VideoCapture.h
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1 // -*- C++ -*-
10 #ifndef VIDEO_CAPTURE_H
11 #define VIDEO_CAPTURE_H
12 
13 #include <rtm/idl/BasicDataType.hh>
14 #include "hrpsys/idl/Img.hh"
15 #include <rtm/Manager.h>
16 #include <rtm/DataFlowComponentBase.h>
17 #include <rtm/CorbaPort.h>
18 #include <rtm/DataInPort.h>
19 #include <rtm/DataOutPort.h>
20 #include <rtm/idl/BasicDataTypeSkel.h>
21 #include "camera.h"
22 
23 // Service implementation headers
24 // <rtc-template block="service_impl_h">
26 
27 // </rtc-template>
28 
29 // Service Consumer stub headers
30 // <rtc-template block="consumer_stub_h">
31 
32 // </rtc-template>
33 
34 using namespace RTC;
35 
41 {
42  public:
51  virtual ~VideoCapture();
52 
53  // The initialize action (on CREATED->ALIVE transition)
54  // formaer rtc_init_entry()
55  virtual RTC::ReturnCode_t onInitialize();
56 
57  // The finalize action (on ALIVE->END transition)
58  // formaer rtc_exiting_entry()
59  // virtual RTC::ReturnCode_t onFinalize();
60 
61  // The startup action when ExecutionContext startup
62  // former rtc_starting_entry()
63  virtual RTC::ReturnCode_t onStartup(RTC::UniqueId ec_id);
64 
65  // The shutdown action when ExecutionContext stop
66  // former rtc_stopping_entry()
67  // virtual RTC::ReturnCode_t onShutdown(RTC::UniqueId ec_id);
68 
69  // The activated action (Active state entry action)
70  // former rtc_active_entry()
71  virtual RTC::ReturnCode_t onActivated(RTC::UniqueId ec_id);
72 
73  // The deactivated action (Active state exit action)
74  // former rtc_active_exit()
75  virtual RTC::ReturnCode_t onDeactivated(RTC::UniqueId ec_id);
76 
77  // The execution action that is invoked periodically
78  // former rtc_active_do()
79  virtual RTC::ReturnCode_t onExecute(RTC::UniqueId ec_id);
80 
81  // The aborting action when main logic error occurred.
82  // former rtc_aborting_entry()
83  // virtual RTC::ReturnCode_t onAborting(RTC::UniqueId ec_id);
84 
85  // The error action in ERROR state
86  // former rtc_error_do()
87  // virtual RTC::ReturnCode_t onError(RTC::UniqueId ec_id);
88 
89  // The reset action that is invoked resetting
90  // This is same but different the former rtc_init_entry()
91  // virtual RTC::ReturnCode_t onReset(RTC::UniqueId ec_id);
92 
93  // The state update action that is invoked after onExecute() action
94  // no corresponding operation exists in OpenRTm-aist-0.2.0
95  // virtual RTC::ReturnCode_t onStateUpdate(RTC::UniqueId ec_id);
96 
97  // The action that is invoked when execution context's rate is changed
98  // no corresponding operation exists in OpenRTm-aist-0.2.0
99  // virtual RTC::ReturnCode_t onRateChanged(RTC::UniqueId ec_id);
100 
101  bool capture();
102  void take_one_frame();
103  void start_continuous();
104  void stop_continuous();
105 
106  protected:
107  // Configuration variable declaration
108  // <rtc-template block="config_declare">
109 
110  // </rtc-template>
111 
112  // DataInPort declaration
113  // <rtc-template block="inport_declare">
114 
115  // </rtc-template>
116 
117  // DataOutPort declaration
118  // <rtc-template block="outport_declare">
119  Img::TimedMultiCameraImage m_MultiCameraImages;
121  Img::TimedCameraImage m_CameraImage;
123 
124  // </rtc-template>
125 
126  // CORBA Port declaration
127  // <rtc-template block="corbaport_declare">
128 
129  // </rtc-template>
130 
131  // Service declaration
132  // <rtc-template block="service_declare">
134 
135  // </rtc-template>
136 
137  // Consumer declaration
138  // <rtc-template block="consumer_declare">
140 
141  // </rtc-template>
142 
143  private:
144  typedef enum {SLEEP, ONESHOT, CONTINUOUS} mode;
145  mode m_mode;
146  std::string m_initialMode;
147  std::vector<int> m_devIds;
148  std::vector < v4l_capture * > m_cameras;
149  int m_width, m_height, m_frameRate;
150  double m_tOld;
152 };
153 
154 
155 extern "C"
156 {
158 };
159 
160 #endif // VIDEO_CAPTURE_H
ec_id
void VideoCaptureInit(RTC::Manager *manager)
OutPort< Img::TimedCameraImage > m_CameraImageOut
Definition: VideoCapture.h:122
manager
Img::TimedMultiCameraImage m_MultiCameraImages
Definition: VideoCapture.h:119
sample RT component which has one data input port and one data output port
Definition: VideoCapture.h:39
bool m_needToReactivate
Definition: VideoCapture.h:151
ExecutionContextHandle_t UniqueId
OutPort< Img::TimedMultiCameraImage > m_MultiCameraImagesOut
Definition: VideoCapture.h:120
void capture(int w, int h, unsigned char *o_buffer)
Img::TimedCameraImage m_CameraImage
Definition: VideoCapture.h:121
std::vector< int > m_devIds
Definition: VideoCapture.h:147
std::vector< v4l_capture *> m_cameras
Definition: VideoCapture.h:148
RTC::CorbaPort m_CameraCaptureServicePort
Definition: VideoCapture.h:133
CameraCaptureService_impl m_CameraCaptureService
Definition: VideoCapture.h:139
std::string m_initialMode
Definition: VideoCapture.h:146


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:21