ProjectInterface Namespace Reference

A collection of the global variables which should be set by a project to use the Tekkotsu framework. More...

Functions
void	noSendCommandErr (const std::string &cmd)
	default implementation used for sendCommand (just displays a warning and ignores the call)
bool	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	defLookupColorIndexByName (const std::string &name)
	default implementation assigned to lookupColorIndexByName(); checks that defSegmentedColorGenerator is non-NULL and returns getColorIndex on it
color_index	defLookupColorIndexByRgb (const rgb rgbval)
	default value initially assigned to lookupColorIndexByRgb(); checks that defSegmentedColorGenerator is non-NULL and returns getColorIndex on it
rgb	defLookupColorRGB (color_index cindex)
	default implementation assigned to lookupColorRGB(); checks that defSegmentedColorGenerator is non-NULL and returns getColorRGB on it
const char *	defLookupColorName (color_index cindex)
	default implementation assigned to lookupColorName(); checks that defSegmentedColorGenerator is non-NULL and returns getColorName on it
unsigned int	defLookupNumColors ()
	default value initially assigned to lookupNumColors(); checks that defSegmentedColorGenerator is non-NULL and returns getNumColors on it
BehaviorBase &	startupBehavior ()
	REQUIRED: you must define a behavior which will be started when the boot is complete.
color_index	getColorIndex (const std::string &name)
	Returns the index corresponding to a color of specified name by calling lookupColorIndexByName().
color_index	getColorIndex (const rgb rgbval)
	Returns the index corresponding to an rgb value by calling lookupColorIndexByRgb().
rgb	getColorRGB (const std::string &name)
	Returns rgb value corresponding to a color of specified name by calling lookupColorRGB(lookupColorIndexByName()).
rgb	getColorRGB (color_index cindex)
	Returns rgb value corresponding to a color of specified name by calling lookupColorRGB().
const char *	getColorName (color_index cindex)
	Returns color name corresponding to specified color index by calling lookupColorName().
const char *	getColorName (const rgb rgbval)
	Returns color name corresponding to specified rgb value by calling lookupColorName().
unsigned int	getNumColors ()
	Returns the number of colors, obtained from defSegmentedColorGenerator.
Variables
MotionPtr< EmergencyStopMC >	estopInstance
MotionPtr< EmergencyStopMC > &	estop = estopInstance
	The active emergency stop motion command, used by various behaviors and controls to test whether they are in control.
void(*	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(*	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(*	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(*	lookupColorIndexByRgb )(const rgb rgbval) = &defLookupColorIndexByRgb
	returns color index for color with specified "representitive" RGB color
rgb(*	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 (	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(*	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 *	defRawCameraGenerator = NULL
	pointer to generator
FilterBankGenerator *	defRawDepthGenerator = NULL
	pointer to generator
FilterBankGenerator *	defInterleavedYUVGenerator = NULL
	pointer to generator
JPEGGenerator *	defColorJPEGGenerator = NULL
	pointer to generator
JPEGGenerator *	defGrayscaleJPEGGenerator = NULL
	pointer to generator
PNGGenerator *	defColorPNGGenerator = NULL
	pointer to generator
PNGGenerator *	defGrayscalePNGGenerator = NULL
	pointer to generator
SegmentedColorGenerator *	defSegmentedColorGenerator = NULL
	pointer to generator
RLEGenerator *	defRLEGenerator = NULL
	pointer to generator
RegionGenerator *	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	visRawCameraSID = 0
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	visRawDepthSID = 1
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	visInterleaveSID = 0
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	visColorJPEGSID = 0
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	visGrayscaleJPEGSID = 1
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	visColorPNGSID = 0
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	visGrayscalePNGSID = 1
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	visSegmentSID = 0
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	visRLESID = 0
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	visRegionSID = 0
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	visPinkBallSID = 0
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	visBlueBallSID = 1
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	visGreenBallSID = 2
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	visYellowBallSID = 3
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	visOrangeSID = 4
	source id for vision events from the corresponding pipeline stage or object detector
unsigned int	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	doubleLayer = 5
	ERS-2xx: 352288; ERS-7 416320 (requires non-trivial computation).
unsigned int	fullLayer = 4
	ERS-2xx: 176144; ERS-7 208160.
unsigned int	halfLayer = 3
	ERS-2xx: 8872; ERS-7 10480.
unsigned int	quarterLayer = 2
	ERS-2xx: 4436; ERS-7 5240.
unsigned int	eighthLayer = 1
	ERS-2xx: 2218; ERS-7 2620 (simply a bigger interleave referencing quarterLayer).
unsigned int	sixteenthLayer = 0
	ERS-2xx: 119; ERS-7 1310 (simply a bigger interleave referencing quarterLayer).

