Worker object that processes line sensor output and updates stored reading. More...

Inheritance diagram for trikControl::LineSensorWorker:

Collaboration diagram for trikControl::LineSensorWorker:

Public Slots
void	init (bool showOnDisplay)
	Initializes a camera. More...

void	detect ()
	Detects the color of an object in center of current frame and memorizes it. More...

QVector< int >	read ()
	Returns current raw x coordinate of detected object. More...

QVector< int >	getDetectParameters () const
	Get values returned by last "detect" operation. More...

Public Slots inherited from trikControl::AbstractVirtualSensorWorker
virtual void	stop ()
	Stops detection until init() will be called again. More...

Public Member Functions
	LineSensorWorker (const QString &script, const QString &inputFile, const QString &outputFile, qreal toleranceFactor, DeviceState &state, trikHal::HardwareAbstractionInterface &hardwareAbstraction)
	Constructor. More...

	~LineSensorWorker () override

Public Member Functions inherited from trikControl::AbstractVirtualSensorWorker
	AbstractVirtualSensorWorker (const QString &script, const QString &inputFile, const QString &outputFile, DeviceState &state, trikHal::HardwareAbstractionInterface &hardwareAbstraction)
	Constructor. More...

	~AbstractVirtualSensorWorker () override

Status	status () const override
	Returns current status of the device. More...

Public Member Functions inherited from trikControl::DeviceInterface
	DeviceInterface ()=default

virtual	~DeviceInterface ()=default

Additional Inherited Members
Public Types inherited from trikControl::DeviceInterface
enum	Status { Status::permanentFailure, Status::temporaryFailure, Status::off, Status::starting, Status::ready, Status::stopping }
	Device status. More...

Signals inherited from trikControl::AbstractVirtualSensorWorker
void	stopped ()
	Emitted when sensor is stopped successfully. More...

Static Public Member Functions inherited from trikControl::DeviceInterface
static Status	combine (const DeviceInterface &underlying, const DeviceInterface::Status &dependent)
	Helper method to return status of a device relying on other device to work. More...

Protected Member Functions inherited from trikControl::AbstractVirtualSensorWorker
void	init ()
	Launch sensor. More...

void	sendCommand (const QString &command)
	If sensor is ready, sends a command to its input FIFO, otherwise queues this command and sends it later. More...

Detailed Description

Worker object that processes line sensor output and updates stored reading.

Meant to be executed in separate thread.

Constructor & Destructor Documentation

LineSensorWorker::LineSensorWorker	(	const QString &	script,
		const QString &	inputFile,
		const QString &	outputFile,
		qreal	toleranceFactor,
		DeviceState &	state,
		trikHal::HardwareAbstractionInterface &	hardwareAbstraction
	)

Constructor.

Parameters

script	- file name of a scrit used to start or stop a sensor.
inputFile	- sensor input fifo. Note that we will write data here, not read it.
outputFile	- sensor output fifo. Note that we will read sensor data from here.
toleranceFactor	- a value on which hueTolerance, saturationTolerance and valueTolerance is multiplied after "detect" command. Higher values allow to count more points on an image as tracked object.

LineSensorWorker::~LineSensorWorker ( )

override

void LineSensorWorker::detect ( )

slot

Detects the color of an object in center of current frame and memorizes it.

QVector< int > LineSensorWorker::getDetectParameters ( ) const

slot

Get values returned by last "detect" operation.

Returned vector has 6 components - hue, saturation and value of a dominant color (got by "detect") and hue, saturation and value tolerance factors.

void LineSensorWorker::init ( bool showOnDisplay )

slot

Initializes a camera.

Parameters

showOnDisplay - true if we want an image from a camera to be drawn on robot display.

QVector< int > LineSensorWorker::read ( )

slot

Returns current raw x coordinate of detected object.

Sensor returns 0 if detect() was not called. Can be accessed directly from other thread.

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