ArCameraCollection Class Reference

#include <ArCameraCollection.h>

List of all members.

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Detailed Description

Maintains information about all of the robot's cameras.

ArCameraCollection is a repository for information about each of the cameras that are installed on the robot. It enables clients to adjust to robots with varying camera configurations.

Three main types of information are maintained for each camera:

• Overview Information: This includes the name and type of the camera, along with text strings suitable for display. Note that each camera must be assigned a unique name. Furthermore, the overview information must be added to the collection before any of the other types of information are added.

• Command Information: Each camera may respond to any number of generic commands (such as pan/tilt/zoom, or get camera picture). The command information defines which commands are supported for each camera, and also defines a unique "camera command name" for each generic command. (The "camera command name", for example, may be used as a network packet name. It must be unique across all of the robot's cameras.) Commands which are commonly supported are defined in ArCameraCommands, but additional ones may be added.

• Parameter Information: Parameters, or settings, may be defined for each camera. A framework has been built into the collection to allow clients to view/edit the parameters. Changes are relayed to the originator (source) of the parameter, which is responsible for actually adjusting the camera hardware.

Callbacks may be installed on the collection to be notified whenever the collection is modified. This notification only occurs when cameras, commands, or parameters are added or removed. (The editing of parameters is merely passed to the parameter source.)

ArCameraCollection is thread-safe.

Public Member Functions
virtual bool	addCamera (const char *cameraName, const char *cameraType, const char *displayName, const char *displayType)
	Adds a new camera to the collection.
virtual bool	addCameraCommand (const char *cameraName, const char *command, const char *cameraCommandName, int requestInterval=-1)
	Adds the specified command to the camera.
virtual bool	addModifiedCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a callback to be invoked when the camera collection has been modified.
virtual bool	addParameter (const char *cameraName, ArCameraParameterSource *source, const ArConfigArg &param)
	Adds the specified parameter to the camera.
	ArCameraCollection ()
	Constructor.
virtual void	endUpdate ()
	Ends an update to the collection.
virtual bool	exists (const char *cameraName, const char *command)
	Returns whether the specified command is defined for a particular camera.
virtual bool	exists (const char *cameraName)
	Returns whether the specified camera is contained in the collection.
virtual void	getCameraCommands (const char *cameraName, std::list< std::string > &outList)
	Returns the generic commands that are supported by the specified camera.
virtual void	getCameraNames (std::list< std::string > &outList)
	Returns the names of the cameras that are in the collection.
virtual const char *	getCameraType (const char *cameraName)
	Returns the type of the specified camera.
virtual const char *	getCommandName (const char *cameraName, const char *command)
	Returns the specific camera command (/ network packet) name for the generic command.
virtual const char *	getDisplayName (const char *cameraName)
	Returns the display name of the specified camera.
virtual const char *	getDisplayType (const char *cameraName)
	Returns the display type of the specified camera.
virtual bool	getParameter (const char *cameraName, const char *parameterName, ArConfigArg &paramOut)
	Returns the specified camera parameter.
virtual void	getParameterNames (const char *cameraName, std::list< std::string > &outList)
	Returns the names of the parameters for the specified camera.
virtual int	getRequestInterval (const char *cameraName, const char *command)
	Returns the default request interval for the specified camera command.
int	lock ()
	Lock the collection.
virtual bool	parameterExists (const char *cameraName, const char *paramName)
	Returns whether the specified parameter has been defined for a particular camera.
virtual bool	removeCamera (const char *cameraName)
	Removes the specified camera from the collection.
virtual bool	removeCameraCommand (const char *cameraName, const char *command)
	Removes the specified command from the camera.
virtual bool	removeModifiedCB (ArFunctor *functor)
	Removes a callback from the modified notification list.
virtual bool	removeParameter (const char *cameraName, const char *paramName)
	Removes the specified parameter from the camera.
virtual bool	setParameter (const char *cameraName, const ArConfigArg &param)
	Updates the specified camera parameter.
virtual void	startUpdate ()
	Starts an update to the collection.
int	tryLock ()
	Try to lock the collection without blocking.
int	unlock ()
	Unlock the collection.
virtual	~ArCameraCollection ()
	Destructor.
Protected Member Functions
CameraInfo *	findCameraInfo (const char *cameraName)
	Returns a pointer to the CameraInfo for the specified camera.
CommandInfo *	findCommandInfo (const char *cameraName, const char *commandName)
	Returns a pointer to the CommandInfo for the specified generic command.
ParamInfo *	findParamInfo (const char *cameraName, const char *paramName)
	Returns a pointer to the ParamInfo for the specified parameter.
void	notifyModifiedListeners ()
	Invokes each of the callbacks when the collection has been modified.
void	setModified ()
	Sets an indication that the collection has been modified.
Protected Attributes
std::map< std::string, CameraInfo * >	myCameraToInfoMap
	Map of camera names to the associated camera information.
bool	myIsModified
	Whether the collection has been modified (since the last notification).
bool	myIsUpdatesEnabled
	Whether updates are currently enabled.
std::list< ArFunctor * >	myModifiedCBList
	List of callbacks to be notified when the collection is modified.
ArMutex	myMutex
	Mutex for multi-threaded access.
Classes
struct	CameraInfo
	Information regarding a single camera. More...
struct	CommandInfo
	Information regarding a particular camera command. More...
struct	ParamInfo
	Information regarding a particular camera parameter. More...

