#include <ureslaserifobst.h>

Inheritance diagram for UResLaserIfObst:

Public Member Functions
void	clear ()

virtual const char *	commandList ()

void	createBaseVar ()

virtual void	handleNewData (USmlTag tag, const char ifname)

const char *	listGroup (int group, char *buff, int buffCnt)

const char *	listGroups (char *buff, int buffCnt)

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

virtual void	newDataAvailable ()

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

void	setLog (bool open)

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

	UResLaserIfObst ()

	~UResLaserIfObst ()

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 ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

bool	isLogFileOpen ()

bool	isLogFileOpen (const char *structName)

bool	isVarPoolUpdated (int lastCnt, int *newCnt)

void	logFileClose ()

bool	logFileOpen ()

void	logFileStart (const char *structName, bool open)

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)

virtual bool	setResource (UResBase *resource, bool remove)

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 ()

Public Member Functions inherited from UObstacleHist
void	clear ()

UObstacleGroup *	getGroup (int idx)

UObstacleGroup *	getGroup (unsigned long serial, bool mayCreate)

UObstacleGroup *	getGroupFixed ()

int	getGroupNewest ()

UObstacleGroup *	getGroupNewest (int cnt)

int	getGroupsCnt ()

int	getGroupsMax ()

	UObstacleHist ()

virtual	~UObstacleHist ()

Static Public Member Functions
static const char *	getResClassID ()

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

Public Attributes
ULogFile	olog

Public Attributes inherited from UClientFuncBase
ULock	decodeLock

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Public Attributes inherited from UObstacleHist
ULock	ogLock

Protected Member Functions
void	handleObst (USmlTag *tag)

void	handleObstGrp (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

unsigned long	latestSerial

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

Protected Attributes inherited from UObstacleHist
UObstacleGroup	fixeds

UObstacleGroup	groups [MAX_OBST_GRPS]

int	groupsCnt

int	groupsNewest

UTime	updTime

Private Attributes
UVariable *	varGroups

UVariable *	varOLog

UVariable *	varSerial

UVariable *	varTime

UVariable *	varUpdate

Additional Inherited Members
Static Public Attributes inherited from UObstacleHist
static const int	MAX_OBST_GRPS = 100

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

Handling of messages that should be converted to an obstacle history pool

    @author Christian <chrand@mail.dk>

Constructor & Destructor Documentation

UResLaserIfObst::UResLaserIfObst ( )

inline

References callDispOnNewData, createBaseVar(), UResVarPool::createVarSpace(), getResClassID(), latestSerial, olog, ULogFile::setLogName(), UResBase::setResID(), and ~UResLaserIfObst().

UResLaserIfObst::~UResLaserIfObst ( )

References ULogFile::closeLog(), and olog.

Referenced by UResLaserIfObst().

Member Function Documentation

void UResLaserIfObst::clear ( void )

inline

clear all obstacles

References UObstacleHist::clear(), latestSerial, listGroup(), listGroups(), and newDataAvailable().

Referenced by UFunctionLaserIfData::handleLaserIf(), and UFunctionLaserIfData::handleLaserObst().

const char * UResLaserIfObst::commandList ( )

virtual

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 getResClassID(), and snprint().

void UResLaserIfObst::createBaseVar ( )

Create base variables and methods for var-pool

References UResVarPool::addMethod(), UResVarPool::addVar(), UResBase::getResVersion(), varGroups, varOLog, varSerial, varTime, and varUpdate.

Referenced by getResClassID(), and UResLaserIfObst().

static const char* UResLaserIfObst::getResClassID ( )

inlinestatic

Fixed name of this resource type

References commandList(), createBaseVar(), handleNewData(), and snprint().

Referenced by UNavPaint::setResource(), UFunctionLaserIfData::setResource(), UNavView::setResource(), and UResLaserIfObst().

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

virtual

Got fresh data destined to this function.

Reimplemented from UClientFuncBase.

References handleObst(), USmlTagIn::isTagA(), UClientFuncBase::msgHandled, and UClientFuncBase::printReply().

Referenced by getResClassID().

void UResLaserIfObst::handleObst ( USmlTag * tag )

protected

void UResLaserIfObst::handleObstGrp ( USmlTag * tag )

protected

Handle the decode of an obstacle group

References UObstacleGroup::clear(), UObstacleHist::fixeds, USmlTagIn::getAttValue(), ULogFile::getF(), UObstacleHist::getGroup(), USmlTag::getObstacleGroup(), USmlTagIn::isAStartTag(), ULogFile::isLogOpen(), latestSerial, UObstacleGroup::logAll(), olog, USmlTag::skipToEndTag(), ULogFile::toLog(), ULock::tryLock(), and ULock::unlock().

Referenced by handleObst(), and setLog().

const char * UResLaserIfObst::listGroup	(	int	group,
		char *	buff,
		int	buffCnt
	)

Make a short list of obstacles in this group

Parameters

group	is the number of the group - 0 is the newest 1 the next older ....
buff	is the string buffer to write to
buffCnt	is the length of the string buffer

Returns: a char pointer to the buff

References UObstacleHist::fixeds, UPolygon::getCogXY(), UObstacleGroup::getObstacle(), UObstacleGroup::getObstsCnt(), UPolygon::getPointsCnt(), UObstacleGroup::getSerial(), UObstacleHist::groups, UObstacleHist::groupsCnt, UObstacleHist::groupsNewest, ULock::lock(), UObstacleHist::MAX_OBST_GRPS, ULock::unlock(), UPosition::x, and UPosition::y.

Referenced by clear(), and UFunctionLaserIfData::handleLaserObst().

const char * UResLaserIfObst::listGroups	(	char *	buff,
		int	buffCnt
	)

Make a short list of obstacles in this group

Parameters

buff	is the string buffer to write to
buffCnt	is the length of the string buffer

Returns: a char pointer to the buff

References UObstacleHist::fixeds, UTime::getDateTimeAsString(), UObstacleGroup::getObstsCnt(), UObstacleGroup::getPoseLast(), UObstacleGroup::getSerial(), UObstacleHist::groups, UObstacleHist::groupsCnt, UObstacleHist::groupsNewest, ULock::lock(), UObstacleHist::MAX_OBST_GRPS, UPoseTime::t, and ULock::unlock().

Referenced by clear(), and UFunctionLaserIfData::handleLaserObst().

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

virtual

The varPool has methods, and a call to one of these is needed. Do what is needed and return (a double sized) result in 'value' and return true if the method call is allowed. The 'paramOrder' indicates the valid parameters d, s or c for double, string or class that is available as input values for the call. 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).

Reimplemented from UResVarPool.

References UObstacleHist::fixeds, UObstacleHist::getGroupNewest(), UObstacleHist::getGroupsCnt(), UObstacleGroup::getObstsCnt(), UObstacleHist::groups, ULock::lock(), UObstacleHist::MAX_OBST_GRPS, UObstacleHist::ogLock, roundi(), and ULock::unlock().

Referenced by print().

void UResLaserIfObst::newDataAvailable ( )

virtual

Called after decode of a set of obstacle updates

References callDispOnNewData, UResVarPool::callGlobal(), UVariable::getValued(), and varSerial.

Referenced by clear(), handleObst(), and print().