[Robotflow-cvs] RobotFlow/MARIE/src MarieDataLocalisation.cpp,NONE,1.1 Makefile.am,1.11,1.12 MarieCommandCamera.cpp,1.4,1.5

[Carle C. <car...@us...>]

Update of /cvsroot/robotflow/RobotFlow/MARIE/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4910/MARIE/src

Modified Files:
	Makefile.am MarieCommandCamera.cpp 
Added Files:
	MarieDataLocalisation.cpp 
Log Message:
add localisation data type

Index: Makefile.am
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/Makefile.am,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** Makefile.am	4 Aug 2004 17:49:50 -0000	1.11
--- Makefile.am	30 Aug 2004 19:21:55 -0000	1.12
***************
*** 24,28 ****
    MarieCommandJoystick.cpp \
    MarieDataIR.cpp \
!   MarieDataBumper.cpp
  
  install-data-local:
--- 24,29 ----
    MarieCommandJoystick.cpp \
    MarieDataIR.cpp \
!   MarieDataBumper.cpp \
!   MarieDataLocalisation.cpp
  
  install-data-local:

Index: MarieCommandCamera.cpp
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/MarieCommandCamera.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** MarieCommandCamera.cpp	24 Aug 2004 17:34:26 -0000	1.4
--- MarieCommandCamera.cpp	30 Aug 2004 19:21:55 -0000	1.5
***************
*** 55,60 ****
     *
     * @input_name REL_ZOOM
!    * @input_type input zoom, nilObject if not used
!    * @input_description 
     * 
     * @input_name ABS_BRIGHTNESS
--- 55,60 ----
     *
     * @input_name REL_ZOOM
!    * @input_type int
!    * @input_description input zoom, nilObject if not used
     * 
     * @input_name ABS_BRIGHTNESS
***************
*** 75,80 ****
     *
     * @input_name ABS_ZOOM
!    * @input_type input zoom, nilObject if not used
!    * @input_description 
     *    
     * @output_name COMMAND_CAMERA
--- 75,80 ----
     *
     * @input_name ABS_ZOOM
!    * @input_type int
!    * @input_description input zoom, nilObject if not used
     *    
     * @output_name COMMAND_CAMERA
***************
*** 99,103 ****
     *
     * @output_name REL_ZOOM
!    * @output_type zoom
     * @output_description output zoom
     * 
--- 99,103 ----
     *
     * @output_name REL_ZOOM
!    * @output_type int
     * @output_description output zoom
     * 
***************
*** 119,123 ****
     *
     * @output_name ABS_ZOOM
!    * @output_type zoom
     * @output_description output zoom
     *    
--- 119,123 ----
     *
     * @output_name ABS_ZOOM
!    * @output_type int
     * @output_description output zoom
     *    

--- NEW FILE: MarieDataLocalisation.cpp ---
/*
*    MARIE - Mobile and Autonomous Robotics Integration Environment
*    Copyright (C) 2004 Carle Cote
*
*    This library is free software; you can redistribute it and/or
*    modify it under the terms of the GNU Lesser General Public
*    License as published by the Free Software Foundation; either
*    version 2.1 of the License, or (at your option) any later version.
*
*    This library is distributed in the hope that it will be useful,
*    but WITHOUT ANY WARRANTY; without even the implied warranty of
*    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
*    Lesser General Public License for more details.
*
*    You should have received a copy of the GNU Lesser General Public
*    License along with this library; if not, write to the Free Software
*    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*    You can contact MARIE development team at http://marie.sourceforge.net
*/
#include "MarieDataLocalisation.h"
#include <sstream>
#include <string>

#include "MarieXMLDataFactory.h"

namespace marie
{
  DECLARE_NODE(MarieDataLocalisation)
  /*Node
   *
   * @name MarieDataLocalisation
   * @category RobotFlow:MARIE:DATA
   * @description Read & Create MarieDataLocalisation data object
   *
   * @input_name DATA_LOCALISATION
   * @input_type Input MarieDataLocalisation
   * @input_description input DataLocalisation, nilObject if not used
   *
   * @input_name X
   * @input_type float
   * @input_description input X, nilObject if not used
   *
   * @input_name Y
   * @input_type float
   * @input_description input Y, nilObject if not used
   * 
   * @input_name Z
   * @input_type float 
   * @input_description input Z, nilObject if not used
   *
   * @input_name STRENGTH
   * @input_type float
   * @input_description input strength, nilObject if not used
   *
   * @input_name ID
   * @input_type string
   * @input_description input id, nilObject if not used
   *    
   * @output_name DATA_LOCALISATION
   * @output_type MarieDataLocalisation
   * @output_description Output DataLocalisation
   *
   * @output_name X
   * @output_type float
   * @output_description output X
   *
   * @output_name Y
   * @output_type float 
   * @output_description output Y
   * 
   * @output_name Z
   * @output_type float
   * @output_description output Z
   *
   * @output_name STRENGTH
   * @output_type float
   * @output_description output strength
   *
   * @output_name ID
   * @output_type string
   * @output_description output ID
   *    
  END*/
  
  
  using namespace std;

  DECLARE_TYPE2(DataLocalisation::ID,MarieDataLocalisation)
  
  MarieDataLocalisation::MarieDataLocalisation()
    : MarieObject("MarieDataLocalisation",ParameterSet()), m_isNode(false)
  {
  
