[Robotflow-cvs] RobotFlow/MARIE/src extractMarieCommandBehavior.cpp,NONE,1.1 extractMarieCommandCamera.cpp,NONE,1.1 newMarieCommandCamera.cpp,NONE,1.1 newMarieDataCamera.cpp,NONE,1.1 Makefile.am,1.18,1.19

[Dominic L. <ma...@us...>]

Update of /cvsroot/robotflow/RobotFlow/MARIE/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31325

Modified Files:
	Makefile.am 
Added Files:
	extractMarieCommandBehavior.cpp extractMarieCommandCamera.cpp 
	newMarieCommandCamera.cpp newMarieDataCamera.cpp 
Log Message:
added extract and new for MARIE objects

Index: Makefile.am
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/MARIE/src/Makefile.am,v
retrieving revision 1.18
retrieving revision 1.19
diff -C2 -d -r1.18 -r1.19
*** Makefile.am	26 Oct 2004 19:47:03 -0000	1.18
--- Makefile.am	28 Oct 2004 15:03:29 -0000	1.19
***************
*** 29,33 ****
  	MarieRequestSystem.cpp \
  	newMarieRequestSystem.cpp \
! 	newMarieCommandBehavior.cpp
  
  install-data-local:
--- 29,36 ----
  	MarieRequestSystem.cpp \
  	newMarieRequestSystem.cpp \
! 	extractMarieCommandBehavior.cpp \
! 	newMarieCommandBehavior.cpp \
! 	extractMarieCommandCamera.cpp \
! 	newMarieCommandCamera.cpp
  
  install-data-local:

--- NEW FILE: extractMarieCommandBehavior.cpp ---
/*
*    MARIE - Mobile and Autonomous Robotics Integration Environment
*    Copyright (C) 2004 Dominic Letourneau / 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 <sstream>
#include <string>
#include "MarieCommandBehavior.h"
#include "MarieXMLDataFactory.h"
#include "Behavior.h"
#include "Vector.h"
#include "MarieDataNull.h"

namespace marie
{
  //forward declaration
  class extractMarieCommandBehavior;

  DECLARE_NODE(extractMarieCommandBehavior)
  /*Node
   *
   * @name extractMarieCommandBehavior
   * @category RobotFlow:MARIE:COMMAND
   * @description Extract data in the FlowDesigner format from MarieCommandBehavior
   *
   * @input_name COMMAND_BEHAVIOR
   * @input_type MarieCommandBehavior
   * @input_description The MarieCommandBehavior object
   *
   * @output_name ROBOTFLOW_ACTIVATION 
   * @output_description RobotFlow activation vector
   * @output_type Vector<int>
   *    
  END*/
  
  
  using namespace std;

  class extractMarieCommandBehavior : public BufferedNode 
  {
  
  private:
    //intputs
    int m_behaviorCommandID;

    //outputs
    int m_activationID;

  public:
        
  
    extractMarieCommandBehavior(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params) 
    {      
      //inputs
      m_behaviorCommandID = addInput("COMMAND_BEHAVIOR");

      //outputs
      m_activationID = addOutput("ROBOTFLOW_ACTIVATION");
    }
    
    void calculate(int output_id, int count, Buffer &out)
    {     
      try 
      {
	RCPtr<MarieCommandBehavior> command = getInput(m_behaviorCommandID,count);

	//create behavior activation vector (RobotFlow)
	Vector<int> *vect = Vector<int>::alloc(Behavior::get_behavior_size());
  
	//get known behavior names
	vector<string>& behaviorNames = Behavior::get_behaviors();
        
	const std::map<std::string, bool> &activationMap = command->getActivationMap();

	//copy activation values if they exists, else set activation to false (0)
	for (int i = 0; i < vect->size(); i++) 
	{
	  //check if behavior exists
	  if (activationMap.find(behaviorNames[i]) != activationMap.end())
	  {
	    (*vect)[i] = (int) command->getActivation(behaviorNames[i]);    
	  }
	  else
	  {
	    //default, not activated
	    (*vect)[i] = 0;
	  }
	}
	//output result
	out[count] = ObjectRef(vect);
    	
