seaBeeMainOld.C

/*!@file SeaBee/seaBeeMain.C Main dispatcher  */

// //////////////////////////////////////////////////////////////////// //
// The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
// University of Southern California (USC) and the iLab at USC.         //
// See http://iLab.usc.edu for information about this project.          //
// //////////////////////////////////////////////////////////////////// //
// Major portions of the iLab Neuromorphic Vision Toolkit are protected //
// under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
// in Visual Environments, and Applications'' by Christof Koch and      //
// Laurent Itti, California Institute of Technology, 2001 (patent       //
// pending; application number 09/912,225 filed July 23, 2001; see      //
// http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
// //////////////////////////////////////////////////////////////////// //
// This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
// redistribute it and/or modify it under the terms of the GNU General  //
// Public License as published by the Free Software Foundation; either  //
// version 2 of the License, or (at your option) any later version.     //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
// that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
// implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
// PURPOSE.  See the GNU General Public License for more details.       //
//                                                                      //
// You should have received a copy of the GNU General Public License    //
// along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
// to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
// Boston, MA 02111-1307 USA.                                           //
// //////////////////////////////////////////////////////////////////// //
//
// Primary maintainer for this file: Lior Elazary <elazary@usc.edu>
// $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/SeaBee/seaBeeMainOld.C $
// $Id: seaBeeMainOld.C 10794 2009-02-08 06:21:09Z itti $
//

//
#include "Component/ModelManager.H"
#include "Devices/DeviceOpts.H"
#include "Media/FrameSeries.H"
#include "Media/MediaOpts.H"
#include "Image/ShapeOps.H"
#include "SeaBee/SubController.H"
#include "SeaBee/SubGUI.H"


#include <fcntl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <signal.h>

#include "Devices/DeviceOpts.H"
#include "GUI/XWinManaged.H"
#include "Raster/GenericFrame.H"
#include "Raster/Raster.H"
#include "Component/ModelManager.H"
#include "Devices/DeviceOpts.H"
#include "GUI/XWindow.H"
#include "Image/DrawOps.H"
#include "Image/CutPaste.H"
#include "Image/Image.H"
#include "Image/Pixels.H"
#include "Image/MathOps.H"
#include "Neuro/EnvVisualCortex.H"
#include "Media/FrameSeries.H"
#include "Media/MediaOpts.H"
#include "Transport/FrameInfo.H"
#include "Raster/GenericFrame.H"
#include "Raster/Raster.H"
#include "Util/Timer.H"
#include "Util/log.H"
#include "Util/MathFunctions.H"

#include "Util/Angle.H"

//! Signal handler (e.g., for control-C)
void terminate(int s)
{
        LERROR("*** INTERRUPT ***");
        exit(0);
}


int main(int argc, const char **argv)
{
  // Instantiate a ModelManager:
  ModelManager *mgr = new ModelManager("USC BeoSub");


  nub::soft_ref<OutputFrameSeries> ofs(new OutputFrameSeries(*mgr));
  mgr->addSubComponent(ofs);

  // Parse command-line:
  if (mgr->parseCommandLine(argc, argv, "<simulator>", 0, 1) == false) return(1);

  bool deamonMode = false;
  bool simulator = false;

  LINFO("%i %s", mgr->numExtraArgs(), mgr->getExtraArg(0).c_str());
  if (mgr->numExtraArgs() > 0 &&
      mgr->getExtraArg(0) == "simulator")
    simulator = false;

//  nub::soft_ref<InputFrameSeries> ifs(new InputFrameSeries(*mgr));
//  mgr->addSubComponent(ifs);


  nub::soft_ref<SubController> subController(new SubController(*mgr, "SubController", "SubController", false));
  mgr->addSubComponent(subController);

  nub::soft_ref<SubGUI> subGUI(new SubGUI(*mgr));
  mgr->addSubComponent(subGUI);

  mgr->exportOptions(MC_RECURSE);

  mgr->setOptionValString(&OPT_InputFrameSource, "V4L2");
  mgr->setOptionValString(&OPT_FrameGrabberMode, "YUYV");
  mgr->setOptionValString(&OPT_FrameGrabberDims, "1024x576");
  mgr->setOptionValString(&OPT_FrameGrabberByteSwap, "no");
  mgr->setOptionValString(&OPT_FrameGrabberFPS, "30");


  if (deamonMode)
  {
    LINFO("Running as a daemon. Set --debug to see any errors.");
    //Become a daemon
    // fork off the parent process
    pid_t pid = fork();
    if (pid < 0)
      LFATAL("Can not fork");

    if (pid > 0)
      exit(0); //exit the parent process

    // Change the file mask
    umask(0);

    //Create a new system id so that the kernel wont think we are an orphan.
    pid_t sid = setsid();
    if (sid < 0)
      LFATAL("Can not become independent");

    fclose(stdin);
    fclose(stdout);
    fclose(stderr);

  }
  // catch signals and redirect them to terminate for clean exit:
  signal(SIGHUP, terminate); signal(SIGINT, terminate);
  signal(SIGQUIT, terminate); signal(SIGTERM, terminate);
  signal(SIGALRM, terminate);



  // do post-command-line configs:
  //Dims imageDims = ifs->peekDims();

  // let's get all our ModelComponent instances started:
  mgr->start();

  //start streaming
 // ifs->startStream();



  if (!deamonMode)
  {
    //start the gui thread
    subGUI->startThread(ofs);
    sleep(1);
    //setup gui for various objects
    subGUI->setupGUI(subController.get(), true);

    //Main GUI Window
    subGUI->addMeter(subController->getIntPressurePtr(),
        "Int Pressure", 1024, PixRGB<byte>(255, 0, 0));
    subGUI->addMeter(subController->getHeadingPtr(),
        "Heading", 360, PixRGB<byte>(192, 255, 0));
    subGUI->addMeter(subController->getPitchPtr(),
        "Pitch", 256, PixRGB<byte>(192, 255, 0));
    subGUI->addMeter(subController->getRollPtr(),
        "Roll", 256, PixRGB<byte>(192, 255, 0));
    subGUI->addMeter(subController->getDepthPtr(),
        "Depth", 1024, PixRGB<byte>(192, 255, 0));

    subGUI->addMeter(subController->getThruster_Up_Left_Ptr(),
        "Motor_Up_Left", -100, PixRGB<byte>(0, 255, 0));
    subGUI->addMeter(subController->getThruster_Up_Right_Ptr(),
        "Motor_Up_Right", -100, PixRGB<byte>(0, 255, 0));
    subGUI->addMeter(subController->getThruster_Up_Back_Ptr(),
        "Motor_Up_Back", -100, PixRGB<byte>(0, 255, 0));
    subGUI->addMeter(subController->getThruster_Fwd_Left_Ptr(),
        "Motor_Fwd_Left", -100, PixRGB<byte>(0, 255, 0));
    subGUI->addMeter(subController->getThruster_Fwd_Right_Ptr(),
        "Motor_Fwd_Right", -100, PixRGB<byte>(0, 255, 0));


    subGUI->addImage(subController->getPIDImagePtr());
    subGUI->addImage(subController->getSubImagePtr());

  }


  while(1) {
    usleep(1000);
  }


  // stop all our ModelComponents
  mgr->stop();

  // all done!
  return 0;
}