ArServerHandlerMapping Class Reference

#include <ArServerHandlerMapping.h>

List of all members.

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Detailed Description

Class that handles the starting, stopping, and status of mapping.

Public Member Functions
void	addInfoToLog (const char *str)
	Adds an info to the log (has no robot pose) (make sure the robot's locked).
bool	addLocationData (const char *name, ArRetFunctor2< int, ArTime, ArPose * > *functor)
	Adds a new type of location data to the logger.
void	addMappingEndCallback (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback for the end of mapping.
void	addMappingStartCallback (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback for the start of mapping.
void	addPostMoveCallback (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback to be called after moving from temp dir to base dir.
void	addPreMoveCallback (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback to be called before moving from temp dir to base dir.
void	addSimpleCommands (ArServerHandlerCommands *handlerCommands)
	Adds the simple commands to the simple command handler passed in.
void	addStringForStartOfLogs (const char *str, ArListPos::Pos position=ArListPos::LAST)
	Adds a string for adding to the log when we start.
void	addStringsForStartOfLogToMap (ArMap *arMap)
	A method to add the strings for the start of a log just straight to an ArMap.
void	addTagToLog (const char *str)
	Adds a tag to the logg (has robot pose and stuff) (make sure the robot's locked).
	ArServerHandlerMapping (ArServerBase *server, ArRobot *robot, ArLaser *laser, const char *baseDirectory="", const char *tempDirectory="", bool useReflectorValues=false, ArLaser *laser2=NULL, const char *sickSuffix=NULL, const char *sick2Suffix=NULL)
	Constructor.
const char *	getFileName (void)
	Gets the filename we're using (make sure the robot's locked).
const std::map< std::string, ArRetFunctor2< int, ArTime, ArPose * > *, ArStrCaseCmpOp > *	getLocationDataMap (void)
	Get location data map (mostly for internal things).
const char *	getMapName (void)
	Gets the mapname we're using (make sure the robot's locked).
bool	isMapping (void)
	Returns if we're mapping or not.
bool	packetHandler (ArRobotPacket *packet)
	The packet handler for starting/stopping scans from the lcd.
void	remMappingEndCallback (ArFunctor *functor)
	Removes a callback for the end of mapping.
void	remMappingStartCallback (ArFunctor *functor)
	Removes a callback for the start of mapping.
void	remPostMoveCallback (ArFunctor *functor)
	Removes a callback to be called after moving from temp dir to base dir.
void	remPreMoveCallback (ArFunctor *functor)
	Removes a callback to be called before moving from temp dir to base dir.
void	remStringForStartOfLogs (const char *str)
	Removes a string for adding to the log when we start.
void	serverMappingEnd (ArServerClient *client, ArNetPacket *packet)
	Ends a map.
void	serverMappingStart (ArServerClient *client, ArNetPacket *packet)
	Starts a new map unless ones already made.
void	serverMappingStatus (ArServerClient *client, ArNetPacket *packet)
	Gets the mapping status.
void	simpleLoopEnd (ArArgumentBuilder *arg)
	Adds a loop end to the log.
void	simpleLoopStart (ArArgumentBuilder *arg)
	Adds a loop start to the log.
virtual	~ArServerHandlerMapping ()
	Deconstructor.
Protected Attributes
std::string	myBaseDirectory
std::string	myFileName
std::string	myFileName2
ArServerHandlerCommands *	myHandlerCommands
ArLaser *	myLaser
ArLaser *	myLaser2
ArLaserLogger *	myLaserLogger
ArLaserLogger *	myLaserLogger2
std::map< std::string, ArRetFunctor2< int, ArTime, ArPose * > *, ArStrCaseCmpOp >	myLocationDataMap
ArFunctor1C< ArServerHandlerMapping, ArArgumentBuilder * >	myLoopEndCB
ArFunctor1C< ArServerHandlerMapping, ArArgumentBuilder * >	myLoopStartCB
std::string	myMapName
std::list< ArFunctor * >	myMappingEndCallbacks
ArFunctor2C< ArServerHandlerMapping, ArServerClient *, ArNetPacket * >	myMappingEndCB
std::list< ArFunctor * >	myMappingStartCallbacks
ArFunctor2C< ArServerHandlerMapping, ArServerClient *, ArNetPacket * >	myMappingStartCB
ArFunctor2C< ArServerHandlerMapping, ArServerClient *, ArNetPacket * >	myMappingStatusCB
ArRetFunctor1C< bool, ArServerHandlerMapping, ArRobotPacket * >	myPacketHandlerCB
std::list< ArFunctor * >	myPostMoveCallbacks
std::list< ArFunctor * >	myPreMoveCallbacks
ArRobot *	myRobot
ArServerBase *	myServer
std::list< std::string >	myStringsForStartOfLog
std::string	mySuffix
std::string	mySuffix2
std::string	myTempDirectory
bool	myUseReflectorValues