      }
      catch (BaseException *e)
      {
	e->print(cerr);
	e->add(new GeneralException("Unable to process",__FILE__,__LINE__));
	throw e;
      }
    }  
  };//class extractMarieCommandBehavior
}//namespace marie


--- NEW FILE: extractMarieCommandCamera.cpp ---
/*
*    MARIE - Mobile and Autonomous Robotics Integration Environment
*    Copyright (C) 2004 Dominic Letourneau / 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 <sstream>
#include <string>
#include "MarieCommandCamera.h"
#include "MarieXMLDataFactory.h"
#include "Behavior.h"
#include "Vector.h"
#include "MarieDataNull.h"

namespace marie
{
  //forward declaration
  class extractMarieCommandCamera;

  DECLARE_NODE(extractMarieCommandCamera)
  /*Node
   *
   * @name extractMarieCommandCamera
   * @category RobotFlow:MARIE:COMMAND
   * @description Extract data in the FlowDesigner format from MarieCommandBehavior
   *
   * @input_name COMMAND_CAMERA
   * @input_type MarieCommandCamera
   * @input_description The MarieCommandCamera object
   *
   * @output_name REL_BRIGHTNESS
   * @output_type int
   * @output_description output brightness
   *
   * @output_name REL_CONTRAST
   * @output_type int 
   * @output_description output contrast
   * 
   * @output_name REL_PAN
   * @output_type int
   * @output_description output pan
   *
   * @output_name REL_TILT
   * @output_type int
   * @output_description output tilt
   *
   * @output_name REL_ZOOM
   * @output_type int
   * @output_description output zoom
   * 
   * @output_name ABS_BRIGHTNESS
   * @output_type int
   * @output_description output brightness
   *
   * @output_name ABS_CONTRAST
   * @output_type int 
   * @output_description output contrast
   * 
   * @output_name ABS_PAN
   * @output_type int
   * @output_description output pan
   *
   * @output_name ABS_TILT
   * @output_type int
   * @output_description output tilt
   *
   * @output_name ABS_ZOOM
   * @output_type int
   * @output_description output zoom
   *    
  END*/
    
  using namespace std;

  class extractMarieCommandCamera : public BufferedNode 
  {
  
  private:
    //intputs
    int m_commandCameraID;

    //outputs
    int m_relBrightnessOutID;
    int m_relContrastOutID;
    int m_relPanOutID;
    int m_relTiltOutID;
    int m_relZoomOutID;
    int m_absBrightnessOutID;
    int m_absContrastOutID;
    int m_absPanOutID;
    int m_absTiltOutID;
    int m_absZoomOutID;

  public:
        
  
    extractMarieCommandCamera(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params) 
    {      
      //inputs
      m_commandCameraID = addInput("COMMAND_CAMERA");

      //outputs
      m_relBrightnessOutID = addOutput("REL_BRIGHTNESS");   
      m_relContrastOutID = addOutput("REL_CONTRAST");
      m_relPanOutID = addOutput("REL_PAN");
      m_relTiltOutID = addOutput("REL_TILT");
      m_relZoomOutID = addOutput("REL_ZOOM");  
      
      m_absBrightnessOutID = addOutput("ABS_BRIGHTNESS");   
      m_absContrastOutID = addOutput("ABS_CONTRAST");
      m_absPanOutID = addOutput("ABS_PAN");
      m_absTiltOutID = addOutput("ABS_TILT");
      m_absZoomOutID = addOutput("ABS_ZOOM"); 
    }
    
    void calculate(int output_id, int count, Buffer &out)
    {     
      try 
      {
	RCPtr<MarieCommandCamera> command = getInput(m_commandCameraID,count);
		
	int relPan, relTilt, relZoom, relContrast, relBrightness = 0;
	int absPan, absTilt, absZoom, absContrast, absBrightness = 0;
	std::bitset<10> state = command->getState();

