ScanFeatures class converted to line extract. More...

#include <ufuncline.h>

Inheritance diagram for UFuncEfLine:

Public Member Functions
void	createResources ()

virtual bool	handleCommand (UServerInMsg msg, void extra)

	UFuncEfLine ()

virtual	~UFuncEfLine ()

Public Member Functions inherited from UFuncPlugBase
	UFuncPlugBase ()

virtual	~UFuncPlugBase ()

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)

virtual bool	setResource (UResBase *resource, bool remove)

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 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)

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	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 ()

Protected Member Functions
UPose	getCurrentOdoPose (ULaserData *data)
	get the current pose of the robot at the time of the laser data The pose may be fake, and the fake pose is in the laser data structure too More...

ULaserData *	getScan (int device, ULaserDevice *las, ULaserData pushData, bool getOnly, int fake)
	get a laserscan based on these parameters More...

bool	sendAllLines (UServerInMsg msg, ULaserDevice las, ULaserData *data, bool getOnly)
	Process a request for all detected (wall-like) lines in the scan. More...

bool	sendBoxLines (UServerInMsg msg, ULaserDevice las, ULaserData *data, bool getOnly)
	Process a request for (4) wall lines in the scan. More...

bool	sendBoxPose (UServerInMsg msg, ULaserDevice las, ULaserData *data, bool getOnly)
	Process a request for the pose of the south-west corner of the box The reply is send as a special <laser l0="0.0" l1="1.0" .../> type tag. More...

bool	sendRobotPoseAndSensorPosition (UServerInMsg msg, ULaserDevice las, ULaserData *data)
	send robot pose and sensor position (orientation) to client More...

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
UResAuEf *	auef

int	lastDevice

unsigned long	lastSerial

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

Private Member Functions
void	closeLog ()

bool	handleLine (UServerInMsg msg, ULaserData pushData)

void	openLog (char *)

Private Attributes
ULaserData	dataBuff

FILE *	logFile

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

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

ScanFeatures class converted to line extract.

Plugin for Ulmsserver with required functions.

Author: Aske Olsson; Lars Pontoppidan; Lars Mogensen; Christian Andersen (feb 2008)

Constructor & Destructor Documentation

UFuncEfLine::UFuncEfLine ( )

Constructor

References auef, lastDevice, lastSerial, and UFunctionBase::setCommand().

UFuncEfLine::~UFuncEfLine ( )

virtual

Destructor

References auef.

Member Function Documentation

void UFuncEfLine::closeLog ( )

private

Closes log file if open

void UFuncEfLine::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 and add these to the resource pool to be integrated in the global variable pool and method sharing. Remember to add to resource pool by a call to addResource(UResBase * newResource, this). This module must also ensure that any resources creted are deleted (in the destructor of this class). Resource shut-down code should be handled in the resource destructor.

Reimplemented from UFunctionBase.

References UFunctionBase::addResource(), and auef.

UPose UFuncEfLine::getCurrentOdoPose ( ULaserData * data )

protected

get the current pose of the robot at the time of the laser data The pose may be fake, and the fake pose is in the laser data structure too

Parameters

data	holds current laserscan, detection time and possibly a fake pose if the data is fake.

Returns: the current pose, or the zero pose if odometry resource is not available.

References UPose::clear(), ULaserData::getFakePose(), UResPoseHist::getPoseAtTime(), ULaserData::getScanTime(), UFunctionBase::getStaticResource(), and ULaserData::isFake().

Referenced by sendBoxLines(), sendBoxPose(), and sendRobotPoseAndSensorPosition().

ULaserData * UFuncEfLine::getScan	(	int	device,
		ULaserDevice **	las,
		ULaserData *	pushData,
		bool	getOnly,
		int	fake
	)

protected

get a laserscan based on these parameters

Parameters

device	use this device of default if device is -1
las	[out] returns a pointer to the used laser scanner
pushData	points to push data if such is available, else NULL
getOnly	if true, then the laser scanner device is returned only, and the returned scan is a pointer to a scan buffer (with old information from last time)
fake	if fake > 0 then the data produced is fake, generated from static data. Very usefull when testing without any real scanner (or simulator environment)

Returns: a pointer to a laserscan (never NULL)

References dataBuff, ULaserPool::getScan(), UFunctionBase::getStaticResource(), and scan.

Referenced by handleCommand().

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

virtual

Handle incomming command (intended for command separation) Must return true if the function is handled - otherwise the client will get a failed - reply

Reimplemented from UFunctionBase.

