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VRmixin.h Go to the documentation of this file. //-*-c++-*- #ifndef _VRmixin_h_ #define _VRmixin_h_ #include <string> #include <iostream> #include "Behaviors/BehaviorBase.h" #include "Shared/debuget.h" // needed for ASSERT macros #include "Vision/RawCameraGenerator.h" #include "Vision/SegmentedColorGenerator.h" #include "Vision/cmv_types.h" // needed for 'run' type? #include "Wireless/Wireless.h" #include "Shared/Config.h" #include "Shared/get_time.h" // needed for time stamp, for serialization #include "ShapeAgent.h" #include "BlobData.h" #include "SketchRoot.h" namespace DualCoding { class Lookout; class Pilot; class SketchDataRoot; class SketchSpace; class MapBuilder; class ParticleFilter; typedef unsigned char cmap_t; //! Mix-in for the BehaviorBase or StateNode class to give access to VisualRoutinesBehavior variables. class VRmixin { protected: static unsigned int instanceCount; //!< count of NewVRmixin instances -- when this hits zero, free sketch spaces static unsigned int crewCount; //!< count of "crew" (pilot, lookout, map builders) users -- stop these when no one is using them public: //! returns reference to the global space instances, call there from global constructors instead of accessing #camSkS, which might not be initialized yet static SketchSpace& getCamSkS(); static SketchSpace& getLocalSkS(); static SketchSpace& getWorldSkS(); static ShapeSpace& getGroundShS(); //! returns reference to the global WorldMapBuilder instance, call this from global constructors instead of accessing #worldmap or #localmap, which might not be initialized yet static MapBuilder& getMapBuilder(); static SketchSpace& camSkS; //!< The camera sketch space static ShapeSpace& camShS; //!< The camera shape space static ShapeSpace& groundShS; //!< The ground shape space of MapBuilder (MapBuilder::groundShS) static SketchSpace& localSkS; //!< The localmap sketch space (LocalMapBuilder::localSkS) static ShapeSpace& localShS; //!< The localmap shape space (LocalMapBuilder::localShS) static SketchSpace& worldSkS; //!< The worldmap sketch space (WorldMapBuilder::localSkS) static ShapeSpace& worldShS; //!< The worldmap sketch space (WorldMapBuilder::localShS) static Shape<AgentData> theAgent; //!< The robot (usually lives in worldShS) static MapBuilder& mapBuilder; //!< the global world mapbuilder instance static Pilot pilot; //!< the global Pilot instance static Lookout lookout; //!< the global Lookout instance static ParticleFilter filter; //!< particle filter for localization private: static Socket *camDialogSock; //!< socket to talk with cam-space sketch viewer static Socket *camRleSock; //!< socket for transmitting RLE images to cam-space sketch viewer static Socket *localDialogSock; //!< socket to talk with local-space sketch viewer static Socket *localRleSock; //!< socket for transmitting RLE images to local-space sketch viewer static Socket *worldDialogSock; //!< socket to talk with world-space sketch viewer static Socket *worldRleSock; //!< socket for transmitting RLE images to world-space sketch viewer public: //! Constructor VRmixin(); //! Destructor virtual ~VRmixin(void); static void startCrew(); //!< starts map builders, pilot, and lookout static void stopCrew(); //!< stops map builders, pilot, and lookout // serialize the specified Sketch; should use RLE encoding later static bool rleEncodeSketch(const SketchDataRoot& image); //! Import the current color-segmented camera image as a Sketch<uchar> static Sketch<uchar> sketchFromSeg(); //! Import channel n image as a Sketch<uchar> static Sketch<uchar> sketchFromChannel(RawCameraGenerator::channel_id_t chan); //! Import the current y-channel camera image as a Sketch<uchar> static Sketch<uchar> sketchFromRawY(); //! Import blobs from the current region list as a vector of Shape<BlobData> static std::vector<Shape<BlobData> > getBlobsFromRegionGenerator(int color, int minarea=0, BlobData::BlobOrientation_t orient=BlobData::groundplane, int maxblobs=50); //! processes a single line of input for a Sketch request static void processSketchRequest(const std::string &line, SketchSpace &sketches, ShapeSpace &shapes); //! project shapes from cam space to ground space static void projectToGround(const NEWMAT::Matrix& camToBase = kine->jointToBase(CameraFrameOffset), const NEWMAT::ColumnVector& ground_plane = kine->calculateGroundPlane()); private: //! used so static member functions can access non-static members static VRmixin* theOne; // dummy functions to satisfy the compiler VRmixin (const VRmixin&); //!< never call this VRmixin& operator=(const VRmixin&); //!< never call this //! Called whenever data is received on camDialogSocket static int camDialogSockCallback(char *buf, int bytes); //! Called whenever data is received on localDialogSocket static int localDialogSockCallback(char *buf, int bytes); //! Called whenever data is received on worldDialogSocket static int worldDialogSockCallback(char *buf, int bytes); static void dialogCallback(char* buf, int bytes, std::string& incomplete, SketchSpace &SkS, ShapeSpace &ShS); }; } // namespace #endif

DualCoding 3.0beta

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