AgentManager.H

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00001 /*!@file SeaBee/AgentManager.H management class for agents on COM-A    */
00002 
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
00005 // 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: Michael Montalbo <montalbo@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/SeaBee/AgentManager.H $
00035 // $Id: AgentManager.H 10794 2009-02-08 06:21:09Z itti $
00036 //
00037 
00038 #ifndef __SEABEE_AGENT_MANAGER_H__
00039 #define __SEABEE_AGENT_MANAGER_H__
00040 
00041 #include "Component/ModelComponent.H"
00042 #include "Component/ModelParam.H"
00043 #include "Component/ModelManager.H"
00044 
00045 #include "Raster/Raster.H"
00046 #include "Image/Image.H"
00047 #include "Image/Pixels.H"
00048 #include "Image/CutPaste.H"
00049 
00050 #include "Neuro/EnvVisualCortex.H"
00051 
00052 #include "GUI/XWinManaged.H"
00053 
00054 #include "Globals.H"
00055 #include "AgentManagerCommand.H"
00056 
00057 #include "ForwardVision.H"
00058 // #include "Captain.H"
00059 // #include "Movement.H"
00060 #include "SubController.H"
00061 #include "SensorResult.H"
00062 // #include "DownwardVision.H"
00063 // #include "SonarListen.H"
00064 
00065 #include "GUI/DebugWin.H"
00066 
00067 #include "Util/Timer.H"
00068 #include <pthread.h>
00069 
00070 //class CaptainAgent;
00071 //class MovementAgent;
00072 class ForwardVisionAgent;
00073 //class DownwardVisionAgent;
00074 //class SonarListenAgent;
00075 
00076 class AgentManager : public ModelComponent
00077 {
00078 public:
00079 
00080   // ######################################################################
00081   /*! @name Constructors and Destructors */
00082   //@{
00083 
00084   //! Constructor
00085   AgentManager(nub::soft_ref<SubController> subController,
00086                 nub::soft_ref<EnvVisualCortex> evc,
00087                 ModelManager& mgr,
00088                 const std::string& descrName = "Agent Manager",
00089                 const std::string& tagName = "Agent Manager");
00090 
00091   //! Destructor
00092   virtual ~AgentManager();
00093 
00094   //@}
00095 
00096   // ######################################################################
00097   //! @name Access functions
00098   //@{
00099 
00100   //! set the current image to be processed
00101   void setCurrentForwardImage(Image<PixRGB<byte> > image, uint fNum);
00102 
00103   void setCurrentDownwardImage(Image<PixRGB<byte> > image, uint fNum);
00104 
00105 
00106   inline void setSubController(nub::soft_ref<SubController> subController);
00107 
00108   inline void setForwardWindow(rutz::shared_ptr<XWinManaged> win);
00109 
00110   inline void setDownwardWindow(rutz::shared_ptr<XWinManaged> win);
00111 
00112 
00113   void pushCommand(CommandType cmdType,
00114                    rutz::shared_ptr<Mission> mission);
00115 
00116   //! get the current image to be processed
00117   inline Image<PixRGB<byte> > getCurrentForwardImage();
00118   inline Image<PixRGB<byte> > getCurrentDownwardImage();
00119 
00120   //! get the current frame number
00121   inline uint getCurrentFrameNumber();
00122 
00123   inline void setWindow(rutz::shared_ptr<XWinManaged> win);
00124 
00125   inline void setVisualCortex(nub::ref<EnvVisualCortex> evc);
00126 
00127   inline void drawForwardImage(rutz::shared_ptr< Image<PixRGB<byte> > > ima);
00128   inline void drawDownwardImage(rutz::shared_ptr< Image<PixRGB<byte> > > ima);
00129 
00130   //! initialize the vector of SensorResults
00131   void initSensorResults();
00132 
00133   //! set the current object to be processed
00134   bool updateSensorResult(rutz::shared_ptr<SensorResult> sensorResult);
00135 
00136   //! update the missions of all of agent manager's agents
00137   void updateAgentsMission(Mission theMission);
00138 
00139   //  rutz::shared_ptr<DownwardVisionAgent> getDownwardVisionAgent();
00140 
00141   //  rutz::shared_ptr<SonarListenAgent> getSonarListenAgent();
00142 
00143   rutz::shared_ptr<ForwardVisionAgent> getForwardVisionAgent();
00144 
00145  //  rutz::shared_ptr<CaptainAgent> getCaptainAgent();
00146 
00147 //   rutz::shared_ptr<MovementAgent> getMovementAgent();
00148 
00149   uint getNumCommands();
00150 
00151   rutz::shared_ptr<SensorResult> getSensorResult(SensorResult::SensorResultType type);
00152 
00153   rutz::shared_ptr<AgentManagerCommand> popCommand();
00154 
00155   void startRun();
00156 
00157   int itsMissionGateForwardTime;
00158   int itsMissionGateDepth;
00159 
00160   const Image<PixRGB<byte> >* getForwardDebugImagePtr();
00161 
00162   //@}
00163 
00164 private:
00165 
00166   Image<PixRGB<byte> > itsForwardDebugImage;
00167 
00168   // for display purposes
00169   rutz::shared_ptr<XWinManaged> itsForwardWindow;
00170   rutz::shared_ptr<XWinManaged> itsDownwardWindow;
00171   Image<PixRGB<byte> > itsDisplayImage;
00172   pthread_mutex_t itsForwardDisplayLock;
00173   pthread_mutex_t itsDownwardDisplayLock;
00174 
00175   // the current image and lock
00176   Image<PixRGB<byte> > itsCurrentForwardImage;
00177   Image<PixRGB<byte> > itsCurrentDownwardImage;
00178   uint itsFrameNumber;
00179   rutz::shared_ptr<Timer> itsTimer;
00180   std::vector<uint64> itsFrameDuration;
00181   pthread_mutex_t itsCurrentForwardImageLock;
00182   pthread_mutex_t itsCurrentDownwardImageLock;
00183 
00184 //   // downward vision agent
00185 //   rutz::shared_ptr<DownwardVisionAgent> itsDownwardVisionAgent;
00186 //   pthread_t itsDownwardVisionAgentThread;
00187 
00188 //   // sonar agent
00189 //   rutz::shared_ptr<SonarListenAgent> itsSonarListenAgent;
00190 //   pthread_t itsSonarListenAgentThread;
00191 
00192   // forward vision agent
00193   rutz::shared_ptr<ForwardVisionAgent> itsForwardVisionAgent;
00194 //   pthread_t itsForwardVisionAgentThread;
00195 
00196 //   // prefrontal cortex agent: decision maker
00197 //   rutz::shared_ptr<CaptainAgent> itsCaptainAgent;
00198 //   pthread_t itsCaptainAgentThread;
00199 
00200 //   // premotor complex agent: generate motor commands
00201 //   rutz::shared_ptr<MovementAgent> itsMovementAgent;
00202 //   pthread_t itsMovementAgentThread;
00203 
00204   // collection of all the agent manager's agents
00205   // std::vector<rutz::shared_ptr<SubmarineAgent> > itsSubmarineAgents;
00206 
00207   // SubController
00208   nub::soft_ref<SubController> itsSubController;
00209   pthread_mutex_t itsSubControllerLock;
00210 
00211   // store the ocean objects
00212   std::vector<rutz::shared_ptr<SensorResult> > itsSensorResults;
00213   std::vector<rutz::shared_ptr<SensorResult> >::iterator itsSensorResultsItr;
00214 
00215   pthread_mutex_t itsSensorResultsLock;
00216 
00217   // command cue to send to COM_B
00218   std::list<rutz::shared_ptr<AgentManagerCommand> > itsCommands;
00219   pthread_mutex_t itsCommandsLock;
00220 
00221   nub::soft_ref<EnvVisualCortex> itsEVC;
00222 
00223 };
00224 
00225 // ######################################################################
00226 inline void AgentManager::setSubController(nub::soft_ref<SubController> subController)
00227 {
00228   pthread_mutex_lock(&itsSubControllerLock);
00229   itsSubController = subController;
00230   pthread_mutex_unlock(&itsSubControllerLock);
00231 }
00232 
00233 // ######################################################################
00234 inline void AgentManager::setForwardWindow(rutz::shared_ptr<XWinManaged> win)
00235 {
00236   itsForwardWindow = win;
00237   //itsDisplayImage = ima;
00238 }
00239 
00240 // ######################################################################
00241 inline void AgentManager::setDownwardWindow(rutz::shared_ptr<XWinManaged> win)
00242 {
00243   itsDownwardWindow = win;
00244   //itsDisplayImage = ima;
00245 }
00246 
00247 // ######################################################################
00248 inline void AgentManager::setVisualCortex
00249 (nub::ref<EnvVisualCortex> evc)
00250 {
00251   itsEVC = evc;
00252 }
00253 
00254 // ######################################################################
00255 inline Image<PixRGB<byte> > AgentManager::getCurrentForwardImage()
00256 {
00257   Image<PixRGB<byte> > image;
00258   pthread_mutex_lock(&itsCurrentForwardImageLock);
00259   image = itsCurrentForwardImage;
00260   pthread_mutex_unlock(&itsCurrentForwardImageLock);
00261   return image;
00262 }
00263 
00264 // ######################################################################
00265 inline Image<PixRGB<byte> > AgentManager::getCurrentDownwardImage()
00266 {
00267   Image<PixRGB<byte> > image;
00268   pthread_mutex_lock(&itsCurrentDownwardImageLock);
00269   image = itsCurrentDownwardImage;
00270   pthread_mutex_unlock(&itsCurrentDownwardImageLock);
00271   return image;
00272 }
00273 
00274 // ######################################################################
00275 inline uint AgentManager::getCurrentFrameNumber()
00276 {
00277   uint fNum;
00278   pthread_mutex_lock(&itsCurrentForwardImageLock);
00279   fNum = itsFrameNumber;
00280   pthread_mutex_unlock(&itsCurrentForwardImageLock);
00281   return fNum;
00282 }
00283 
00284 // // ######################################################################
00285 inline void AgentManager::drawForwardImage(rutz::shared_ptr<Image<PixRGB<byte> > > ima)
00286 {
00287   pthread_mutex_lock(&itsForwardDisplayLock);
00288   itsForwardWindow->drawImage(*ima, 0, 0);
00289   pthread_mutex_unlock(&itsForwardDisplayLock);
00290 
00291 }
00292 
00293 // // ######################################################################
00294 inline void AgentManager::drawDownwardImage(rutz::shared_ptr<Image<PixRGB<byte> > > ima)
00295 {
00296   pthread_mutex_lock(&itsDownwardDisplayLock);
00297   itsDownwardWindow->drawImage(*ima, 0, 0);
00298   pthread_mutex_unlock(&itsDownwardDisplayLock);
00299 
00300 }
00301 #endif
00302 
00303 // ######################################################################
00304 /* So things look consistent in everyone's emacs... */
00305 /* Local Variables: */
00306 /* indent-tabs-mode: nil */
00307 /* End: */
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