PluginImageCapturer.cpp

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#include <plugins/imagecapturer/PluginImageCapturer.h>


namespace beliefstate {
  namespace plugins {
    PLUGIN_CLASS::PLUGIN_CLASS() {
      m_icapImageCapturer = NULL;
      
      this->addDependency("ros");
      this->setPluginVersion("0.2");
    }
    
    PLUGIN_CLASS::~PLUGIN_CLASS() {
    }
    
    Result PLUGIN_CLASS::init(int argc, char** argv) {
      Result resInit = defaultResult();
      
      m_icapImageCapturer = new CImageCapturer();
      m_icapImageCapturer->publishImages("/logged_images");
      this->setSubscribedToEvent("add-image-from-topic", true);
      
      return resInit;
    }
    
    Result PLUGIN_CLASS::deinit() {
      if(m_icapImageCapturer) {
        delete m_icapImageCapturer;
      }
      
      return defaultResult();
    }
    
    Result PLUGIN_CLASS::cycle() {
      Result resCycle = defaultResult();
      this->deployCycleData(resCycle);
      
      return resCycle;
    }
    
    void PLUGIN_CLASS::consumeEvent(Event evEvent) {
      if(evEvent.strEventName == "add-image-from-topic") {
        if(evEvent.cdDesignator) {
          std::string strTopic = evEvent.cdDesignator->stringValue("origin");
          std::string strFilename = evEvent.cdDesignator->stringValue("filename");
          
          if(strTopic != "") {
            if(strFilename == "") {
              strFilename = strTopic;
              replace(strFilename.begin(), strFilename.end(), '/', '_');
              strFilename += ".jpg";
            }
            
            ConfigSettings cfgsetCurrent = configSettings();
            
            if(m_icapImageCapturer->captureFromTopic(strTopic, strFilename, cfgsetCurrent.strExperimentDirectory)) {
              std::string strFilepath = cfgsetCurrent.strExperimentDirectory + strFilename;
              this->info("Wrote image from topic '" + strTopic + "' to file '" + strFilepath + "'");
              
              Event evImage = eventInResponseTo(evEvent, "add-image-from-file");
              evImage.cdDesignator = new CDesignator();
              evImage.cdDesignator->setType(ACTION);
              evImage.cdDesignator->setValue("origin", strTopic);
              // NOTE(winkler): We just use the filename here, not the
              // global filepath. This is due to the fact that all
              // images are stored relative to the generated .owl file
              // (i.e. in the same directory). When moving all files
              // somewhere else, global paths would make finding of
              // files very difficult.
              evImage.nOpenRequestID = evEvent.nOpenRequestID;
              evImage.cdDesignator->setValue("filename", strFilename);
              
              m_mtxEventsStore.lock();
              m_lstEvents.push_back(evImage);
              m_mtxEventsStore.unlock();
            } else {
              this->warn("Failed to capture image from topic '" + strTopic + "' and write it to '" + cfgsetCurrent.strExperimentDirectory + strFilename + "'.");
              
              Event evImage = eventInResponseTo(evEvent);
              
              m_mtxEventsStore.lock();
              m_lstEvents.push_back(evImage);
              m_mtxEventsStore.unlock();
            }
          } else {
            this->warn("No topic was given when requesting to capture an image from a topic.");
          }
        }
      }
    }
  }
  
  extern "C" plugins::PLUGIN_CLASS* createInstance() {
    return new plugins::PLUGIN_CLASS();
  }
  
  extern "C" void destroyInstance(plugins::PLUGIN_CLASS* icDestroy) {
    delete icDestroy;
  }
}