objectdetection.gen

/*/
 * Copyright (c) 2015-2017 LAAS/CNRS
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are
 * met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the
 *    distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 * HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include "objectdetectionStruct.idl"
#include "find_object_2d.idl"
#include "cameraCalibrationStruct.idl"
#include "triangulation.idl"

component objectdetection{
	version		"1.0";
	lang		"c";
	require		"genom3 >= 2.99.24";
    codels-require "opencv";

    port in detectionO::sensor_msgs__Image CameraL;
    port in find_object_2d::find_object_2d__ObjectsStamped inObjectsL;
    port in detectionO::sensor_msgs__Image CameraR;
    port in find_object_2d::find_object_2d__ObjectsStamped inObjectsR;
    port in calibrationParameters::sensor_msgs__CameraInfo RightCameraParameters;
    port out triangulation::Frame Detections;

    ids {
      long stopflag;
    };

    task FindObjects{
        period      33 ms;
        priority    100;
        stack       4000;
    };

    activity Start(in string objectPath = "/tmp/objects/",
                   in unsigned short frameHistory = 5  : "Number of frames to publish on the port.")
    {
      codel<start> InitStart(local in objectPath, port in RightCameraParameters, port out Detections, out stopflag) yield exec, ether;
        codel<exec> ExecStart(port in CameraL, port in inObjectsL,
                              port in CameraR, port in inObjectsR,
                              local in frameHistory, port out Detections, in stopflag) yield exec, ether;

        task FindObjects;
    };

    function Stop() {
      codel codelStop(out stopflag);
    };
};


/* 
To compile: genom3 skeleton -l c++ -i objectdetection.gen

::objectdetection::connect_port RightCameraParameters /stereo/right/camera_info
::objectdetection::connect_port CameraL /stereo/left/image_rect_color
::objectdetection::connect_port inObjectsL find_objects_2d_Left/objectsStamped
::objectdetection::connect_port CameraR /stereo/right/image_rect_color
::objectdetection::connect_port inObjectsR find_objects_2d_Right/objectsStamped
*/