The protoComponent Example
From David Vernon's Wiki
protoComponent.h
/** @file protoComponent.h Interface file for the example DREAM component * * Version 1.0 * * 20/8/2014 * * * \defgroup DREAM_protoComponent protoComponent * * This application demonstates the use of the protoComponent module. * This is a simple example to illustrate a component that is compliant with * mandatory DREAM software standards for * * 1. File organization * 2. Internal source code documentation * 3. Component functionality * * as well as recommended DREAM software standards for * * 4. Programming style * 5. Programming practice * * These standards are documented in Appendices A-E of Deliverable 3.2 * * Overall, the standards address the 4 Cs of component-based software engineering: * * - configuration * - coordination * - computation * - computation * * Functionally, the module just reads an input image from an input port, * converts it to a binary image based on the supplied threshold, * and writes it to an output port * * The module also reads a configuration file containing the intrinsic * parameters of the robot's two cameras as an example of more advanced parsing * techniques. * * A complete tutorial for this example is available on the DREAM wiki * * * \section lib_sec Libraries * * YARP. * * \section parameters_sec Parameters * * Command-line Parameters * * The following key-value pairs can be specified as command-line parameters * by prefixing \c -- to the key e.g. \c --from file.ini. * The value part can be changed to suit your needs; the default values are * shown below. * * - \c from \c protoComponent.ini \n * specifies the configuration file * * - \c context \c protoComponent/configuration \n * specifies the sub-path from \c $DREAM_ROOT/protoComponent/configuration * to the configuration file * * - \c name \c protoComponent \n * specifies the name of the module (used to form the stem of module port names) * * * Configuration File Parameters * * The following key-value pairs can be specified as parameters in the configuration file * (they can also be specified as command-line parameters if you so wish). * The value part can be changed to suit your needs; the default values are shown below. * * - \c myInputPort \c /image:i \n * specifies the input port name (this string will be prefixed by \c /protoComponent * or whatever else is specifed by the name parameter * * - \c myOutputPort \c /image:o \n * specifies the output port name (this string will be prefixed by \c /protoComponent * or whatever else is specifed by the name parameter * * - \c cameraConfig \c cameras.ini \n * specifies the camera configuration file containing the intrinsic parameters of * the left and right cameras * * - \c threshold \c 7 \n * specifies the threshold value * * * \section portsa_sec Ports Accessed * * - None * * \section portsc_sec Ports Created * * Input ports * * - \c /protoComponent \n * This port is used to change the parameters of the module at run time or stop the module. \n * The following commands are available * * \c help \n * \c quit \n * \c set \c thr \c <n> ... set the threshold for binary segmentation of the input RGB image * (where \c <n> is an integer number) * * Note that the name of this port mirrors whatever is provided by the \c --name parameter value * The port is attached to the terminal so that you can type in commands and receive replies. * The port can be used by other modules but also interactively by a user through the yarp rpc directive, viz.: \c yarp \c rpc \c /protoComponent * This opens a connection from a terminal to the port and allows the user to then type in commands and receive replies. * * - \c /protoComponent/image:i \n * * Output ports * * - \c /protoComponent \n * see above * * - \c /protoComponent/image:o \n * * Port types * * The functional specification only names the ports to be used to communicate with the module * but doesn't say anything about the data transmitted on the ports. This is defined by the following code. * * \c BufferedPort<ImageOf<PixelRgb> > \c myInputPort; \n * \c BufferedPort<ImageOf<PixelRgb> > \c myOutputPort; * * \section in_files_sec Input Data Files * * None * * \section out_data_sec Output Data Files * * None * * \section conf_file_sec Configuration Files * * \c protoComponent.ini * \c cameras.ini * * \section example_sec Example Instantiation of the Module * * protoComponent --name protoComponent --context components/protoComponent/config --from protoComponent.ini * * \author * * <name of author>, <author institute> * * Copyright (C) 2014 DREAM Consortium * */ /* * Copyright (C) 2014 DREAM Consortium * FP7 Project 611391 co-funded by the European Commission * * Author: <name of author>, <author institute> * Email: <preferred email address> * Website: www.dream20202.eu * * This program comes with ABSOLUTELY NO WARRANTY */ /* * Audit Trail * ----------- * 20/08/14 First version validated (David Vernon) */ #include <iostream> #include <string> #include <yarp/sig/all.h> #include <yarp/os/all.h> #include <yarp/os/RFModule.h> #include <yarp/os/Network.h> #include <yarp/os/Thread.h> using namespace std; using namespace yarp::os; using namespace yarp::sig; class ProtoComponentThread : public Thread { private: /* class variables */
int x, y; PixelRgb rgbPixel; ImageOf<PixelRgb> *image; /* thread parameters: they are pointers so that they refer to the original variables in protoComponent */ BufferedPort<ImageOf<PixelRgb> > *imagePortIn; BufferedPort<ImageOf<PixelRgb> > *imagePortOut; int *thresholdValue; public: /* class methods */ ProtoComponentThread(BufferedPort<ImageOf<PixelRgb> > *imageIn, BufferedPort<ImageOf<PixelRgb> > *imageOut, int *threshold ); bool threadInit(); void threadRelease(); void run(); }; class ProtoComponent:public RFModule { /* module parameters */ string moduleName; string inputPortName; string outputPortName; string handlerPortName; string cameraConfigFilename; float fxLeft, fyLeft; // focal length float fxRight, fyRight; // focal length float cxLeft, cyLeft; // coordinates of the principal point float cxRight, cyRight; // coordinates of the principal point int thresholdValue; /* class variables */ BufferedPort<ImageOf<PixelRgb> > imageIn; //example input port BufferedPort<ImageOf<PixelRgb> > imageOut; //example output port Port handlerPort; //a port to handle messages /* pointer to a new thread to be created and started in configure() and stopped in close() */ ProtoComponentThread *protoComponentThread; public: bool configure(yarp::os::ResourceFinder &rf); // configure all the module parameters and return true if successful bool interruptModule(); // interrupt, e.g., the ports bool close(); // close and shut down the module bool respond(const Bottle& command, Bottle& reply); double getPeriod(); bool updateModule(); };