#include <ufakedevice.h>

Inheritance diagram for UFakeDevice:

Public Member Functions
virtual bool	changeMode (int scanangle, double resolution)

virtual void	createBaseVars ()

virtual bool	getNewestData (ULaserData *dest, unsigned long lastSerial, int fake)

virtual bool	isFake ()

virtual bool	isPortOpen ()

double	maxRange ()

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

virtual void	setDeviceName (const char *device)

	UFakeDevice ()

	~UFakeDevice ()

Public Member Functions inherited from ULaserDevice
virtual void	callGotNewDataWithObject ()

unsigned int	getBad ()

char *	getDeviceName ()

int	getDeviceNum ()

UPosition	getDevicePos ()

UPosRot	getDevicePose ()

URotation	getDeviceRot ()

unsigned int	getGood ()

char *	getLogFileName (char *buffer, int bufferCnt)

int	getLogInterval ()

bool	getLogUsedScans ()

int	getMaxMeasurements ()

bool	getMirror ()

double	getMsgRate ()

char *	getName ()

virtual const char *	getNameFromDevice ()

int	getScanAngle ()

double	getScanAngle (int measurement)

double	getScanResolution ()

unsigned long	getSerial ()

void	gotNewScan (ULaserData *gotData)

virtual bool	isLogFileOpen ()

virtual bool	isReplayDevice ()

bool	isRunning ()

bool	isSend ()

virtual bool	isVerbose ()

void	logFileClose ()

bool	logFileOpen ()

void	logThisScan (ULaserData *scan)

void	openRequest (bool toOpen)

void	print (char *preString)

void	send (char *msg)

virtual void	setCore (UCmdExe *pCore)

void	setDeviceNum (int value)

void	setDevicePose (UPosRot *newPose)

void	setLogInterval (int value)

void	setLogUsedScans (bool value)

void	setMirror (bool value)

void	setVarStructure (UVarPool *varStruct)

void	setVerbose (bool value)

bool	start ()

void	stop (bool justClosePort)

void	threadRunLoop ()

	ULaserDevice ()

virtual	~ULaserDevice ()

Public Member Functions inherited from UServerPush
int	addPushCommand (UServerInMsg *msg)

bool	doPushCall (UServerPushElement pe, const char value)

void	flushClientCmds (int clientIdx)

UServerPushImplement *	getImplementor ()

int	getPushCmdCnt (int cmdCnt, int callCnt)

UServerPushQueue *	getPushQueue ()

bool	gotCmdExe ()

void	gotNewData (void *pData)

bool	isUpdated (int lastCnt, int *newCnt)

bool	needNewData ()

void	print (const char *preString)

void	print (const char preString, char buff, int buffCnt)

void	servicePendingPushCmds ()

void	setCmdExe (UServerPushImplement *executor)

void	setImplementor (UServerPushImplement *executor)

bool	setResource (UResBase *resource, bool remove)

bool	setUpdated (const char *value)
	Add watch object if needed. An image or other object is updated. set object as updated, with an extra qualifier, that may be used as a parameter in a push call. this push list is then added to the to the push list examined by the server thread. when server thread reach this push list it will call to get a possible associated data structure by a call to needNewData() whish is expected to call gotNewData(void * data_structure) - but now in the server thread. More...

	UServerPush ()

virtual	~UServerPush ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Protected Member Functions
virtual void	closePort ()

virtual bool	openPort ()

Protected Member Functions inherited from ULaserDevice
virtual double	getDefaultDelay ()

void	getFakeScan (ULaserData *dest, unsigned long lastSerial, int fake, double fakeDt=0.2)

virtual bool	receiveData ()

virtual bool	sendToDevice (const char *msg, int lng)

void	updateScanData (UTime scanTime)

Protected Attributes
int	fakeMode

bool	open

UVariable *	varAddToPoly
	add fakw world to polygon plugin More...

UVariable *	varAddToPose
	add fakw world to polygon plugin More...

UVariable *	varFakeDt
	fake timing More...

UVariable *	varPoseErr
	pose error value More...

UVariable *	varRsd
	link to range SD value More...

Protected Attributes inherited from ULaserDevice
double	angleResolution

ULogFile	datalog

int	datalogSeq

bool	datalogUsedScans

int	deviceNum

char	devName [MAX_DEVICE_NAME_LNG]

UTime	lastScanTime

int	loopCnt

double	maxValidRange

bool	mirrorData

int	modeAngleScan

char	name [MAX_NAME_LNG]

ULaserData *	pushData

bool	replayOrFake

bool	sendNewData

char	sendStr [MAX_SEND_MSG_LNG]

int	sendStrCnt

unsigned long	serial

unsigned int	statBadCnt

unsigned int	statGoodCnt

double	statMsgRate

pthread_t	threadHandle

bool	threadRunning

bool	threadStop

struct {
UVariable * framerate

UVariable * logData

UVariable * logDataInterval

UVariable * logSource

UVariable * maxRange

UVariable * name

UVariable * open

UVariable * pose

UVariable * scanDelay

UVariable * scanres

UVariable * scanwidth

UVariable * serial

UVariable * type

UVariable * versionInfo

}	var

UVarPool *	vars

bool	verbose

Detailed Description

Device to deliver some simple fake scandata for test without real scanner or simulator.

    @author Christian Andersen <jca@oersted.dtu.dk>

Constructor & Destructor Documentation

UFakeDevice::UFakeDevice ( )

Constructor

References ULaserDevice::angleResolution, MAX_NAME_LNG, maxRange(), ULaserDevice::maxValidRange, ULaserDevice::modeAngleScan, ULaserDevice::name, open, ULaserDevice::replayOrFake, and setDeviceName().

UFakeDevice::~UFakeDevice ( )

Destructor

Member Function Documentation

bool UFakeDevice::changeMode	(	int	scanangle,
		double	resolution
	)

virtual

Change scanner resolution mode. Returns true if new resolution is set

Reimplemented from ULaserDevice.

References ULaserDevice::angleResolution, and ULaserDevice::modeAngleScan.

void UFakeDevice::closePort ( )

protectedvirtual

Close serial port

Reimplemented from ULaserDevice.

References open.

Referenced by isFake().

void UFakeDevice::createBaseVars ( )

virtual

Create entry infor the globas variable database for this device

Reimplemented from ULaserDevice.

References UVarPool::addVar(), UVarPool::addVarA(), ULaserDevice::createBaseVars(), varAddToPoly, varAddToPose, varFakeDt, varPoseErr, varRsd, and ULaserDevice::vars.

Referenced by isFake().

bool UFakeDevice::getNewestData	(	ULaserData *	dest,
		unsigned long	lastSerial,
		int	fake
	)

virtual

Get fake data to this destination and advance fake position if scan number is used before, otherwise maintain position

Parameters

dest	is where to load the scan.
lastSerial	is last used serial number - set next number in scan
int	fake is fake number - 0 is live
double	fakeDt is update time for fake position - default is 0.2 sec

Reimplemented from ULaserDevice.

References UFakeMap::copyToPoly(), UFakeMap::devicePose, UFakeMap::distError, UFakeMap::distOffset, fakeMap, fakeMode, UVariable::getBool(), ULaserDevice::getDevicePose(), UVariable::getDouble(), ULaserDevice::getFakeScan(), UFakeMap::headError, UFakeMap::headOffset, isPortOpen(), UFakeMap::keepODOpose, UFakeMap::keepUTMpose, maxRange(), ULaserDevice::maxValidRange, openPort(), UFakeMap::rangeError, UVariable::setInt(), varAddToPoly, varAddToPose, varFakeDt, varPoseErr, and varRsd.