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;
}
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;
}
