Task.hpp

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/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */


#ifndef CAMERA_BASE_TASK_TASK_HPP
#define CAMERA_BASE_TASK_TASK_HPP

#include "camera_base/TaskBase.hpp"
#include "frame_helper/FrameHelper.h"
#include "camera_interface/CamInterface.h"

namespace camera_base {
    class Task : public TaskBase
    {
        friend class TaskBase;

    protected:
        /* Handler for the getDoubleAttrib operation
         */
        virtual double getDoubleAttrib(::camera::double_attrib::CamAttrib const & type);
        /* Handler for the getDoubleRangeMax operation
         */
        virtual double getDoubleRangeMax(::camera::double_attrib::CamAttrib const & type);
        /* Handler for the getDoubleRangeMin operation
         */
        virtual double getDoubleRangeMin(::camera::double_attrib::CamAttrib const & type);
        /* Handler for the getIntAttrib operation
         */
        virtual boost::int32_t getIntAttrib(::camera::int_attrib::CamAttrib const & type);
        /* Handler for the getIntRangeMax operation
         */
        virtual boost::int32_t getIntRangeMax(::camera::int_attrib::CamAttrib const & type);
        /* Handler for the getIntRangeMin operation
         */
        virtual boost::int32_t getIntRangeMin(::camera::int_attrib::CamAttrib const & type);
        /* Handler for the getStringAttrib operation
         */
        virtual ::std::string getStringAttrib(::camera::str_attrib::CamAttrib const & type);
        /* Handler for the isEnumAttribSet operation
         */
        virtual bool isEnumAttribSet(::camera::enum_attrib::CamAttrib const & type);
        /* Handler for the setDoubleAttrib operation
         */
        virtual bool setDoubleAttrib(::camera::double_attrib::CamAttrib const & type, double value);
        /* Handler for the setEnumAttrib operation
         */
        virtual bool setEnumAttrib(::camera::enum_attrib::CamAttrib const & type);
        /* Handler for the setIntAttrib operation
         */
        virtual bool setIntAttrib(::camera::int_attrib::CamAttrib const & type, boost::int32_t value);
        /* Handler for the setStringAttrib operation
         */
        virtual bool setStringAttrib(::camera::str_attrib::CamAttrib const & type, ::std::string const & value);
        /* Callback operation on retrieving a new frame
         */
        virtual void onRetrieveNewFrame(base::samples::frame::Frame & frame);

        virtual bool getFrame();
        virtual void processImage();

    protected:

      camera::CamInterface* cam_interface;                                      //handle to the camera
      RTT::extras::ReadOnlyPointer<base::samples::frame::Frame> camera_frame;   
      RTT::extras::ReadOnlyPointer<base::samples::frame::Frame> output_frame;   

      bool process_image;                       //indicates if the frames have to be processed 
                                                //before they are written to the output port
      frame_helper::FrameHelper frame_helper;   //helper for image processing

      //variables for a statistical analyse 
      unsigned int invalid_frames_count;                
      unsigned int valid_frames_count;
      
      float stat_frame_rate;
      float stat_invalid_frame_rate;
      float stat_valid_frame_rate;
      base::Time time_save;

      virtual bool setExposure(int exposure);
      virtual bool setExposure_mode(std::string const& value);
      virtual bool setTarget_gray_value(boost::int32_t value);

    public:
        Task(std::string const& name = "camera::Task");
        Task(std::string const& name, RTT::ExecutionEngine* engine);

        ~Task();

        //you have to implement this function for each camera
        //the function is called before the camera is started
        virtual bool configureCamera();

        //if you wish to add extended attributes to the frame
        //implement this function in your derived class
        //this function is called after a frame was received from the camera
        virtual void setExtraAttributes(base::samples::frame::Frame *frame_ptr);

         bool configureHook();

         bool startHook();

         void updateHook();

        // void errorHook();

         void stopHook();

         void cleanupHook();
    };
}

#endif