References auef, bool2str(), data, USmlTagIn::getAttValue(), USmlTagIn::getAttValueBool(), USmlTagIn::getAttValueInt(), getScan(), UResAuEf::isLogOpen(), ULaserData::isValid(), UResAuEf::llogName, UResAuEf::openLog(), sendAllLines(), sendBoxLines(), sendBoxPose(), UFunctionBase::sendHelpDone(), UFunctionBase::sendHelpStart(), UFunctionBase::sendInfo(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), str2bool2(), UServerInMsg::tag, and UResAuEf::wallReset().

bool UFuncEfLine::handleLine	(	UServerInMsg *	msg,
		ULaserData *	pushData
	)

private

Function to handle scanfeatures command

void UFuncEfLine::openLog ( char * )

private

Opens log file, if not already open

bool UFuncEfLine::sendAllLines	(	UServerInMsg *	msg,
		ULaserDevice *	las,
		ULaserData *	data,
		bool	getOnly
	)

protected

Process a request for all detected (wall-like) lines in the scan.

Parameters

msg	holds the client information
las	is a pointer to the laser device
data	is a pointer to the current laserscan
getonly	is set to true, if no new processing is to take place, just get result of last processing.

Returns: true if full reply message is send.

References auef, UResAuEf::extractLock, UResAuEf::findFeatures(), UResAuEf::getLastUpdateTime(), UTime::getMilisec(), ULaserData::getScanTime(), UTime::GetSec(), USmlTagIn::getTagName(), UResAuEf::lines, UResAuEf::linesCnt, ULock::lock(), UFunctionBase::sendEndTag(), UFunctionBase::sendMsg(), sendRobotPoseAndSensorPosition(), UServerInMsg::tag, AU2DLineSeg::toXMLString(), ULock::unlock(), AU2DLineSeg::x, and AU2DLineSeg::y.

Referenced by handleCommand().

bool UFuncEfLine::sendBoxLines	(	UServerInMsg *	msg,
		ULaserDevice *	las,
		ULaserData *	data,
		bool	getOnly
	)

protected

Process a request for (4) wall lines in the scan.

Parameters

msg	holds the client information
las	is a pointer to the laser device
data	is a pointer to the current laserscan
getonly	is set to true, if no new processing is to take place, just get result of last processing.

Returns: true if full reply message is send.

References auef, UResAuEf::extractLock, UResAuEf::findFeatures(), getCurrentOdoPose(), UResAuEf::getLastUpdateTime(), UTime::getMilisec(), ULaserData::getScanTime(), UTime::GetSec(), USmlTagIn::getTagName(), UResAuEf::linesCnt, ULock::lock(), UFunctionBase::sendEndTag(), UFunctionBase::sendMsg(), sendRobotPoseAndSensorPosition(), UServerInMsg::tag, AU2DLineSeg::toXMLString(), ULock::unlock(), UResAuEf::updateWalls(), UResAuEf::wallsAge, and UResAuEf::wallSeg.

Referenced by handleCommand().

bool UFuncEfLine::sendBoxPose	(	UServerInMsg *	msg,
		ULaserDevice *	las,
		ULaserData *	data,
		bool	getOnly
	)

protected

Process a request for the pose of the south-west corner of the box The reply is send as a special <laser l0="0.0" l1="1.0" .../> type tag.

Parameters

msg	holds the client information
las	is a pointer to the laser device
data	is a pointer to the current laserscan
getonly	is set to true, if no new processing is to take place, just get result of last processing.

Returns: true if full reply message is send.

References auef, UResAuEf::boxEW, UResAuEf::boxNS, UResAuEf::boxPose, UResAuEf::extractLock, UResAuEf::findFeatures(), getCurrentOdoPose(), ULaserDevice::getDevicePose(), UResAuEf::getLastUpdateTime(), UPose::getPoseToMapPose(), ULaserData::getScanTime(), UPosRot::getX(), UPose::h, ULock::lock(), UFunctionBase::sendMsg(), ULock::unlock(), UResAuEf::updateWalls(), UPose::x, and UPose::y.

Referenced by handleCommand().

bool UFuncEfLine::sendRobotPoseAndSensorPosition	(	UServerInMsg *	msg,
		ULaserDevice *	las,
		ULaserData *	data
	)

protected

send robot pose and sensor position (orientation) to client

Parameters

msg	holds the client information
las	is a pointer to the laser device
data	is a pointer to the current laserscan

Returns: true if the data could be send.

References USmlTag::codePose(), USmlTag::codePosition(), USmlTag::codeRotation(), getCurrentOdoPose(), ULaserDevice::getDevicePos(), ULaserDevice::getDeviceRot(), and UFunctionBase::sendMsg().

Referenced by sendAllLines(), and sendBoxLines().

Member Data Documentation

UResAuEf* UFuncEfLine::auef

protected

Pointer to a ExtractFeatures resource and resource handler flag

Referenced by createResources(), handleCommand(), sendAllLines(), sendBoxLines(), sendBoxPose(), UFuncEfLine(), and ~UFuncEfLine().

ULaserData UFuncEfLine::dataBuff

private

Data buffer for a laserscan, and information about the last used scan, i.e. serial number and device

Referenced by getScan().

int UFuncEfLine::lastDevice

protected

Last device used

Referenced by UFuncEfLine().

unsigned long UFuncEfLine::lastSerial

protected

Last used scan number

Referenced by UFuncEfLine().

FILE* UFuncEfLine::logFile

private

Log file handle, null if no file open

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation