AgentManagerA.C

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00001 /*!@file BeoSub/BeeBrain/AgentManagerA.C
00002  for AUVSI2007 manage agents in COM_A                                   */
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: Micheal Montalbo <montalbo@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/BeoSub/BeeBrain/AgentManagerA.C $
00035 // $Id: AgentManagerA.C 9412 2008-03-10 23:10:15Z farhan $
00036 //
00037 #define NUM_STORED_FRAMES    20
00038 
00039 #include "BeoSub/BeeBrain/AgentManagerA.H"
00040 
00041 // ######################################################################
00042 // function for each of the separately threaded agents
00043 // which calls their schedulers
00044 void* runForwardVisionAgent(void* a)
00045 {
00046   AgentManagerA* am  = (AgentManagerA *)a;
00047   rutz::shared_ptr<ForwardVisionAgent> fv = am->getForwardVisionAgent();
00048 
00049   fv->run();
00050 
00051   return NULL;
00052 }
00053 
00054 // ######################################################################
00055 void* runPreFrontalCortexAgent(void* a)
00056 {
00057   AgentManagerA* am  = (AgentManagerA *)a;
00058   rutz::shared_ptr<PreFrontalCortexAgent> pfc = am->getPreFrontalCortexAgent();
00059 
00060   pfc->run();
00061   return NULL;
00062 }
00063 
00064 // ######################################################################
00065 void* runPreMotorComplex(void* a)
00066 {
00067   AgentManagerA* am  = (AgentManagerA *)a;
00068   rutz::shared_ptr<PreMotorComplex> pmc = am->getPreMotorComplex();
00069 
00070   //pmc->start();
00071 
00072   return NULL;
00073 }
00074 
00075 // ######################################################################
00076 AgentManagerA::AgentManagerA(OptionManager& mgr,
00077                              const std::string& descrName,
00078                              const std::string& tagName)
00079   :
00080   ModelComponent(mgr, descrName, tagName)
00081 {
00082 
00083   rutz::shared_ptr<AgentManagerA> ama(this);
00084 
00085    // create the agents
00086    itsForwardVisionAgent.reset(new ForwardVisionAgent());
00087    itsPreFrontalCortexAgent.reset(new PreFrontalCortexAgent("preFrontalCortexAgent",ama));
00088    itsPreMotorComplex.reset(new PreMotorComplex("preMotorComplexAgent"));
00089 
00090    // connect the agents properly
00091    itsForwardVisionAgent->setPreFrontalCortexAgent(itsPreFrontalCortexAgent);
00092    itsPreFrontalCortexAgent->setPreMotorComplex(itsPreMotorComplex);
00093    itsPreFrontalCortexAgent->setForwardVisionAgent(itsForwardVisionAgent);
00094    itsPreMotorComplex->setPreFrontalCortexAgent(itsPreFrontalCortexAgent);
00095 
00096    // create threads for the agents
00097    pthread_create
00098      (&itsForwardVisionAgentThread, NULL, runForwardVisionAgent,
00099       (void *)this);
00100 
00101    pthread_create
00102      (&itsPreFrontalCortexAgentThread, NULL, runPreFrontalCortexAgent,
00103       (void *)this);
00104 
00105    pthread_create
00106      (&itsPreMotorComplexThread, NULL, runPreMotorComplex,
00107       (void *)this);
00108 
00109   pthread_mutex_init(&itsDisplayLock, NULL);
00110   pthread_mutex_init(&itsCurrentImageLock, NULL);
00111   pthread_mutex_init(&itsCommandsLock, NULL);
00112 
00113 
00114   itsInputImageTimer.reset(new Timer(1000000));
00115   itsFrameDuration.resize(NUM_STORED_FRAMES);
00116  }
00117 
00118 // ######################################################################
00119 AgentManagerA::~AgentManagerA()
00120 { }
00121 
00122 // ######################################################################
00123 void AgentManagerA::startRun()
00124 {
00125   // call prefrontal cortex to start
00126   itsPreFrontalCortexAgent->start();
00127 }
00128 
00129 // ######################################################################
00130 void AgentManagerA::setCurrentImage
00131 (Image<PixRGB<byte> > image, uint fNum)
00132 {
00133   // set the current image
00134   pthread_mutex_lock(&itsCurrentImageLock);
00135   itsCurrentImage = image;
00136   itsFrameNumber = fNum;
00137   pthread_mutex_unlock(&itsCurrentImageLock);
00138 
00139   // compute and show framerate over the last NAVG frames:
00140   itsFrameDuration[fNum % NUM_STORED_FRAMES] = itsInputImageTimer->get();
00141   itsInputImageTimer->reset();
00142 
00143   uint nFrames = NUM_STORED_FRAMES;
00144   if (nFrames < NUM_STORED_FRAMES) nFrames = fNum;
00145   uint64 avg = 0ULL;
00146   for(uint i = 0; i < nFrames; i ++) avg += itsFrameDuration[i];
00147   float frate = 1000000.0F / float(avg) * float(NUM_STORED_FRAMES);
00148 
