screen_information_alg.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 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 Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _screen_information_alg_h_
#define _screen_information_alg_h_

#include <iri_screen_information/ScreenInformationConfig.h>
#include "mutex.h"

//OpenCV
#include<opencv/cv.h>
#include <opencv/cvwimage.h>
#include <opencv/highgui.h>

//include screen_information_alg main library
static const char WINDOW[] = "Image window";

class ScreenInformationAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods    
    int code;
    int lastCode;
    int ownX;
    int ownY;
    cv::Mat image;
    std::string answer;

    std::vector<cv::Mat>     images;
    std::vector<std::string> texts;
    std::vector<CvScalar>    colors;
    cv::Mat loadImage(std::string const path, int mode);
    void    createWindow(const std::string& window);
    void    showImage(const std::string& window, cv::Mat image);
    int     getImageIndex(int code);
    void    addText(int i, int code);
    void    addOwnLocation(int x, int y);
    void    addLocationWithCode(int code);
    void    drawCircle(int x, int y, int r, CvScalar color);

  public:
    typedef iri_screen_information::ScreenInformationConfig Config;

    Config config_;

    ScreenInformationAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all screen_information_alg interface methods to retrieve and set
    // the driver parameters
    std::string path;

    void initialize();
    void iteration();
    
    void setCode(int newCode);
    void setAnswer(std::string newAnswer);

    ~ScreenInformationAlgorithm(void);
};

#endif