void VisionModule::run_()
{
topThrImage.latch();
topYImage.latch();
topUImage.latch();
topVImage.latch();
botThrImage.latch();
botYImage.latch();
botUImage.latch();
botVImage.latch();
joint_angles.latch();
inertial_state.latch();
PROF_ENTER(P_VISION);
vision->notifyImage(topThrImage.message(), topYImage.message(),
topUImage.message(), topVImage.message(),
botThrImage.message(), botYImage.message(),
botUImage.message(), botVImage.message(),
joint_angles.message(), inertial_state.message());
PROF_EXIT(P_VISION);
updateVisionBall();
updateVisionRobot();
updateVisionField();
updateVisionObstacle();
#ifdef OFFLINE
portals::Message<messages::ThresholdImage> top, bot;
top = new messages::ThresholdImage(vision->thresh->betterDebugImage, 320, 240, 320);
bot = new messages::ThresholdImage(vision->thresh->thresholdedBottom, 320, 240, 320);
topOutPic.setMessage(top);
botOutPic.setMessage(bot);
#endif
/* In order to keep logs synced up, joint angs and inert states are passed
* thru the vision system. Joint angles are taken at around 100 hz, but
* images are taken at 30 hz, but by passing joint angles thru vision we
* get joint angles at 30 hz. */
#ifdef LOG_VISION
joint_angles_out.setMessage(portals::Message<messages::JointAngles>(
&joint_angles.message()));
inertial_state_out.setMessage(portals::Message<messages::InertialState>(
&inertial_state.message()));
#endif
}
void BH2011ObstacleSymbols::update()
{
updateVisionObstacle();
}
