156 lines
5.0 KiB
C++
156 lines
5.0 KiB
C++
/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARACTS_H
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#define ARACTS_H
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#include "ariaTypedefs.h"
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#include "ArTcpConnection.h"
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#include "ariaUtil.h"
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#include "ArRobot.h"
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/// A class for the acts blob
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class ArACTSBlob
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{
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public:
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/// Constructor
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ArACTSBlob() {}
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/// Destructor
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virtual ~ArACTSBlob() {}
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/// Gets the number of pixels (area) covered by the blob
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int getArea(void) { return myArea; }
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/// Gets the X Center of Gravity of the blob
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int getXCG(void) { return myXCG; }
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/// Gets the Y Center of Gravity of the blob
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int getYCG(void) { return myYCG; }
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/// Gets the left border of the blob
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int getLeft(void) { return myLeft; }
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/// Gets the right border of the blob
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int getRight(void) { return myRight; }
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/// Gets the top border of the blob
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int getTop(void) { return myTop; }
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/// Gets the bottom border of the blob
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int getBottom(void) { return myBottom; }
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/// Sets the number of pixels (area) covered by the blob
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void setArea(int area) { myArea = area; }
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/// Sets the X Center of Gravity of the blob
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void setXCG(int xcg) { myXCG = xcg; }
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/// Sets the Y Center of Gravity of the blob
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void setYCG(int ycg) { myYCG = ycg; }
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/// Sets the left border of the blob
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void setLeft(int left) { myLeft = left; }
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/// Sets the right border fo the blob
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void setRight(int right) { myRight = right; }
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/// Sets the top border of the blob
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void setTop(int top) { myTop = top; }
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/// Sets the bottom border of the blob
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void setBottom(int bottom) { myBottom = bottom; }
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/// Prints the stats of the blob
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void log(void)
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{
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ArLog::log(ArLog::Terse, "Area: %3d X: %3d Y: %3d l: %3d r: %3d t: %3d: b: %3d",
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myArea, myXCG, myYCG, myLeft, myRight, myTop, myBottom);
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}
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protected:
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int myArea;
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int myXCG;
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int myYCG;
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int myLeft;
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int myRight;
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int myTop;
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int myBottom;
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};
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/// Communicate with ACTS
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/// @ingroup OptionalClasses
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class ArACTS_1_2
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{
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public:
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/// Constructor
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AREXPORT ArACTS_1_2();
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/// Destructor
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AREXPORT virtual ~ArACTS_1_2();
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/// Opens the connection to ACTS
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AREXPORT bool openPort(ArRobot *robot, const char *host = "localhost", int port = 5001);
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/// Closes the connection
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AREXPORT bool closePort(void);
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/// Finds out whether there is connection
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AREXPORT bool isConnected(void);
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/// Gets the robot this class is connected to
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AREXPORT ArRobot *getRobot(void);
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/// Sets the robot this class is connected to
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AREXPORT void setRobot(ArRobot *robot);
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/// Requests another packet
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AREXPORT bool requestPacket(void);
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/// Requests that ACTS quits
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AREXPORT bool requestQuit(void);
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/// Gets the blob information from the connection to acts
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AREXPORT bool receiveBlobInfo(void);
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/// Gets the number of blobs for the given chanel
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AREXPORT int getNumBlobs(int channel);
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/// Gets the given blob from the given channel
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AREXPORT bool getBlob(int channel, int blobNumber, ArACTSBlob *blob);
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/// A function that reads information from acts and requests packets
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AREXPORT void actsHandler(void);
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enum ActsConstants
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{
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NUM_CHANNELS = 32, ///< Number of channels there are
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MAX_BLOBS = 10, ///< Number of blobs per channel
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ACTS_BLOB_DATA_SIZE = 16, ///< Size of the blob data
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DATA_HEADER = NUM_CHANNELS * 4, ///< Size of the data header
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MAX_DATA = 5300 ///< Maximum amount of data
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};
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/// This will make the image stats inverted (for use with an inverted camera)
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AREXPORT void invert(int width = 160, int height = 120);
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protected:
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int invertX(int before);
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int invertY(int before);
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/// an iternal function to strip out the information from some bytes
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int getData(char *rawData);
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ArFunctorC<ArACTS_1_2> mySensorTaskCB;
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ArRobot *myRobot;
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ArTcpConnection myConn;
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int myBlobNum[NUM_CHANNELS];
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int myBlobIndex[NUM_CHANNELS];
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char myData[MAX_DATA];
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bool myBlobsBad;
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bool myRequested;
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// these are for flipping the image
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bool myInverted;
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int myHeight;
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int myWidth;
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};
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#endif
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