ProjectInterface.cc

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


namespace ProjectInterface {
  
  // this bit of indirection is simply to avoid dependencies on MotionPtr and EmergencyStopMC for unrelated use of ProjectInterface
  MotionPtr<EmergencyStopMC> estopInstance;
  MotionPtr<EmergencyStopMC>& estop = estopInstance;

  //! default implementation used for #sendCommand (just displays a warning and ignores the call)
  void noSendCommandErr(const std::string& cmd) {
    serr->printf("command '%s' ignored because no ProjectInterface::sendCommand() is installed\n",cmd.c_str());
  }
  void (*sendCommand)(const std::string& cmd)=noSendCommandErr;
  
  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
  color_index defLookupColorIndexByName(const std::string& name) {
    if(defSegmentedColorGenerator==NULL)
      return -1U;
    return defSegmentedColorGenerator->getColorIndex(name);
  }
  color_index (*lookupColorIndexByName)(const std::string& name)=&defLookupColorIndexByName;
  
  //! default value initially assigned to lookupColorIndexByRgb(); checks that #defSegmentedColorGenerator is non-NULL and returns getColorIndex on it
  color_index defLookupColorIndexByRgb(const rgb rgbval) {
    if(defSegmentedColorGenerator==NULL)
      return -1U;
    return defSegmentedColorGenerator->getColorIndex(rgbval);
  }
  //! returns color index for color with specified "representitive" RGB color
  color_index (*lookupColorIndexByRgb)(const rgb rgbval)=&defLookupColorIndexByRgb;
  
  //! default implementation assigned to lookupColorRGB(); checks that #defSegmentedColorGenerator is non-NULL and returns getColorRGB on it
  rgb defLookupColorRGB(color_index cindex) {
    if(defSegmentedColorGenerator==NULL)
      return rgb();
    return defSegmentedColorGenerator->getColorRGB(cindex);
  }
  rgb (*lookupColorRGB)(color_index cindex)=&defLookupColorRGB;

        //! default implementation assigned to lookupColorName(); checks that #defSegmentedColorGenerator is non-NULL and returns getColorName on it
        const char* defLookupColorName(color_index cindex) {
    if(defSegmentedColorGenerator==NULL)
      return NULL;
    return defSegmentedColorGenerator->getColorName(cindex);
  }
        const char* (*lookupColorName)(color_index cindex)=&defLookupColorName;

  //! 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;


  /*** Vision Setup ***/
  FilterBankGenerator * defRawCameraGenerator=NULL;
  FilterBankGenerator * defRawDepthGenerator=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;
  
  
  /*** Vision SIDs ***/
  unsigned int visRawCameraSID=0;
  unsigned int visRawDepthSID=1;

  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 visOrangeSID=4;
  unsigned int visHandSID=visOrangeSID;
  
  
  /*** 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)
 */