USBCameraMonitor.h

Go to the documentation of this file.

// -*- C++ -*-
#ifndef USBCAMERAMONITOR_H
#define USBCAMERAMONITOR_H

#include <rtm/Manager.h>
#include <rtm/DataFlowComponentBase.h>
#include <rtm/CorbaPort.h>
#include <rtm/DataInPort.h>
#include <rtm/DataOutPort.h>
#include <rtm/idl/BasicDataTypeSkel.h>
#include <rtm/RingBuffer.h>
/* RTM-Win-110 modify 20070315 SEC)T.Shimoji */
#include <rtm/RTC.h>

#include<cv.h>
#include<cxcore.h>
#include<highgui.h>

// Service implementation headers
// <rtc-template block="service_impl_h">

// </rtc-template>

// Service Consumer stub headers
// <rtc-template block="consumer_stub_h">

// </rtc-template>

using namespace RTC;

class USBCameraMonitor
  : public RTC::DataFlowComponentBase
{
public:
  USBCameraMonitor(RTC::Manager* manager);
  ~USBCameraMonitor();
  
  // The initialize action (on CREATED->ALIVE transition)
  // formaer rtc_init_entry() 
  virtual RTC::ReturnCode_t onInitialize();
  
  // The finalize action (on ALIVE->END transition)
  // formaer rtc_exiting_entry()
  // virtual RTC::ReturnCode_t onFinalize();
  
  // The startup action when ExecutionContext startup
  // former rtc_starting_entry()
  // virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
  
  // The shutdown action when ExecutionContext stop
  // former rtc_stopping_entry()
  // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
  
  // The activated action (Active state entry action)
  // former rtc_active_entry()
  virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
  
  // The deactivated action (Active state exit action)
  // former rtc_active_exit()
  virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
  
  // The execution action that is invoked periodically
  // former rtc_active_do()
  virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
  
  // The aborting action when main logic error occurred.
  // former rtc_aborting_entry()
  // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
  
  // The error action in ERROR state
  // former rtc_error_do()
  // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
  
  // The reset action that is invoked resetting
  // This is same but different the former rtc_init_entry()
  // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
  
  // The state update action that is invoked after onExecute() action
  // no corresponding operation exists in OpenRTm-aist-0.2.0
  // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
  
  // The action that is invoked when execution context's rate is changed
  // no corresponding operation exists in OpenRTm-aist-0.2.0
  // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
  
  
protected:
  // DataInPort declaration
  // <rtc-template block="inport_declare">
  TimedOctetSeq m_in;
  InPort<TimedOctetSeq> m_inIn;
  // </rtc-template>
  
  
  // DataOutPort declaration
  // <rtc-template block="outport_declare">
  
  // </rtc-template>
  
  // CORBA Port declaration
  // <rtc-template block="corbaport_declare">
  
  // </rtc-template>
  
  // Service declaration
  // <rtc-template block="service_declare">
  
  // </rtc-template>
  
  // Consumer declaration
  // <rtc-template block="consumer_declare">
  
  // </rtc-template>
  
private:
  int dummy;
  IplImage* m_img;
  int m_img_height;
  int m_img_width;
};


extern "C"
{
  DLL_EXPORT void USBCameraMonitorInit(RTC::Manager* manager);
};

#endif // USBCAMERAMONITOR_H