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ProjectInterface.cc Go to the documentation of this file. #include "ProjectInterface.h" #include "Wireless/Socket.h" #include "Vision/SegmentedColorGenerator.h" #include "debuget.h" #include <exception> namespace ProjectInterface { bool displayException(const char * file, int line, const char * message, const std::exception* ex) { if(file!=NULL) { serr->printf("Exception caught at %s:%d => ",debuget::extractFilename(file),line); } else { serr->printf("Exception => "); } if(ex!=NULL) { serr->printf("'%s'",ex->what()); } else { serr->printf("'%s'","Unknown type"); } if(message!=NULL) { serr->printf(" (%s)\n",message); } else { serr->printf("\n"); } #ifndef PLATFORM_APERIOS serr->printf("\tWhen running in gdb, try 'catch throw' to break where exceptions are first thrown.\n"); #endif return true; } bool (*uncaughtException)(const char * file, int line, const char * message, const std::exception* ex)=&displayException; //! default implementation assigned to lookupColorIndexByName(); checks that #defSegmentedColorGenerator is non-NULL and returns getColorIndex on it unsigned int defLookupColorIndexByName(const std::string& name) { if(defSegmentedColorGenerator==NULL) return -1U; return defSegmentedColorGenerator->getColorIndex(name); } unsigned int (*lookupColorIndexByName)(const std::string& name)=&defLookupColorIndexByName; //! default value initially assigned to lookupColorIndexByRgb(); checks that #defSegmentedColorGenerator is non-NULL and returns getColorIndex on it unsigned int defLookupColorIndexByRgb(const rgb rgbval) { if(defSegmentedColorGenerator==NULL) return -1U; return defSegmentedColorGenerator->getColorIndex(rgbval); } //! returns color index for color with specified "representitive" RGB color unsigned int (*lookupColorIndexByRgb)(const rgb rgbval)=&defLookupColorIndexByRgb; //! default implementation assigned to lookupColorRGB(); checks that #defSegmentedColorGenerator is non-NULL and returns getColorRGB on it rgb defLookupColorRGB(unsigned int index) { if(defSegmentedColorGenerator==NULL) return rgb(); return defSegmentedColorGenerator->getColorRGB(index); } rgb (*lookupColorRGB)(unsigned int index)=&defLookupColorRGB; //! default value initially assigned to lookupNumColors(); checks that #defSegmentedColorGenerator is non-NULL and returns getNumColors on it unsigned int defLookupNumColors() { if ( defSegmentedColorGenerator == NULL ) return -1U; return defSegmentedColorGenerator->getNumColors(); } //! returns the number of indexed colors which are currently defined unsigned int (*lookupNumColors)() = &defLookupNumColors; //! displays an rgb value in the form '[r,g,b]' std::ostream& operator<<(std::ostream &os, const rgb &rgbval) { os << "[" << (unsigned int)rgbval.red << "," << (unsigned int)rgbval.green << "," << (unsigned int)rgbval.blue << "]"; return os; } //! returns @a rgbval in the form 'r g b' std::string toString(const rgb &rgbval) { char buff[15]; snprintf(buff,15,"%d %d %d",rgbval.red,rgbval.green,rgbval.blue); return buff; } //! A collection of the various stages of vision processing. None of these are absolutely required, but are needed to run included demo behaviors and TekkotsuMon modules /*! @name Vision Setup */ //! pointer to generator FilterBankGenerator * defRawCameraGenerator=NULL; FilterBankGenerator * defInterleavedYUVGenerator=NULL; JPEGGenerator * defColorJPEGGenerator=NULL; JPEGGenerator * defGrayscaleJPEGGenerator=NULL; PNGGenerator * defColorPNGGenerator=NULL; PNGGenerator * defGrayscalePNGGenerator=NULL; SegmentedColorGenerator * defSegmentedColorGenerator=NULL; RLEGenerator * defRLEGenerator=NULL; RegionGenerator * defRegionGenerator=NULL; //@} //! Default source IDs for the various generators; These are given default values, but you can reassign them if you like. /*! @name Vision SIDs */ //! source id for event unsigned int visRawCameraSID=0; unsigned int visInterleaveSID=0; unsigned int visColorJPEGSID=0; unsigned int visGrayscaleJPEGSID=1; unsigned int visColorPNGSID=0; unsigned int visGrayscalePNGSID=1; unsigned int visSegmentSID=0; unsigned int visRLESID=0; unsigned int visRegionSID=0; unsigned int visPinkBallSID=0; unsigned int visBlueBallSID=1; unsigned int visGreenBallSID=2; unsigned int visYellowBallSID=3; unsigned int visHandSID=4; //@} //! Allows you to request a particular layer abstractly - this isn't used by the framework, just a suggestion for clarity /*! @name Layer Resolutions */ unsigned int doubleLayer=5; unsigned int fullLayer=4; unsigned int halfLayer=3; unsigned int quarterLayer=2; unsigned int eighthLayer=1; unsigned int sixteenthLayer=0; //@} } /*! @file * @brief Provides instantiation of the non-required members of ProjectInterface * @author ejt (Creator) * * $Author: ejt $ * $Name: tekkotsu-3_0 $ * $Revision: 1.15 $ * $State: Exp $ * $Date: 2006/09/25 23:31:06 $ */

Tekkotsu v3.0

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