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ProjectInterface.h Go to the documentation of this file. //-*-c++-*- #ifndef INCLUDED_ProjectInterface_h_ #define INCLUDED_ProjectInterface_h_ #include "Vision/colors.h" #include <string> class BehaviorBase; class FilterBankGenerator; class SegmentedColorGenerator; class RLEGenerator; class RegionGenerator; class JPEGGenerator; class PNGGenerator; namespace std { class exception; } //! A collection of the global variables which should be set by a project to use the Tekkotsu framework /*! This namespace a few variables needed for initialization of the * framework, but mainly declares variables which are used by demo * behaviors. Although the variables are declared here, and * some default values provided, it is up to your project to define * the actual values used for your own project. This provides a way * to reassign conflicts between values provided by the framework vs. * those you might wish to add to your project. * * Currently, all required members are references (so they can't be * set to NULL and you'll get errors if you leave them out) and all * optional settings are pointers so you can ignore them if you want. * * The "optional" variables are used by demo behaviors, and thus * if you remove all of the demo behaviors, you won't need to define * the corresponding interface values here. * * If you want to add new ID values for your project, create a new * 'globals.h' or some such in your project -- you don't need to * add them here since this file is shared by all projects which * use the framework, you shouldn't need to modify it for each * project. */ namespace ProjectInterface { //! REQUIRED: you must define a behavior which will be started when the boot is complete /*! This is similar in idea to the Linux init process - it should do * some basic initialization and then launch any other behavior you * would like to run at boot. * To avoid static initialization ordering issues, this is a function * which will be called after environment setup is complete, which * should then return a behavior to use as the startup behavior. * This behavior should not be reference counted, and probably makes * most sense to implement as a static local variable of the function. * (Each call should return the same behavior) */ BehaviorBase& startupBehavior(); //! The exception handler for exceptions which have fallen through to base Tekkotsu functions /*! You can override this to install your own handler by assigning a * new function. This defaults to displayException(), which * <b>does not</b> call abort() (which would otherwise be the * default if the exception fell through). * @param file The file where the exception was caught (usually just pass __FILE__), or NULL * @param line The line number where the exception was caught (usually just pass __LINE__), if @a file is NULL, @a line is ignored * @param message An addition message, or NULL * @param ex The exception which was caught, or NULL if it is was not a std::exception subclass * @return true if the exception was handled, false if the exception should be rethrown */ extern bool (*uncaughtException)(const char * file, int line, const char * message, const std::exception* ex); //! Displays information about an exception on #serr, provides a default value for #uncaughtException /*! You can call this directly from your own code any time you would like an exception error message. * @param file The file where the exception was caught (usually just pass __FILE__), or NULL * @param line The line number where the exception was caught (usually just pass __LINE__), if @a file is NULL, @a line is ignored * @param message An addition message, or NULL * @param ex The exception which was caught, or NULL if it is was not a std::exception subclass * @return true, indicating the exception was handled adequately */ bool displayException(const char * file, int line, const char * message, const std::exception* ex); //! allows you to override how colors are defined -- by default, this will be set to a function which passes the call to defSegmentedColorGenerator /*! As per SegmentedColorGenerator::getColorIndex(), if @a name is not valid, return -1U */ extern unsigned int (*lookupColorIndexByName)(const