bool RobotBrainServiceService::start(int argc, char* argv[])
{
char adapterStr[255];
//Create the adapter
int port = RobotBrainObjects::RobotBrainPort;
bool connected = false;
while(!connected)
{
try
{
LINFO("Trying Port:%d", port);
sprintf(adapterStr, "default -p %i", port);
itsAdapter = communicator()->createObjectAdapterWithEndpoints("SeaBee3SimulatorAdapter",
adapterStr);
connected = true;
}
catch(Ice::SocketException)
{
port++;
}
}
//Create the manager and its objects
itsMgr = new ModelManager("SeaBee3SimulatorServiceManager");
nub::ref<OutputFrameSeries> ofs(new OutputFrameSeries(*itsMgr));
itsMgr->addSubComponent(ofs);
LINFO("Starting SeaBee3 Simulator");
nub::ref<SeaBee3Simulator> subSim(new SeaBee3Simulator(*itsMgr, "SeaBee3Simulator", "SeaBee3Simulator"));
itsMgr->addSubComponent(subSim);
subSim->init(communicator(), itsAdapter);
itsMgr->parseCommandLine((const int)argc, (const char**)argv, "", 0, 0);
itsAdapter->activate();
itsMgr->start();
while(1){
Layout<PixRGB<byte> > outDisp;
subSim->simLoop();
Image<PixRGB<byte> > forwardCam = flipVertic(subSim->getFrame(1));
Image<PixRGB<byte> > downwardCam = flipVertic(subSim->getFrame(2));
outDisp = vcat(outDisp, hcat(forwardCam, downwardCam));
ofs->writeRgbLayout(outDisp, "subSim", FrameInfo("subSim", SRC_POS));
handle_keys(ofs, subSim);
}
return true;
}
bool RobotBrainServiceService::start(int argc, char* argv[])
{
char adapterStr[255];
//Create the topics
SimEventsUtils::createTopic(communicator(), "SalientPointMessageTopic");
//Create the adapter
sprintf(adapterStr, "default -p %i", RobotBrainObjects::RobotBrainPort);
itsAdapter = communicator()->createObjectAdapterWithEndpoints("SaliencyModule",
adapterStr);
//Create the manager and its objects
itsMgr = new ModelManager("SaliencyModuleService");
LINFO("Starting SaliencyModule");
nub::ref<SaliencyModuleI> ret(new SaliencyModuleI(*itsMgr));
itsMgr->addSubComponent(ret);
ret->init(communicator(), itsAdapter);
itsMgr->parseCommandLine((const int)argc, (const char**)argv, "", 0, 0);
itsAdapter->activate();
itsMgr->start();
return true;
}
bool SeaBee3GUIService::start(int argc, char* argv[])
{
QApplication app(argc, argv);
itsMgr = new ModelManager("SeaBeeIIIGUIManager");
char adapterStr[255];
LINFO("Creating Adapter");
sprintf(adapterStr, "default -p %i", 12345);
itsAdapter = communicator()->createObjectAdapterWithEndpoints("RobotBrainPort",
adapterStr);
nub::ref<MainWindow> mainWindow(new MainWindow(*itsMgr));
itsMgr->addSubComponent(mainWindow);
LINFO("Starting Up GUI Comm");
mainWindow->initIce(communicator(), itsAdapter);
itsMgr->parseCommandLine(argc, argv, "", 0, 0);
itsAdapter->activate();
itsMgr->start();
mainWindow->setGeometry(100,100,900,800);
mainWindow->show();
return app.exec();
}
bool RobotBrainServiceService::start(int argc, char* argv[])
#endif
{
MYLOGVERB = LOG_INFO;
char adapterStr[255];
//Create the adapter
int port = RobotBrainObjects::RobotBrainPort;
bool connected = false;
// try to connect to ports until successful
LDEBUG("Opening Connection");
while(!connected)
{
try
{
LINFO("Trying Port:%d", port);
sprintf(adapterStr, "default -p %i", port);
itsAdapter = communicator()->createObjectAdapterWithEndpoints
("GistSal_Navigation", adapterStr);
connected = true;
}
catch(Ice::SocketException)
