DynaSightModule.h

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/* ========================================================================
 * Copyright (c) 2006,
 * Institute for Computer Graphics and Vision
 * Graz University of Technology
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are
 * met:
 *
 * Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 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.
 *
 * Neither the name of the Graz University of Technology nor the names of
 * its contributors may be used to endorse or promote products derived from
 * this software without specific prior written permission.
 *
 * 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 OWNER
 * 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
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 * ========================================================================
 * PROJECT: OpenTracker
 * ======================================================================== */
/* ======================================================================== */

#ifndef _DYNASIGHTMODULE_H
#define _DYNASIGHTMODULE_H

#include "../OpenTracker.h"
#include "DynaSightSource.h"
#include "../misc/serialcomm.h"
#include <vector>


#ifndef OT_NO_DYNASIGHT_SUPPORT


namespace ot {

  const int DYNASIGHT_MAX_TARGETS = 8;
  const int DYNASIGHT_PACKET_MAX_LENGTH = 8;
  const int DYNASIGHT_COMM_BUFFER_SIZE = 4096;
  const float SCALE_TO_METER = 20000.0;


  enum TargetStatus { SEARCH=0, COAST=1, CAUTION=2, TRACK=3 };


  struct Target
  {
    int number;
    int modified;
    Event event;
    DynaSightSource * source;

    Target( const int number_, DynaSightSource * source_ ) :
      number( number_ ), modified( 0 ), source( source_ )
    {};
  };


  typedef std::vector<Target *> TargetVector;


  class OPENTRACKER_API DynaSightModule : public ThreadModule, public NodeFactory
    {
      // members
    protected:
      TargetVector targets;

      bool stop;
    
      bool serialportIsOpen;

      bool hasLookAt;

      float lookAtVector[3];

      SerialPort port;

      // methods
    protected:
      virtual void run();

    public:    
      DynaSightModule();

      virtual ~DynaSightModule();

      virtual void init(StringTable& attributes, ConfigNode * localTree);

      virtual Node * createNode( const std::string& name,  StringTable& attributes);  
     
      virtual void start();

      virtual void close();
    
      virtual void pushEvent();             
    };
  OT_MODULE(DynaSightModule);

} // namespace ot


#endif // OT_NO_DYNASIGHT_SUPPORT


#endif

/* 
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 *   End of DynaSightModule.h
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