code base

Question 1

what is CSerializable?

Answer 1

An interface for implementing file handling operations, such as read and write.

Question 2

who inherits from CSerializable?

Answer 2

CKinematics
CPreprocessorDefines
CRecalSysSetup
CTrackerPoints
CSerializableWithFrames
-> CMeasurement
-> CParid
-> CProcess
CParidObject
-> CGripper
->CParidDHTrafo
->-> CLaser
-> CParidTransRotTrafo
->-> CCamera
->-> CObject
->-> CTracker

Question 3

what is CIsios?

Answer 3

It is an API class, that enables the combined use of the communication control interface through CComControl and parameter identification through CParid

Question 4

what is CParid? what is CCalibration?

Answer 4

CParid is basically a list of parid frames, that corresponds directly to a .par8 file. These can contain IDs or paths of Parid Objects but not the instances. This is CCalibrations job, which is a world container and member of CParid. It contains instances of all relevant ParidObjects.

Question 5

what is CComClients?

Answer 5

A container class that stores all client interfaces (RobotClient, CameraClient, …). initClientsFromFile parses relevant parts of the .cfg.txt and initializes the clients.

Question 6

what is CComControl?

Answer 6

A class, that handles all the communication between a bunch of comclients and the comserver

Question 7

how is CComControl connected with CComClients?

Answer 7

add answer

Question 8

How does the ComServer work internally

Answer 8

It is basically a main loop. It runs a Socket that waits for connections. If one is detected, it starts a new thread, in which a Parser (e.g. a DeviceParser, such as TrackerParser) is set up, that handles the corresponding connection.

Question 9

What is CNode?

Answer 9

Interface for all nodes in the scene graph, i.e. all objects that can be seen in SIM

Question 10

what is remote isios?

Answer 10

Remote isios is a program to be run on the IEPC. It has a main loop, that receives and parses telegrams with commands for running the recalibration system.

Question 11

Where are the functions, that can be called through the measurement editor by pressing “more”?

Answer 11

MeasurementEditor.h/cpp

Question 12

Where does one find different algorithms for generating poses?

Answer 12

Generate.h/cpp

Question 13

How are Filters handled in the code?

Answer 13

In Filters.h, CFilter is defined. This is an interface for the subclasses that implement the specific Filters. Basically Filters have a check() method, that lets Filters pass or not. When instances of filters are passed, this should be done through an instance of CFilterList

Question 14

Where is the logic of the axes mastering process frame implemented?

Answer 14

global_isios.cpp

Question 15

How are warnings an debug messages handled in our code?

Answer 15

by WARNING() and DEBUG() of CMessage

Question 16

What is the difference in warnings in high- and low level functions?

Answer 16

low level functions shall return error codes, high level functions make warnings out of those

Question 17

How should warning be implemented in a new class?

Answer 17

through importing a global instance of CMessage:
extern CMessage g_debug

Question 18

Where are the functions for different robot functionality of the bui implemented?

Answer 18

bgui_robot.cpp

Question 19

How does one add a popup that shows up in the HMI or bgui, whichever the executing code is called from?

Answer 19

By using an instance of CUserInteraction

Question 20

Where are the sorting algorithms implemented?

Answer 20

CSortMeasurement