imagebase.h

/*
 *  Player - One Hell of a Robot Server
 *  Copyright (C) 2000  Brian Gerkey et al
 *                      gerkey@usc.edu
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 */
//
// Desc: base driver for image processing and transform drivers
// Author: Toby Collett
// Date: 15 Feb 2004
// CVS: $Id: imagebase.h 9120 2013-01-07 00:18:52Z jpgr87 $
//


#include <libplayercore/playercore.h>

// Driver for detecting laser retro-reflectors.
class ImageBase : public ThreadedDriver
{
        public:
                // Constructor
                ImageBase(ConfigFile *cf, int section, bool overwrite_cmds, size_t queue_maxlen, int interf);
                ImageBase(ConfigFile *cf, int section, bool overwrite_cmds = true, size_t queue_maxlen = PLAYER_MSGQUEUE_DEFAULT_MAXLEN);
                virtual ~ImageBase()
                {
                  if (stored_data.image) delete [](stored_data.image);
                  PLAYER_WARN("image deleted from the memory");
                }

                // Process incoming messages from clients
                int ProcessMessage (QueuePointer &resp_queue, player_msghdr * hdr, void * data);

        private:
                ImageBase(); // no default constructor
                ImageBase(const ImageBase &); // no copy constructor

        protected:
                virtual int ProcessFrame() = 0;
                // Main functions for device thread.
                virtual void Main();
                virtual int MainSetup();
                virtual void MainQuit();

                // Input camera stuff
                Device *camera_driver;
                player_devaddr_t camera_addr;
                player_camera_data_t stored_data;
                bool HaveData;
};