	//get camera data
	relPan = command->getRelativePan();
	relTilt = command->getRelativeTilt();
	relZoom = command->getRelativeZoom();
	relContrast = command->getRelativeContrast();
	relBrightness = command->getRelativeBrightness();
	
	absPan = command->getAbsolutePan();
	absTilt = command->getAbsoluteTilt();
	absZoom = command->getAbsoluteZoom();
	absContrast = command->getAbsoluteContrast();
	absBrightness = command->getAbsoluteBrightness();


	if(state[CommandCamera::REL_PAN] == 1)
	  (*outputs[m_relPanOutID].buffer)[count] = ObjectRef(Int::alloc(relPan));
	else 
	  (*outputs[m_relPanOutID].buffer)[count] = nilObject;

	if(state[CommandCamera::REL_TILT] == 1)
	  (*outputs[m_relTiltOutID].buffer)[count] = ObjectRef(Int::alloc(relTilt)); 	
	else
	  (*outputs[m_relTiltOutID].buffer)[count] = nilObject; 
	
	if(state[CommandCamera::REL_ZOOM] == 1) 
	  (*outputs[m_relZoomOutID].buffer)[count] = ObjectRef(Int::alloc(relZoom)); 
	else
	  (*outputs[m_relZoomOutID].buffer)[count] = nilObject; 

	if(state[CommandCamera::REL_BRIGHTNESS] == 1)
	  (*outputs[m_relBrightnessOutID].buffer)[count] = ObjectRef(Int::alloc(relBrightness));
	else
	  (*outputs[m_relBrightnessOutID].buffer)[count] = nilObject; 

	if(state[CommandCamera::REL_CONTRAST] == 1)
	  (*outputs[m_relContrastOutID].buffer)[count] = ObjectRef(Int::alloc(relContrast)); 
	else
	  (*outputs[m_relContrastOutID].buffer)[count] = nilObject; 

	if(state[CommandCamera::ABS_PAN] == 1)
	  (*outputs[m_absPanOutID].buffer)[count] = ObjectRef(Int::alloc(absPan));
	else
	  (*outputs[m_absPanOutID].buffer)[count] = nilObject;
     
	if(state[CommandCamera::ABS_TILT] == 1)
	  (*outputs[m_absTiltOutID].buffer)[count] = ObjectRef(Int::alloc(absTilt)); 
	else
	  (*outputs[m_absTiltOutID].buffer)[count] = nilObject; 
     
	if(state[CommandCamera::ABS_ZOOM] == 1)
	  (*outputs[m_absZoomOutID].buffer)[count] = ObjectRef(Int::alloc(absZoom)); 
	else
	  (*outputs[m_absZoomOutID].buffer)[count] = nilObject; 
	
	if(state[CommandCamera::ABS_BRIGHTNESS] == 1)
	  (*outputs[m_absBrightnessOutID].buffer)[count] = ObjectRef(Int::alloc(absBrightness));
	else
	  (*outputs[m_absBrightnessOutID].buffer)[count] = nilObject; 
     
	if(state[CommandCamera::ABS_CONTRAST] == 1)
	  (*outputs[m_absContrastOutID].buffer)[count] = ObjectRef(Int::alloc(absContrast)); 
	else
	  (*outputs[m_absContrastOutID].buffer)[count] = nilObject; 	 
      }
      catch (BaseException *e)
      {
	e->print(cerr);
	e->add(new GeneralException("Unable to process",__FILE__,__LINE__));
	throw e;
      }
    }  
  };//class extractMarieCommandCamera
}//namespace marie

--- NEW FILE: newMarieCommandCamera.cpp ---
/*
*    MARIE - Mobile and Autonomous Robotics Integration Environment
*    Copyright (C) 2004 Dominic Letourneau
*
*    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 "MarieCommandCamera.h"
#include "MarieDataNull.h"
#include <sstream>
#include <string>

namespace marie
{
  class newMarieCommandCamera;

