RTC::ReturnCode_t ImageViewer::onActivated(RTC::UniqueId ec_id)
{
  PortServiceList* portlist;
  
  portlist = this->get_ports();
  connection_check = new bool [portlist->length()];
  for(unsigned int i=0; i<portlist->length(); ++i)
  {
	PortService_ptr port;
	port = (*portlist)[i];
	if(port->get_port_profile()->connector_profiles.length()!=0)
	  connection_check[i]=true;
	else
      connection_check[i]=false;
  }

  //サービスポート接続状態のチェック
  if(connection_check[1])
  {
      //連続画像取得モードに設定
	  if(m_capture_frame_num == 0)
	  {
		std::cout << "start continuous image streaming." << std::endl;
		RTC_INFO(("Send command of \"start continuous\" via CameraCaptureService."));
		m_CameraCaptureService->start_continuous();
	  }
	  //1shotキャプチャモードに設定
	  else if(m_capture_frame_num == 1)
	  {
		std::cout << "take one frame." << std::endl;
		RTC_INFO(("Send command of \"take one frame\" via CameraCaptureService."));
		m_CameraCaptureService->take_one_frame();
	  }
	  //指定枚数キャプチャモードに設定
	  else if(m_capture_frame_num > 1)
	  {
		std::cout << "take multi frames (" << m_capture_frame_num << " frames)." << std::endl;
		RTC_INFO(("Send command of \"take multi frames\" via CameraCaptureService."));
		m_CameraCaptureService->take_multi_frames(m_capture_frame_num);
	  }
	  else
	  {
		std::cerr << "Please set capture_frame_num to more than 0" << std::endl;
		RTC_ERROR(("Configuration Param <frames_num> should be over 0. [%d]",m_capture_frame_num));
		return RTC::RTC_ERROR;
	  }
  }


  std::cout << "Start image view" << std::endl;
  std::cout << "If you want to take a 1 shot image as image file, please push s on Captured Image Window!" << std::endl;

  return RTC::RTC_OK;
}
Exemplo n.º 2
0
void MyModuleInit(RTC::Manager* manager)
{
    RGB2GrayInit(manager);
    RTC::RtcBase* comp;

    // Create a component
    comp = manager->createComponent("RGB2Gray");


    // Example
    // The following procedure is examples how handle RT-Components.
    // These should not be in this function.

    // Get the component's object reference
    RTC::RTObject_var rtobj;
    rtobj = RTC::RTObject::_narrow(manager->getPOA()->servant_to_reference(comp));

    // Get the port list of the component
    PortServiceList* portlist;
    portlist = rtobj->get_ports();

    // getting port profiles
    std::cout << "Number of Ports: ";
    std::cout << portlist->length() << std::endl << std::endl;
    for (CORBA::ULong i(0), n(portlist->length()); i < n; ++i)
    {
        PortService_ptr port;
        port = (*portlist)[i];
        std::cout << "Port" << i << " (name): ";
        std::cout << port->get_port_profile()->name << std::endl;

        RTC::PortInterfaceProfileList iflist;
        iflist = port->get_port_profile()->interfaces;
        std::cout << "---interfaces---" << std::endl;
        for (CORBA::ULong i(0), n(iflist.length()); i < n; ++i)
        {
            std::cout << "I/F name: ";
            std::cout << iflist[i].instance_name << std::endl;
            std::cout << "I/F type: ";
            std::cout << iflist[i].type_name << std::endl;
            const char* pol;
            pol = iflist[i].polarity == 0 ? "PROVIDED" : "REQUIRED";
            std::cout << "Polarity: " << pol << std::endl;
        }
        std::cout << "---properties---" << std::endl;
        NVUtil::dump(port->get_port_profile()->properties);
        std::cout << "----------------" << std::endl << std::endl;
    }

    return;
}