initial commit of new buoy-task

.gitignore

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+templates/*
+.orogen/*
+*~
+.*.swp
+build/*
+
+*autobuild-stamp
+

CMakeLists.txt

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+PROJECT(buoy)
+cmake_minimum_required(VERSION 2.6)
+
+SET (CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/.orogen/config")
+INCLUDE(buoyBase)
+
+# FIND_PACKAGE(KDL)
+# FIND_PACKAGE(OCL)
+

buoy.orogen

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+name "buoy"
+# Optionally declare the version number
+# version "0.1"
+
+# If new data types need to be defined, they have to be put in a separate C++
+# header, and this header will be loaded here
+# import_types_from "buoy_detectorType.hpp"
+
+# If the component/deployments use data types that are defined in other oroGen
+# projects, these projects should be imported there as well.
+using_library "opencv"
+#using_library "eigen2"
+using_library "frame_helper"
+using_library "visual_detectors"
+import_types_from "base"
+import_types_from "avalon_base"
+
+task_context "Survey" do
+   # --------------------------------------------------------------------------
+   # BUOY_DETECTED:   found a buoy within a sequence of frames
+   # BUOY_LOST:       lost the buoy over a sequence of frames
+   # --------------------------------------------------------------------------
+   states("BUOY_SEARCH", "BUOY_DETECTED", "BUOY_LOST", "RE_SEARCHING_BUOY", "BUOY_ARRIVED", "STRAFING", 
+        "STRAFE_FINISHED", "STRAFE_ERROR", "MOVING_TO_CUTTING_DISTANCE", "CUTTING",
+        "CUTTING_SUCCESS", "CUTTING_ERROR")
+
+   # --------------------------------------------------------------------------
+   # I n p u t s 
+   # --------------------------------------------------------------------------
+   input_port("frame", ro_ptr("base::samples::frame::Frame")).
+        doc("current frame given from a camera on which a buoy should be detected")
+   input_port("orientation_samples", "base::samples::RigidBodyState").
+		doc 'Vehicle orientation with depth'
+   input_port("force_cutting", "bool").
+		doc("if true the task will direktly go tu STRAFE_FINISHED-state")
+
+   # --------------------------------------------------------------------------
+   # O u t p u t s
+   # --------------------------------------------------------------------------
+   output_port("buoy", "/avalon/feature/Buoy").
+        doc("feature data of a buoy with the highest probability in frame")
+
+   output_port("relative_position", "/base/AUVPositionCommand").
+        doc("relative position of the buoy in frame")
+
+   output_port("strafed_angle", "double").
+	doc("the angle that was strafed in pi...")
+
+   # --------------------------------------------------------------------------
+   # P r o p e r t i e s 
+   # --------------------------------------------------------------------------
+ #  property("hue_low", "int",  56).
+ #       doc("set low hue value to recude color space")
+
+#   property("hue_high", "int", 200).
+#        doc("set high hue value to reduce color space")
+
+   property("max_buoy_distance", "double", 2.0).
+        doc("maximum buoy distance in m")
+
+   property("buoy_radius", "double", 0.05).  #bei boye mit d=25cm ist wert von 0.05 realistisch. wieso?
+        doc("radius of the buoy in m")
+
+   property("houghTh", "int", 25).
+        doc("Hough threshold.")
+
+   property("hValue", "int", 55).
+        doc("Buoy hue value.")
+
+   property("strafe_intensity", "double", -0.8).
+        doc("intensity and direction of strafing (negative is right).");
+
+   property("vValue", "int", 40).
+        doc("Buoy hue value.")
+
+   property("sValue", "int", 95).
+        doc("Buoy saturation value.")
+
+   property("steps", "int", 5).
+        doc("Step size to detect V value.")
+
+   property("edgeTh", "int", 35).
+        doc("Buoy V value.")
+
+   property("run_in_simulation", "bool", 0).
+        doc("shows if the task runs in simulation or not.")
+
+   property("debug_gui", "bool", true).
+        doc("Sets test mode.")
+
+   property("buoy_timeout", "int", 20).
+        doc("number of frames a buoy is not detected in order to set BUOY_LOST")
+
+   property("lost_timeout", "int", 20).
+        doc("timeout how long it takes to change state from RE_SEARCHING_BUOY to BUOY_LOST.")
+
+   property("filter_timeout", "double", 1.5).
+        doc("the time in s how long a buoy of the past is noticed by the filter.")
+
+   property("good_y_z", "double", 0.2).
+        doc("for detecting if the buoy is in a good position to strafe.")
+
+   property("good_x", "double", 0.3).
+        doc("for detecting if the buoy is in a good position to strafe.")
+
+   property("buoy_depth", "double", -1.0).
+        doc("the absolute high of the buoy in the water.")
+
+   property("headingFactor", "double", 1.0).
+        doc("factor multiplied for heading")
+
+   property("headingModulation", "double", 0.0).
+        doc("pre-heading for strafing")
+
+   property("maxX", "double", 0.2).
+        doc("maximum x value for strafing")
+   property("cutting_time", "int", 53).
+        doc("time for the cutting-action in seconds.")
+   property("cutting_hight", "double", -0.25)
