#include <ureslaserifroad.h>

Inheritance diagram for UResLaserIfRoad:

Public Member Functions
void	clear ()

virtual const char *	commandList ()

URoadLineData *	getRoadCurrent (int side)

URoadLineData *	getRoadLine (int idx)

int	getRoadLinesCnt ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

virtual void	handleNewData (USmlTag tag, const char ifname)

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

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

virtual bool	setResource (UResBase *resource, bool remove)

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

	UResLaserIfRoad ()

void	UResLaserIfRoadInit ()

	~UResLaserIfRoad ()

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 ()

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)

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 ()

Static Public Member Functions
static const char *	getResClassID ()

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

Protected Member Functions
void	createBaseVar ()

void	handleRoad (USmlTag *tag)

virtual void	newDataAvailable ()

void	updateLine (const int lineType, const unsigned long lineSerial, const double lineQ, ULineSegment *lineSeg, const unsigned long scan)

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

URoadLineData *	newestLeft

URoadLineData *	newestRight

URoadLineData *	newestTop

URoadLineData *	roadLines [MAX_ROAD_LINE_CNT]

int	roadLinesCnt

unsigned long	scanSerial

UTime	updTime

UVariable *	varCN

UVariable *	varCQ

UVariable *	varLN

UVariable *	varLQ

UVariable *	varRN

UVariable *	varRQ

UVariable *	varUpdateTime

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

Static Protected Attributes
static const int	MAX_ROAD_LINE_CNT = 20

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...

Additional Inherited Members
Public Attributes inherited from UClientFuncBase
ULock	decodeLock

Public Attributes inherited from UReplay
bool	replayTimeAdvancePending

UTime	replayTimeNow

Detailed Description

Class to handle detected road lines for reactive behaviour

Author: Christian Andersen

Constructor & Destructor Documentation

UResLaserIfRoad::UResLaserIfRoad ( )

inline

Constructor

UResLaserIfRoad::~UResLaserIfRoad ( )

Destructor

Member Function Documentation

void UResLaserIfRoad::clear ( void )

inline

Clear all data (data structures are not released

References URoadLineData::lineSerial, and scan.

Referenced by UFunctionLaserIfData::handleLaserIf().

const char * UResLaserIfRoad::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.

void UResLaserIfRoad::createBaseVar ( )

protected

Create the variables and methods valid (initially) for this var-pool

References UVarPool::addMethod(), and UVarPool::addVar().

static const char* UResLaserIfRoad::getResClassID ( )

inlinestatic

Fixed name of this resource type

References UDataBase::snprint().

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

URoadLineData * UResLaserIfRoad::getRoadCurrent ( int side )

Get specific road line

Referenced by UNavPaint::paint().

URoadLineData* UResLaserIfRoad::getRoadLine ( int idx )

inline

Get specific road line

Referenced by UNavPaint::paint().

int UResLaserIfRoad::getRoadLinesCnt ( )

inline

Get number of available road lines

Referenced by UFunctionLaserIfData::handleLaserIf(), and UNavPaint::paint().

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

virtual

Is this resource missing any base ressources

Reimplemented from UResVarPool.

References UResBase::gotAllResources().

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

virtual

Got fresh data destined to this function.

Reimplemented from UClientFuncBase.

References USmlTagIn::isTagA().

void UResLaserIfRoad::handleRoad ( USmlTag * tag )

protected

Unpack the road message and extraction the best estimate of the three road lines.

References USmlTagIn::getAttValue(), USmlTag::getLineSegment(), USmlTagIn::getNextAttribute(), USmlTag::getNextTag(), USmlTagIn::getTagName(), USmlTagIn::isAStartTag(), USmlTagIn::isTagA(), USmlTagIn::isTagAnEnd(), URoadLineData::lineSerial, MAX_SML_NAME_LENGTH, scan, URoadLineData::scanSerial, USmlTag::skipToEndTag(), and str2bool().

bool UResLaserIfRoad::methodCall	(	const char *	name,
		const char *	paramOrder,
		char **	strings,
		const double *	doubles,
		double *	value,
		UDataBase **	returnStruct = `NULL`,
		int *	returnStructCnt = `NULL`
	)

virtual

The varPool has methods, and a call to one of these are needed. Do the call now and return (a double sized) result in 'value' and return true if the method call is allowed. 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 URoadLineData::edgeLine, URoadLineData::line, and URoadLineData::lineQuality.

void UResLaserIfRoad::newDataAvailable ( )

protectedvirtual

This function is called, when a new polygon is unpacked. It can be used to trigger other functions.

References URoadLineData::scanSerial.

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

inlinevirtual

Print status for this resource

Reimplemented from UResVarPool.

References UDataBase::snprint().

bool UResLaserIfRoad::setResource	(	UResBase *	resource,
		bool	remove
	)

virtual

Set ressource as needed (probably not used by this resource)

Reimplemented from UResVarPool.

References UResVarPool::setResource().

const char * UResLaserIfRoad::snprint	(	const char *	preString,
		char *	buff,
		int	buffCnt
	)

virtual

Print status for this resource

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

void UResLaserIfRoad::updateLine	(	const int	lineType,
		const unsigned long	lineSerial,
		const double	lineQ,
		ULineSegment *	lineSeg,
		const unsigned long	scan
	)

protected

Update line with this new road segment update

References URoadLineData::clear(), URoadLineData::scanSerial, and URoadLineData::URoadLineData().

void UResLaserIfRoad::UResLaserIfRoadInit ( )

Initalize class

References URoadLineData::scanSerial.

Member Data Documentation

bool UResLaserIfRoad::callDispOnNewData

protected

Call display update on new data

const int UResLaserIfRoad::MAX_ROAD_LINE_CNT = 20

staticprotected

Maximum number of polylines used to for road lines

URoadLineData* UResLaserIfRoad::newestLeft

protected

Pointer to the newest line describing the left road side

URoadLineData* UResLaserIfRoad::newestRight

protected

Pointer to the newest line describing the right road side

URoadLineData* UResLaserIfRoad::newestTop

protected

Pointer to the newest line describing the center road side

URoadLineData* UResLaserIfRoad::roadLines[MAX_ROAD_LINE_CNT]

protected

Road lines

int UResLaserIfRoad::roadLinesCnt

protected

Number of used road lines

unsigned long UResLaserIfRoad::scanSerial

protected

Latest laser scan number

UTime UResLaserIfRoad::updTime

protected

Latest update time - used to timeout old lines

UVariable* UResLaserIfRoad::varCN

protected

index to varpool variable for center roadside - update cnt

UVariable* UResLaserIfRoad::varCQ

protected

index to varpool variable for center roadside - quality

UVariable* UResLaserIfRoad::varLN

protected

index to varpool variable for left roadside - update cnt

UVariable* UResLaserIfRoad::varLQ

protected

index to varpool variable for left roadside - quality

UVariable* UResLaserIfRoad::varRN

protected

index to varpool variable for right roadside - update cnt

UVariable* UResLaserIfRoad::varRQ

protected

index to varpool variable for right roadside - quality

UVariable* UResLaserIfRoad::varUpdateTime

protected

index to variable with latest update time

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation