VisionBrainComponentI.H

00001 
00002 #include "Component/ModelComponent.H"
00003 #include "Component/ModelParam.H"
00004 #include "Component/OptionManager.H"
00005 #include "Media/FrameSeries.H"
00006 #include "Transport/FrameInfo.H"
00007 #include "Raster/GenericFrame.H"
00008 #include "Image/Image.H"
00009 #include "GUI/XWinManaged.H"
00010 #include "GUI/ImageDisplayStream.H"
00011 #include "Image/Image.H"
00012 #include "Image/DrawOps.H"
00013 #include "Image/Pixels.H"
00014 #include "Robots/RobotBrain/RobotBrainComponent.H"
00015 
00016 #include "Ice/RobotBrainObjects.ice.H"
00017 #include "Ice/IceImageUtils.H"
00018 #include "Ice/RobotSimEvents.ice.H"
00019 #include <IceUtil/Thread.h>
00020 
00021 #ifndef VISIONBRAINCOMPONENTI_H
00022 #define VISIONBRAINCOMPONENTI_H
00023 
00024 class VisionBrainComponentI : public RobotBrainComponent
00025 {
00026 public:
00027 
00028   VisionBrainComponentI(OptionManager& mgr,
00029       const std::string& descrName = "VisionBrainComponent",
00030       const std::string& tagName = "VisionBrainComponent");
00031 
00032   ~VisionBrainComponentI();
00033 
00034   virtual void evolve();
00035 
00036   //!Get a message
00037   virtual void updateMessage(const RobotSimEvents::EventMessagePtr& eMsg,
00038       const Ice::Current&);
00039 
00040   virtual void registerVisionTopics();
00041 
00042   virtual void registerVisionPublisher(const std::string& MessageTopic);
00043 
00044   virtual bool publishVisionMsg(const::std::string& MessageTopic, RobotSimEvents::EventMessagePtr msg);
00045 
00046         //Guys, let's just decide on a single updateFrame, and get rid of this one... --Rand
00047   //virtual void updateFrame(Image<PixRGB<byte> > img, bool isFwdCamera) {};
00048 
00049   virtual void updateFrame(Image<PixRGB<byte> > img, std::string cameraID) = 0;
00050 
00051   std::string getCameraSourceName() { return itsCameraSource.getVal();};
00052 
00053 protected:
00054   nub::soft_ref<OutputFrameSeries> itsOfs;
00055   int itsFrameCount;
00056 
00057 private:
00058 
00059   OModelParam<std::string> itsCameraSource;
00060 
00061   //nub::soft_ref<InputFrameSeries> itsIfs;
00062   Image<PixRGB<byte> > itsCurrentImg;
00063   bool itsCurrentImgFwdCam;
00064   std::string itsCurrentCameraID;
00065 
00066   IceUtil::Mutex         itsImgMutex;
00067 
00068   int lastFrameCount;
00069 };
00070 
00071 #endif
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