/home/fwph/code/wurde/modules/visionModule/Operators/ImagePublisher.cpp

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#include "ImagePublisher.H"
#include <Logger.H>
#include <string>
#include <opencv/cv.h>
#include <opencv/highgui.h>

using namespace std;
using namespace WURDE;
using namespace WURDEVision;

ImagePublisher::ImagePublisher(std::string name) : VisionOperator(name),m_imagesource(name) {
       registerSupplier(&m_imagesource);
}

void ImagePublisher::initOperator() {

       m_state=STATE_RUN;
       //       m_format=FORMAT_CHAR_111_RGB;
       m_format=FORMAT_CHAR_1_GRAY;

       if(g_globalConfiguration.haveModuleOption(m_name,"format")){
              string tmpformat=g_globalConfiguration.getModuleOption(m_name,"format");
               std::transform(tmpformat.begin(),tmpformat.end(), tmpformat.begin(), (int (*) (int)) tolower);
               
               //default is rgb
               if(tmpformat=="yuv24"){
                      m_format=FORMAT_CHAR_111_YUV24;
               }else if(tmpformat=="yuv422"){
                      m_format=FORMAT_CHAR_11_YUV422;
               }else if(tmpformat=="gray"){
                      m_format=FORMAT_CHAR_1_GRAY;
               }
              
               
       }

       m_stereo=false;
       
       m_imagesource.setCompression(COMPRESSION_UNCOMPRESSED);
        //m_imagesource.setCompression(COMPRESSION_RLE_LOWQUALITY);
       m_imagesource.setFormat(m_format);

       m_imagesource.info.format.setValueAndLock(m_format);
       m_imagesource.info.width.setValueAndLock(320);
       m_imagesource.info.height.setValueAndLock(240);
       m_imagesource.info.compression.setValueAndLock(COMPRESSION_UNCOMPRESSED);
       //m_imagesource.info.compression.setValueAndLock(COMPRESSION_RLE_LOWQUALITY);
       m_imagesource.info.userChannels.setValueAndLock(-1);
       
       m_published=false;


 }

void ImagePublisher::runOperator(WURDEImage theimage) {
       if(!m_published){
#warning Fix special case: supplier not registered, need to publish info
              g_debug("Publishing info");
              m_imagesource.publishInfo();
              m_published=true;
       }

       if(m_imagesource.newRequest()){
              m_imagesource.getNextRequest();
              if(m_imagesource.requests.mType==MESSAGE_PING){
                     m_imagesource.publishInfo();
              }else{
                     g_debug("Trying to publish an image");
                     m_imagesource.publishImage(theimage);
              }
       }

}

void ImagePublisher::quitOperator() {

       if(m_imagesource.data.image){
              delete [] m_imagesource.data.image;
              m_imagesource.data.image=NULL;
              m_imagesource.data.imagesize=0;
       }

       m_published=false;
       m_state=STATE_QUIT;
 
}

extern "C" {

       VisionOperator *ImagePublisher_factory(std::string name) {
              return new ImagePublisher(name);
       }
       
       class ImagePublisherProxy { 
       public:
              ImagePublisherProxy(){
                     operatorFactory["ImagePublisher"] = ImagePublisher_factory;
              }
       };
       
       ImagePublisherProxy p_imagewriter;
}

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