VideoCapture.h

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

#include <rtm/idl/BasicDataType.hh>
#include "hrpsys/idl/Img.hh"
#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 "camera.h"

// Service implementation headers
// <rtc-template block="service_impl_h">
#include "CameraCaptureService_impl.h"

// </rtc-template>

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

// </rtc-template>

using namespace RTC;

class VideoCapture
  : public RTC::DataFlowComponentBase
{
 public:
  VideoCapture(RTC::Manager* manager);
  virtual ~VideoCapture();

  // 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);

    void capture();
  void take_one_frame();
  void start_continuous();
  void stop_continuous();

 protected:
  // Configuration variable declaration
  // <rtc-template block="config_declare">
  
  // </rtc-template>

  // DataInPort declaration
  // <rtc-template block="inport_declare">
  
  // </rtc-template>

  // DataOutPort declaration
  // <rtc-template block="outport_declare">
  Img::TimedMultiCameraImage m_MultiCameraImages;
  OutPort<Img::TimedMultiCameraImage> m_MultiCameraImagesOut;
  Img::TimedCameraImage m_CameraImage;
  OutPort<Img::TimedCameraImage> m_CameraImageOut;
  
  // </rtc-template>

  // CORBA Port declaration
  // <rtc-template block="corbaport_declare">
  
  // </rtc-template>

  // Service declaration
  // <rtc-template block="service_declare">
  RTC::CorbaPort m_CameraCaptureServicePort;
  
  // </rtc-template>

  // Consumer declaration
  // <rtc-template block="consumer_declare">
  CameraCaptureService_impl m_CameraCaptureService;
  
  // </rtc-template>

 private:
  typedef enum {SLEEP, ONESHOT, CONTINUOUS} mode;
  mode m_mode;
  std::string m_initialMode;
  std::vector<int> m_devIds;
  std::vector < v4l_capture * > m_cameras;
  int m_width, m_height, m_frameRate;
  double m_tOld;
};


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

#endif // VIDEO_CAPTURE_H