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Member Function Documentation

bool ArCameraCollection::addCamera (  const char *  cameraName, const char *  cameraType, const char *  displayName, const char *  displayType )  [virtual]

Adds a new camera to the collection. Parameters: cameraName  the char * name of the camera; must be unique and non-NULL cameraType  the char * type of the camera (e.g. VCC4 or Omni) displayName  the char * string to be displayed for the camera name; if NULL, then the cameraName is used instead displayType  the char * string to be displayed for the camera type; if NULL, then the cameraType is used instead Returns: bool true if the camera was successfully added; false, otherwise.

bool ArCameraCollection::addCameraCommand (  const char *  cameraName, const char *  command, const char *  cameraCommandName, int  requestInterval = -1 )  [virtual]

Adds the specified command to the camera. Parameters: cameraName  the char * name of the camera to which the command is to be added. The camera must have already been installed in the collection via the addCamera() method. command  the char * identifier of the command that is being added. Common commands (currently recognized by MobileEyes) are defined in ArCameraCommands. cameraCommandName  the corresponding char * command (i.e. network packet) name that is actually handled by the camera. The cameraCommandName must be non-NULL and unique across all robot cameras. requestInterval  the int number of milliseconds between client requests for repeating commands; if -1, then the command is not repeating. Returns: bool true if the command was successfully added; false if an error occurred.

bool ArCameraCollection::addModifiedCB (  ArFunctor *  functor, ArListPos::Pos  position = ArListPos::LAST )  [virtual]

Adds a callback to be invoked when the camera collection has been modified. Parameters: functor  the ArFunctor * to be invoked when the collection has been modified; must be non-NULL position  the ArListPos::Pos at which to put the callback (beginning or end) Returns: bool true if the callback was succesfully added; false, otherwise.

bool ArCameraCollection::addParameter (  const char *  cameraName, ArCameraParameterSource *  source, const ArConfigArg &  param )  [virtual]

Adds the specified parameter to the camera. Parameters: cameraName  the char * name of the camera to which the parameter is to be added. The camera must have already been installed in the collection via the addCamera() method. source  the ArCameraParameterSource * that is to be notified when the parameter value is changed; if NULL, then no notification param  the ArConfigArg parameter to be added; the parameter name must be unique for this camera. (Parameter names may be reused across different cameras though.) Returns: bool true if the parameter was successfully added to the camera; false if an error occurred

void ArCameraCollection::endUpdate (   )  [virtual]

Ends an update to the collection. A call to startUpdate() must eventually be followed by a call to endUpdate().

void ArCameraCollection::getCameraCommands (  const char *  cameraName, std::list< std::string > &  outList )  [virtual]

Returns the generic commands that are supported by the specified camera. Parameters: cameraName  the unique char * name of the camera outList  the std::list<std::string> into which the commands are output; any previous contents of the outList are cleared.

void ArCameraCollection::getCameraNames (  std::list< std::string > &  outList  )  [virtual]

