// nono2 - programme du robot 2005 // // Copyright (C) 2004 Olivier Gaillard // // Robot APB Team/Efrei 2004. // Web: http://assos.efrei.fr/robot/ // Email: robot AT efrei DOT fr // // This program is free software; you can redistribute it and/or modify // it under the terms of the GNU General Public License as published by // the Free Software Foundation; either version 2 of the License, or // (at your option) any later version. // // This program is distributed in the hope that it will be useful, // but WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the // GNU General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. #ifndef comm_h #define comm_h #include "adjust.h" #include "ovision/imgInterface.h" #include "ovision/segmLearn.h" #include "ovision/oconfig.h" #include "ovision/group.h" #define NB_POINTS_UI 6 /// Interprete les commandes envoyes par l'interface UI et les executent class Comm { int yuvSwitch; unsigned char *imgLeft[2]; public: /// tableau des numeros de textures utilises par openGL unsigned int tex[NBIMG]; /// tableau de donnees RGB stockant les images unsigned char* data[2]; /// classe image ImgInterface img; /// classe config OConfig *oconfig; /// classe segmentation SegmLearn *segm; /// classe group Group *group; /// id utilise pour l'ouverture du fifo int fifo; /// PID du programme ui long uiPid; /// nom de l'image courante char fname[100]; /// Constructeur Comm (char *filename); /// Destructeur ~Comm (void); /// Execute une commande venant de l'interface void ExecuteUiCmds(char *buffer); /// Recharge le fichier de config void ReloadConfig (char *filename); protected: /// Segmentation et groupement des couleurs void SegmAndGroup(); /// Synchronisation des poids locaux et de ceux du programme ui void SendNodes(); }; #endif // comm_h