jaus++/2.0/include/jaus/extras/video/visualsensor.h

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#ifndef __JAUS_EXTRAS_VIDEO_VISUAL_SENSOR__H
#define __JAUS_EXTRAS_VIDEO_VISUAL_SENSOR__H

#include "jaus/core/events/events.h"
#include "jaus/extras/video/reportimage.h"
#include "jaus/extras/video/queryimage.h"
#include <cxutils/images/image.h>

namespace JAUS
{
    typedef CxUtils::Image Image;
    class SharedImage;

    class JAUS_EXTRAS_DLL VisualSensor : public Events::Child
    {
    public:
        const static std::string Name; 
        // Constructor.
        VisualSensor(const bool sharedImage = true);
        // Destructor.
        ~VisualSensor();
        // Sets the number of cameras provided by the service.
        void SetCameraCount(const Byte cameraCount);
        // Set an image from a camera to share with subscribers.
        bool SetCurrentFrame(const unsigned char* rawImage,
                             const unsigned int width,
                             const unsigned int height,
                             const unsigned char channels,
                             const Byte cameraID,
                             const unsigned int frameNumber,
                             const double frameRateHz);
        // Set an image from a camera to share with subscribers.
        bool SetCurrentFrameCompressed(const unsigned char* compImage,
                                       const unsigned int compImageSize,
                                       const unsigned int width,
                                       const unsigned int height,
                                       const unsigned char channels,
                                       const Byte cameraID,
                                       const unsigned int frameNumber,
                                       const double frameRateHz,
                                       const Image::Format format);
        // Set an image from a camera to share with subscribers.
        bool SetCurrentFrame(const unsigned char* rawImage,
                             const unsigned int width,
                             const unsigned int height,
                             const unsigned char channels,
                             const Byte cameraID,
                             const double frameRateHz);
        // Method called when an Event has been signaled, generates an Event message.
        virtual bool GenerateEvent(const Events::Subscription& info) const;
        // Method called to determine if an Event is supported by the service.
        virtual bool IsEventSupported(const Events::Type type,
                                      const double requestedPeriodicRate,
                                      const Message* queryMessage,
                                      double& confirmedPeriodicRate,
                                      std::string& errorMessage) const;
        // VisualSensor is always discoverable.
        virtual bool IsDiscoverable() const { return true; }
        // Processes messages associated with the VisualSensor Services.
        virtual void Receive(const Message* message);
        // Creates messages associated with the VisualSensor Service.
        virtual Message* CreateMessage(const UShort messageCode) const;
        // Sets JPEG compression quality.
        bool SetCompressionQualityJPEG(const int quality);
    private:
        Mutex mVisualSensorMutex;                      
        Byte mCameraCount;                             
        bool mSharedMemoryImageFlag;                   
        std::map<Byte, double> mFrameRates;            
        std::map<Byte, ReportImage> mCompressedData;   
        std::map<Byte, SharedImage*> mSharedImages;    
        std::map<UShort, QueryImage> mPendingQueryMap; 
        int mQualityJPEG;                              
        CxUtils::JPEG::Compressor mJPEG;               
    };
}

#endif
/*  End of File */