  }
  
  MarieDataLocalisation::MarieDataLocalisation (const DataLocalisation &command)
    : MarieObject("MarieDataLocalisation",ParameterSet()), DataLocalisation(command),
    m_isNode(false) 
  {
  
  }
  
  MarieDataLocalisation::MarieDataLocalisation(string nodeName, ParameterSet params)
    : MarieObject(nodeName,params), m_isNode(true) 
  {
    //used as a BufferedNode, create inputs & outputs
                       
     //inputs
     m_dataInID = addInput("DATA_LOCALISATION");            
     m_xInID = addInput("X");
     m_yInID = addInput("Y");
     m_zInID = addInput("Z");
     m_strengthInID = addInput("STRENGTH");
     m_idInID = addInput("ID");
     
     //outputs
     m_dataOutID = addOutput("DATA_LOCALISATION");
     m_xOutID = addOutput("X");   
     m_yOutID = addOutput("Y");
     m_zOutID = addOutput("Z");
     m_strengthOutID = addOutput("STRENGTH");
     m_idOutID = addOutput("ID");
  }
  
  void MarieDataLocalisation::calculate(int output_id, int count, Buffer &out)
  {
      if (m_isNode)
      {
         MarieDataLocalisation *data = NULL;
         float x,y,z,strength = 0;
         string id = "";
         
         //get all inputs       
         ObjectRef dataInValue = getInput(m_dataInID,count);
         ObjectRef xInValue = getInput(m_xInID,count);
         ObjectRef yInValue = getInput(m_yInID,count);
         ObjectRef zInValue = getInput(m_zInID,count);
         ObjectRef strengthInValue = getInput(m_strengthInID,count);
         ObjectRef idInValue = getInput(m_idInID,count);       
      
         //create command object
         if (!dataInValue->isNil())
         {
            RCPtr<MarieDataLocalisation> inputData = dataInValue;
            //copy input command
            data = new MarieDataLocalisation(*inputData);
            
            data->getPosition(x,y,z);
            strength = data->getStrength();
            id = data->getID();
            
         }
         else
         {
           if (!xInValue->isNil() || !yInValue->isNil() ||
               !zInValue->isNil() || !strengthInValue->isNil() || !idInValue->isNil())
           {
             data = new MarieDataLocalisation();
                 
             //get x
             if (!xInValue->isNil() || !yInValue->isNil() || !zInValue->isNil())
             {
                RCPtr<Float> xPtr = xInValue;
                x = *xPtr;
                
                RCPtr<Float> yPtr = yInValue;
                y = *yPtr;
                
                RCPtr<Float> zPtr = zInValue;
                z = *zPtr;
                
                data->setPosition(x,y,z);
             
             }
             
             //get strength
             if (!strengthInValue->isNil())
             {
                RCPtr<Float> strengthPtr = strengthInValue;
                strength = *strengthPtr;
                data->setStrength(strength);
             }
             //get id
             if (!idInValue->isNil())
             {
                RCPtr<String> idPtr = idInValue;
                id = *idPtr;
                data->setID(id);
             }
           }
         }
         
         
         

	 if (data) 
	 {
	   //output values
	   (*outputs[m_dataOutID].buffer)[count] = ObjectRef(data);
     (*outputs[m_xOutID].buffer)[count] = ObjectRef(Float::alloc(x));
     (*outputs[m_yOutID].buffer)[count] = ObjectRef(Float::alloc(y));
     (*outputs[m_zOutID].buffer)[count] = ObjectRef(Float::alloc(z));
     (*outputs[m_strengthOutID].buffer)[count] = ObjectRef(Float::alloc(strength));
     (*outputs[m_idOutID].buffer)[count] = ObjectRef(new String(id));
	 }
	 else
	 {
	   //output values
	   (*outputs[m_xOutID].buffer)[count] = nilObject;
	   (*outputs[m_dataOutID].buffer)[count] = nilObject; 
	   (*outputs[m_yOutID].buffer)[count] = nilObject;    
	   (*outputs[m_zOutID].buffer)[count] = nilObject; 
	   (*outputs[m_strengthOutID].buffer)[count] = nilObject; 
	   (*outputs[m_idOutID].buffer)[count] = nilObject;   
	 }
      }
      else
      {
         out[count] = nilObject;
      }    
  }
  
  void MarieDataLocalisation::printOn(ostream &out) const 
  {    
     MarieXMLDataFactory factory;
     
     //writing XML data
     string value = factory.toString((DataLocalisation&) (*this));
     
     out.write(value.c_str(), value.size());
  
  }
  
  
  void MarieDataLocalisation::readFrom(istream &in) 
  {
    throw new GeneralException("readFrom not supported. Use the MarieLoad Node to read data from the stream.",__FILE__,__LINE__);
  }
  
  void MarieDataLocalisation::copyDataAbstract(DataAbstract *data)
  {
     
     if (data)
     {
        DataLocalisation *dataL = dynamic_cast<DataLocalisation*>(data);
        if (dataL)
        {
           //((DataLocalisation*)this)->operator=(*command);
           this->DataLocalisation::operator=(*dataL);
        }
        else
        {
           throw new GeneralException(string("Unable to cast into DataLocalisation Abstract : ") + data->getID(),__FILE__,__LINE__);
        }         
     }
           
  }
}