module.h

/*
 * Copyright (C) 2011 Department of Robotics Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
 * Author: Vadim Tikhanoff Ugo Pattacini
 * email:  vadim.tikhanoff@iit.it
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program 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 General
 * Public License for more details
*/
 
#ifndef __MODULE_H__
#define __MODULE_H__
 
#include <string>
 
#include "opencv2/opencv.hpp"
 
#include <yarp/os/Time.h>
#include <yarp/os/RFModule.h>
#include <yarp/os/RpcServer.h>
#include <yarp/os/RpcClient.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Port.h>
#include <yarp/sig/Image.h>
#include <yarp/sig/Vector.h>
 
#include "iCub/utils.h"
 
/**********************************************************/
struct lineData
{
    double gradient;
    double intercept;
};
 
/**********************************************************/
class Manager : public yarp::os::RFModule
{
protected:
    std::string                 name;                                                   //name of the module
    yarp::os::Port              rpcHuman;                                               //human rpc port (receive commands via rpc)
 
    yarp::os::Port              motionFilter;                                           //port that receives an image containing blobs from motion
    yarp::os::Port              toolPoint;                                              //port that receives an image containing blobs from motion
    yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > imgOutPort;        //port that sends out img
 
    MotionFeatures              motionFeatures;                                         //class to receive points from motionFilter
 
    lineData                    *lineDetails;
 
    int                         processHumanCmd(const yarp::os::Bottle &cmd, yarp::os::Bottle &b);
    void                        processBlobs(yarp::os::Bottle &b, cv::Mat &dest, lineData *lineDetails);
    void                        processMotionPoints(yarp::os::Bottle &b);
    yarp::os::Bottle            processImage(yarp::os::Bottle &b, cv::Mat &dest, cv::Mat &clean, lineData *lineDetails);
    void                        getIntersection(cv::Mat &dest,  lineData *lineDetails );
 
    friend class                MotionFeatures;
 
public:
    bool    configure(yarp::os::ResourceFinder &rf);
    bool    interruptModule();
    bool    close();
    bool    updateModule();
    double  getPeriod();
};
 
#endif