00149   std::string ntext(sformat("%6d: %6.3f fps -> %8.3f ms/fr",
00150                             fNum,frate, 1000.0/frate));
00151   writeText(image, Point2D<int>(0,0), ntext.c_str());
00152 
00153   if((fNum % 30) == 0)
00154     drawImage(image,Point2D<int>(0,0));
00155   //  LINFO("%s",ntext.c_str());
00156 }
00157 
00158 // ######################################################################
00159 void AgentManagerA::pushCommand(CommandType cmdType,
00160                 DataTypes dataType,
00161                 rutz::shared_ptr<OceanObject> oceanObject)
00162 {
00163   rutz::shared_ptr<AgentManagerCommand> cmd(new AgentManagerCommand());
00164   cmd->itsCommandType = cmdType;
00165   cmd->itsDataType = dataType;
00166   cmd->itsOceanObjectId = oceanObject->getId();
00167   cmd->itsOceanObjectType = oceanObject->getType();
00168 
00169   pthread_mutex_lock(&itsCommandsLock);
00170   itsCommands.push_back(cmd);
00171   pthread_mutex_unlock(&itsCommandsLock);
00172 }
00173 
00174 // ######################################################################
00175 uint AgentManagerA::getNumCommands()
00176 {
00177   return itsCommands.size();
00178 }
00179 
00180 // ######################################################################
00181 rutz::shared_ptr<AgentManagerCommand> AgentManagerA::popCommand()
00182 {
00183   rutz::shared_ptr<AgentManagerCommand> amc = itsCommands.front();
00184   itsCommands.pop_front();
00185   return amc;
00186 }
00187 
00188 // ######################################################################
00189 rutz::shared_ptr<ForwardVisionAgent>
00190 AgentManagerA::getForwardVisionAgent()
00191 {
00192   return itsForwardVisionAgent;
00193 }
00194 
00195 // ######################################################################
00196 rutz::shared_ptr<PreFrontalCortexAgent>
00197 AgentManagerA::getPreFrontalCortexAgent()
00198 {
00199   return itsPreFrontalCortexAgent;
00200 }
00201 
00202 // ######################################################################
00203 rutz::shared_ptr<PreMotorComplex>
00204 AgentManagerA::getPreMotorComplex()
00205 {
00206   return itsPreMotorComplex;
00207 }
00208 
00209 // ######################################################################
00210 void AgentManagerA::drawImage(Image<PixRGB<byte> > ima, Point2D<int> point)
00211 {
00212   pthread_mutex_lock(&itsDisplayLock);
00213   inplacePaste(itsDisplayImage, ima, point);
00214   itsWindow->drawImage(itsDisplayImage,0,0);
00215   pthread_mutex_unlock(&itsDisplayLock);
00216 
00217 }
00218 
00219 // ######################################################################
00220 bool AgentManagerA::updateOceanObject
00221 (rutz::shared_ptr<OceanObject> oceanObject, DataTypes oceanObjectDataType)
00222 {
00223   bool retVal = false;
00224   pthread_mutex_lock(&itsOceanObjectsLock);
00225 
00226   for(uint i = 0; i < itsOceanObjects.size(); i++)
00227     {
00228       if(itsOceanObjects[i]->getId() == oceanObject->getId())
00229         {
00230           // set the info
00231           switch(oceanObjectDataType)
00232             {
00233               case POSITION:
00234                 {
00235                   itsOceanObjects[i]->setPosition(oceanObject->getPosition());
00236                   break;
00237                 }
00238 
00239               case ORIENTATION:
00240                 {
00241                   itsOceanObjects[i]->setOrientation(oceanObject->getOrientation());
00242                   break;
00243                 }
00244               case FREQUENCY:
00245                 {
00246                   itsOceanObjects[i]->setFrequency(oceanObject->getFrequency());
00247                   break;
00248                 }
00249               case DISTANCE:
00250                 {
00251                   itsOceanObjects[i]->setDistance(oceanObject->getDistance());
00252                   break;
00253                 }
00254               case MASS:
00255                 {
00256                   itsOceanObjects[i]->setMass(oceanObject->getMass());
00257                   break;
00258                 }
00259             default: LFATAL("unknown ocean object data-type");
00260             }
00261           retVal = true;
00262           break;
00263         }
00264     }
00265 
00266   pthread_mutex_unlock(&itsOceanObjectsLock);
00267 
00268   return retVal;
00269 }
00270 
00271 // ######################################################################
00272 /* So things look consistent in everyone's emacs... */
00273 /* Local Variables: */
00274 /* indent-tabs-mode: nil */
00275 /* End: */
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