{
port++;
}
}
//Create the manager and its objects
itsMgr = new ModelManager("BeoLocalizationService");
LINFO("Starting BeoLocalization System");
nub::ref<BeoLocalizer>
bl(new BeoLocalizer
(*itsMgr, "BeoLocalizer", "BeoLocalizer"));
LINFO("BeoLocalizer created");
itsMgr->addSubComponent(bl);
LINFO("BeoLocalizer Added As a subcomponent");
bl->init(communicator(), itsAdapter);
LINFO("BeoLocalizer initiated");
// check command line inputs/options
if (itsMgr->parseCommandLine((const int)argc, (const char**)argv,
"", 0, 0)
== false) return(1);
// FIXXX: in the future the map should be specificable
// from the command line to allow for stand alone application
// check app-Beobot2_GistSalLocalizer.C
// activate manager and adapter
itsAdapter->activate();
itsMgr->start();
return true;
}
bool RobotBrainServiceService::start(int argc, char* argv[])
#endif
{
MYLOGVERB = LOG_INFO;
char adapterStr[255];
//Create the topics
// SimEventsUtils::createTopic(communicator(), "BeoGPSMessageTopic");
//Create the adapter
int port = RobotBrainObjects::RobotBrainPort;
bool connected = false;
// try to connect to ports until successful
LDEBUG("Opening Connection");
while(!connected)
{
try
{
LINFO("Trying Port:%d", port);
sprintf(adapterStr, "default -p %i", port);
itsAdapter = communicator()->createObjectAdapterWithEndpoints
("BeoGPS", adapterStr);
connected = true;
}
catch(Ice::SocketException)
{
port++;
}
}
//Create the manager and its objects
itsMgr = new ModelManager("BeoGPSService");
LINFO("Starting BeoGPS System");
nub::ref<BeoGPS> gps(new BeoGPS(*itsMgr, "BeoGPS", "BeoGPS"));
LINFO("BeoGPS created");
itsMgr->addSubComponent(gps);
LINFO("BeoGPS Added As a subcomponent");
gps->init(communicator(), itsAdapter);
LINFO("BeoGPS initiated");
// check command line inputs/options
if (itsMgr->parseCommandLine
(argc, argv, "<serdev>", 0, 0) == false)
return(1);
// let's configure our serial device:
// gps->configureSerial(itsMgr->getExtraArg(0));
// LINFO("Using: %s", itsMgr->getExtraArg(0).c_str());
// activate manager and adapter
itsAdapter->activate();
itsMgr->start();
return true;
}
bool RobotBrainServiceService::start(int argc, char* argv[])
{
char adapterStr[255];
LINFO("Creating Topic!");
//Create the topics
// SimEventsUtils::createTopic(communicator(), "BinFinderMessageTopic");
//Create the adapter
int port = RobotBrainObjects::RobotBrainPort;
bool connected = false;
LDEBUG("Opening Connection");
while(!connected)
{
try
{
LINFO("Trying Port:%d", port);
sprintf(adapterStr, "default -p %i", port);
itsAdapter = communicator()->createObjectAdapterWithEndpoints
("BinFinder",
adapterStr);
connected = true;
}
catch(Ice::SocketException)
{
port++;
}
}
//Create the manager and its objects
itsMgr = new ModelManager("BinFinderService");
LINFO("Starting BinFinder");
nub::ref<BinFinder> ret
(new BinFinder(*itsMgr, "BinFinder1", "BinFinder2"));
LINFO("BinFinder Created");
itsMgr->addSubComponent(ret);
LINFO("BinFinder Added As Sub Component");
ret->init(communicator(), itsAdapter);
LINFO("BinFinder Inited");
itsMgr->parseCommandLine((const int)argc, (const char**)argv, "", 0, 0);
itsAdapter->activate();
itsMgr->start();
return true;
}
// ######################################################################
