Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * hand_if_observer.cpp - Skeleton hand interface observer 00004 * 00005 * Created: Sat Apr 02 19:39:31 2011 (RoboCup German Open 2011, Magdeburg) 00006 * Copyright 2006-2011 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU Library General Public License for more details. 00019 * 00020 * Read the full text in the LICENSE.GPL file in the doc directory. 00021 */ 00022 00023 #include <plugins/openni/utils/hand_if_observer.h> 00024 00025 #include <blackboard/blackboard.h> 00026 #include <interfaces/ObjectPositionInterface.h> 00027 00028 namespace fawkes { 00029 namespace openni { 00030 #if 0 /* just to make Emacs auto-indent happy */ 00031 } 00032 } 00033 #endif 00034 00035 /** @class HandIfObserver <plugins/openni/utils/hand_if_observer.h> 00036 * Hand interface observer. 00037 * This class opens all OpenNI hand interfaces and registers as an 00038 * observer to open any newly opened interface. 00039 * @author Tim Niemueller 00040 */ 00041 00042 /** Constructor. 00043 * @param bb blackboard to interact with 00044 * @param hands hand map for exchange with others 00045 */ 00046 HandIfObserver::HandIfObserver(BlackBoard *bb, HandMap &hands) 00047 : __hands(hands) 00048 { 00049 __queue_lock = new Mutex(); 00050 __bb = bb; 00051 00052 std::list<ObjectPositionInterface *> hand_ifs = 00053 __bb->open_multiple_for_reading<ObjectPositionInterface>("OpenNI Hand *"); 00054 00055 std::list<ObjectPositionInterface *>::iterator i; 00056 for (i = hand_ifs.begin(); i != hand_ifs.end(); ++i) { 00057 HandInfo hand; 00058 hand.hand_if = *i; 00059 __hands[hand.hand_if->id()] = hand; 00060 } 00061 00062 bbio_add_observed_create("ObjectPositionInterface", "OpenNI Hand *"); 00063 __bb->register_observer(this); 00064 } 00065 00066 00067 /** Destructor. */ 00068 HandIfObserver::~HandIfObserver() 00069 { 00070 __bb->unregister_observer(this); 00071 delete __queue_lock; 00072 } 00073 00074 void 00075 HandIfObserver::bb_interface_created(const char *type, const char *id) throw() 00076 { 00077 if (__hands.find(id) == __hands.end()) { 00078 __queue_lock->lock(); 00079 __queues[__active_queue].push(id); 00080 __queue_lock->unlock(); 00081 } 00082 } 00083 00084 /** Process internal queue. 00085 * This should be called regularly to process incoming events. 00086 */ 00087 void 00088 HandIfObserver::process_queue() 00089 { 00090 __queue_lock->lock(); 00091 unsigned int proc_queue = __active_queue; 00092 __active_queue = 1 - __active_queue; 00093 __queue_lock->unlock(); 00094 while (! __queues[proc_queue].empty()) { 00095 std::string id = __queues[proc_queue].front(); 00096 00097 try { 00098 HandInfo hand; 00099 hand.hand_if = __bb->open_for_reading<ObjectPositionInterface>(id.c_str()); 00100 00101 __hands[id] = hand; 00102 } catch (Exception &e) { 00103 e.print_trace(); 00104 continue; 00105 } 00106 00107 __queues[proc_queue].pop(); 00108 } 00109 } 00110 00111 } // end namespace fawkes::openni 00112 } // end namespace fawkes