  DECLARE_NODE(newMarieCommandCamera)
  /*Node
   *
   * @name newMarieCommandCamera
   * @category RobotFlow:MARIE:DATA
   * @description Create MARIE DataCamera object
   *
   * @input_name COMMAND_CAMERA
   * @input_type Input MarieCommandCamera
   * @input_description input CommandCamera, nilObject if not used
   *
   * @input_name REL_BRIGHTNESS
   * @input_type int
   * @input_description input brightness, nilObject if not used
   *
   * @input_name REL_CONTRAST
   * @input_type int
   * @input_description input contrast, nilObject if not used
   * 
   * @input_name REL_PAN
   * @input_type int 
   * @input_description input pan, nilObject if not used
   *
   * @input_name REL_TILT
   * @input_type int
   * @input_description input tilt, nilObject if not used
   *
   * @input_name REL_ZOOM
   * @input_type int
   * @input_description input zoom, nilObject if not used
   * 
   * @input_name ABS_BRIGHTNESS
   * @input_type int
   * @input_description input brightness, nilObject if not used
   *
   * @input_name ABS_CONTRAST
   * @input_type int
   * @input_description input contrast, nilObject if not used
   * 
   * @input_name ABS_PAN
   * @input_type int 
   * @input_description input pan, nilObject if not used
   *
   * @input_name ABS_TILT
   * @input_type int
   * @input_description input tilt, nilObject if not used
   *
   * @input_name ABS_ZOOM
   * @input_type int
   * @input_description input zoom, nilObject if not used
   *
   * @output_name COMMAND_CAMERA
   * @output_type MarieCommandCamera
   * @output_description Output MarieCommandCamera (with new pan,tilt,zoom, brightness, contrast)
   *
  END*/

  using namespace std;

  class newMarieCommandCamera : public BufferedNode {

  private:

    //inputs    
    int m_relBrightnessInID;
    int m_relContrastInID;
    int m_relPanInID;
    int m_relTiltInID;
    int m_relZoomInID;    
    int m_absBrightnessInID;
    int m_absContrastInID;
    int m_absPanInID;
    int m_absTiltInID;
    int m_absZoomInID;

    //outputs
    int m_commandOutID;


  public:

    newMarieCommandCamera(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params) 
    {
      //inputs
      m_relBrightnessInID = addInput("REL_BRIGHTNESS");
      m_relContrastInID = addInput("REL_CONTRAST");
      m_relPanInID = addInput("REL_PAN");
      m_relTiltInID = addInput("REL_TILT");
      m_relZoomInID = addInput("REL_ZOOM");     
      m_absBrightnessInID = addInput("ABS_BRIGHTNESS");
      m_absContrastInID = addInput("ABS_CONTRAST");
      m_absPanInID = addInput("ABS_PAN");
      m_absTiltInID = addInput("ABS_TILT");
      m_absZoomInID = addInput("ABS_ZOOM");
      
      //outputs
      m_commandOutID = addOutput("COMMAND_CAMERA");
      
    }
    
    void calculate(int output_id, int count, Buffer &out)
    {
      try 
      {

	//get all inputs
	ObjectRef relBrightnessInValue = getInput(m_relBrightnessInID,count);
	ObjectRef relContrastInValue = getInput(m_relContrastInID,count);
	ObjectRef relPanInValue = getInput(m_relPanInID,count);
	ObjectRef relTiltInValue = getInput(m_relTiltInID,count);
	ObjectRef relZoomInValue = getInput(m_relZoomInID,count);
	ObjectRef absBrightnessInValue = getInput(m_absBrightnessInID,count);
	ObjectRef absContrastInValue = getInput(m_absContrastInID,count);
	ObjectRef absPanInValue = getInput(m_absPanInID,count);
	ObjectRef absTiltInValue = getInput(m_absTiltInID,count);
	ObjectRef absZoomInValue = getInput(m_absZoomInID,count);   

	//create command object
	MarieCommandCamera *command = new MarieCommandCamera();

	//get pan
	if (!relPanInValue->isNil())
	{
	  RCPtr<Int> relPanPtr = relPanInValue;
	  int relPan = *relPanPtr;
	  command->setRelativePan(relPan);
	}       
	//get tilt
	if (!relTiltInValue->isNil())
	{
	  RCPtr<Int> relTiltPtr = relTiltInValue;
	  int relTilt = *relTiltPtr;
	  command->setRelativeTilt(relTilt);
	}
	//get zoom
	if (!relZoomInValue->isNil())
        {
	  RCPtr<Int> relZoomPtr = relZoomInValue;
	  int relZoom = *relZoomPtr;
	  command->setRelativeZoom(relZoom);
	}
	//get contrast
	if (!relContrastInValue->isNil())
        {
	  RCPtr<Int> relContrastPtr = relContrastInValue;
	  int relContrast = *relContrastPtr;
	  command->setRelativeContrast(relContrast);
	}
	//get brightness
	if (!relBrightnessInValue->isNil())
        {
	  RCPtr<Int> relBrightnessPtr = relBrightnessInValue;
	  int relBrightness = *relBrightnessPtr;
	  command->setRelativeBrightness(relBrightness);
	}
             
