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ProjectInterface.hGo to the documentation of this file.00001 //-*-c++-*- 00002 #ifndef INCLUDED_ProjectInterface_h_ 00003 #define INCLUDED_ProjectInterface_h_ 00004 00005 #include "Vision/colors.h" 00006 #include <string> 00007 00008 class BehaviorBase; 00009 class FilterBankGenerator; 00010 class SegmentedColorGenerator; 00011 class RLEGenerator; 00012 class RegionGenerator; 00013 class JPEGGenerator; 00014 class PNGGenerator; 00015 namespace std { 00016 class exception; 00017 } 00018 00019 //! A collection of the global variables which should be set by a project to use the Tekkotsu framework 00020 /*! This namespace hold a few variables needed for initialization of the 00021 * framework, but mainly declares variables which are used by demo 00022 * behaviors. Although the variables are declared here, and 00023 * some default values provided, it is up to your project to define 00024 * the actual values used for your own project. This provides a way 00025 * to reassign conflicts between values provided by the framework vs. 00026 * those you might wish to add to your project. 00027 * 00028 * Currently, all required members are references (so they can't be 00029 * set to NULL and you'll get errors if you leave them out) and all 00030 * optional settings are pointers so you can ignore them if you want. 00031 * 00032 * The "optional" variables are used by demo behaviors, and thus 00033 * if you remove all of the demo behaviors, you won't need to define 00034 * the corresponding interface values here. 00035 * 00036 * If you want to add new ID values for your project, create a new 00037 * 'globals.h' or some such in your project -- you don't need to 00038 * add them here since this file is shared by all projects which 00039 * use the framework, you shouldn't need to modify it for each 00040 * project. 00041 */ 00042 namespace ProjectInterface { 00043 00044 //! REQUIRED: you must define a behavior which will be started when the boot is complete 00045 /*! This is similar in idea to the Linux init process - it should do 00046 * some basic initialization and then launch any other behavior you 00047 * would like to run at boot. 00048 * To avoid static initialization ordering issues, this is a function 00049 * which will be called after environment setup is complete, which 00050 * should then return a behavior to use as the startup behavior. 00051 * This behavior should not be reference counted, and probably makes 00052 * most sense to implement as a static local variable of the function. 00053 * (Each call should return the same behavior) */ 00054 BehaviorBase& startupBehavior(); 00055 00056 //! sends a command to the project, allows GUI elements of the framework to send commands to the hardware abstraction layer 00057 /*! Generally commands are assumed to be for the Tekkostu HAL command line, 00058 * and otherwise this will be left NULL. */ 00059 extern void (*sendCommand)(const std::string& cmd); 00060 00061 //! The exception handler for exceptions which have fallen through to base Tekkotsu functions 00062 /*! You can override this to install your own handler by assigning a 00063 * new function. This defaults to displayException(), which 00064 * <b>does not</b> call abort() (which would otherwise be the 00065 * default if the exception fell through). 00066 * @param file The file where the exception was caught (usually just pass __FILE__), or NULL 00067 * @param line The line number where the exception was caught (usually just pass __LINE__), if @a file is NULL, @a line is ignored 00068 * @param message An addition message, or NULL 00069 * @param ex The exception which was caught, or NULL if it is was not a std::exception subclass 00070 * @return true if the exception was handled, false if the exception should be rethrown */ 00071 extern bool (*uncaughtException)(const char * file, int line, const char * message, const std::exception* ex); 00072 00073 //! Displays information about an exception on #serr, provides a default value for #uncaughtException 00074 /*! You can call this directly from your own code any time you would like an exception error message. 00075 * @param file The file where the exception was caught (usually just pass __FILE__), or NULL 00076 * @param line The line number where the exception was caught (usually just pass __LINE__), if @a file is NULL, @a line is ignored 00077 * @param message An addition message, or NULL 00078 * @param ex The exception which was caught, or NULL if it is was not a std::exception subclass 00079 * @return true, indicating the exception was handled adequately */ 00080 bool displayException(const char * file, int line, const char * message, const std::exception* ex); 00081 00082 //! allows you to override how colors are defined -- by default, this will be set to a function which passes the call to defSegmentedColorGenerator 00083 /*! As per SegmentedColorGenerator::getColorIndex(), if @a name is not valid, return -1U */ 00084 extern color_index (*lookupColorIndexByName)(const std::string& name); 00085 //! allows you to override how colors are defined -- by default, this will be set to a function which passes the call to defSegmentedColorGenerator 00086 extern color_index (*lookupColorIndexByRgb)(const rgb rgbval); 00087 //! allows you to override