Detailed Description

A collection of the global variables which should be set by a project to use the Tekkotsu framework.

This namespace hold 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.

Function Documentation

color_index ProjectInterface::defLookupColorIndexByName ( const std::string & name )

default implementation assigned to lookupColorIndexByName(); checks that defSegmentedColorGenerator is non-NULL and returns getColorIndex on it

Definition at line 38 of file ProjectInterface.cc.

color_index ProjectInterface::defLookupColorIndexByRgb ( const rgb rgbval )

default value initially assigned to lookupColorIndexByRgb(); checks that defSegmentedColorGenerator is non-NULL and returns getColorIndex on it

Definition at line 46 of file ProjectInterface.cc.

const char* ProjectInterface::defLookupColorName ( color_index cindex )

default implementation assigned to lookupColorName(); checks that defSegmentedColorGenerator is non-NULL and returns getColorName on it

Definition at line 63 of file ProjectInterface.cc.

rgb ProjectInterface::defLookupColorRGB ( color_index cindex )

default implementation assigned to lookupColorRGB(); checks that defSegmentedColorGenerator is non-NULL and returns getColorRGB on it

Definition at line 55 of file ProjectInterface.cc.

unsigned int ProjectInterface::defLookupNumColors ( )

default value initially assigned to lookupNumColors(); checks that defSegmentedColorGenerator is non-NULL and returns getNumColors on it

Definition at line 71 of file ProjectInterface.cc.

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.

You can call this directly from your own code any time you would like an exception error message.

Parameters:

	file	The file where the exception was caught (usually just pass __FILE__), or NULL
	line	The line number where the exception was caught (usually just pass __LINE__), if file is NULL, line is ignored
	message	An addition message, or NULL
	ex	The exception which was caught, or NULL if it is was not a std::exception subclass

Returns:: true, indicating the exception was handled adequately

color_index ProjectInterface::getColorIndex ( const rgb rgbval )

Returns the index corresponding to an rgb value by calling lookupColorIndexByRgb().

Definition at line 103 of file ProjectInterface.h.

color_index ProjectInterface::getColorIndex ( const std::string & name )

Returns the index corresponding to a color of specified name by calling lookupColorIndexByName().

As per SegmentedColorGenerator::getColorIndex(), if name is not valid, return -1U

Definition at line 101 of file ProjectInterface.h.

const char* ProjectInterface::getColorName ( const rgb rgbval )

Returns color name corresponding to specified rgb value by calling lookupColorName().

As per SegmentedColorGenerator::getColorName(), if index is not valid, return NULL

Definition at line 117 of file ProjectInterface.h.

const char* ProjectInterface::getColorName ( color_index cindex )

Returns color name corresponding to specified color index by calling lookupColorName().

As per SegmentedColorGenerator::getColorName(), if index is not valid, return NULL

Definition at line 113 of file ProjectInterface.h.

Referenced by DualCoding::MapBuilderRequest::allColors(), Kodu::KoduConditionGot::evaluate(), DualCoding::MapBuilder::getCamBlobs(), DualCoding::MapBuilder::getCamEllipses(), DualCoding::MapBuilder::getCamLines(), DualCoding::MapBuilder::getCamNaughts(), and getColorName().

rgb ProjectInterface::getColorRGB ( color_index cindex )

Returns rgb value corresponding to a color of specified name by calling lookupColorRGB().

