Aquila  2.0 prealpha
Cognitive Robotics Architecture
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interface.h
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2 //Aquila - An Open-Source GPU-Accelerated Toolkit for Cognitive and Neuro-Robotics Research //
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20 
21 #ifndef INTERFACE_H
22 #define INTERFACE_H
23 
24 #include <yarp/os/all.h>
25 #include <yarp/sig/all.h>
26 #include <string>
27 
28 using namespace yarp::os;
29 using namespace yarp::sig;
30 using namespace std;
31 
32 class Tracker;
33 
34 class Interface : public yarp::os::RFModule
35 {
36 public:
37  Interface();
38 
39  void sendMessage(string message);
40  void sendGpuList();
41  void sendParameters();
42  void sendStatus(int status);
43  bool configure(ResourceFinder &rf);
44 
45  struct Image
46  {
47  BufferedPort<ImageOf<PixelRgb> > inputPort;
48  BufferedPort<ImageOf<PixelRgb> > outputPort;
49  string inputPortName;
50  string outputPortName;
51  };
52 
53  Image leftCam;
54  Image rightCam;
55  Image leftMotion;
56  Image rightMotion;
57 
58 private:
59  Tracker *tracker;
60 
61  Port inputPort;
62  Port outputPort;
63  string robotName;
64  string moduleName;
65  string inputPortName;
66  string outputPortName;
67 
68  int instance;
69 
70  void connectPorts();
71  void disconnectPorts();
72  bool updateModule();
73  bool interruptModule();
74  bool close();
75  bool respond(const Bottle& command, Bottle& reply);
76  double getPeriod();
77 };
78 
79 #endif//INTERFACE_H
80 
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