tibi_dabo_questions_alg.h

Go to the documentation of this file.

// 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 _tibi_dabo_questions_alg_h_
#define _tibi_dabo_questions_alg_h_

#include <tibi_dabo_questions/TibiDaboQuestionsConfig.h>
#include "mutex.h"

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

static const char WINDOW[] = "Image window";

//include tibi_dabo_questions_alg main library

class TibiDaboQuestionsAlgorithm
{
  protected:
    CMutex alg_mutex_;
    int status_;
    int lastStatus_;
    std::string answer_;

    std::vector<cv::Mat>     images;
    std::vector<std::string> texts;
    std::vector<CvScalar>    colors;
    cv::Mat image;
    
    int    fontFace;
    double fontScale;
    float  fontShare;
    int    fontThickness;
    int    fontLineType;
    CvFont font;

    // private attributes and methods    
    cv::Mat loadImage(std::string path, int read_mode);
    void createWindow(const std::string& window);
    void showImage(const std::string& window, cv::Mat image);
    void drawCircle(int x, int y, int r, CvScalar color);
    void drawAskedLocation(int code);

  public:
    typedef tibi_dabo_questions::TibiDaboQuestionsConfig Config;

    Config config_;

    TibiDaboQuestionsAlgorithm(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 tibi_dabo_questions_alg interface methods to retrieve and set
    // the driver parameters
    std::string path_;
    void initialize();
    void iteration(int newStatus, std::string newAnswer);
    bool showingAnswer_;

    ~TibiDaboQuestionsAlgorithm(void);
};

#endif