#include <ufuncpicam.h>

Inheritance diagram for UFuncPiCam:

Public Member Functions
virtual void	callGotNewDataWithObject ()

virtual void	createResources ()

virtual bool	handleCommand (UServerInMsg msg, void extra)

virtual bool	methodCall (const char name, const char paramOrder, char *strings, const double pars, double value, UDataBase returnStruct, int returnStructCnt)

virtual bool	methodCallV (const char name, const char paramOrder, UVariable params[], UDataBase returnStruct, int returnStructCnt)

void	run ()

void	runAlive ()

	UFuncPiCam ()

	~UFuncPiCam ()

Public Member Functions inherited from UFuncPlugBasePush
virtual bool	setResource (UResBase *resource, bool remove)

	UFuncPlugBasePush ()

virtual	~UFuncPlugBasePush ()

Public Member Functions inherited from UFunctionBase
bool	addResource (UResBase resource, UFunctionBase owner)

void	closeLogfile ()

virtual const char *	commandList ()

const char *	getAliasName ()

const char *	getLoadedFileName ()

void *	getLoadedModuleRef ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isMine (const char *cmdName)

bool	isStatic ()
	is the module loaded as static A module is static if the ldFilename has a length of zero. More...

virtual const char *	name ()

bool	newCmd (UServerInMsg newMsg, UDataBase extra)

bool	newCommand (UServerInMsg newMsg, void extra)

bool	openLogfile (const char *name)

void	print (const char *preString)

virtual void	resourceUpdated ()

bool	sendEndTag (UServerInMsg *msg)

bool	sendEndTag ()

bool	sendFullTag (const char *attributes)

bool	sendHelpDone (UServerInMsg *msg)

bool	sendHelpDone ()

bool	sendHelpStart (UServerInMsg msg, const char subject)

bool	sendHelpStart (const char *subject)

bool	sendHelpStart ()

bool	sendMsg (UServerInMsg msg, const char message, int size)

bool	sendMsg (const char *message)

bool	sendMsg (UServerInMsg msg, const char message)

bool	sendMsg (int clientIdx, const char *message, int size)

bool	sendMsgInt (int clientIdx, const char *message)

bool	sendStartTag (const char *attributes)

bool	sendText (UServerInMsg msg, const char text)

bool	sendText (const char *text)

virtual void	setAliasName (const char *name)

virtual void	setCommand (const char cmdList, const char name, const char *note)

void	setLoadedModuleRef (void module, const char moduleFileName)

virtual void	setLoadTime (UTime)

void	setName (const char *name)

void	setVerbose (bool value)

	UFunctionBase ()

virtual	~UFunctionBase ()

Public Member Functions inherited from UCallBack
bool	addOnEvent (UOnEvent *dataObject)

virtual bool	onEvent (const char interface, const char dataType, void *data)

	UCallBack ()

virtual	~UCallBack ()

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

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)

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	saveSettings ()

void	setCorePointer (UCmdExe *serverCore)

void	setResFuncIdx (int idx)

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

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	~UVarMethodImplement ()

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 ()

Private Member Functions
bool	handleNormal (UServerInMsg *msg)

void	init ()

void	logFileTest ()

bool	logImageToFile (UImage *imgToLog)

bool	openCam ()

bool	start ()
	start read thread More...

void	stop (bool andWait)

Private Attributes
const char *	aliasname

pthread_t	aliveThreadHandle

bool	aliveThreadRunning
	alive thread runnung flag More...

bool	aliveThreadStop
	alive stop thread flag More...

int	frameCntRgb
	number of accepted video frames (rgb or ir) More...

int	frameLogCnt
	frame count for logging More...

UTime	frameRateDepthTime
	variable for frame rate calculation More...

UTime	frameRateRgbTime
	variable for frame rate calculation More...

UImage *	imgCbuf
	image buffer for color in 3d cloud More...

UTime	lastLoopTime

ULLogFile	logf

UImageLog	logImage

UImage *	logVideoImage
	pointer to video (color or IR) image to log More...

