Variables - Revision history

Jca: /* Method call */

2012-01-23T12:48:06Z

Method call

← Older revision		Revision as of 14:48, 23 January 2012
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	pars[2] = exitPose.h;		pars[2] = exitPose.h;
	pars[3] = vel;		pars[3] = vel;
	isOK = ~~call~~("avoid.getAvoidPath", "dddd", NULL, pars, &v, (UDataBase**) &manNew, &n);		isOK = callGlobal("avoid.getAvoidPath", "dddd", NULL, pars, &v, (UDataBase**) &manNew, &n);
	if (isOK and v == 1.0)		if (isOK and v == 1.0)
	// supply manoeuvre sequence to smr interface resource		// supply manoeuvre sequence to smr interface resource
	isOK = ~~call~~("smrCtl.setPlan", "sc", &driver, NULL, &v, (UDataBase**) &manNew, &n);		isOK = callGlobal("smrCtl.setPlan", "sc", &driver, NULL, &v, (UDataBase**) &manNew, &n);
	...		...
	}		}

2011-03-28T09:49:06Z

Use variable update as an event

← Older revision		Revision as of 11:49, 28 March 2011
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	A variable structure may be used to trigger events. An event may be defined by a client with a command like:		A variable structure may be used to trigger events. An event may be defined by a client with a command like:
	>> varPush struct=smr cmd="var smr ~~copy~~"		>> varPush struct=smr cmd="var smr list"
	If this is the case a flag will be set if one (or more) of the variables defined in the 'smr' resource is updated. The command will then be executed by the server thread at first opportunity.		If this is the case a flag will be set if one (or more) of the variables defined in the 'smr' resource is updated. The command will then be executed by the server thread at first opportunity.


	===Define variables and methods in plug-in===		===Define variables and methods in plug-in===

2011-03-28T09:47:13Z

Var commands

← Older revision		Revision as of 11:47, 28 March 2011
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	var global.period=0.1 desc="some period time in seconds"		var global.period=0.1 desc="some period time in seconds"
	var global.w ="2*pi/global.period" desc="frequency in radians/sec"		var global.w ="2*pi/global.period" desc="frequency in radians/sec"
	var.global.maxSpeed=15*1000/3600 desc="maksimum speed (default 15km/h)"		var global.maxSpeed=15*1000/3600 desc="maksimum speed (default 15km/h)"

	The variable on the left hand side is created or modified with the value on the right hand side.		The variable on the left hand side is created or modified with the value on the right hand side.

2011-03-28T09:46:27Z

← Older revision		Revision as of 11:46, 28 March 2011
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	Most resource modules will include some configuration or result variables~~, that should be available form other modules or from an external interface -~~ a ~~configuration file or a operator interface~~.		Most resource modules will include some configuration or result variables.

			Such variables are called global variables and are made global in a variable pool by the "var" plugin.

	==Variable Pool==		==Variable Pool==

2011-03-28T09:44:15Z

← Older revision		Revision as of 11:44, 28 March 2011
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	Most resource modules will include some configuration or result variables, that should be available form other modules or from an external interface - a configuration file or a operator interface.		Most resource modules will include some configuration or result variables, that should be available form other modules or from an external interface - a configuration file or a operator interface.

	~~[[Image:var-pool.png]]~~

	==Variable Pool==		==Variable Pool==

2011-03-28T09:43:49Z

Variable Pool

← Older revision		Revision as of 11:43, 28 March 2011
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	0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0;		0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0;
	0 0 0"/>		0 0 0"/>

			===Use variable update as an event===

			A variable structure may be used to trigger events. An event may be defined by a client with a command like:
			>> varPush struct=smr cmd="var smr copy"
			If this is the case a flag will be set if one (or more) of the variables defined in the 'smr' resource is updated. The command will then be executed by the server thread at first opportunity.


	===Define variables and methods in plug-in===		===Define variables and methods in plug-in===
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	...		...
	}		}

	~~===Use variable update as an event===~~

	~~A variable structure may be used to trigger events. An event may be defined by a client with a command like:~~
	~~>> varPush struct=smr cmd="var smr copy"~~
	~~If this is the case a flag will be set if one (or more) of the variables defined in the 'smr' resource is updated. The command will then be executed by the server thread at first opportunity.~~

2011-03-28T09:42:56Z

Var commands

← Older revision		Revision as of 11:42, 28 March 2011
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	>> var foo.kar copy		>> var foo.kar copy
	<var name="foo.kar" typ="m2" size="52" value="1 0 0; 0 1 0; 0.67 0 0; 0.1 0.2 0.3; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0"/>		<var name="foo.kar" typ="m2" size="52" value="1 0 0; 0 1 0; 0.67 0 0; 0.1 0.2 0.3;
			0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0; 0 0 0;
			0 0 0"/>

	===Define variables and methods in plug-in===		===Define variables and methods in plug-in===

2011-03-28T09:40:25Z

Variable Pool

@@ Line 13: / Line 13: @@
 is defined by the resource 'smr' as a variable with the name 'speed'.
-===Define variables and methods===
+===Var commands===
 A resources may define a number of local variables and functions, like this roadDrive resource:
@@ Line 41: / Line 106: @@
+  }
-===Access variables===
+===Use variable update as an event===
 Variables are added to the system by the 'addVar' call, giving a variable name, an initial value, a type ('d' for double) and a description of the variable (the description is a help to the operator, when inspecting or setting values).
@@ Line 70: / Line 142: @@
   isOK &= vp->getValue("odopose.pose[1]", &y);  // gets the current odometry pose Y-value
 The value name is using a dot-notation for the module owner - the resource name - followed by a dot and the variable name. If variable is an array, then an index may be added. If the variable exist - both resource and variable - the function returns 'true' and the double sized value is returned at the adress supplied as the second parameter. Sub-structures may be created locally with a 'vp->addStructLocal("name", "help text")' if needed. Sub structures can not be arrays.
 ==Methods==

2011-03-28T08:57:53Z

Define variables and methods

← Older revision		Revision as of 10:57, 28 March 2011
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	varTgtPose = addVar("tgtX", "5.0 0.0 0.0", "pose", "Array with target position		varTgtPose = addVar("tgtX", "5.0 0.0 0.0", "pose", "Array with target position
	used in obstacle avoidance (set by call)");		used in obstacle avoidance (set by call)");
			varQ = addVar("q", "0.2 0 0; 0 0.2 0; 0 0 1", "m2", "(r) a 3x3 matrix");
	varCtrlName = addVar("driver", "roaddriver" , "s", "A string variable used to flag the module in control");		varCtrlName = addVar("driver", "roaddriver" , "s", "A string variable used to flag the module in control");
	...		...

2011-03-16T15:48:56Z

Implement method

← Older revision		Revision as of 17:48, 16 March 2011
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	The implementation of the method must implemented in the resource function named methodCall:		The implementation of the method must implemented in the resource function named methodCall:
	bool UResRoadDrive::methodCall(const char * name, const char * paramOrder, char ** strings, double * pars,		bool UResRoadDrive::methodCall(const char * name, const char * paramOrder, char ** strings, const double * pars,
	double * value, UDataBase ** returnStruct, int * returnStructCnt)		double * value, UDataBase ** returnStruct, int * returnStructCnt)
	{		{