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Constructor & Destructor Documentation

ArServerHandlerMapping::ArServerHandlerMapping	(	ArServerBase *	server,
		ArRobot *	robot,
		ArLaser *	laser,
		const char *	baseDirectory = "",
		const char *	tempDirectory = "",
		bool	useReflectorValues = false,
		ArLaser *	laser2 = NULL,
		const char *	suffix = NULL,
		const char *	suffix2 = NULL
	)

Constructor.

Parameters:

	server	the server to add the handlers too
	robot	the robot to map from
	laser	the laser to map with
	baseDirectory	the directory to put the map file into when its done, NULL or an empty string means into the working directory
	tempDirectory	the directory to put the map file into while its being created, if this is NULL or empty it'll use the base directory

ArServerHandlerMapping::~ArServerHandlerMapping

(

)

[virtual]

Deconstructor.

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Member Function Documentation

void ArServerHandlerMapping::addInfoToLog

(

const char *

str

)

Adds an info to the log (has no robot pose) (make sure the robot's locked).

bool ArServerHandlerMapping::addLocationData	(	const char *	name,
		ArRetFunctor2< int, ArTime, ArPose * > *	functor
	)

Adds a new type of location data to the logger.

void ArServerHandlerMapping::addMappingEndCallback	(	ArFunctor *	functor,
		ArListPos::Pos	position = ArListPos::LAST
	)

Adds a callback for the end of mapping.

void ArServerHandlerMapping::addMappingStartCallback	(	ArFunctor *	functor,
		ArListPos::Pos	position = ArListPos::LAST
	)

Adds a callback for the start of mapping.

void ArServerHandlerMapping::addPostMoveCallback	(	ArFunctor *	functor,
		ArListPos::Pos	position = ArListPos::LAST
	)

Adds a callback to be called after moving from temp dir to base dir.

void ArServerHandlerMapping::addPreMoveCallback	(	ArFunctor *	functor,
		ArListPos::Pos	position = ArListPos::LAST
	)

Adds a callback to be called before moving from temp dir to base dir.

void ArServerHandlerMapping::addSimpleCommands

(

ArServerHandlerCommands *

handlerCommands

)

Adds the simple commands to the simple command handler passed in.

void ArServerHandlerMapping::addStringForStartOfLogs	(	const char *	str,
		ArListPos::Pos	position = ArListPos::LAST
	)

Adds a string for adding to the log when we start.

void ArServerHandlerMapping::addStringsForStartOfLogToMap

(

ArMap *

arMap

)

A method to add the strings for the start of a log just straight to an ArMap.

void ArServerHandlerMapping::addTagToLog

(

const char *

str

)

Adds a tag to the logg (has robot pose and stuff) (make sure the robot's locked).

const char * ArServerHandlerMapping::getFileName

(

void

)

Gets the filename we're using (make sure the robot's locked).

const std::map< std::string, ArRetFunctor2< int, ArTime, ArPose * > *, ArStrCaseCmpOp > * ArServerHandlerMapping::getLocationDataMap

(

void

)

Get location data map (mostly for internal things).

const char * ArServerHandlerMapping::getMapName

(

void

)

Gets the mapname we're using (make sure the robot's locked).

bool ArServerHandlerMapping::isMapping

(

void

)

Returns if we're mapping or not.

bool ArServerHandlerMapping::packetHandler

(

ArRobotPacket *

packet

)

The packet handler for starting/stopping scans from the lcd.