bool RobotBrainServiceService::start(int argc, char* argv[])
{
MYLOGVERB = LOG_INFO;
char adapterStr[255];
//Create the adapter
int port = RobotBrainObjects::RobotBrainPort;
bool connected = false;
// try to connect to ports until successful
LDEBUG("Opening Connection");
while(!connected)
{
try
{
LINFO("Trying Port:%d", port);
sprintf(adapterStr, "default -p %i", port);
itsAdapter = communicator()->createObjectAdapterWithEndpoints
("RG_Lane", adapterStr);
connected = true;
}
catch(Ice::SocketException)
{
port++;
}
}
//Create the manager and its objects
itsMgr = new ModelManager("RG_LaneService");
LINFO("Starting RG_Lane System");
nub::ref<RG_Lane>
nav(new RG_Lane(*itsMgr, "RG_Lane", "RG_Lane"));
LINFO("RG_Lane created");
itsMgr->addSubComponent(nav);
LINFO("RG_Lane Added As a subcomponent");
nav->init(communicator(), itsAdapter);
LINFO("RG_Lane initiated");
// check command line inputs/options
itsMgr->parseCommandLine(argc, argv, "", 0, 0);
// activate manager and adapter
itsAdapter->activate();
itsMgr->start();
return true;
}
bool RobotBrainServiceService::start(int argc, char* argv[])
{
char adapterStr[255];
LINFO("Starting XBox Controller...");
//Create the topics
// SimEventsUtils::createTopic(communicator(), "XBox360RemoteControlMessageTopic");
//Create the adapter
int port = RobotBrainObjects::RobotBrainPort;
bool connected = false;
while(!connected)
{
try
{
LINFO("Trying Port:%d", port);
sprintf(adapterStr, "default -p %i", port);
itsAdapter = communicator()->createObjectAdapterWithEndpoints("XBox360RemoteControl",
adapterStr);
connected = true;
}
catch(Ice::SocketException)
{
port++;
}
}
//Create the manager and its objects
itsMgr = new ModelManager("XBox360RemoteControlService");
LINFO("Starting XBox360RemoteControl");
nub::ref<XBox360RemoteControlI> ret(new XBox360RemoteControlI(0, *itsMgr, "XBox360RemoteControl1", "XBox360RemoteControl2"));
LINFO("XBox360RemoteControl Created");
itsMgr->addSubComponent(ret);
LINFO("XBox360RemoteControl Added As Sub Component");
ret->init(communicator(), itsAdapter);
LINFO("XBox360RemoteControl Inited");
itsMgr->parseCommandLine((const int)argc, (const char**)argv, "", 0, 0);
itsAdapter->activate();
itsMgr->start();
return true;
}
int main(int argc, const char **argv)
{
// Instantiate a ModelManager:
ModelManager *manager = new ModelManager("Test wiimote");
nub::soft_ref<OutputFrameSeries> ofs(new OutputFrameSeries(*manager));
manager->addSubComponent(ofs);
//Create the GUI
nub::soft_ref<GeneralGUI> pwiiGUI(new GeneralGUI(*manager, "PWiiGUI", "PWiiGUI", Dims(700,512)));
manager->addSubComponent(pwiiGUI);
//Create the PWiiBot Controller
nub::soft_ref<PWiiController> controller(new PWiiController(*manager));
manager->addSubComponent(controller);
// Parse command-line:
if (manager->parseCommandLine(argc, argv, "", 0, 0) == false) return(1);
manager->exportOptions(MC_RECURSE);
manager->start();
sleep(1);
setupGUI(pwiiGUI, ofs, controller);
while(1) {
}
// sleep(1);
#ifdef HAVE_LIBWIIMOTE
/* wiimote_t wiimote = WIIMOTE_INIT;
//wiimote_report_t report = WIIMOTE_REPORT_INIT;
LINFO("Press buttons 1 and 2 on the wiimote now to connect.");
int nmotes = wiimote_discover(&wiimote, 1);
if (nmotes == 0)
LFATAL("no wiimotes were found");
LINFO("found: %s\n", wiimote.link.r_addr);
