00001 #include <visionModule.H>
00002 #include <vector>
00003 #include <set>
00004 #include <Logger.H>
00005
00006 using namespace std;
00007 using namespace WURDEVision;
00008 using namespace WURDE;
00009
00010 extern "C" {
00011 std::map<std::string, voperatorloader_ptr *, less<string> > operatorFactory;
00012 }
00013
00014 namespace WURDEVision{
00015
00016 void loadOperatorMap(vector<string> operatorLibs){
00017 void *handle;
00018
00019 for(vector<string>::iterator iter=operatorLibs.begin();
00020 iter!=operatorLibs.end(); iter++){
00021 handle=dlopen(iter->c_str(),RTLD_NOW);
00022 if(!handle){
00023 g_error(dlerror());
00024 continue;
00025 }
00026 }
00027
00028 cout << operatorFactory.size() << " objects loaded.\n";
00029 }
00030
00031 void loadOperators(VisionModuleConfig &theConfig, std::list<VisionOperator *> & theOperators, bool fakeit){
00032 VisionOperator *curr=NULL;
00033 char logbuf[1024];
00034 g_debug("IN load operators");
00035
00036 if(fakeit){
00037 g_logdebug << "In loadOperators, we're faking it." << endl;
00038 }
00039
00040 for(std::vector<OperatorConfig>::iterator iter=theConfig.operators.begin();
00041 iter!=theConfig.operators.end(); iter++){
00042 g_debug("Loading first operator");
00043 curr=NULL;
00044 bool okay=false;
00045
00046 if(operatorFactory.find((*iter).type)!=operatorFactory.end()){
00047 curr=operatorFactory[(*iter).type]((*iter).name);
00048 sprintf(logbuf,"Created an operator type %s",(*iter).type.c_str());
00049 g_debug(logbuf);
00050 }else{
00051 sprintf(logbuf,"Couldn't find operator plugin %s",(*iter).type.c_str());
00052 g_warn(logbuf);
00053 continue;
00054 }
00055
00056 if(curr){
00057 if(!fakeit){
00058 std::vector<CameraConfig>::iterator camiter;
00059 std::vector<CameraConfig>::iterator camiter2;
00060 g_logdebug << "Looking for cameras..." <<endl;
00061 for(camiter=iter->cameras.begin();camiter!=iter->cameras.end();
00062 camiter++){
00063 g_logdebug << "Looking for a camera. " <<endl;
00064 bool found=false;
00065 g_debug("Looking for a camera");
00066 for(camiter2=theConfig.cameras.begin();camiter2!=theConfig.cameras.end();
00067 camiter2++){
00068 if((*camiter).name==(*camiter2).name){
00069 found=true;
00070 g_debug("Got the camera");
00071 break;
00072 }
00073 }
00074
00075 if(!found){
00076 okay=false;
00077 g_error("Couldn't find a requested camera for one of the operators.");
00078 break;
00079 }else{
00080 curr->setCameras(iter->cameras);
00081 g_debug("Operator is okay.");
00082 okay=true;
00083
00084 }
00085 }
00086
00087 if(!okay){
00088 g_debug("Operator not okay.");
00089 delete curr;
00090 continue;
00091 }
00092
00093 curr->initOperator();
00094 curr->setName((*iter).name);
00095 }
00096 theOperators.push_back(curr);
00097 }else{
00098 g_debug("No operator object.");
00099 }
00100 }
00101 }
00102 }
00103
