#include <uresroaddrive.h>

Inheritance diagram for UResRoadDrive:

Public Member Functions
double	driveSide (const int refSide, const double refDist, int repeat)

bool	findExitPose (int side, double sideDist, double forwardDist, UPose *exitPose)

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)

	UResRoadDrive ()

virtual	~UResRoadDrive ()

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	driveRoad (const char *refSide, const double refDist)

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
UTime	lastObstUpdate

double	lastRefDist

int	lastRefSide

UTime	lastRoadUpdate

UManSeq *	man

ULock	manLock

UResPoseHist *	poseHist

UPoseV	targetPose

UVariable *	varEdge

UVariable *	varEdgeDist

UVariable *	varFailCnt

UVariable *	varFwdDist

UResVarPool *	varGlobal

UVariable *	varLoopCnt

UVariable *	varTgtVel

UVariable *	varTgtX

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

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

UResRoadDrive::UResRoadDrive ( )

inline

Constructor

References createBaseVar(), UResVarPool::createVarSpace(), getResClassID(), man, poseHist, UResBase::setResID(), varGlobal, and ~UResRoadDrive().

UResRoadDrive::~UResRoadDrive ( )

virtual

Destructor

References man, and ULock::unlock().

Referenced by UResRoadDrive().

Member Function Documentation

void UResRoadDrive::createBaseVar ( )

protected

Create the smrif related variables

References UResVarPool::addMethod(), UResVarPool::addVar(), UResBase::getResVersion(), varEdge, varEdgeDist, varFailCnt, varFwdDist, varLoopCnt, varTgtVel, varTgtX, and varUpdateTime.

Referenced by setManUnlocked(), and UResRoadDrive().

double UResRoadDrive::driveRoad	(	const char *	refSide,
		const double	refDist
	)

protected

Drive along the road as possible, and try to maintain the specified distance from one of the road lines. The refSide is 'left', 'top' or 'right'.

References driveSide().

Referenced by methodCall(), and setManUnlocked().

double UResRoadDrive::driveSide	(	const int	refSide,
		const double	refDist,
		int	repeat
	)

Drive along the road as possible, and try to maintain the specified distance from one of the road lines. The refSide is 0=left, 1=top, 2=right.

References UVariable::add(), UResVarPool::callGlobal(), findExitPose(), UResVarPool::getGlobalValue(), UVariable::getValued(), UResVarPool::getVarPool(), UPose::h, lastObstUpdate, lastRefDist, lastRefSide, lastRoadUpdate, ULock::lock(), man, manLock, UVariable::setDouble(), UVariable::setInt(), UVariable::setPose(), UTime::setTime(), ULock::unlock(), varEdge, varEdgeDist, varFailCnt, varFwdDist, varLoopCnt, varTgtVel, varTgtX, varUpdateTime, UPose::x, and UPose::y.

Referenced by driveRoad(), UFunctionRoadDrive::handleCommand(), methodCall(), and setManUnlocked().

bool UResRoadDrive::findExitPose	(	int	side,
		double	sideDist,
		double	forwardDist,
		UPose *	exitPose
	)

Find xit pose relative to road lines in odometry coordinates. if side is >= 0 then try the distance relative to this side. Side is 0=left, 1=top, 2=right Exit pose should be 'sideDist' away from side line. Exit pose should be 'forwardDist' ahead of robot. Returns true if successful. may fail if no road is avaiable or call to road plugin failed.

References UResVarPool::callGlobal(), UResPoseHist::getNewest(), UPose::getPoseToMap(), ULine::getPositionOnLine(), UResVarPool::getVarPool(), ULine::getXYHeading(), UPose::h, poseHist, UPose::set(), UPosition::set(), UPosition::x, UPose::x, UPosition::y, and UPose::y.

Referenced by driveSide(), getResClassID(), UFunctionRoadDrive::handleCommand(), and setTarget().

UManSeq * UResRoadDrive::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 UFunctionRoadDrive::handleCommand().

static const char* UResRoadDrive::getResClassID ( )

inlinestatic

Fixed name of this resource type

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

Referenced by UResRoadDrive().

bool UResRoadDrive::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 UResRoadDrive::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 driveRoad(), driveSide(), roundi(), and setTarget().

Referenced by getResClassID().

const char * UResRoadDrive::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 UResRoadDrive::setManUnlocked ( )

inline

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

References createBaseVar(), dist, driveRoad(), driveSide(), manLock, setTarget(), and ULock::unlock().

Referenced by UFunctionRoadDrive::handleCommand().