt
	)

Get name of logfile (open or not) - made form devicenumber as 'laser_N'. Returns 'buffer'

References dataPath, and deviceNum.

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

int ULaserDevice::getLogInterval ( )

inline

Get log interval

References var.

Referenced by UFunctionLaser::handleSetCommand().

bool ULaserDevice::getLogUsedScans ( )

inline

Get log used scans

References datalogUsedScans.

Referenced by UFunctionLaser::handleSetCommand().

int ULaserDevice::getMaxMeasurements ( )

inline

Get number of measurements in scan-mode

References angleResolution, modeAngleScan, and roundi().

bool ULaserDevice::getMirror ( )

inline

Get mirror value. If false the first range is to the right. If mirror is true then first value is assumed to be to the left.

References getDevicePos(), getDevicePose(), getDeviceRot(), mirrorData, and setDevicePose().

Referenced by ULms100::getDataTo(), ULms500::getDataTo(), and UFunctionLaser::handleSetCommand().

double ULaserDevice::getMsgRate ( )

inline

Get statistics - number of good messages per second

References statMsgRate.

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

char* ULaserDevice::getName ( )

inline

Get name of scanner

References name.

Referenced by ULaserPool::addDevice(), ULaserPool::getDevice(), ULms100::getNameFromDevice(), ULms500::getNameFromDevice(), UHokuyo::getNameFromDevice(), getNameFromDevice(), UFunctionLaser::handleSetCommand(), UFakeDevice::print(), print(), and ULaserPool::setDefDevice().

const char * ULaserDevice::getNameFromDevice ( )

virtual

Get name of device

Reimplemented in UHokuyo, ULms500, ULms100, and ULaserSim.

References getName().

Referenced by isSend().

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

virtual

Get newest available data to this destination structure. Returns true if data is available.

Reimplemented in USick, UHokuyo, ULms500, UFakeDevice, ULms100, UReplayDevice, and ULaserSim.

Referenced by UFuncLaserBase::getScan(), ULaserPool::getScan(), getScanAngle(), UResV360::getSourceData(), gotNewScan(), UFunctionPassable::handlePass(), UFunctionLaser::handleScanGetCommand(), UResLocater::locate(), and UResV360::update().

int ULaserDevice::getScanAngle ( )

inline

Get actual scan angle in degrees

References modeAngleScan.

Referenced by UFunctionLaser::handleSetCommand().

double ULaserDevice::getScanAngle ( int measurement )

inline

Get angle from measurement number - result is in degrees

References angleResolution, getNewestData(), modeAngleScan, print(), and send().

double ULaserDevice::getScanResolution ( )

inline

Get actual scan resolution in centi degrees

References angleResolution.

Referenced by UFunctionLaser::handleSetCommand().

unsigned long ULaserDevice::getSerial ( )

inline

Get name of scanner

References changeMode(), isPortOpen(), serial, start(), stop(), and threadRunLoop().

Referenced by print().

void ULaserDevice::gotNewScan ( ULaserData * gotData )

Got new measurement data from device. if 'gotData' == NULL, then data is available by a getNewestData(ULaserData*) call. Data should not be requested (by call) unless there is users waiting for the data. NB! this call is called by the read thread, and not the server message handler thread.

References ULaserData::copy(), data, datalogSeq, getNewestData(), UServerPush::getPushCmdCnt(), UServerPush::getPushQueue(), ULaserData::getScanTime(), logThisScan(), pushData, UServerPush::setUpdated(), ULock::tryLock(), ULock::unlock(), updateScanData(), and var.

Referenced by ULms100::decodeData(), ULms500::decodeData(), getFakeScan(), isReplayDevice(), ULaserSim::receiveData(), UHokuyo::receiveData(), USick::receiveData(), and UReplayDevice::replayStep().

virtual bool ULaserDevice::isLogFileOpen ( )

inlinevirtual

Is logfile open

References datalog, and ULogFile::isOpen().

Referenced by UFunctionLaser::handleSetCommand().

bool ULaserDevice::isPortOpen ( )

virtual

Is the port to the device open

Reimplemented in USick, UHokuyo, ULms500, ULms100, UReplayDevice, UFakeDevice, and ULaserSim.

References getDeviceName().

Referenced by getSerial(), UFunctionLaser::handleScanGetCommand(), UFunctionLaser::handleSetCommand(), isRunning(), print(), send(), and threadRunLoop().

virtual bool ULaserDevice::isReplayDevice ( )

inlinevirtual

Is laserscanner a replay device scanner

Reimplemented in UReplayDevice.

References callGotNewDataWithObject(), getLogFileName(), gotNewScan(), logFileClose(), and logFileOpen().

