AURobotServers
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#include <ufunctioncamgmk.h>
Public Member Functions | |
virtual void | createResources () |
virtual bool | handleCommand (UServerInMsg *msg, void *pushObj) |
UFunctionCamGmk () | |
virtual | ~UFunctionCamGmk () |
Public Member Functions inherited from UFunctionCamBase | |
UImage * | getImage (UServerInMsg *msg, void *extra) |
virtual bool | setResource (UResBase *ressource, bool remove) |
UFunctionCamBase () | |
virtual | ~UFunctionCamBase () |
Public Member Functions inherited from UFunctionImgBase | |
virtual void | setCmdHandler (UCmdExe *cmdExe) |
void | showImagesAsDefault (bool show) |
UFunctionImgBase () | |
virtual | ~UFunctionImgBase () |
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) |
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 | |
bool | handleGmkGetCommand (UServerInMsg *msg, void *pushObj) |
bool | sendGmk (UServerInMsg *msg, UBarcode *gmk, const char *devName, int dev) |
Protected Member Functions inherited from UFunctionCamBase | |
UCamPush * | getCam (int imgDevice, const char *posName) |
UCamPush * | getCam (int camDevNum) |
bool | getCamAndRawImage (UCamPush **cam, UImage **imgRaw, int *imgDevice, void *imgBase, const char *posName, int rectfiedImg) |
int | getDefaultCamDevice () |
Protected Member Functions inherited from UFunctionImgBase | |
bool | sendImage (UServerInMsg *msg, const char *tagName, UImage *imgRgb, int imgLeft=0, int imgTop=0, int imgWidth=640, int imgHeight=480, int imgSource=-1, bool isCodecBin=true, bool imgIsBW=false, bool imgGetNum=true, bool imgGetTod=true, bool imgGetTime=false, const char *posName=NULL, bool imgGetName=true, bool silent=false) |
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... | |
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... | |
Guidemark finder class Version tag
UFunctionCamGmk::UFunctionCamGmk | ( | ) |
Constructor
References calib, and UFunctionBase::setCommand().
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Destructor
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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.
Reimplemented from UFunctionCamBase.
References UResVarPool::addVar(), varCamPose, varCount, varDefImg, varGmkPose, varIDs, varImgSerial, varRobPose, varUseDiag, and varUseVert.
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Name of function The returned name is intended as informative to clients and should include a version number Returns list of handled functions Handle camera and image commands
Reimplemented from UFunctionBase.
References handleGmkGetCommand().
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Function to do the guidemark analysis
References UVarPool::addStructLocal(), UVarPool::addVar(), UCalibrate::allocateBufferImages(), bool2str(), calib, UImage::camDevice, UFunctionCamBase::camPool, UVariable::d, UCalibrate::findGmk(), UVariable::getBool(), UCamPool::getCam(), UFunctionCamBase::getCamAndRawImage(), UGmk::getCode(), UGmk::getCodeInt(), UCamBase::getDev(), UCamDevBase::getDeviceNumber(), UCalibrate::getGmk(), UCalibrate::getGmksCnt(), UImagePool::getImage(), UImage::getImageTime(), UVariable::getInt(), USmlTagIn::getNextAttribute(), UCamMounted::getPos(), UCamMounted::getPosName(), UPosRot::getPosRot(), UCamMounted::getRot(), UVarPool::getStruct(), USmlTagIn::getTagName(), UResVarPool::getVarPool(), UImage::imageNumber, img, UFunctionImgBase::imgPool, UCalibrate::isBufferImagesAvailable(), UGmk::isCrcValid(), URotation::Kappa, limitToPi(), ULock::lock(), MAX_IMG_NAME_SIZE, MAX_MOUNT_NAME_SIZE, MAX_SML_NAME_LENGTH, UImage::name, URotation::Omega, URotation::Phi, sendGmk(), UFunctionBase::sendHelp(), UFunctionBase::sendInfo(), UFunctionBase::sendMsg(), UFunctionBase::sendText(), UFunctionBase::sendWarning(), UPosRot::set(), UVariable::set6D(), UVariable::setBool(), UPosRot::setCtoR(), UVariable::setInt(), UPosRot::setRtoC(), UVariable::setSize(), UVariable::setTime(), str2bool(), str2bool2(), UServerInMsg::tag, UImage::toYUV(), UCAM_IMS_CALIB_RAW, ULock::unlock(), UResBase::var, varCamPose, varCount, varDefImg, varGmkPose, varIDs, varImgSerial, varRobPose, varUseDiag, varUseVert, UPosition::x, UPosition::y, and UPosition::z.
Referenced by handleCommand().
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Sent a guidemark to a client
References USmlTag::codePosition(), USmlTag::codeRotation(), USmlTag::codeTime(), UGmk::getCode(), UGmk::getCodeInt(), UPosRot::getPos(), UPosRot::getRot(), UGmk::getTime(), UGmk::isCrcValid(), and UFunctionBase::sendMsg().
Referenced by handleGmkGetCommand().
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Calibration structure
Referenced by handleGmkGetCommand(), and UFunctionCamGmk().
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Position of robot in first guidemark coordinates
Referenced by createResources(), and handleGmkGetCommand().
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Guidemark count in latest search
Referenced by createResources(), and handleGmkGetCommand().
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Default image pool image to use as source
Referenced by createResources(), and handleGmkGetCommand().
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Position of first guidemark in robot coordinates
Referenced by createResources(), and handleGmkGetCommand().
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IDs of found guidemarks
Referenced by createResources(), and handleGmkGetCommand().
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Image serial used for last search
Referenced by createResources(), and handleGmkGetCommand().
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Position of robot in first guidemark coordinates
Referenced by createResources(), and handleGmkGetCommand().
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Use filter for diagonal guidemarks
Referenced by createResources(), and handleGmkGetCommand().
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Use filter for vertical guidemarks
Referenced by createResources(), and handleGmkGetCommand().