00001 // -*- C++ -*- 00010 #ifndef USBCAMERAACQUIRE_H 00011 #define USBCAMERAACQUIRE_H 00012 00013 #include <rtm/Manager.h> 00014 #include <rtm/DataFlowComponentBase.h> 00015 #include <rtm/CorbaPort.h> 00016 #include <rtm/DataInPort.h> 00017 #include <rtm/DataOutPort.h> 00018 #include <rtm/idl/BasicDataTypeSkel.h> 00019 00020 #include<cv.h> 00021 #include<cxcore.h> 00022 #include<highgui.h> 00023 00024 // Service implementation headers 00025 // <rtc-template block="service_impl_h"> 00026 00027 // </rtc-template> 00028 00029 // Service Consumer stub headers 00030 // <rtc-template block="consumer_stub_h"> 00031 00032 // </rtc-template> 00033 00034 using namespace RTC; 00035 00036 class USBCameraAcquire 00037 : public RTC::DataFlowComponentBase 00038 { 00039 public: 00040 USBCameraAcquire(RTC::Manager* manager); 00041 ~USBCameraAcquire(); 00042 00043 // The initialize action (on CREATED->ALIVE transition) 00044 // formaer rtc_init_entry() 00045 // virtual RTC::ReturnCode_t onInitialize(); 00046 00047 // The finalize action (on ALIVE->END transition) 00048 // formaer rtc_exiting_entry() 00049 virtual RTC::ReturnCode_t onFinalize(); 00050 00051 // The startup action when ExecutionContext startup 00052 // former rtc_starting_entry() 00053 // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id); 00054 00055 // The shutdown action when ExecutionContext stop 00056 // former rtc_stopping_entry() 00057 // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id); 00058 00059 // The activated action (Active state entry action) 00060 // former rtc_active_entry() 00061 virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id); 00062 00063 // The deactivated action (Active state exit action) 00064 // former rtc_active_exit() 00065 virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id); 00066 00067 // The execution action that is invoked periodically 00068 // former rtc_active_do() 00069 virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id); 00070 00071 // The aborting action when main logic error occurred. 00072 // former rtc_aborting_entry() 00073 // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id); 00074 00075 // The error action in ERROR state 00076 // former rtc_error_do() 00077 // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id); 00078 00079 // The reset action that is invoked resetting 00080 // This is same but different the former rtc_init_entry() 00081 // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id); 00082 00083 // The state update action that is invoked after onExecute() action 00084 // no corresponding operation exists in OpenRTm-aist-0.2.0 00085 // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id); 00086 00087 // The action that is invoked when execution context's rate is changed 00088 // no corresponding operation exists in OpenRTm-aist-0.2.0 00089 // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id); 00090 00091 00092 protected: 00093 // DataInPort declaration 00094 // <rtc-template block="inport_declare"> 00095 00096 // </rtc-template> 00097 00098 00099 // DataOutPort declaration 00100 // <rtc-template block="outport_declare"> 00101 TimedOctetSeq m_out; 00102 OutPort<TimedOctetSeq> m_outOut; 00103 //TimedULongSeq mOutPortULongSeqData; 00104 //OutPort<TimedULongSeq> mOutPortPicture; 00105 00106 00107 // </rtc-template> 00108 00109 // CORBA Port declaration 00110 // <rtc-template block="corbaport_declare"> 00111 00112 // </rtc-template> 00113 00114 // Service declaration 00115 // <rtc-template block="service_declare"> 00116 00117 // </rtc-template> 00118 00119 // Consumer declaration 00120 // <rtc-template block="consumer_declare"> 00121 00122 // </rtc-template> 00123 00124 private: 00125 int dummy; 00126 00127 CvCapture* m_capture; //カメラ用メモリ 00128 }; 00129 00130 00131 extern "C" 00132 { 00133 DLL_EXPORT void USBCameraAcquireInit(RTC::Manager* manager); 00134 }; 00135 00136 #endif // USBCAMERAACQUIRE_H