Referenced by UFunctionLaser::handleSetCommand(), and ULaserPool::replayToTime().

bool ULaserDevice::isRunning ( )

inline

Is sick scanner running

References isPortOpen(), and threadRunning.

Referenced by USick::getNewestData(), and UFunctionLaser::handleSetCommand().

bool ULaserDevice::isSend ( )

inline

Is last string send

References getNameFromDevice(), and sendNewData.

Referenced by UFunctionLaser::handleSetCommand().

virtual bool ULaserDevice::isVerbose ( )

inlinevirtual

Is verbose flag on

References verbose.

Referenced by UFunctionLaser::handleSetCommand().

void ULaserDevice::logFileClose ( )

Close logfile for this device (if open).

References ULogFile::closeLog(), datalog, ULogFile::isLogOpen(), replayOrFake, and var.

Referenced by UFunctionLaser::handleSetCommand(), isReplayDevice(), and ~ULaserDevice().

bool ULaserDevice::logFileOpen ( )

Open a logfile in the data directory adding this device number at the end. If the log is open, then it is closed before (re) opening.

References datalog, ULogFile::isLogOpen(), ULogFile::isOpen(), ULogFile::openLog(), replayOrFake, var, and Wait().

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

void ULaserDevice::logThisScan ( ULaserData * scan )

Log this scan

References datalog, ULogFile::getF(), ULogFile::isLogOpen(), ULogFile::logLock(), ULogFile::logUnlock(), ULaserData::saveToLogFile(), and var.

Referenced by getFakeScan(), ULaserSim::getNewestData(), ULms100::getNewestData(), ULms500::getNewestData(), UHokuyo::getNewestData(), USick::getNewestData(), gotNewScan(), UFunctionLaser::handleScanGetCommand(), and setDeviceNum().

bool ULaserDevice::openPort ( )

protectedvirtual

Open serial post. Return true if open(ed)

Reimplemented in USick, UHokuyo, UFakeDevice, ULms500, ULms100, and ULaserSim.

References getDeviceName().

Referenced by openRequest(), and threadRunLoop().

void ULaserDevice::openRequest ( bool toOpen )

inline

open or close port that is set port to be opened or closed by the read thread

Parameters

toOpen set to open if true, else set to close

References closePort(), getFakeScan(), openPort(), receiveData(), sendToDevice(), updateScanData(), and var.

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

void ULaserDevice::print ( char * preString )

Print status

Referenced by getScanAngle(), and ULaserPool::print().

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

virtual

Print device status to a buffer string

Reimplemented in UFakeDevice.

References angleResolution, bool2str(), devName, getMsgRate(), getName(), getSerial(), isPortOpen(), and modeAngleScan.

bool ULaserDevice::receiveData ( )

protectedvirtual

Receive data from device – called from device loop, should return as fast as possible after doing the job, i.e. no blocking read. Should add number of good and bad blocks of data to statBadCnt and statGootcnt. Returns true if data received.

Reimplemented in USick, UHokuyo, ULms500, ULms100, and ULaserSim.

References getDeviceName().

Referenced by openRequest(), and threadRunLoop().

void ULaserDevice::send ( char * msg )

Send data to device Data must be a zero-terminated string.

References isPortOpen(), sendNewData, sendStr, sendStrCnt, and start().

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

bool ULaserDevice::sendToDevice	(	const char *	msg,
		int	lng
	)

protectedvirtual

Send data to device. Sends 'lng' bytes from 'msg'. Data must be a zero-terminated string.

Reimplemented in UHokuyo, ULms500, ULms100, and ULaserSim.

Referenced by openRequest(), and threadRunLoop().

virtual void ULaserDevice::setCore ( UCmdExe * pCore )

inlinevirtual

set server core pointer - just a debug feature - I think)

Reimplemented in ULaserSim.

References createBaseVars().

Referenced by ULaserPool::addDevice().

virtual void ULaserDevice::setDeviceName ( const char * device )

inlinevirtual

Set device name

Reimplemented in UFakeDevice.

References devName, and MAX_DEVICE_NAME_LNG.

Referenced by UFunctionLaser::handleSetCommand(), UFakeDevice::setDeviceName(), UHokuyo::UHokuyo(), ULaserDevice(), ULms100::ULms100(), ULms500::ULms500(), and USick::USick().

void ULaserDevice::setDeviceNum ( int value )

inline

Set device number for device

References deviceNum, logThisScan(), and scan.

Referenced by ULaserPool::addDevice().

void ULaserDevice::setDevicePose ( UPosRot * newPose )

Set the full device pose including 3D position (x,y,z) (see getDevicePos()) and rotation (Omega, Phi, Kappa) (see getDeviceRot)). Returns a pointer to the structure, and can thus be used to modify the value too.

References var.

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

void ULaserDevice::setLogInterval ( int value )

inline

Set log interval

References var.