Returns the names of the cameras that are in the collection. Parameters: outList  the std::list<std::string> into which the names are output; any previous contents of the outList are cleared.

const char * ArCameraCollection::getCameraType (  const char *  cameraName  )  [virtual]

Returns the type of the specified camera. Parameters: cameraName  the unique char * name of the camera Returns: char * the type of the specified camera; NULL if the camera was not found in the collection

const char * ArCameraCollection::getCommandName (  const char *  cameraName, const char *  command )  [virtual]

Returns the specific camera command (/ network packet) name for the generic command. Parameters: cameraName  the unique char * name of the camera command  the char * name of the generic command to be retrieved Returns: char * the unique command (or network packet) name for the generic command on the specified camera; NULL, if the camera does not support the generic command

const char * ArCameraCollection::getDisplayName (  const char *  cameraName  )  [virtual]

Returns the display name of the specified camera. Parameters: cameraName  the unique char * name of the camera Returns: char * the string to be displayed as the name of the specified camera; NULL if the camera was not found in the collection

const char * ArCameraCollection::getDisplayType (  const char *  cameraName  )  [virtual]

Returns the display type of the specified camera. Parameters: cameraName  the unique char * name of the camera Returns: char * the string to be displayed as the type of the specified camera; NULL if the camera was not found in the collection

bool ArCameraCollection::getParameter (  const char *  cameraName, const char *  parameterName, ArConfigArg &  paramOut )  [virtual]

Returns the specified camera parameter. Parameters: cameraName  the unique char * name of the camera parameterName  the unique char * name of the parameter to be retrieved paramOut  the ArConfigArg into which the parameter is copied Returns: bool true if the parameter was successfully found; false, otherwise.

void ArCameraCollection::getParameterNames (  const char *  cameraName, std::list< std::string > &  outList )  [virtual]

Returns the names of the parameters for the specified camera. Parameters: cameraName  the unique char * name of the camera outList  the std::list<std::string> into which the parameter names are output; any previous contents of the outList are cleared.

int ArCameraCollection::getRequestInterval (  const char *  cameraName, const char *  command )  [virtual]

Returns the default request interval for the specified camera command. Parameters: cameraName  the unique char * name of the camera command  the char * name of the generic command Returns: int the default number of milliseconds between command requests; if -1, then the command is not for refreshing data

bool ArCameraCollection::removeCamera (  const char *  cameraName  )  [virtual]

Removes the specified camera from the collection. Parameters: cameraName  the char * name of the camera to be removed Returns: bool true if the camera was successfully removed; false, otherwise.

bool ArCameraCollection::removeCameraCommand (  const char *  cameraName, const char *  command )  [virtual]

Removes the specified command from the camera. Parameters: cameraName  the char * name of the camera from which the command is to be removed. command  the char * identifier of the command that is being removed. Returns: bool true if the command was successfully removed; false if an error occurred.

bool ArCameraCollection::removeModifiedCB (  ArFunctor *  functor  )  [virtual]

Removes a callback from the modified notification list. Parameters: functor  the ArFunctor * to be removed from the notification list Returns: bool true if the callback was succesfully removed; false, otherwise.

bool ArCameraCollection::removeParameter (  const char *  cameraName, const char *  paramName )  [virtual]

Removes the specified parameter from the camera. Parameters: cameraName  the char * name of the camera from which the parameter is to be removed. paramName  the char * name of the parameter to be removed Returns: bool true if the parameter was successfully removed from the camera; false if an error occurred

bool ArCameraCollection::setParameter (  const char *  cameraName, const ArConfigArg &  param )  [virtual]

Updates the specified camera parameter. Parameters: cameraName  the unique char * name of the camera param  the ArConfigArg to be set; the parameter must have been previously added to the camera with the addParameter() method Returns: bool true if the parameter was found and set; false, otherwise.

void ArCameraCollection::startUpdate (   )  [virtual]

Starts an update to the collection. This method may be used when multiple changes are being made to the collection. While an update is in progress, the modified callbacks will not be invoked. The endUpdate() method should be called after all of the changes are complete (and then the modified callbacks will be invoked).

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The documentation for this class was generated from the following files:

• ArCameraCollection.h
• ArCameraCollection.cpp

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