if (wiimote_connect(&wiimote, wiimote.link.r_addr) < 0) {
LFATAL("Unable to connect to wiimote");
Raster::waitForKey();
}
*/
/* Activate the first led on the wiimote. It will take effect on the
next call to wiimote_update. */
/*
wiimote.led.one = 1;
// let's get all our ModelComponent instances started:
LINFO("Open ");
LINFO("Status %i", wiimote_is_open(&wiimote));
int speed = 100;
int motor1_dir = 0;
int motor1_vel = 0;
int motor2_dir = 0;
int motor2_vel = 0;
Point2D<int> loc(128,128);
*/
// while(wiimote_is_open(&wiimote))
// {
/* The wiimote_update function is used to synchronize the wiimote
object with the real wiimote. It should be called as often as
possible in order to minimize latency. */
/* if (wiimote_update(&wiimote) < 0) {
wiimote_disconnect(&wiimote);
break;
}*/
/* The wiimote object has member 'keys' which keep track of the
current key state. */
/*
if (wiimote.keys.home) { //press home to exit
wiimote_write_byte(&wiimote, 0x04a40001, motor1_dir);
wiimote_write_byte(&wiimote, 0x04a40002, 0);
wiimote_write_byte(&wiimote, 0x04a40003, motor2_dir);
wiimote_write_byte(&wiimote, 0x04a40004, 0);
LINFO("Shutting Down Motors and Gracefully Disconnecting...");
wiimote_disconnect(&wiimote);
LINFO("Disconnected, Goodbye!");
}
*/
/* Activate the accelerometer when the 'A' key is pressed. */
//if (wiimote.keys.a) {
// wiimote.mode.acc = 1;
//}
//else {
// wiimote.mode.acc = 0;
//}
// Image<PixRGB<byte> > img(255,255,ZEROS);
// drawLine(img, Point2D<int>(128, 128), Point2D<int>(128+(int)(wiimote.force.x*400), 128), PixRGB<byte>(255,0,0),3);
// drawLine(img, Point2D<int>(128, 128), Point2D<int>(128, 128+(int)(wiimote.force.y*400)), PixRGB<byte>(0,255,0),3);
// drawLine(img, Point2D<int>(128, 128), Point2D<int>(128+(int)(wiimote.force.z*400), 128), PixRGB<byte>(0,0,255),3);
// ofs->writeRGB(img, "Output", FrameInfo("output", SRC_POS));
/*
int key = getKey(ofs);
if (key != -1)
{
switch(key)
{
case 10: //l
speed += 10;
break;
case 24:
speed -= 10;
break;
case KEY_UP:
motor1_dir = 2;
motor2_dir = 2;
break;
case KEY_DOWN:
motor1_dir = 1;
motor2_dir = 1;
break;
case KEY_LEFT:
motor1_dir = 2;
motor2_dir = 1;
break;
case KEY_RIGHT:
motor1_dir = 1;
motor2_dir = 2;
break;
case 65: //space
motor1_dir = 4; motor1_vel = 0;
motor2_dir = 4; motor2_vel = 0;
break;
}
LINFO("Key: %d -- Sending Motor Command...", key);
//send the data to the wiimote
wiimote_write_byte(&wiimote, 0x04a40001, motor1_dir);
wiimote_write_byte(&wiimote, 0x04a40002, speed);
wiimote_write_byte(&wiimote, 0x04a40003, motor2_dir);
wiimote_write_byte(&wiimote, 0x04a40004, speed);
}*/
/*
LINFO("KEYS %04x one=%d two=%d a=%d b=%d <=%d >=%d ^=%d v=%d h=%d +=%d -=%d\n",
wiimote.keys.bits,
wiimote.keys.one,
wiimote.keys.two,
wiimote.keys.a,
wiimote.keys.b,
wiimote.keys.left,
wiimote.keys.right,
wiimote.keys.up,
wiimote.keys.down,
wiimote.keys.home,
wiimote.keys.plus,
wiimote.keys.minus);
LINFO("TILT x=%.3f y=%.3f z=%.3f\n",
wiimote.tilt.x,
wiimote.tilt.y,
wiimote.tilt.z);
LINFO("FORCE x=%.3f y=%.3f z=%.3f (sum=%.3f)\n",
wiimote.force.x,
wiimote.force.y,
wiimote.force.z,
sqrt(wiimote.force.x*wiimote.force.x+wiimote.force.y*wiimote.force.y+wiimote.force.z*wiimote.force.z));*/
// }
// stop all our ModelComponents
manager->stop();
#else
LFATAL("Need the libwiimote");
#endif
// all done!