+        doc("how much higher should he go to cut the buoy.")
+
+   property("strafe_angle", "double", 0.95)
+	doc("the angle that is to strafe around the buoy and bagwards. it has to be 0<x<1, where the angle is x*pi where 1*pi=180°.")
+
+   property("strafe_around", "bool", 0)
+	doc("if it is true the strafe_angle will be ignored and the auv will strafe in a hole cycle around the buoy.") 
+
+   property("cutting_wait_time", "int", 60)
+	doc("time in seconds to wait in moving_to_cutting_distance before cutting.")
+
+   port_driven("frame")
+end
+
+task_context "Detector" do
+   # --------------------------------------------------------------------------
+   # BUOY_DETECTED:   found a buoy within a sequence of frames
+   # BUOY_LOST:       lost the buoy over a sequence of frames
+   # --------------------------------------------------------------------------
+   states("BUOY_SEARCH", "BUOY_DETECTED", "BUOY_LOST", "RE_SEARCHING_BUOY", "BUOY_ARRIVED", "STRAFING", 
+        "STRAFE_FINISHED", "STRAFE_ERROR", "MOVING_TO_CUTTING_DISTANCE", "CUTTING",
+        "CUTTING_SUCCESS", "CUTTING_ERROR")
+
+   # --------------------------------------------------------------------------
+   # I n p u t s 
+   # --------------------------------------------------------------------------
+   input_port("frame", ro_ptr("base::samples::frame::Frame")).
+        doc("current frame given from a camera on which a buoy should be detected")
+   input_port("orientation_samples", "base::samples::RigidBodyState").
+		doc 'Vehicle orientation with depth'
+   input_port("force_cutting", "bool").
+		doc("if true the task will direktly go tu STRAFE_FINISHED-state")
+
+   # --------------------------------------------------------------------------
+   # O u t p u t s
+   # --------------------------------------------------------------------------
+   output_port("buoy", "/avalon/feature/Buoy").
+        doc("feature data of a buoy with the highest probability in frame")
+
+   output_port("relative_position", "/base/AUVPositionCommand").
+        doc("relative position of the buoy in frame")
+
+   output_port("strafed_angle", "double").
+	doc("the angle that was strafed in pi...")
+
+   # --------------------------------------------------------------------------
+   # P r o p e r t i e s 
+   # --------------------------------------------------------------------------
+ #  property("hue_low", "int",  56).
+ #       doc("set low hue value to recude color space")
+
+#   property("hue_high", "int", 200).
+#        doc("set high hue value to reduce color space")
+
+   property("max_buoy_distance", "double", 2.0).
+        doc("maximum buoy distance in m")
+
+   property("buoy_radius", "double", 0.05).  #bei boye mit d=25cm ist wert von 0.05 realistisch. wieso?
+        doc("radius of the buoy in m")
+
+   property("houghTh", "int", 25).
+        doc("Hough threshold.")
+
+   property("hValue", "int", 55).
+        doc("Buoy hue value.")
+
+   property("strafe_intensity", "double", -0.8).
+        doc("intensity and direction of strafing (negative is right).");
+
+   property("vValue", "int", 40).
+        doc("Buoy hue value.")
+
+   property("sValue", "int", 95).
+        doc("Buoy saturation value.")
+
+   property("steps", "int", 5).
+        doc("Step size to detect V value.")
+
+   property("edgeTh", "int", 35).
+        doc("Buoy V value.")
+
+   property("run_in_simulation", "bool", 0).
+        doc("shows if the task runs in simulation or not.")
+
+   property("debug_gui", "bool", true).
+        doc("Sets test mode.")
+
+   property("buoy_timeout", "int", 20).
+        doc("number of frames a buoy is not detected in order to set BUOY_LOST")
+
+   property("lost_timeout", "int", 20).
+        doc("timeout how long it takes to change state from RE_SEARCHING_BUOY to BUOY_LOST.")
+
+   property("filter_timeout", "double", 1.5).
+        doc("the time in s how long a buoy of the past is noticed by the filter.")
+
+   property("good_y_z", "double", 0.2).
+        doc("for detecting if the buoy is in a good position to strafe.")
+
+   property("good_x", "double", 0.3).
+        doc("for detecting if the buoy is in a good position to strafe.")
+
+   property("buoy_depth", "double", -1.0).
+        doc("the absolute high of the buoy in the water.")
+
+   property("headingFactor", "double", 1.0).
+        doc("factor multiplied for heading")
+
+   property("headingModulation", "double", 0.0).
+        doc("pre-heading for strafing")
+
+   property("maxX", "double", 0.2).
+        doc("maximum x value for strafing")
+   property("cutting_time", "int", 53).
+        doc("time for the cutting-action in seconds.")
+   property("cutting_hight", "double", -0.25)
+        doc("how much higher should he go to cut the buoy.")
+
+   property("strafe_angle", "double", 0.95)
+	doc("the angle that is to strafe around the buoy and bagwards. it has to be 0<x<1, where the angle is x*pi where 1*pi=180°.")
+
+   property("strafe_around", "bool", 0)
+	doc("if it is true the strafe_angle will be ignored and the auv will strafe in a hole cycle around the buoy.") 
+
+   property("cutting_wait_time", "int", 60)
+	doc("time in seconds to wait in moving_to_cutting_distance before cutting.")
+
+   port_driven("frame")
+end
+

