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// 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