[Jderobot-admin] jderobot-r1193 - trunk/src/stable/components/openniServer

[rocapal en jderobot.org]

Author: rocapal
Date: 2014-03-17 11:16:19 +0100 (Mon, 17 Mar 2014)
New Revision: 1193

Modified:
   trunk/src/stable/components/openniServer/CMakeLists.txt
   trunk/src/stable/components/openniServer/openniServer.cfg
   trunk/src/stable/components/openniServer/openniServer.cpp
Log:
#189 Integrated with naming service (disabled by default)


Modified: trunk/src/stable/components/openniServer/CMakeLists.txt
===================================================================
--- trunk/src/stable/components/openniServer/CMakeLists.txt	2014-03-17 10:12:51 UTC (rev 1192)
+++ trunk/src/stable/components/openniServer/CMakeLists.txt	2014-03-17 10:16:19 UTC (rev 1193)
@@ -47,7 +47,8 @@
         ${OpenCV_LIBRARIES}
         ${OpenCVGUI_LIBRARIES} 
         ${gsl_LIBRARIES}
-		logger
+	logger
+	ns
         jderobotutil
         geometry
         colorspacesmm
@@ -68,7 +69,8 @@
         geometry
         colorspacesmm
         JderobotInterfaces
-		logger
+	logger
+	ns
 	${OPENNI2_LIB}
         ${Boost_LIBRARIES}
         ${LIBXML2_LIBRARIES}

Modified: trunk/src/stable/components/openniServer/openniServer.cfg
===================================================================
--- trunk/src/stable/components/openniServer/openniServer.cfg	2014-03-17 10:12:51 UTC (rev 1192)
+++ trunk/src/stable/components/openniServer/openniServer.cfg	2014-03-17 10:16:19 UTC (rev 1193)
@@ -8,6 +8,9 @@
 openniServer.Hz=20
 
 
+NamingService.Enabled=0
+NamingService.Proxy=NamingServiceJdeRobot:default -h 0.0.0.0 -p 10000
+
 #mode=0 -> fps: 30x: 320y 240
 #mode=2 -> fps: 60x: 320y 240
 #mode=4 -> fps: 30x: 640y 480
@@ -22,6 +25,7 @@
 openniServer.CameraRGB.PlayerDetection=0
 openniServer.CameraRGB.Mirror=0
 
+
 #openniServer.calibration=camera-0.cfg
 openniServer.CameraDEPTH.Name=cameraB
 openniServer.CameraDEPTH.Format=RGB8
@@ -53,3 +57,4 @@
 openniServer.Log.File.Name=./log/openniServer.txt
 openniServer.Log.File.Level=0
 openniServer.Log.Screen.Level=0
+

Modified: trunk/src/stable/components/openniServer/openniServer.cpp
===================================================================
--- trunk/src/stable/components/openniServer/openniServer.cpp	2014-03-17 10:12:51 UTC (rev 1192)
+++ trunk/src/stable/components/openniServer/openniServer.cpp	2014-03-17 10:16:19 UTC (rev 1193)
@@ -44,8 +44,8 @@
 #include <opencv2/video/background_segm.hpp>
 #include <signal.h>
 #include <log/Logger.h>
+#include <ns/ns.h>
 
-
 #ifdef WITH_NITE2
 	#include "NiTE.h"
 #endif
@@ -115,7 +115,6 @@
 int mainFPS;
 
 
-
 void* updateThread(void*)
 {
 
@@ -1158,6 +1157,8 @@
 openniServer::CameraRGB *camRGB;
 openniServer::CameraDEPTH *camDEPTH;
 openniServer::pointCloudI *pc1;
+jderobot::ns* namingService = NULL;
+std::vector<std::string> bindNamingService;
 
 void exitApplication(int s){
 
@@ -1172,6 +1173,16 @@
 	if (pc1 != NULL){
 		delete pc1;
 	}
+
+	// NamingService
+	if (namingService != NULL)
+	{
+		for(std::vector<std::string>::iterator it = bindNamingService.begin(); it!=bindNamingService.end(); it++)
+				namingService->unbind(*it);
+
+		delete(namingService);
+	}
+
 	ic->shutdown();
 
 
@@ -1258,9 +1269,6 @@
 	std::string Endpoints = prop->getProperty(componentPrefix + ".Endpoints");
 	Ice::ObjectAdapterPtr adapter =ic->createObjectAdapterWithEndpoints(componentPrefix, Endpoints);
 
-
-
-
 	if (openniServer::segmentationType){
 		cameraR=1;
 		cameraD=1;
@@ -1317,7 +1325,23 @@
 
 	sync.release();
 
+	// Naming Service
+	int nsActive = prop->getPropertyAsIntWithDefault("NamingService.Enabled", 0);
 
+	if (nsActive)
+	{
+		std::string ns_proxy = prop->getProperty("NamingService.Proxy");
+		try
+		{
+			namingService = new jderobot::ns(ic, ns_proxy);
+		}
+		catch (Ice::ConnectionRefusedException& ex)
+		{
+			jderobot::Logger::getInstance()->error("Impossible to connect with NameService!");
+			exit(-1);
+		}
+	}
+
 	if (cameraR){
 		std::string objPrefix(componentPrefix + ".CameraRGB.");
 		std::string cameraName = prop->getProperty(objPrefix + "Name");
@@ -1329,6 +1353,14 @@
 		camRGB = new openniServer::CameraRGB(objPrefix,prop);
 		adapter->add(camRGB, ic->stringToIdentity(cameraName));
 		jderobot::Logger::getInstance()->info("              -------- openniServer: Component: CameraRGB created successfully(" + Endpoints + "@" + cameraName );
+
+
+		if (nsActive)
+		{
+			namingService->bind(cameraName, Endpoints, camRGB->ice_staticId());
+			bindNamingService.push_back(cameraName);
+		}
+
 	}
 
 	if (cameraD){
@@ -1343,6 +1375,12 @@
 		adapter->add(camDEPTH, ic->stringToIdentity(cameraName));
 		//test camera ok
 		jderobot::Logger::getInstance()->info("              -------- openniServer: Component: CameraDEPTH created successfully(" + Endpoints + "@" + cameraName );
+
+		if (nsActive)
+		{
+			namingService->bind(cameraName, Endpoints, camDEPTH->ice_staticId());
+			bindNamingService.push_back(cameraName);
+		}
 	}
 
 	if (pointCloud){