Referenced by UFunctionLaser::handleSetCommand().

void ULaserDevice::setLogUsedScans ( bool value )

inline

Set log used scans

References datalogUsedScans.

Referenced by UFunctionLaser::handleSetCommand().

void ULaserDevice::setMirror ( bool value )

inline

Set mirror flag. The mirror flag indicates that the laserscanner is mounted upside down, and thus the data is in reverse angle order. This will result in the start angle and resolution has negated sign. In normal mode first range is to the right, i.e. a negative angle. The resolution (angle step size) is then positive. With the mirror flag set, the start angle will be positive (first range to the left) and the resolution is negative.

References mirrorData.

Referenced by UFunctionLaser::handleSetCommand().

void ULaserDevice::setVarStructure ( UVarPool * varStruct )

inline

Set pointer to var-pool structure for variables for this device.

References vars.

Referenced by ULaserPool::addDevice().

void ULaserDevice::setVerbose ( bool value )

inline

Set verbose flag (for debugging)

References verbose.

Referenced by UFunctionLaser::handleSetCommand().

bool ULaserDevice::start ( )

Start sick scanner and grap the data

References replayOrFake, threadHandle, threadRunning, threadRunSick(), threadStop, and var.

Referenced by createBaseVars(), UHokuyo::getNameFromDevice(), ULaserSim::getNewestData(), ULms100::getNewestData(), ULms500::getNewestData(), USick::getNewestData(), getSerial(), UHokuyo::isUrg(), UHokuyo::receiveFromDevice(), and send().

void ULaserDevice::stop ( bool justClosePort )

Stop sick scanner port. Stop also thread - if not 'justClosePort'.

References ULogFile::closeLog(), datalog, threadHandle, threadRunning, threadStop, and var.

Referenced by getSerial(), ULaserPool::stop(), UHokuyo::~UHokuyo(), ULms100::~ULms100(), ULms500::~ULms500(), and USick::~USick().

void ULaserDevice::threadRunLoop ( )

Start the receive loop for continous messages

References ULogFile::closeLog(), closePort(), datalog, getDeviceName(), UTime::getTimePassed(), ULogFile::isLogOpen(), isPortOpen(), loopCnt, UTime::Now(), ULogFile::openLog(), openPort(), receiveData(), replayOrFake, sendNewData, sendStr, sendStrCnt, sendToDevice(), statBadCnt, statGoodCnt, statMsgRate, threadRunning, threadStop, var, verbose, and Wait().

Referenced by getSerial(), and threadRunSick().

void ULaserDevice::updateScanData ( UTime scanTime )

protected

Update global variables with new scan data

Parameters

scantime scantime of the new scan (for framerate calculation)

References angleResolution, lastScanTime, modeAngleScan, serial, and var.

Referenced by gotNewScan(), and openRequest().

Member Data Documentation

double ULaserDevice::angleResolution

protected

Angle resolution, this can be 1.0 0.5 or 0.25 degrees. NB! natural resolution is 1.0 deg, the others take 2 or 4 resolutions to generate. Unit is 1 degree. For the URG scanner the resolution is fixed to 360/1024 = 0.35156 deg.

Referenced by UFakeDevice::changeMode(), ULms100::changeMode(), ULms500::changeMode(), ULaserSim::changeMode(), UHokuyo::changeMode(), USick::changeMode(), createBaseVars(), getFakeScan(), getMaxMeasurements(), USick::getNewestData(), getScanAngle(), getScanResolution(), UHokuyo::makeGetDataString(), USick::openPort(), UFakeDevice::print(), print(), UReplayDevice::replayStep(), USick::set_resolution(), UFakeDevice::setDeviceName(), UFakeDevice::UFakeDevice(), UHokuyo::UHokuyo(), ULaserDevice(), ULms100::ULms100(), ULms500::ULms500(), updateScanData(), and USick::USick().

ULogFile ULaserDevice::datalog

protected

Data logfile for received data - debug

Referenced by createBaseVars(), UHokuyo::decodeData(), isLogFileOpen(), logFileClose(), logFileOpen(), logThisScan(), stop(), and threadRunLoop().

int ULaserDevice::datalogSeq

protected

Logging sequence number

Referenced by gotNewScan(), and ULaserDevice().

bool ULaserDevice::datalogUsedScans

protected

interval beteen systematic loggings. 0 is no (systematic) logging. 1 is log every scan. N log every N'th scan. Log the used scans - that is scans requested by 'getNewestData'

Referenced by getFakeScan(), getLogUsedScans(), ULaserSim::getNewestData(), ULms100::getNewestData(), ULms500::getNewestData(), UHokuyo::getNewestData(), USick::getNewestData(), setLogUsedScans(), and ULaserDevice().