view main/robots/odr/PixyApp.h @ 278:f2546f8b4ba7 main

Updates to the PixyCam sensor app.
author Bob Cook <bob@bobcookdev.com>
date Mon, 30 May 2016 19:04:27 -0700
parents bf47051f7919
children
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// ----------------------------------------------------------------------------------------
//
//  robots/odr/PixyApp.h
//    
//  Bob Cook Development, Robotics Library
//  http://www.bobcookdev.com/rl/
//    
//  Application object for the Pixycam sensor bridge.
//
//  Copyright (c) 2016 Bob Cook
//
//  Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
//
//  The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
//
//  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
//
// ----------------------------------------------------------------------------------------

#ifndef BCDRL_ROBOTS_ODR_PIXYAPP_H
#define BCDRL_ROBOTS_ODR_PIXYAPP_H

#include <Poco/Event.h>
#include <Poco/Timer.h>
#include <Poco/Util/ServerApplication.h>

namespace Poco
{
    namespace Util
    {
        class OptionSet;
    }
}

#include <stdint.h>
#include <string>
#include <vector>

// ----------------------------------------------------------------------------------------

class PixyApp : public Poco::Util::ServerApplication
{
    public:
        PixyApp();
        virtual ~PixyApp();

    protected:
        void initialize( Poco::Util::Application& self );
        void uninitialize();
        void defineOptions( Poco::Util::OptionSet& options );
        void handleHelp( const std::string& name, const std::string& value );
        int  main( const std::vector< std::string >& args );

    private:
        void sendHeartbeat( Poco::Timer& timer );
        void sendPixyDataUpdate( Poco::Timer& timer );
        void recvEmergency( uint8_t srcNode );
        void recvAllClear( uint8_t srcNode );
        void recvHeartbeat( uint8_t srcNode );
        void recvSetPixyTracking( bool enabled );
        void recvPixyGrabFrame();
        void runLoop( const std::string& loggerName );

    private:
        bool        m_helpRequested;
        Poco::Event m_quitEvent;
        Poco::Timer m_timerSendHeartbeat;
        Poco::Timer m_timerSendPixyDataUpdate;
};

// ----------------------------------------------------------------------------------------
#endif // #ifndef BCDRL_ROBOTS_ODR_PIXYAPP_H
// ----------------------------------------------------------------------------------------