USemaphore	newImg [PYRAMID_LEVELS_MAX]
	semaphore to indicate new image is available More...

int	oldCamDevC

int	oldCamDevD

int	oldFocalLength
	last used focal length for rectified image More...

int	oldLed

double	oldTilt

ULock	paramLock
	lock for parameters More...

CCamera *	picam
	PI camera class. More...

pthread_t	threadHandle

bool	threadRunning
	thread runnung flag More...

bool	threadStop
	stop thread flag More...

UVariable *	varCamDeviceNum

UVariable *	varExposureMeter

UVariable *	varExposureMode

UVariable *	varFramerate

UVariable *	varGain

UVariable *	varImageLogN

UVariable *	varIsOpen

UVariable *	varPyramidLevels

UVariable *	varResolution

UVariable *	varShutter

UVariable *	varSilent

UVariable *	varTime

UVariable *	varUpdateCnt

UVariable *	varWhiteBal

char	whyString [MWL]

Static Private Attributes
static const int	MWL = 100

static const int	PYRAMID_LEVELS_MAX = 10

Additional Inherited Members
Static Public Member Functions inherited from UResVarPool
static const char *	getResClassID ()

Public Attributes inherited from UFunctionBase
bool	silent
	is reply to client and console to be limited More...

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Static Public Attributes inherited from UFunctionBase
static const int	MAX_ID_LENGTH = 30

static const int	MAX_RESOURCE_LIST_SIZE = 250

Protected Member Functions inherited from UFuncPlugBasePush
bool	handlePush (UServerInMsg *msg)

Protected Member Functions inherited from UFunctionBase
int	getCmdIndex ()

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

bool	isClientAlive (int clientIdx, double holdOffTime)

bool	sendDebug (UServerInMsg msg, const char debugText)

bool	sendDebug (const char *debugText)

bool	sendError (UServerInMsg msg, const char errorText)

bool	sendError (const char *errorText)

bool	sendHelp (UServerInMsg msg, const char infoText)

bool	sendHelp (const char *infoText)

bool	sendInfo (UServerInMsg msg, const char infoText)

bool	sendInfo (const char *infoText)

bool	sendWarning (UServerInMsg msg, const char warningText)

bool	sendWarning (const char *warningText)

UResBase *	setThisResource (const char ID, UResBase resource, bool remove, bool changed, UResBase currentResPtr, bool *isLocal)

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 inherited from UFunctionBase
char	aliasName [MAX_ID_LENGTH]

UCmdExe *	cmdHandler

char *	cmdToks [20]

int	cmdToksCnt

char	commandsHandled [MAX_RESOURCE_LIST_SIZE]

UServerInMsg *	msg

char	pluginName [MAX_RESOURCE_LIST_SIZE]

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 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

This is functions to handle camera issues

like: open, close, convert to point cloud, log images to files and replay those files.
Author
Christian Andersen

Constructor & Destructor Documentation

UFuncPiCam::UFuncPiCam ( )

inline

Constructor

References callGotNewDataWithObject(), createResources(), handleCommand(), handleNormal(), init(), logFileTest(), logImageToFile(), methodCall(), methodCallV(), UFunctionBase::msg, UFunctionBase::name(), openCam(), run(), runAlive(), UFunctionBase::setCommand(), start(), stop(), and ~UFuncPiCam().

UFuncPiCam::~UFuncPiCam ( )

Destructor

References ULogFile::closeLog(), UImageLog::closeLogging(), imgCbuf, logf, logImage, and stop().

Referenced by UFuncPiCam().

Member Function Documentation

void UFuncPiCam::callGotNewDataWithObject ( )

virtual

Called from push implementor to get the push object. should call to 'gotNewData(object)' with the available event object. if no object is available (anymore), then call with a NULL pointer.

Reimplemented from UServerPush.

References data, UFunctionBase::getAliasName(), and UServerPush::gotNewData().

Referenced by UFuncPiCam().

void UFuncPiCam::createResources ( )

virtual

Called by server after this module is integrated into the server core structure, i.e. all core services are in place, but no commands are serviced for this module yet. Create any resources that this modules needs.

Reimplemented from UFunctionBase.

