00001 /*!@file BeoSub/BeoSubDepthSensor.H class for interfacing with a depth sensor */ 00002 00003 // //////////////////////////////////////////////////////////////////// // 00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2003 // 00005 // by the University of Southern California (USC) and the iLab at USC. // 00006 // See http://iLab.usc.edu for information about this project. // 00007 // //////////////////////////////////////////////////////////////////// // 00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected // 00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency // 00010 // in Visual Environments, and Applications'' by Christof Koch and // 00011 // Laurent Itti, California Institute of Technology, 2001 (patent // 00012 // pending; application number 09/912,225 filed July 23, 2001; see // 00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status). // 00014 // //////////////////////////////////////////////////////////////////// // 00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit. // 00016 // // 00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can // 00018 // redistribute it and/or modify it under the terms of the GNU General // 00019 // Public License as published by the Free Software Foundation; either // 00020 // version 2 of the License, or (at your option) any later version. // 00021 // // 00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope // 00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the // 00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR // 00025 // PURPOSE. See the GNU General Public License for more details. // 00026 // // 00027 // You should have received a copy of the GNU General Public License // 00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write // 00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, // 00030 // Boston, MA 02111-1307 USA. // 00031 // //////////////////////////////////////////////////////////////////// // 00032 // 00033 // Primary maintainer for this file: Laurent Itti <itti@usc.edu> 00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/BeoSub/BeoSubDepthSensor.H $ 00035 // $Id: BeoSubDepthSensor.H 6522 2006-04-25 16:41:24Z rjpeters $ 00036 // 00037 00038 00039 #ifndef BEOSUBDEPTHSENSOR_H_DEFINED 00040 #define BEOSUBDEPTHSENSOR_H_DEFINED 00041 00042 00043 #include "Component/OptionManager.H" 00044 #include "Devices/Serial.H" 00045 #include <string> 00046 00047 //! Class for interfacing with a depth sensor 00048 class BeoSubDepthSensor : public ModelComponent 00049 { 00050 public: 00051 //! Initialize 00052 BeoSubDepthSensor(OptionManager& mgr, 00053 const std::string& descrName = "Depth Sensor", 00054 const std::string& tagName = "DepthSensor", 00055 const char *dev = "/dev/ttyS0"); 00056 00057 //! Destructor 00058 ~BeoSubDepthSensor(); 00059 00060 //! read the depth 00061 float get(); 00062 00063 //! The user need not concern himself with this method 00064 /*! Should have been protected, but is not because 00065 of the pthread hack. */ 00066 void run(); 00067 00068 protected: 00069 void start2(); //!< get started 00070 void stop1(); //!< get stopped 00071 00072 private: 00073 nub::soft_ref<Serial> serial; 00074 bool keepgoing; 00075 float depth; 00076 pthread_t runner; 00077 pthread_mutex_t lock; 00078 }; 00079 00080 #endif 00081 00082 // ###################################################################### 00083 /* So things look consistent in everyone's emacs... */ 00084 /* Local Variables: */ 00085 /* indent-tabs-mode: nil */ 00086 /* End: */
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