void ArServerHandlerMapping::remMappingEndCallback

(

ArFunctor *

functor

)

Removes a callback for the end of mapping.

void ArServerHandlerMapping::remMappingStartCallback

(

ArFunctor *

functor

)

Removes a callback for the start of mapping.

void ArServerHandlerMapping::remPostMoveCallback

(

ArFunctor *

functor

)

Removes a callback to be called after moving from temp dir to base dir.

void ArServerHandlerMapping::remPreMoveCallback

(

ArFunctor *

functor

)

Removes a callback to be called before moving from temp dir to base dir.

void ArServerHandlerMapping::remStringForStartOfLogs

(

const char *

str

)

Removes a string for adding to the log when we start.

void ArServerHandlerMapping::serverMappingEnd	(	ArServerClient *	client,
		ArNetPacket *	packet
	)

Ends a map.

void ArServerHandlerMapping::serverMappingStart	(	ArServerClient *	client,
		ArNetPacket *	packet
	)

Starts a new map unless ones already made.

void ArServerHandlerMapping::serverMappingStatus	(	ArServerClient *	client,
		ArNetPacket *	packet
	)

Gets the mapping status.

void ArServerHandlerMapping::simpleLoopEnd

(

ArArgumentBuilder *

arg

)

Adds a loop end to the log.

void ArServerHandlerMapping::simpleLoopStart

(

ArArgumentBuilder *

arg

)

Adds a loop start to the log.

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Member Data Documentation

std::string ArServerHandlerMapping::myBaseDirectory [protected]

std::string ArServerHandlerMapping::myFileName [protected]

std::string ArServerHandlerMapping::myFileName2 [protected]

ArServerHandlerCommands* ArServerHandlerMapping::myHandlerCommands [protected]

ArLaser* ArServerHandlerMapping::myLaser [protected]

ArLaser* ArServerHandlerMapping::myLaser2 [protected]

ArLaserLogger* ArServerHandlerMapping::myLaserLogger [protected]

ArLaserLogger* ArServerHandlerMapping::myLaserLogger2 [protected]

std::map<std::string, ArRetFunctor2<int, ArTime, ArPose *> *, ArStrCaseCmpOp> ArServerHandlerMapping::myLocationDataMap [protected]

ArFunctor1C<ArServerHandlerMapping, ArArgumentBuilder *> ArServerHandlerMapping::myLoopEndCB [protected]

ArFunctor1C<ArServerHandlerMapping, ArArgumentBuilder *> ArServerHandlerMapping::myLoopStartCB [protected]

std::string ArServerHandlerMapping::myMapName [protected]

std::list<ArFunctor *> ArServerHandlerMapping::myMappingEndCallbacks [protected]

ArFunctor2C<ArServerHandlerMapping, ArServerClient *, ArNetPacket *> ArServerHandlerMapping::myMappingEndCB [protected]

std::list<ArFunctor *> ArServerHandlerMapping::myMappingStartCallbacks [protected]

ArFunctor2C<ArServerHandlerMapping, ArServerClient *, ArNetPacket *> ArServerHandlerMapping::myMappingStartCB [protected]

ArFunctor2C<ArServerHandlerMapping, ArServerClient *, ArNetPacket *> ArServerHandlerMapping::myMappingStatusCB [protected]

ArRetFunctor1C<bool, ArServerHandlerMapping, ArRobotPacket *> ArServerHandlerMapping::myPacketHandlerCB [protected]

std::list<ArFunctor *> ArServerHandlerMapping::myPostMoveCallbacks [protected]

std::list<ArFunctor *> ArServerHandlerMapping::myPreMoveCallbacks [protected]

ArRobot* ArServerHandlerMapping::myRobot [protected]

ArServerBase* ArServerHandlerMapping::myServer [protected]

std::list<std::string> ArServerHandlerMapping::myStringsForStartOfLog [protected]

std::string ArServerHandlerMapping::mySuffix [protected]

std::string ArServerHandlerMapping::mySuffix2 [protected]

std::string ArServerHandlerMapping::myTempDirectory [protected]

bool ArServerHandlerMapping::myUseReflectorValues [protected]

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

• ArServerHandlerMapping.h
• ArServerHandlerMapping.cpp

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