	//get pan
	if (!absPanInValue->isNil())
	{
	  RCPtr<Int> absPanPtr = absPanInValue;
	  int absPan = *absPanPtr;
	  command->setAbsolutePan(absPan);
	}       
	//get tilt
	if (!absTiltInValue->isNil())
	{
	  RCPtr<Int> absTiltPtr = absTiltInValue;
	  int absTilt = *absTiltPtr;
	  command->setAbsoluteTilt(absTilt);
	}
	//get zoom
	if (!absZoomInValue->isNil())
	{
	  RCPtr<Int> absZoomPtr = absZoomInValue;
	  int absZoom = *absZoomPtr;
	  command->setAbsoluteZoom(absZoom);
	}
	//get contrast
	if (!absContrastInValue->isNil())
	{
	  RCPtr<Int> absContrastPtr = absContrastInValue;
	  int absContrast = *absContrastPtr;
	  command->setAbsoluteContrast(absContrast);
	}
	//get brightness
	if (!absBrightnessInValue->isNil())
	{
	  RCPtr<Int> absBrightnessPtr = absBrightnessInValue;
	  int absBrightness = *absBrightnessPtr;
	  command->setAbsoluteBrightness(absBrightness);
	}

	//output command object
	out[count] = ObjectRef(command);

      }
      catch(BaseException *e) 
      {
	e->print(cerr);
	throw e->add(new GeneralException("",__FILE__,__LINE__));
      }

    }
   
  };//class newMarieCommandCamera
}//namespace marie

--- NEW FILE: newMarieDataCamera.cpp ---
/*
*    MARIE - Mobile and Autonomous Robotics Integration Environment
*    Copyright (C) 2004 Dominic Letourneau
*
*    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 "MarieDataCamera.h"
#include "MarieDataNull.h"
#include <sstream>
#include <string>

namespace marie
{
  class newMarieDataCamera;

  DECLARE_NODE(newMarieDataCamera)
  /*Node
   *
   * @name newMarieDataCamera
   * @category RobotFlow:MARIE:DATA
   * @description Create MARIE DataCamera object
   *
   * @input_name ABS_PAN
   * @input_type int
   * @input_description Absolute PAN
   *
   * @input_name ABS_TILT
   * @input_type int
   * @input_description Absolute TILT
   *
   * @input_name ABS_ZOOM
   * @input_type int
   * @input_description Absolute ZOOM
   *
   * @output_name DATA_CAMERA
   * @output_type DataCamera
   * @output_description new MARIE DataCamera Object
   *
  END*/

  using namespace std;

  class newMarieDataCamera : public BufferedNode {

  private:

    //inputs
    int m_panID;
    int m_tiltID;
    int m_zoomID;
        
    //outputs
    int m_dataCameraID;

  public:

    newMarieDataCamera(string nodeName, ParameterSet params)
      : BufferedNode(nodeName,params) 
    {
      //inputs
      m_panID = addInput("ABS_PAN");
      m_tiltID = addInput("ABS_TILT");
      m_zoomID = addInput("ABS_ZOOM");
      			       
      //outputs
      m_dataCameraID = addOutput("DATA_CAMERA");
      
    }
    
    void calculate(int output_id, int count, Buffer &out)
    {
      
      ObjectRef panValue = getInput(m_panID,count);
      ObjectRef tiltValue = getInput(m_tiltID,count);
      ObjectRef zoomValue = getInput(m_zoomID,count);
      

      if (!panValue->isNil() &&
	  !tiltValue->isNil() &&
	  !zoomValue->isNil())
      {   
	
	MarieDataCamera *camera =  new MarieDataCamera();

	RCPtr<Int> pan = panValue;
	RCPtr<Int> tilt = tiltValue;
	RCPtr<Int> zoom = zoomValue;

	camera->setPTZ(*pan,*tilt,*zoom);
	
	out[count] = ObjectRef(camera);
       
      }
      else
      {
	out[count] = ObjectRef(new MarieDataNull());
      }
    }
   
  };//class newMarieDataCamera
}//namespace marie