did a copy of classical buoydetector in buoy::Detector

manifest.xml

@@ -13,4 +13,9 @@
   <depend package="dummy-dependency-n-1" />
   <depend package="dummy-dependency-n" />
   -->
+  <depend package="avalon/visual_detectors"/>
+  <depend package="eigen3" />
+  <depend package="opencv" />
+
+  <tags>needs_opt</tags>
 </package>

scripts/force_cutting.rb

@@ -0,0 +1,9 @@
+require 'orocos'
+require 'vizkit'
+include Orocos
+
+Orocos::CORBA.name_service = "192.168.128.51"
+Orocos.initialize
+
+  detector = Orocos::TaskContext.get "buoy_detector"
+  detector.force_cutting.writer.write(true)

scripts/livetest.rb

@@ -0,0 +1,30 @@
+require 'orocos'
+require 'vizkit'
+include Orocos
+
+Orocos::CORBA.name_service = "192.168.128.51"
+Orocos.initialize
+
+#Orocos.run "buoydetector" do 
+Orocos.run("buoydetector_test" => nil, :wait => 20) do
+  detector = Orocos::TaskContext.get "buoydetector_test"
+  camera = Orocos::TaskContext.get "front_camera"
+
+ #Vizkit.display detector.buoy
+  #Vizkit.display detector.relative_position
+
+  camera.frame.connect_to detector.frame
+  detector.configure
+  detector.start
+
+   Vizkit.display camera.frame
+
+  begin
+     puts "busy"
+     Vizkit.exec
+  rescue Interrupt => e
+     puts "Ende"
+  end
+end
+
+

scripts/livetest_simulation.rb

@@ -0,0 +1,36 @@
+require 'orocos'
+require 'vizkit'
+include Orocos
+
+#Orocos::CORBA.name_service = "192.168.128.51"
+Orocos::CORBA.name_service = "127.0.0.1"
+
+Orocos.initialize
+
+#Orocos.run "buoydetector" do 
+Orocos.run("buoydetector_test" => nil, :wait => 20) do
+  detector = TaskContext.get "buoydetector_test"
+  #camera = Orocos::TaskContext.get "front_camera"
+  camera = TaskContext.get 'front_camera_simulation'
+#  camera.start
+
+  buoy_monitor = Vizkit.display detector.buoy
+
+  Vizkit.display detector.relative_position
+
+  camera.frame.connect_to detector.frame
+  detector.configure
+  detector.start
+
+#   Vizkit.display camera.frame
+
+  begin
+     puts "busy"
+     Vizkit.exec
+  rescue Interrupt => e
+     puts "Ende"
+  end
+
+end
+
+

scripts/test.rb

@@ -0,0 +1,35 @@
+require "vizkit"
+
+Orocos::CORBA.name_service = "127.0.0.1"
+Orocos::CORBA.max_message_size = 80000000
+Orocos.initialize
+
+if ARGV.size < 1
+  puts "No Log File in use"
+  exit 1
+end
+
+#Orocos.run do
+Orocos.run("buoydetector_test", :wait => 20) do
+  log = Orocos::Log::Replay.open(ARGV[0], Typelib::Registry.new)
+
+  detector = Orocos::TaskContext.get "buoydetector_test"
+
+  log.front_camera.frame.connect_to detector.frame
+
+  #Vizkit.display detector.buoy
+  #Vizkit.display detector.relative_position
+
+  detector.configure
+
+  detector.start
+
+  begin
+    Vizkit.control log
+    Vizkit.exec
+  rescue Interrupt => e
+     puts "Ende"
+  end
+end
+
+