std::string& name); //! allows you to override how colors are defined -- by default, this will be set to a function which passes the call to defSegmentedColorGenerator extern unsigned int (*lookupColorIndexByRgb)(const rgb rgbval); //! allows you to override how colors are defined -- by default, this will be set to a function which passes the call to defSegmentedColorGenerator /*! As per SegmentedColorGenerator::getColorRGB(), if @a index is not valid, return black (rgb()) */ extern rgb (*lookupColorRGB)(unsigned int index); //! Returns the index corresponding to a color of specified name by calling lookupColorIndexByName() /*! As per SegmentedColorGenerator::getColorIndex(), if @a name is not valid, return -1U */ inline unsigned int getColorIndex(const std::string& name) { if(lookupColorIndexByName==NULL) return -1U; return (*lookupColorIndexByName)(name); } //! Returns the index corresponding to an rgb value by calling lookupColorIndexByRgb() inline unsigned int getColorIndex(const rgb rgbval) { if(lookupColorIndexByRgb==NULL) return -1U; return (*lookupColorIndexByRgb)(rgbval); } //! Returns rgb value corresponding to a color of specified name by calling lookupColorRGB(lookupColorIndexByName()) /*! As per SegmentedColorGenerator::getColorRGB(), if @a name is not valid, return black (rgb()) */ inline rgb getColorRGB(const std::string& name) { if(lookupColorIndexByName==NULL || lookupColorRGB==NULL) return rgb(); return (*lookupColorRGB)((*lookupColorIndexByName)(name)); } //! Returns rgb value corresponding to a color of specified name by calling lookupColorRGB() /*! As per SegmentedColorGenerator::getColorRGB(), if @a index is not valid, return black (rgb()) */ inline rgb getColorRGB(unsigned int index) { if(lookupColorRGB==NULL) return rgb(); return (*lookupColorRGB)(index); } extern unsigned int (*lookupNumColors)(); //! Returns the number of colors, obtained from defSegmentedColorGenerator inline unsigned int getNumColors() { if (lookupNumColors == NULL) return -1U; return (*lookupNumColors)(); } std::ostream& operator<<(std::ostream &os, const rgb &rgbval); std::string toString(const rgb &rgbval); //! 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 extern FilterBankGenerator * defRawCameraGenerator; extern FilterBankGenerator * defInterleavedYUVGenerator; extern JPEGGenerator * defColorJPEGGenerator; extern JPEGGenerator * defGrayscaleJPEGGenerator; extern PNGGenerator * defColorPNGGenerator; extern PNGGenerator * defGrayscalePNGGenerator; extern SegmentedColorGenerator * defSegmentedColorGenerator; extern RLEGenerator * defRLEGenerator; extern RegionGenerator * defRegionGenerator; //@} //! 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 extern unsigned int visRawCameraSID; extern unsigned int visInterleaveSID; extern unsigned int visColorJPEGSID; extern unsigned int visGrayscaleJPEGSID; extern unsigned int visColorPNGSID; extern unsigned int visGrayscalePNGSID; extern unsigned int visSegmentSID; extern unsigned int visRLESID; extern unsigned int visRegionSID; extern unsigned int visPinkBallSID; extern unsigned int visBlueBallSID; extern unsigned int visGreenBallSID; extern unsigned int visYellowBallSID; extern unsigned int visHandSID; //@} //! Allows you to request a particular layer abstractly - this isn't used by the framework, just a suggestion for clarity /*! @name Layer Resolutions */ extern unsigned int doubleLayer; //!< ERS-2xx: 352*288; ERS-7 416*320 (requires non-trivial computation) extern unsigned int fullLayer; //!< ERS-2xx: 176*144; ERS-7 208*160 extern unsigned int halfLayer; //!< ERS-2xx: 88*72; ERS-7 104*80 extern unsigned int quarterLayer; //!< ERS-2xx: 44*36; ERS-7 52*40 extern unsigned int eighthLayer; //!< ERS-2xx: 22*18; ERS-7 26*20 (simply a bigger interleave referencing quarterLayer) extern unsigned int sixteenthLayer;//!< ERS-2xx: 11*9; ERS-7 13*10 (simply a bigger interleave referencing quarterLayer) //@} } /*! @file * @brief Defines ProjectInterface namespace - a collection of the global variables which should be set by a project to use the Tekkotsu framework * @author ejt (Creator) * * $Author: dst $ * $Name: tekkotsu-3_0 $ * $Revision: 1.13 $ * $State: Exp $ * $Date: 2006/07/14 06:48:55 $ */ #endif

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