ProjectInterface.cc File Reference

Provides instantiation of the non-required members of ProjectInterface. More...

#include "ProjectInterface.h"
#include "Vision/colors.h"
#include <string>
#include "Motion/EmergencyStopMC.h"
#include "Motion/MotionPtr.h"
#include "Wireless/Socket.h"
#include "Vision/SegmentedColorGenerator.h"
#include "debuget.h"
#include <exception>

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Namespaces
namespace	ProjectInterface
	A collection of the global variables which should be set by a project to use the Tekkotsu framework.
Functions
void	ProjectInterface::noSendCommandErr (const std::string &cmd)
	default implementation used for sendCommand (just displays a warning and ignores the call)
bool	ProjectInterface::displayException (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.
color_index	ProjectInterface::defLookupColorIndexByName (const std::string &name)
	default implementation assigned to lookupColorIndexByName(); checks that defSegmentedColorGenerator is non-NULL and returns getColorIndex on it
color_index	ProjectInterface::defLookupColorIndexByRgb (const rgb rgbval)
	default value initially assigned to lookupColorIndexByRgb(); checks that defSegmentedColorGenerator is non-NULL and returns getColorIndex on it
rgb	ProjectInterface::defLookupColorRGB (color_index cindex)
	default implementation assigned to lookupColorRGB(); checks that defSegmentedColorGenerator is non-NULL and returns getColorRGB on it
const char *	ProjectInterface::defLookupColorName (color_index cindex)
	default implementation assigned to lookupColorName(); checks that defSegmentedColorGenerator is non-NULL and returns getColorName on it
unsigned int	ProjectInterface::defLookupNumColors ()
	default value initially assigned to lookupNumColors(); checks that defSegmentedColorGenerator is non-NULL and returns getNumColors on it
Variables
MotionPtr< EmergencyStopMC >	ProjectInterface::estopInstance
MotionPtr< EmergencyStopMC > &	ProjectInterface::estop = estopInstance
	The active emergency stop motion command, used by various behaviors and controls to test whether they are in control.
void(*	ProjectInterface::sendCommand )(const std::string &cmd) = noSendCommandErr
	sends a command to the project, allows GUI elements of the framework to send commands to the hardware abstraction layer
bool(*	ProjectInterface::uncaughtException )(const char *file, int line, const char *message, const std::exception *ex) = &displayException
	The exception handler for exceptions which have fallen through to base Tekkotsu functions.
color_index(*	ProjectInterface::lookupColorIndexByName )(const std::string &name) = &defLookupColorIndexByName
	allows you to override how colors are defined -- by default, this will be set to a function which passes the call to defSegmentedColorGenerator
color_index(*	ProjectInterface::lookupColorIndexByRgb )(const rgb rgbval) = &defLookupColorIndexByRgb
	returns color index for color with specified "representitive" RGB color
rgb(*	ProjectInterface::lookupColorRGB )(color_index cindex) = &defLookupColorRGB
	allows you to override how colors are defined -- by default, this will be set to a function which passes the call to defSegmentedColorGenerator
const char *(*	ProjectInterface::lookupColorName )(color_index cindex) = &defLookupColorName
	allows you to override how colors are defined -- by default, this will be set to a function which passes the call to defSegmentedColorGenerator
unsigned int(*	ProjectInterface::lookupNumColors )() = &defLookupNumColors
	returns the number of indexed colors which are currently defined
Vision Setup
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
FilterBankGenerator *	ProjectInterface::defRawCameraGenerator = NULL
	pointer to generator
FilterBankGenerator *	ProjectInterface::defRawDepthGenerator = NULL
	pointer to generator
FilterBankGenerator *	ProjectInterface::defInterleavedYUVGenerator = NULL
	pointer to generator
JPEGGenerator *	ProjectInterface::defColorJPEGGenerator = NULL
	pointer to generator
JPEGGenerator *	ProjectInterface::defGrayscaleJPEGGenerator = NULL
	pointer to generator
PNGGenerator *	ProjectInterface::defColorPNGGenerator = NULL
	pointer to generator
PNGGenerator *	ProjectInterface::defGrayscalePNGGenerator = NULL
	pointer to generator
SegmentedColorGenerator *	ProjectInterface::defSegmentedColorGenerator = NULL
	pointer to generator
RLEGenerator *	ProjectInterface::defRLEGenerator = NULL
	pointer to generator
RegionGenerator *	ProjectInterface::defRegionGenerator = NULL
	pointer to generator
Vision SIDs
Default source IDs for the various generators; These are given default values, but you can reassign them if you like.
unsigned int	ProjectInterface::visRawCameraSID = 0
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	ProjectInterface::visRawDepthSID = 1
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	ProjectInterface::visInterleaveSID = 0
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	ProjectInterface::visColorJPEGSID = 0
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	ProjectInterface::visGrayscaleJPEGSID = 1
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	ProjectInterface::visColorPNGSID = 0
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	ProjectInterface::visGrayscalePNGSID = 1
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	ProjectInterface::visSegmentSID = 0
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	ProjectInterface::visRLESID = 0
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	ProjectInterface::visRegionSID = 0
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	ProjectInterface::visPinkBallSID = 0
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	ProjectInterface::visBlueBallSID = 1
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	ProjectInterface::visGreenBallSID = 2
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	ProjectInterface::visYellowBallSID = 3
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	ProjectInterface::visOrangeSID = 4
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	ProjectInterface::visHandSID = visOrangeSID
	synonym for visOrangeSID
Layer Resolutions
Allows you to request a particular layer abstractly - this isn't used by the framework, just a suggestion for clarity
unsigned int	ProjectInterface::doubleLayer = 5
	ERS-2xx: 352*288; ERS-7 416*320 (requires non-trivial computation).
unsigned int	ProjectInterface::fullLayer = 4
	ERS-2xx: 176*144; ERS-7 208*160.
unsigned int	ProjectInterface::halfLayer = 3
	ERS-2xx: 88*72; ERS-7 104*80.
unsigned int	ProjectInterface::quarterLayer = 2
	ERS-2xx: 44*36; ERS-7 52*40.
unsigned int	ProjectInterface::eighthLayer = 1
	ERS-2xx: 22*18; ERS-7 26*20 (simply a bigger interleave referencing quarterLayer).
unsigned int	ProjectInterface::sixteenthLayer = 0
	ERS-2xx: 11*9; ERS-7 13*10 (simply a bigger interleave referencing quarterLayer).

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Detailed Description

Provides instantiation of the non-required members of ProjectInterface.

Author:

ejt (Creator)

Definition in file ProjectInterface.cc.