As per SegmentedColorGenerator::getColorRGB(), if index is not valid, return black (rgb())

Definition at line 109 of file ProjectInterface.h.

rgb ProjectInterface::getColorRGB ( const std::string & name )

Returns rgb value corresponding to a color of specified name by calling lookupColorRGB(lookupColorIndexByName()).

As per SegmentedColorGenerator::getColorRGB(), if name is not valid, return black (rgb())

Definition at line 106 of file ProjectInterface.h.

Referenced by LGmixin::uploadSketch().

unsigned int ProjectInterface::getNumColors ( )

Returns the number of colors, obtained from defSegmentedColorGenerator.

Definition at line 121 of file ProjectInterface.h.

Referenced by LGmixin::uploadSketch(), and DualCoding::MapBuilderRequest::validateColors().

void ProjectInterface::noSendCommandErr ( const std::string & cmd )

default implementation used for sendCommand (just displays a warning and ignores the call)

Definition at line 9 of file ProjectInterface.cc.

BehaviorBase& ProjectInterface::startupBehavior ( )

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)

Variable Documentation

JPEGGenerator * ProjectInterface::defColorJPEGGenerator = NULL

pointer to generator

Definition at line 84 of file ProjectInterface.cc.

Referenced by CameraBehavior::doEvent(), LogNode::postStart(), and LGmixin::uploadCameraImage().

PNGGenerator * ProjectInterface::defColorPNGGenerator = NULL

pointer to generator

Definition at line 86 of file ProjectInterface.cc.

Referenced by CameraBehavior::doEvent(), and LogNode::postStart().

JPEGGenerator * ProjectInterface::defGrayscaleJPEGGenerator = NULL

pointer to generator

Definition at line 85 of file ProjectInterface.cc.

Referenced by CameraBehavior::doEvent().

PNGGenerator * ProjectInterface::defGrayscalePNGGenerator = NULL

pointer to generator

Definition at line 87 of file ProjectInterface.cc.

Referenced by CameraBehavior::doEvent().

FilterBankGenerator * ProjectInterface::defInterleavedYUVGenerator = NULL

pointer to generator

Definition at line 83 of file ProjectInterface.cc.

Referenced by CameraBehavior::doEvent().

FilterBankGenerator * ProjectInterface::defRawCameraGenerator = NULL

pointer to generator

Definition at line 81 of file ProjectInterface.cc.

Referenced by CameraBehavior::doEvent(), RawImage::loadFromRawY(), and LogNode::postStart().

FilterBankGenerator * ProjectInterface::defRawDepthGenerator = NULL

pointer to generator

Definition at line 82 of file ProjectInterface.cc.

RegionGenerator * ProjectInterface::defRegionGenerator = NULL

pointer to generator

Definition at line 90 of file ProjectInterface.cc.

Referenced by DualCoding::Lookout::processSearchEvent(), DualCoding::Lookout::processTrackEvent(), and DualCoding::Lookout::storeVisionRegionDataTo().

RLEGenerator * ProjectInterface::defRLEGenerator = NULL

pointer to generator

Definition at line 89 of file ProjectInterface.cc.

SegmentedColorGenerator * ProjectInterface::defSegmentedColorGenerator = NULL

pointer to generator

Definition at line 88 of file ProjectInterface.cc.

Referenced by DualCoding::MapBuilderRequest::addAllMinBlobAreas(), DualCoding::MapBuilderRequest::allColors(), defLookupColorIndexByRgb(), defLookupColorName(), and defLookupNumColors().

unsigned int ProjectInterface::doubleLayer = 5

ERS-2xx: 352*288; ERS-7 416*320 (requires non-trivial computation).

Definition at line 120 of file ProjectInterface.cc.

Referenced by CameraBehavior::doEvent().

unsigned int ProjectInterface::eighthLayer = 1

ERS-2xx: 22*18; ERS-7 26*20 (simply a bigger interleave referencing quarterLayer).

Definition at line 124 of file ProjectInterface.cc.

