imagebase.h
00001 /* 00002 * Player - One Hell of a Robot Server 00003 * Copyright (C) 2000 Brian Gerkey et al 00004 * gerkey@usc.edu 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 * 00020 */ 00022 // 00023 // Desc: base driver for image processing and transform drivers 00024 // Author: Toby Collett 00025 // Date: 15 Feb 2004 00026 // CVS: $Id: imagebase.h 8003 2009-07-13 10:34:37Z thjc $ 00027 // 00029 00030 00058 #include <libplayercore/playercore.h> 00059 00060 // Driver for detecting laser retro-reflectors. 00061 class ImageBase : public ThreadedDriver 00062 { 00063 public: 00064 // Constructor 00065 ImageBase(ConfigFile *cf, int section, bool overwrite_cmds, size_t queue_maxlen, int interf); 00066 ImageBase(ConfigFile *cf, int section, bool overwrite_cmds = true, size_t queue_maxlen = PLAYER_MSGQUEUE_DEFAULT_MAXLEN); 00067 virtual ~ImageBase() 00068 { 00069 if (stored_data.image) delete [](stored_data.image); 00070 PLAYER_WARN("image deleted from the memory"); 00071 } 00072 00073 // Process incoming messages from clients 00074 int ProcessMessage (QueuePointer &resp_queue, player_msghdr * hdr, void * data); 00075 00076 private: 00077 ImageBase(); // no default constructor 00078 ImageBase(const ImageBase &); // no copy constructor 00079 00080 protected: 00081 virtual int ProcessFrame() = 0; 00082 // Main functions for device thread. 00083 virtual void Main(); 00084 virtual int MainSetup(); 00085 virtual void MainQuit(); 00086 00087 // Input camera stuff 00088 Device *camera_driver; 00089 player_devaddr_t camera_addr; 00090 player_camera_data_t stored_data; 00091 bool HaveData; 00092 };