update lib
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pehladik
parent
4934190959
commit
cc84086479
7 changed files with 37 additions and 12 deletions
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@ -21,6 +21,13 @@
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using namespace cv;
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/**
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* Create an object for accessing camera with default values (size = sm and
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* fps = 10)
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*/
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Camera::Camera():Camera(sm, 10){
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}
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/**
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* Create an object for accessing camera
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* @param size Size of picture to grab (@see captureSize)
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@ -35,9 +35,16 @@ enum captureSize {xs, sm, md, lg};
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* Class for camera (image grab)
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*
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* @brief Class for camera (image grab)
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* How to grab an image and send it to the monitor:
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* 1. Grab an image, for example:
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* Img * img = new Img(cam->Grab());
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* 2. Instanciate the message to send the image:
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* MessageImg *msgImg = new MessageImg(MESSAGE_CAM_IMAGE, img);
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*/
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class Camera {
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public:
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Camera();
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/**
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* Create an object for accessing camera
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* @param size Size of picture to grab (@see captureSize)
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@ -131,7 +131,7 @@ Message* Message::Copy() {
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}
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/**
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* Get message ID
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* Check message ID
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* @return Current message ID
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*/
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bool Message::CheckID(MessageID id) {
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@ -162,7 +162,6 @@ MessageInt::MessageInt() {
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*/
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MessageInt::MessageInt(MessageID id, int val) {
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MessageInt::SetID(id);
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value = val;
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}
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@ -282,6 +281,7 @@ bool MessageString::CheckID(MessageID id) {
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* Create a new, empty image message
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*/
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MessageImg::MessageImg() {
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this->messageID = MESSAGE_CAM_IMAGE;
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image = NULL;
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}
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@ -362,6 +362,7 @@ bool MessageImg::CheckID(MessageID id) {
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* Create a new, empty battery message
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*/
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MessageBattery::MessageBattery() {
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this->messageID = MESSAGE_ROBOT_BATTERY_LEVEL;
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this->level = BATTERY_UNKNOWN;
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}
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@ -455,9 +456,10 @@ bool MessageBattery::CheckID(MessageID id) {
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/* class MessagePosition */
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/**
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* Create a new, empty string message
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* Create a new, empty position message
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*/
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MessagePosition::MessagePosition() {
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this->messageID = MESSAGE_CAM_POSITION;
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this->pos.angle = 0.0;
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this->pos.robotId = 0;
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this->pos.center.x=0.0;
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@ -467,9 +469,9 @@ MessagePosition::MessagePosition() {
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}
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/**
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* Create a new string message, with given ID and string
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* Create a new position message, with given ID and position
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* @param id Message ID
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* @param s Message string
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* @param pos Message position
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* @throw std::runtime_error if message ID is incompatible with string data
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*/
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MessagePosition::MessagePosition(MessageID id, Position& pos) {
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@ -47,7 +47,7 @@ typedef enum {
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MESSAGE_ROBOT_COM_OPEN,
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MESSAGE_ROBOT_COM_CLOSE,
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// Messages for camera
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// Messages for camera from Monitor to Supervisor
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MESSAGE_CAM_OPEN,
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MESSAGE_CAM_CLOSE,
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MESSAGE_CAM_ASK_ARENA,
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@ -55,6 +55,8 @@ typedef enum {
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MESSAGE_CAM_ARENA_INFIRM,
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MESSAGE_CAM_POSITION_COMPUTE_START,
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MESSAGE_CAM_POSITION_COMPUTE_STOP,
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// Messages for camera from Supervisor to Monitor
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MESSAGE_CAM_POSITION,
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MESSAGE_CAM_IMAGE,
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@ -499,7 +501,14 @@ protected:
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* Message class for holding battery level, based on Message class
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*
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* @brief Battery message class
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*
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* How to use:
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* 1. Ask the battery level to the robot:
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* MessageBattery * msg;
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* msg = (MessageBattery*)robot.Write(new Message(MESSAGE_ROBOT_BATTERY_GET));
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* 2. Send the message, for example:
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* monitor.send(msg);
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* or
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* WriteInQueue(&q_messageToMon, msg);
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*/
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class MessageBattery : public Message {
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public:
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@ -41,7 +41,7 @@
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</conf>
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<conf name="Debug__RPI_" type="1">
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<toolsSet>
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<developmentServer>pi@10.105.1.13:22</developmentServer>
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<developmentServer>pi@10.105.1.08:22</developmentServer>
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<platform>2</platform>
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</toolsSet>
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<dbx_gdbdebugger version="1">
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@ -7,12 +7,12 @@
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<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
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<open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
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<group>
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<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/main.cpp</file>
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<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
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<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
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<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h</file>
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<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
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<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
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<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/comrobot.h</file>
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<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
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<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/commonitor.h</file>
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</group>
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</open-files>
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</project-private>
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@ -64,7 +64,7 @@ private:
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/**********************************************************************/
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ComMonitor monitor;
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ComRobot robot;
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int robotStarted;
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int robotStarted = 0;
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int move = MESSAGE_ROBOT_STOP;
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/**********************************************************************/
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