BeoLRF.C

/*!@file Robots2/Beobot2/Hardware/BeoLRF.C Ice Module for an LRF        */
// //////////////////////////////////////////////////////////////////// //
// 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: Christian Siagian <siagian@usc.edu>
// $HeadURL: svn://ilab.usc.edu/trunk/saliency/src/Robots/Beobot2/Hardware/BeoLRF.C
// $ $Id: BeoLRF.C 12962 2010-03-06 02:13:53Z irock $
//
//////////////////////////////////////////////////////////////////////////

#include "Robots/Beobot2/Hardware/BeoLRF.H"
#include "Ice/BeobotEvents.ice.H"

// ######################################################################
BeoLRF::BeoLRF(OptionManager& mgr,
               const std::string& descrName, const std::string& tagName) :
  RobotBrainComponent(mgr, descrName, tagName),
  itsLRF(new lobot::LaserRangeFinder()),
  itsOfs(new OutputFrameSeries(mgr)),
  itsTimer(1000000),
  itsDrawImage(true),
  itsCurrMessageID(0)
{
  addSubComponent(itsOfs);
  itsTimer.reset();
}

// ######################################################################
void BeoLRF::setDrawImage(bool drawImage)
{
  itsDrawImage = drawImage;
}

// ######################################################################
BeoLRF::~BeoLRF()
{ }

// ######################################################################
void BeoLRF::registerTopics()
{
  this->registerPublisher("LRFMessageTopic");
}

// ######################################################################
void BeoLRF::evolve()
{
  Image<int> dists;
  Image<int>::iterator aptr, stop;
  int dist; int  min,max; int angle;

  itsLRF->update();
  dists = itsLRF->get_distances();
  aptr = dists.beginw();
  stop = dists.endw();
  LDEBUG("dims= %d", dists.getDims().w());

  // some scaling
  getMinMax(dists, min, max);
  if (max == min) max = min + 1;

  // LRFMessage
  BeobotEvents::LRFMessagePtr msg = new BeobotEvents::LRFMessage;

  msg->RequestID = itsCurrMessageID;

  msg->distances.resize(dists.getDims().w());
  msg->angles.resize(dists.getDims().w());

  angle = -141;  int count = 0;
  Image<PixRGB<byte> > dispImg(512,512,ZEROS);
  while(aptr!=stop)
    {
      dist = *aptr++;
      msg->distances[count] = dist;
      msg->angles   [count] = angle;

      // note drawing takes up a lot of time
      if(itsDrawImage)
        {
          float rad = dist; rad = ((rad - min)/(max-min))*256;
          if (rad < 0) rad = 1.0;

          Point2D<int> pt;
          pt.i = 256 - int(rad*sin((double)angle*M_PI/180.0));
          pt.j = 256 - int(rad*cos((double)angle*M_PI/180.0));

          drawCircle(dispImg, pt, 2, PixRGB<byte>(255,0,0));

          if((count >= (-50 + 141)) && (count <= (49 + 141)))
            drawLine(dispImg, Point2D<int>(256,256),pt,PixRGB<byte>(0,0,255));
          else
            drawLine(dispImg, Point2D<int>(256,256),pt,PixRGB<byte>(0,255,0));
        }

      LDEBUG("[%4d] <%4d>: %13d mm", count, angle, dist);
      angle++; count++;
    }
  if(itsDrawImage)
    itsOfs->writeRGB(dispImg,"Output",FrameInfo("output",SRC_POS));

  LINFO("[%6d]Publishing LRFMessage  time: %f",
        itsCurrMessageID, itsTimer.get()/1000.0F);
  publish("LRFMessageTopic", msg);
  itsTimer.reset();
  itsCurrMessageID++;
}

// ######################################################################
void BeoLRF::updateMessage(const RobotSimEvents::EventMessagePtr& eMsg,
    const Ice::Current&)
{
}


// ######################################################################
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