#include <uresdrivepos.h>

Inheritance diagram for UResDrivePos:

Public Member Functions
double	driveOdo (UPoseV exitPose, bool ignoreVel, int repeat)

UPoseV	getCurrentPose ()

UManSeq *	getManLocked ()

virtual bool	gotAllResources (char *missingThese, int missingTheseCnt)

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)

void	setManUnlocked ()

bool	setResource (UResBase *resource, bool remove)

	UResDrivePos ()

virtual	~UResDrivePos ()

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 ()

double	setTarget (const char *sideStr, double dist)

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	finalPart

UPose	finalPose

UPoseV	lastExitPose

UTime	lastObstUpdate

UPoseV	lastStartPose

UManSeq *	man

ULock	manLock

UResPoseHist *	poseHist

UPoseV	repeat0startPose

UPoseV	targetPose

UVariable *	varFailCnt

UVariable *	varFinalDistance

UResVarPool *	varGlobal

UVariable *	varLoopCnt

UVariable *	varOdoV

UVariable *	varOdoX

UVariable *	varUpdateTime

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

Private Attributes
int	odoDriveCnt

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

This is the shared resource class. It must enherit from the resource base class (or one of its decendent) as shown.

Author: Christian Andersen

Constructor & Destructor Documentation

UResDrivePos::UResDrivePos ( )

inline

Constructor

References createBaseVar(), UResVarPool::createVarSpace(), getResClassID(), UResBase::getResVersion(), man, odoDriveCnt, poseHist, UResBase::resVersion, UResBase::setResID(), varGlobal, and ~UResDrivePos().

UResDrivePos::~UResDrivePos ( )

virtual

Destructor

Referenced by UResDrivePos().

Member Function Documentation

void UResDrivePos::createBaseVar ( )

protected

Create the smrif related variables

References UResVarPool::addMethod(), UResVarPool::addVar(), UResBase::getResVersion(), varFailCnt, varFinalDistance, varLoopCnt, varOdoV, varOdoX, and varUpdateTime.

Referenced by setManUnlocked(), and UResDrivePos().

double UResDrivePos::driveOdo	(	UPoseV	exitPose,
		bool	ignoreVel,
		int	repeat
	)

Drive to this pose position on odometry coordinates. Desired speed and other options are taken from the usual places.

References UVariable::add(), UResVarPool::callGlobal(), finalPart, finalPose, UPose::getDistance(), UResVarPool::getGlobalValue(), UResPoseHist::getNewest(), UTime::getTimePassed(), UVariable::getValued(), UResVarPool::getVarPool(), UPoseV::getVel(), UPose::h, lastExitPose, lastObstUpdate, lastStartPose, man, manLock, maxd(), odoDriveCnt, poseHist, UVariable::setInt(), UVariable::setPose(), UTime::setTime(), UVariable::setValued(), UPoseV::setVel(), ULock::tryLock(), ULock::unlock(), varFailCnt, varFinalDistance, varLoopCnt, varOdoV, varOdoX, varUpdateTime, UPose::x, and UPose::y.

Referenced by UFunctionDrivePos::handleDrivePos(), methodCall(), and setManUnlocked().

UPoseV UResDrivePos::getCurrentPose ( )

Get current pose from poseHist. Pose is (0,0,0) if no poseHist is found

References UResPoseHist::getNewest(), UPose::h, poseHist, UPoseV::set(), UPose::x, and UPose::y.

Referenced by UFunctionDrivePos::handleDrivePos(), and setManUnlocked().

UManSeq * UResDrivePos::getManLocked ( )

Get latest used manouvre sequence in a locked state. When the pointer no longer needed a call must be made to 'setManUnlock()' to allow the roadDrive to continue fretching obstacle avoidance manoeuvres.

References ULock::lock(), man, and manLock.

Referenced by getResClassID(), and UFunctionDrivePos::handleDrivePos().

static const char* UResDrivePos::getResClassID ( )

inlinestatic

Fixed name of this resource type

References getManLocked(), gotAllResources(), methodCall(), print(), and setResource().

Referenced by UResDrivePos().

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

virtual

Is this resource missing any other resources to function optimally? Returns false if any is missing, and a list of the missong resources in the string.

Reimplemented from UResVarPool.

References UResPoseHist::getOdoPoseID(), UResBase::getResID(), UResBase::gotAllResources(), poseHist, and varGlobal.

Referenced by getResClassID().

bool UResDrivePos::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.

Reimplemented from UResVarPool.

References driveOdo(), UResPoseHist::getNewest(), UPose::getPoseToMapPose(), poseHist, repeat0startPose, roundi(), and UPoseV::set().

Referenced by getResClassID().

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

virtual

Fixed varsion number for this resource type. Should follow release version, i.e. version 1.28 gives number 128. Should be incremented only when there is change to this class definition, i.e new or changed functions or variables. print status to a string buffer

Reimplemented from UResVarPool.

Referenced by getResClassID().

void UResDrivePos::setManUnlocked ( )

inline

Unlock the use of the manouvre pointer - must be unlocked as soon as possible to allow roadDrive to function

References createBaseVar(), dist, driveOdo(), getCurrentPose(), manLock, setTarget(), and ULock::unlock().

Referenced by UFunctionDrivePos::handleDrivePos().

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

virtual

The server will offer a resource pointer by this call. If the resource is used, please return true.

Reimplemented from UResVarPool.

References UResPoseHist::getOdoPoseID(), UResBase::getResID(), UResBase::isA(), poseHist, UResVarPool::setResource(), and varGlobal.

Referenced by getResClassID().

double UResDrivePos::setTarget	(	const char *	sideStr,
		double	dist
	)

protected

Set target pose in varPool from these parameters

Referenced by setManUnlocked().

Member Data Documentation

bool UResDrivePos::finalPart

protected

When wery close to target position it is no use to recalculate the planned path, so just continue on current plan until traveled distance to final point is reached

Referenced by driveOdo().

UPose UResDrivePos::finalPose

protected

The robot pose when entered into the final path

Referenced by driveOdo().

UPoseV UResDrivePos::lastExitPose

protected

The target pose at the last calculation

Referenced by driveOdo().

UTime UResDrivePos::lastObstUpdate

protected

The update time used for the latest calculation