[Jderobot-admin] jderobot-r1207 - trunk/src/stable/libs/parallelIce

[rocapal en jderobot.org]

Author: rocapal
Date: 2014-03-24 18:24:52 +0100 (Mon, 24 Mar 2014)
New Revision: 1207

Modified:
   trunk/src/stable/libs/parallelIce/cameraClient.cpp
   trunk/src/stable/libs/parallelIce/cameraClient.h
   trunk/src/stable/libs/parallelIce/pointcloudClient.cpp
   trunk/src/stable/libs/parallelIce/pointcloudClient.h
Log:
#202 Added new constructor to string proxy and added stop_thread call


Modified: trunk/src/stable/libs/parallelIce/cameraClient.cpp
===================================================================
--- trunk/src/stable/libs/parallelIce/cameraClient.cpp	2014-03-24 09:47:37 UTC (rev 1206)
+++ trunk/src/stable/libs/parallelIce/cameraClient.cpp	2014-03-24 17:24:52 UTC (rev 1207)
@@ -25,7 +25,7 @@
 namespace jderobot {
 
 cameraClient::cameraClient(Ice::CommunicatorPtr ic, std::string prefix, bool debug) {
-	// TODO Auto-generated constructor stubcameraClient* client = new cameraClient;
+
 	this->prefix=prefix;
 	this->debug=debug;
 	Ice::PropertiesPtr prop;
@@ -61,6 +61,45 @@
 	this->pauseStatus=false;
 }
 
+cameraClient::cameraClient(Ice::CommunicatorPtr ic, std::string prefix, bool debug, std::string proxy){
+
+	this->prefix=prefix;
+	this->debug=debug;
+	Ice::PropertiesPtr prop;
+	prop = ic->getProperties();
+	Ice::ObjectPrx baseCamera;
+	this->refreshRate=0;
+
+
+	int fps=prop->getPropertyAsIntWithDefault(prefix+"Fps",10);
+	this->cycle=(float)(1/(float)fps)*1000000;
+
+	try{
+			baseCamera = ic->stringToProxy(proxy);
+			if (0==baseCamera){
+				throw prefix + "Could not create proxy with Camera";
+			}
+			else {
+				this->prx= jderobot::CameraPrx::checkedCast(baseCamera);
+				if (0==this->prx)
+					throw "Invalid " + prefix + ".Proxy";
+			}
+
+	}catch (const Ice::Exception& ex) {
+		std::cerr << ex << std::endl;
+	}
+	catch (const char* msg) {
+		std::cerr << msg << std::endl;
+		jderobot::Logger::getInstance()->error(prefix + " Not camera provided");
+	}
+
+	jderobot::ImageDataPtr data = this->prx->getImageData();
+
+	this->size=cv::Size(data->description->width,data->description->height);
+	_done=false;
+	this->pauseStatus=false;
+}
+
 cameraClient::~cameraClient() {
 	// TODO Auto-generated destructor stub
 	_done=true;
@@ -130,7 +169,7 @@
 
 		int rate =(int)(1000000/(IceUtil::Time::now().toMicroSeconds() - last.toMicroSeconds()));
 		totalRefreshRate =  totalRefreshRate + rate;
-		this->refreshRate= totalRefreshRate / iterIndex;		
+		this->refreshRate= totalRefreshRate / iterIndex;
 		last=IceUtil::Time::now();
 
 		if (iterIndex == INT_MAX) 
@@ -142,6 +181,11 @@
 	}
 }
 
+void cameraClient::stop_thread()
+{
+	_done = true;
+}
+
 cv::Mat cameraClient::getImage(){
 	cv::Mat local;
 	this->controlMutex.lock();

Modified: trunk/src/stable/libs/parallelIce/cameraClient.h
===================================================================
--- trunk/src/stable/libs/parallelIce/cameraClient.h	2014-03-24 09:47:37 UTC (rev 1206)
+++ trunk/src/stable/libs/parallelIce/cameraClient.h	2014-03-24 17:24:52 UTC (rev 1207)
@@ -38,6 +38,7 @@
 class cameraClient: public IceUtil::Thread {
 public:
 	cameraClient(Ice::CommunicatorPtr ic, std::string prefix, bool debug);
+	cameraClient(Ice::CommunicatorPtr ic, std::string prefix, bool debug, std::string proxy);
 	virtual ~cameraClient();
 	virtual void run();
 
@@ -47,6 +48,7 @@
 	void pause();
 	void resume();
 	void reset();
+	void stop_thread();
 	bool getPause(){return pauseStatus;};
 	cv::Size getSize(){return size;};
 

Modified: trunk/src/stable/libs/parallelIce/pointcloudClient.cpp
===================================================================
--- trunk/src/stable/libs/parallelIce/pointcloudClient.cpp	2014-03-24 09:47:37 UTC (rev 1206)
+++ trunk/src/stable/libs/parallelIce/pointcloudClient.cpp	2014-03-24 17:24:52 UTC (rev 1207)
@@ -55,6 +55,38 @@
 
 }
 
+pointcloudClient::pointcloudClient(Ice::CommunicatorPtr ic, std::string prefix, bool debug, std::string proxy)
+{
+	this->prefix=prefix;
+	this->debug= debug;
+	Ice::PropertiesPtr prop;
+	prop = ic->getProperties();
+	this->refreshRate=0;
+
+	int fps=prop->getPropertyAsIntWithDefault(prefix+"Fps",10);
+	this->cycle=(float)(1/(float)fps)*1000000;
+	try{
+		Ice::ObjectPrx basePointCloud = ic->stringToProxy(proxy);
+		if (0==basePointCloud){
+			throw prefix + " Could not create proxy";
+		}
+		else {
+			this->prx = jderobot::pointCloudPrx::checkedCast(basePointCloud);
+			if (0==this->prx)
+				throw "Invalid proxy" + prefix;
+
+		}
+	}catch (const Ice::Exception& ex) {
+		std::cerr << ex << std::endl;
+	}
+	catch (const char* msg) {
+		std::cerr << msg << std::endl;
+		jderobot::Logger::getInstance()->error(prefix + " Not camera provided");
+	}
+	_done=false;
+	this->pauseStatus=false;
+}
+
 pointcloudClient::~pointcloudClient() {
 	// TODO Auto-generated destructor stub
 	this->_done=true;
@@ -71,6 +103,9 @@
 	this->controlMutex.unlock();
 }
 
+void pointcloudClient::stop_thread(){
+	_done = true;
+}
 
 void pointcloudClient::run(){
 

Modified: trunk/src/stable/libs/parallelIce/pointcloudClient.h
===================================================================
--- trunk/src/stable/libs/parallelIce/pointcloudClient.h	2014-03-24 09:47:37 UTC (rev 1206)
+++ trunk/src/stable/libs/parallelIce/pointcloudClient.h	2014-03-24 17:24:52 UTC (rev 1207)
@@ -37,6 +37,8 @@
 class pointcloudClient: public IceUtil::Thread {
 public:
 	pointcloudClient(Ice::CommunicatorPtr ic, std::string prefix, bool debug);
+	pointcloudClient(Ice::CommunicatorPtr ic, std::string prefix, bool debug, std::string proxy);
+
 	virtual ~pointcloudClient();
 	virtual void run();
 
@@ -46,6 +48,7 @@
 	void resume();
 	bool getPause(){return pauseStatus;};
 
+	void stop_thread();
 
 private:
 	std::string prefix;