return 0;
}
int main(const int argc, const char **argv)
{
MYLOGVERB = LOG_INFO;
ModelManager *mgr = new ModelManager("Test ObjRec");
nub::ref<OutputFrameSeries> ofs(new OutputFrameSeries(*mgr));
mgr->addSubComponent(ofs);
nub::ref<InputFrameSeries> ifs(new InputFrameSeries(*mgr));
mgr->addSubComponent(ifs);
nub::ref<EnvSegmenterCannyContour> seg(new EnvSegmenterCannyContour(*mgr));
mgr->addSubComponent(seg);
mgr->exportOptions(MC_RECURSE);
if (mgr->parseCommandLine(
(const int)argc, (const char**)argv, "", 0, 0) == false)
return 1;
mgr->start();
seg->setModelParamVal("CannyMinCos", 1.0);
seg->setModelParamVal("CannyMaxArea", 6000);
seg->setModelParamVal("CannyMaxArea", 12000);
itsObjectDB.loadFrom("cards.vdb");
while(1)
{
Image< PixRGB<byte> > inputImg;
const FrameState is = ifs->updateNext();
if (is == FRAME_COMPLETE)
break;
//grab the images
GenericFrame input = ifs->readFrame();
if (!input.initialized())
break;
inputImg = input.asRgb();
Image<PixRGB<byte> > out;
const Rectangle cardbox = seg->getFoa(inputImg, Point2D<int>(), NULL, &out);
ofs->writeRGB(out, "input", FrameInfo("input", SRC_POS));
if (cardbox.isValid())
{
Image<PixRGB<byte> > card =
crop(inputImg, cardbox.getOverlap(inputImg.getBounds()));
std::string cardName = recCard(card);
if (cardName.length() == 0)
{
LINFO("Enter name for card:");
std::getline(std::cin, cardName, '\n');
if (cardName.length() > 0)
trainCard(card, cardName);
}
writeText(card, Point2D<int>(0,0), cardName.c_str(),
PixRGB<byte>(255), PixRGB<byte>(127));
ofs->writeRGB(card, "card", FrameInfo("card", SRC_POS));
}
ofs->updateNext();
}
mgr->stop();
return 0;
}
void setupGrabbers(ModelManager& manager)
{
size_t cameraID = 0;
while(true)
{
std::string dev = sformat("/dev/video%" ZU , grabbers.size());
LINFO("Trying to open %s", dev.c_str());
int fd = open(dev.c_str(), O_RDONLY);
if (fd == -1) { LINFO("%s not found -- Skipping.", dev.c_str()); break; } else close(fd);
// instantiate and configure a grabber:
nub::ref<V4L2grabber> grabber(new V4L2grabber(manager, dev, dev));
// do not export any command-line option to avoid clashes among grabber instances:
grabber->forgetExports();
// let's set everything by hand here to ensure consistency:
grabber->setModelParamVal("FrameGrabberDevice", dev);
grabber->setModelParamVal("FrameGrabberNbuf", 2);
grabber->setModelParamVal("FrameGrabberStreaming", true);
grabber->setModelParamVal("FrameGrabberByteSwap", false);
grabber->setModelParamVal("FrameGrabberDims", Dims(1280,720));
grabber->setModelParamVal("FrameGrabberMode", VIDFMT_YUYV);
grabber->setModelParamVal("FrameGrabberChannel", 0);
// to make sure we will force the hardware to set its values, first set some trash values, then set the real values:
// turn all auto controls to on:
grabber->setModelParamVal("FrameGrabberWhiteBalTempAuto", true);