References UResVarPool::addVar(), UResVarPool::addVarA(), aliasname, UFunctionBase::getAliasName(), logf, logImage, UReplay::replaySetBaseFileName(), ULogFile::setLogName(), start(), varCamDeviceNum, varExposureMeter, varExposureMode, varFramerate, varGain, varImageLogN, varIsOpen, varPyramidLevels, varResolution, varShutter, varSilent, varTime, varUpdateCnt, and varWhiteBal.

Referenced by UFuncPiCam().

bool UFuncPiCam::handleCommand	(	UServerInMsg *	msg,
		void *	extra
	)

virtual

Handle incomming commands flagged for this module

Parameters

msg	pointer to the message and the client issuing the command

Returns: true if the function is handled - otherwise the client will get a 'failed' reply

Reimplemented from UFunctionBase.

References UFunctionBase::getCmdIndex(), handleNormal(), UFuncPlugBasePush::handlePush(), and UFunctionBase::sendDebug().

Referenced by UFuncPiCam().

bool UFuncPiCam::handleNormal ( UServerInMsg * msg )

private

void UFuncPiCam::init ( )

private

Decode this replay line, that is assumed to be valid - has got a time stamp.

Parameters

line	is a pointer to the line.

Returns: true if the line is valid and used (step is successful).; false if line is not a valid step. is called when it is time to update replay status (after a step in some replay file) Initialize other variables

References frameCntRgb, imgCbuf, logImage, logVideoImage, oldCamDevC, oldCamDevD, oldFocalLength, oldLed, UImageLog::setPng(), threadRunning, and threadStop.

Referenced by UFuncPiCam().

void UFuncPiCam::logFileTest ( )

private

Test for open or close logfiles using global variable

References UVariable::getInt(), ULogFile::getLogFileName(), ULogFile::isOpen(), logf, logImage, UImageLog::openLog(), UVariable::setValued(), ULogFile::toLog(), and varImageLogN.

Referenced by run(), and UFuncPiCam().

bool UFuncPiCam::logImageToFile ( UImage * imgToLog )

private

Save image to imagelog and save the image itself in the imagePath. if camera device do not exist, then a default device is created..

Parameters

imgToLog is the image to be logged.

References UImage::camDevice, UCamPool::getCam(), UVariable::getInt(), UFunctionBase::getStaticResource(), UImageLog::logImage(), logImage, UCamPool::makeDevice(), ULock::tryLock(), ULock::unlock(), and varImageLogN.

Referenced by run(), and UFuncPiCam().

bool UFuncPiCam::methodCall	(	const char *	name,
		const char *	paramOrder,
		char **	strings,
		const double *	pars,
		double *	value,
		UDataBase **	returnStruct,
		int *	returnStructCnt
	)

virtual

Function to implement a var-pool method call.

Parameters

name	is the name of the called function
paramOrder	is a string with one char for each parameter in the call - d is double, s is string, c is class object.
strings	is an array of string pointers for the string type parameters (may be NULL if not used)
doubles	is an array with double typed parameters (may be NULL if not used)
value	is the (direct) result of the class, either a double value, or 0.0 for false 1.0 for true 2.0 for implicit stop if a controll call.
returnStruct	is an array of class object pointers that can be used as parameters or return objects (may be NULL)
returnStructCnt	is the number of objects in the returnStruct buffer

Returns: true if the method is recognised (exists), when false is returned a invalid name or parameter list is detected.

Reimplemented from UResVarPool.

Referenced by UFuncPiCam().

bool UFuncPiCam::methodCallV	(	const char *	name,
		const char *	paramOrder,
		UVariable *	params[],
		UDataBase **	returnStruct,
		int *	returnStructCnt
	)

virtual

Function to implement an inter plug-in method call using UVariables as parameter (and return value). Structures of the base type UDatabase (but not UVariables) may be returned in the returnStruct pointer array. The returnStructCnt should be set to returned count, if values are returned.

Parameters

name	is the name of the called function
paramOrder	is a string with one char for each parameter in the call - d is double, s is string, c is class object.
params	is an array of UVariable pointers, one pointer for each character in paramOrder. NB! params are not declared as constant, and may be used to return values.
returnStruct	is an array of class object pointers that can be used as parameters or return objects (may be NULL)
returnStructCnt	is the number of objects in the returnStruct buffer