Orca Robotics

00001 //
00002 // AlexB: '#if 0'd this out till it's fixed.
00003 //
00004 //
00005 #if 0
00006 /*
00007  * Orca-Robotics Project: Components for robotics 
00008  *               http://orca-robotics.sf.net/
00009  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp, Ben Upcroft
00010  *
00011  * This copy of Orca is licensed to you under the terms described in
00012  * the LICENSE file included in this distribution.
00013  *
00014  */
00015 
00016 #ifndef ORCA_ORCALOGFACTORY_CAMERA_REPLAYER_H
00017 #define ORCA_ORCALOGFACTORY_CAMERA_REPLAYER_H
00018 
00019 #include <IceStorm/IceStorm.h>
00020 #include <orca/camera.h>
00021 #include <gbxsickacfr/gbxiceutilacfr/store.h>
00022 #include <orcalog/replayer.h>
00023 
00024 #ifdef OPENCV_FOUND
00025     #include <cv.h>
00026 #endif
00027 
00028 namespace orcalogfactory
00029 {
00030 
00031 class CameraReplayer : public orca::Camera, public orcalog::Replayer
00032 {
00033 public:
00034     CameraReplayer( const std::string      &format,
00035                    const std::string      &filename,
00036                    const orcaice::Context &context );
00037     virtual ~CameraReplayer();
00038     
00039     // from Orca object
00040 
00041     virtual ::orca::CameraData getData(const ::Ice::Current& ) const;
00042 
00043     virtual ::orca::CameraDescription getDescription(const ::Ice::Current& ) const;
00044 
00045     virtual void subscribe(const ::orca::CameraConsumerPrx&, const ::Ice::Current& = ::Ice::Current());
00046 
00047     virtual void unsubscribe(const ::orca::CameraConsumerPrx&, const ::Ice::Current& = ::Ice::Current());
00048 
00049     virtual void replayData( int index, bool isTest=false );
00050 
00051 
00052 private:
00053     hydroutil::Proxy<orca::CameraData> dataPipe_;
00054     // alexm: this pipe is not necessary
00055     hydroutil::Proxy<orca::CameraDescription> descrPipe_;
00056     
00057     orca::CameraData data_;
00058     orca::CameraConsumerPrx publisher_;
00059     IceStorm::TopicPrx topicPrx_;
00060 
00061     virtual void initInterfaces();
00062     virtual void initDescription();
00063     
00064     // binary file protocol specifics
00065     void loadHeaderIce();
00066     void loadDataIce( int index );
00067     void loadDataJpeg( int index );
00068 
00069     // special case: custom function to replace ice_readCameraData
00070     void orca_readCameraData( Ice::InputStreamPtr iceInputStreamPtr , int index);
00071 
00072     // use opencv to convert to jpg
00073     #ifdef OPENCV_FOUND
00074         IplImage* cvImage_;
00075         int nChannels_;
00076     #endif
00077 
00078     // this is a counter of instaces of this type, used for registered interface name
00079     static int _counter;
00080 
00081     // from Replayer
00082     virtual void openLogFile();
00083 
00084 };
00085 
00086 } // namespace
00087 
00088 #endif
00089 #endif
camerareplayer.h