grabber->setModelParamVal("FrameGrabberPowerLineFreq", 2);
grabber->setModelParamVal("FrameGrabberBacklightComp", 1);
grabber->setModelParamVal("FrameGrabberFocusAuto", true);
// now turn all auto controls to off:
grabber->setModelParamVal("FrameGrabberWhiteBalTempAuto", false);
grabber->setModelParamVal("FrameGrabberPowerLineFreq", 0);
grabber->setModelParamVal("FrameGrabberBacklightComp", 0);
grabber->setModelParamVal("FrameGrabberExposureAuto", 3); // that's still auto
grabber->setModelParamVal("FrameGrabberFocusAuto", false);
grabber->setModelParamVal("FrameGrabberExposureAuto", 1); // now we are full manual for exposure
// set all manual settings 1-off from what we want:
grabber->setModelParamVal("FrameGrabberBrightness", 134);
grabber->setModelParamVal("FrameGrabberContrast", 6);
grabber->setModelParamVal("FrameGrabberSaturation", 84);
grabber->setModelParamVal("FrameGrabberWhiteBalTemp", 3101);
grabber->setModelParamVal("FrameGrabberExposureAbs", 39);
grabber->setModelParamVal("FrameGrabberSharpness", 26);
grabber->setModelParamVal("FrameGrabberFocus", focusval[cameraID] + 1);
grabber->setModelParamVal("FrameGrabberZoom", 1);
// and now the real values:
grabber->setModelParamVal("FrameGrabberPowerLineFreq", 0); // should be set already but just in case...
grabber->setModelParamVal("FrameGrabberBacklightComp", 0);
grabber->setModelParamVal("FrameGrabberExposureAuto", 1);
grabber->setModelParamVal("FrameGrabberWhiteBalTempAuto", false);
grabber->setModelParamVal("FrameGrabberBrightness", 133);
grabber->setModelParamVal("FrameGrabberContrast", 5);
grabber->setModelParamVal("FrameGrabberSaturation", 83);
grabber->setModelParamVal("FrameGrabberWhiteBalTemp", 3100);
grabber->setModelParamVal("FrameGrabberSharpness", 25);
grabber->setModelParamVal("FrameGrabberExposureAbs", 156);
grabber->setModelParamVal("FrameGrabberFocusAuto", false);
grabber->setModelParamVal("FrameGrabberFocus", focusval[cameraID]);
grabber->setModelParamVal("FrameGrabberZoom", 0);
// keep track of it:
manager.addSubComponent(grabber);
grabbers.push_back(grabber);
LINFO("Added V4L2grabber for %s", dev.c_str());
++cameraID;
}
// Now look for the Imagize cam:
// instantiate and configure a grabber:
nub::ref<XCgrabber> grabber(new XCgrabber(manager, "Imagize", "Imagize"));
// do not export any command-line option to avoid clashes among grabber instances:
grabber->forgetExports();
// let's set everything by hand here to ensure consistency:
grabber->setModelParamString("XCGrabberFormatFile", "/home/ilab24/xcap/data/imagize-works.xsetup");
grabber->setModelParamVal("FrameGrabberMode", VIDFMT_RGB24);
grabber->setModelParamVal("FrameGrabberNbuf", 2);
grabber->setModelParamVal("FrameGrabberDims", Dims(1280,1024));
// keep track of it:
manager.addSubComponent(grabber);
grabbers.push_back(grabber);
LINFO("Added XCgrabber for Imagize camera");
}