how colors are defined -- by default, this will be set to a function which passes the call to defSegmentedColorGenerator 00088 /*! As per SegmentedColorGenerator::getColorRGB(), if @a index is not valid, return black (rgb()) */ 00089 extern rgb (*lookupColorRGB)(color_index cindex); 00090 //! allows you to override how colors are defined -- by default, this will be set to a function which passes the call to defSegmentedColorGenerator 00091 /*! As per SegmentedColorGenerator::getColorRGB(), if @a index is not valid, return black (rgb()) */ 00092 extern const char* (*lookupColorName)(color_index cindex); 00093 00094 //! Returns the index corresponding to a color of specified name by calling lookupColorIndexByName() 00095 /*! As per SegmentedColorGenerator::getColorIndex(), if @a name is not valid, return -1U */ 00096 inline color_index getColorIndex(const std::string& name) { if(lookupColorIndexByName==NULL) return -1U; return (*lookupColorIndexByName)(name); } 00097 //! Returns the index corresponding to an rgb value by calling lookupColorIndexByRgb() 00098 inline color_index getColorIndex(const rgb rgbval) { if(lookupColorIndexByRgb==NULL) return -1U; return (*lookupColorIndexByRgb)(rgbval); } 00099 //! Returns rgb value corresponding to a color of specified name by calling lookupColorRGB(lookupColorIndexByName()) 00100 /*! As per SegmentedColorGenerator::getColorRGB(), if @a name is not valid, return black (rgb()) */ 00101 inline rgb getColorRGB(const std::string& name) { if(lookupColorIndexByName==NULL || lookupColorRGB==NULL) return rgb(); return (*lookupColorRGB)((*lookupColorIndexByName)(name)); } 00102 //! Returns rgb value corresponding to a color of specified name by calling lookupColorRGB() 00103 /*! As per SegmentedColorGenerator::getColorRGB(), if @a index is not valid, return black (rgb()) */ 00104 inline rgb getColorRGB(color_index cindex) { if(lookupColorRGB==NULL) return rgb(); return (*lookupColorRGB)(cindex); } 00105 00106 //! Returns color name corresponding to specified color index by calling lookupColorName() 00107 /*! As per SegmentedColorGenerator::getColorName(), if @a index is not valid, return NULL */ 00108 inline const char* getColorName(color_index cindex) { if(lookupColorName==NULL) return NULL; return (*lookupColorName)(cindex); } 00109 00110 extern unsigned int (*lookupNumColors)(); 00111 //! Returns the number of colors, obtained from defSegmentedColorGenerator 00112 inline unsigned int getNumColors() { if (lookupNumColors == NULL) return -1U; return (*lookupNumColors)(); } 00113 00114 //! 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 00115 /*! @name Vision Setup */ 00116 //! pointer to generator 00117 extern FilterBankGenerator * defRawCameraGenerator; 00118 extern FilterBankGenerator * defInterleavedYUVGenerator; 00119 extern JPEGGenerator * defColorJPEGGenerator; 00120 extern JPEGGenerator * defGrayscaleJPEGGenerator; 00121 extern PNGGenerator * defColorPNGGenerator; 00122 extern PNGGenerator * defGrayscalePNGGenerator; 00123 extern SegmentedColorGenerator * defSegmentedColorGenerator; 00124 extern RLEGenerator * defRLEGenerator; 00125 extern RegionGenerator * defRegionGenerator; 00126 //@} 00127 00128 //! Default source IDs for the various generators; These are given default values, but you can reassign them if you like. 00129 /*! @name Vision SIDs */ 00130 //! source id for vision events from the corresponding pipeline stage or object detector 00131 extern unsigned int visRawCameraSID; 00132 extern unsigned int visInterleaveSID; 00133 extern unsigned int visColorJPEGSID; 00134 extern unsigned int visGrayscaleJPEGSID; 00135 extern unsigned int visColorPNGSID; 00136 extern unsigned int visGrayscalePNGSID; 00137 extern unsigned int visSegmentSID; 00138 extern unsigned int visRLESID; 00139 extern unsigned int visRegionSID; 00140 extern unsigned int visPinkBallSID; 00141 extern unsigned int visBlueBallSID; 00142 extern unsigned int visGreenBallSID; 00143 extern unsigned int visYellowBallSID; 00144 extern unsigned int visOrangeSID; 00145 extern unsigned int visHandSID; //!< synonym for #visOrangeSID 00146 //@} 00147 00148 //! Allows you to request a particular layer abstractly - this isn't used by the framework, just a suggestion for clarity 00149 /*! @name Layer Resolutions */ 00150 extern unsigned int doubleLayer; //!< ERS-2xx: 352*288; ERS-7 416*320 (requires non-trivial computation) 00151 extern unsigned int fullLayer; //!< ERS-2xx: 176*144; ERS-7 208*160 00152 extern unsigned int halfLayer; //!< ERS-2xx: 88*72; ERS-7 104*80 00153 extern unsigned int quarterLayer; //!< ERS-2xx: 44*36; ERS-7 52*40 00154 extern unsigned int eighthLayer; //!< ERS-2xx: 22*18; ERS-7 26*20 (simply a bigger interleave referencing quarterLayer) 00155 extern unsigned int sixteenthLayer;//!< ERS-2xx: 11*9; ERS-7 13*10 (simply a bigger interleave referencing quarterLayer) 00156 //@} 00157 } 00158 00159 /*! @file 00160 * @brief Defines ProjectInterface namespace - a collection of the global variables which should be set by a project to use the Tekkotsu framework 00161 * @author ejt (Creator) 00162 * 00163 * $Author: ejt $ 00164 * $Name: tekkotsu-4_0 $ 00165 * $Revision: 1.19 $ 00166 * $State: Exp $ 00167 * $Date: 2007/06/13 18:14:14 $ 00168 */ 00169 00170 #endif |
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