imagebase.h
1/*
2 * Player - One Hell of a Robot Server
3 * Copyright (C) 2000 Brian Gerkey et al
4 * gerkey@usc.edu
5 *
6 * This program is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 *
11 * This program is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
15 *
16 * You should have received a copy of the GNU General Public License
17 * along with this program; if not, write to the Free Software
18 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
19 *
20 */
22//
23// Desc: base driver for image processing and transform drivers
24// Author: Toby Collett
25// Date: 15 Feb 2004
26// CVS: $Id$
27//
29
30
58#include <libplayercore/playercore.h>
59
60// Driver for detecting laser retro-reflectors.
62{
63 public:
64 // Constructor
65 ImageBase(ConfigFile *cf, int section, bool overwrite_cmds, size_t queue_maxlen, int interf);
66 ImageBase(ConfigFile *cf, int section, bool overwrite_cmds = true, size_t queue_maxlen = PLAYER_MSGQUEUE_DEFAULT_MAXLEN);
67 virtual ~ImageBase()
68 {
69 if (stored_data.image) delete [](stored_data.image);
70 PLAYER_WARN("image deleted from the memory");
71 }
72
73 // Process incoming messages from clients
74 int ProcessMessage (QueuePointer &resp_queue, player_msghdr * hdr, void * data);
75
76 private:
77 ImageBase(); // no default constructor
78 ImageBase(const ImageBase &); // no copy constructor
79
80 protected:
81 virtual int ProcessFrame() = 0;
82 // Main functions for device thread.
83 virtual void Main();
84 virtual int MainSetup();
85 virtual void MainQuit();
86
87 // Input camera stuff
88 Device *camera_driver;
89 player_devaddr_t camera_addr;
90 player_camera_data_t stored_data;
91 bool HaveData;
92};
Class for loading configuration file information.
Definition configfile.h:197
Encapsulates a device (i.e., a driver bound to an interface)
Definition device.h:75
Definition imagebase.h:62
int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition imagebase.cc:112
virtual int MainSetup()
Sets up the resources needed by the driver thread.
Definition imagebase.cc:83
virtual void Main()
Main method for driver thread.
Definition imagebase.cc:187
virtual void MainQuit()
Cleanup method for driver thread (called when main exits)
Definition imagebase.cc:104
An autopointer for the message queue.
Definition message.h:74
Base class for drivers which oeprate with a thread.
Definition driver.h:553
#define PLAYER_WARN(msg)
Warning message macros.
Definition error.h:89
#define PLAYER_MSGQUEUE_DEFAULT_MAXLEN
Default maximum length for a message queue.
Definition player.h:76
A device address.
Definition player.h:146
Generic message header.
Definition player.h:162