Camera.cpp

/************************************************************/
/*    NAME: David Battle                                    */
/*    ORGN: MISSION SYSTEMS PTY LTD                         */
/*    FILE: Camera.cpp                                      */
/*    DATE: 9 Jan 2019                                      */
/************************************************************/

#include <iterator>
#include "MBUtils.h"
#include "Camera.h"
#include <nlohmann/json.hpp>

using namespace std;
using namespace cv;
using json = nlohmann::json;

//---------------------------------------------------------
// Constructor

Camera::Camera()
{
  msg_name = "No camera set!";
}

//---------------------------------------------------------
// Destructor

Camera::~Camera()
{
}

//---------------------------------------------------------
// Procedure: OnNewMail

bool Camera::OnNewMail(MOOSMSG_LIST &NewMail)
{
  MOOSMSG_LIST::iterator p;
   
  for (p=NewMail.begin(); p!=NewMail.end(); p++) {
    CMOOSMsg &msg = *p;
    string key  = msg.GetKey();
    double dval = msg.GetDouble();
    string sval = msg.GetString();
    
    if (key == msg_name) {

      size_t numBytes = msg.GetBinaryDataSize();

      // Pointer to image data
      void *ptr = msg.GetBinaryData();

      // // Read RGBA image
      Mat raw = Mat(600, 800, CV_8UC4, ptr);

      // Convert to BGRA
      cvtColor(raw, m_image, COLOR_RGBA2BGRA);
    } 
  }
   return(true);
}

//---------------------------------------------------------
// Procedure: OnConnectToServer

bool Camera::OnConnectToServer()
{
    // register for variables here
    // possibly look at the mission file?
    // m_MissionReader.GetConfigurationParam("Name", <string>);
    // m_Comms.Register("VARNAME", 0);
	
    // Don't do this here!
    // RegisterVariables();
    return(true);
}

//---------------------------------------------------------
// Procedure: Iterate()
//            happens AppTick times per second

bool Camera::Iterate()
{

  if ( m_image.data )
  {
    imshow(msg_name, m_image);
    waitKey(1);
  }

  return(true);
}

//---------------------------------------------------------
// Procedure: OnStartUp()
//            happens before connection is open

bool Camera::OnStartUp()
{
  list<string> sParams;
  m_MissionReader.EnableVerbatimQuoting(false);
  if(m_MissionReader.GetConfiguration(GetAppName(), sParams)) {
    list<string>::iterator p;
    for(p=sParams.begin(); p!=sParams.end(); p++) {
      string original_line = *p;
      string param = stripBlankEnds(toupper(biteString(*p, '=')));
      string value = stripBlankEnds(*p);
      
      if(param == "MSG_NAME") {
        msg_name = value;
        Register(msg_name, 0);
      }
    }
  }
  
  // Don't do this here!
  // RegisterVariables();

  namedWindow(msg_name, WINDOW_AUTOSIZE );

  return(true);
}

//---------------------------------------------------------
// Procedure: RegisterVariables

void Camera::RegisterVariables()
{  
  Register(msg_name, 0);
}