MotionPtr< EmergencyStopMC > & ProjectInterface::estop = estopInstance

The active emergency stop motion command, used by various behaviors and controls to test whether they are in control.

Definition at line 6 of file ProjectInterface.cc.

Referenced by PostureEditor::isEStopped(), EStopController::runCommand(), RunSequenceControl< SequenceSize >::selectedFile(), and LoadPostureControl::selectedFile().

MotionPtr<EmergencyStopMC> ProjectInterface::estopInstance

Definition at line 5 of file ProjectInterface.cc.

unsigned int ProjectInterface::fullLayer = 4

ERS-2xx: 176*144; ERS-7 208*160.

Definition at line 121 of file ProjectInterface.cc.

Referenced by RawCameraGenerator::doEvent(), CDTGenerator::doEvent(), BufferedImageGenerator::doEvent(), DualCoding::Lookout::processSearchEvent(), DualCoding::Lookout::processTrackEvent(), FilterBankGenerator::refresh(), DualCoding::Lookout::storeVisionRegionDataTo(), LGmixin::uploadCameraImage(), and LogNode::writeImage().

unsigned int ProjectInterface::halfLayer = 3

ERS-2xx: 88*72; ERS-7 104*80.

Definition at line 122 of file ProjectInterface.cc.

Referenced by RawImage::loadFromRawY().

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

As per SegmentedColorGenerator::getColorIndex(), if name is not valid, return -1U

Definition at line 43 of file ProjectInterface.cc.

Referenced by getColorIndex(), and getColorRGB().

color_index(* ProjectInterface::lookupColorIndexByRgb)(const rgb rgbval) = &defLookupColorIndexByRgb

returns color index for color with specified "representitive" RGB color

allows you to override how colors are defined -- by default, this will be set to a function which passes the call to defSegmentedColorGenerator

Definition at line 52 of file ProjectInterface.cc.

Referenced by getColorIndex().

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

As per SegmentedColorGenerator::getColorRGB(), if index is not valid, return color 0

Definition at line 68 of file ProjectInterface.cc.

Referenced by getColorName().

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

As per SegmentedColorGenerator::getColorRGB(), if index is not valid, return black (rgb())

Definition at line 60 of file ProjectInterface.cc.

Referenced by getColorRGB().

unsigned int(* ProjectInterface::lookupNumColors)() = &defLookupNumColors

returns the number of indexed colors which are currently defined

Definition at line 77 of file ProjectInterface.cc.

Referenced by getNumColors().

unsigned int ProjectInterface::quarterLayer = 2

ERS-2xx: 44*36; ERS-7 52*40.

Definition at line 123 of file ProjectInterface.cc.

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

Generally commands are assumed to be for the Tekkostu HAL command line, and otherwise this will be left NULL.

Definition at line 12 of file ProjectInterface.cc.

Referenced by ShutdownControl::doSelect(), and Controller::takeLine().

unsigned int ProjectInterface::sixteenthLayer = 0

ERS-2xx: 11*9; ERS-7 13*10 (simply a bigger interleave referencing quarterLayer).

Definition at line 125 of file ProjectInterface.cc.

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.

You can override this to install your own handler by assigning a new function. This defaults to displayException(), which does not call abort() (which would otherwise be the default if the exception fell through).

Parameters:

	file	The file where the exception was caught (usually just pass __FILE__), or NULL
	line	The line number where the exception was caught (usually just pass __LINE__), if file is NULL, line is ignored
	message	An addition message, or NULL
	ex	The exception which was caught, or NULL if it is was not a std::exception subclass

Returns:: true if the exception was handled, false if the exception should be rethrown

Definition at line 35 of file ProjectInterface.cc.

Referenced by MotionManager::doAddMotion(), MotionManager::getOutputs(), Wireless::pollProcess(), IPCEventTranslator::post(), EventRouter::PostingStatus::process(), MotionManager::processMsg(), EventRouter::processTimers(), MotionManager::receivedMsg(), and MotionManager::removeMotion().

unsigned int ProjectInterface::visBlueBallSID = 1