manifest.xml

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+<package>
+  <description brief="contrains buoy-tasks for sauc-e 2011 and 2012">
+
+  </description>
+  <author>Thomas Grassow/[email protected]</author>
+  <license></license>
+  <url>http://</url>
+  <logo>http://</logo>
+  <!--
+   To add any dependencies use the depend tag
+  <depend package="dummy-dependency-0" />
+	...
+  <depend package="dummy-dependency-n-1" />
+  <depend package="dummy-dependency-n" />
+  -->
+</package>

tasks/CMakeLists.txt

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+# Generated from orogen/lib/orogen/templates/tasks/CMakeLists.txt
+
+include(buoyTaskLib)
+ADD_LIBRARY(${BUOY_TASKLIB_NAME} SHARED 
+    ${BUOY_TASKLIB_SOURCES})
+
+add_dependencies(${BUOY_TASKLIB_NAME}
+    regen-typekit)
+
+
+TARGET_LINK_LIBRARIES(${BUOY_TASKLIB_NAME}
+    ${OrocosRTT_LIBRARIES}
+    ${BUOY_TASKLIB_DEPENDENT_LIBRARIES})
+SET_TARGET_PROPERTIES(${BUOY_TASKLIB_NAME}
+    PROPERTIES LINK_INTERFACE_LIBRARIES "${BUOY_TASKLIB_INTERFACE_LIBRARIES}")
+
+INSTALL(TARGETS ${BUOY_TASKLIB_NAME}
+    RUNTIME DESTINATION bin
+    LIBRARY DESTINATION lib/orocos)
+
+INSTALL(FILES ${BUOY_TASKLIB_HEADERS}
+    DESTINATION include/orocos/buoy)
+

tasks/Detector.cpp

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+/* Generated from orogen/lib/orogen/templates/tasks/Task.cpp */
+
+#include "Detector.hpp"
+
+using namespace buoy;
+
+Detector::Detector(std::string const& name, TaskCore::TaskState initial_state)
+    : DetectorBase(name, initial_state)
+{
+}
+
+Detector::Detector(std::string const& name, RTT::ExecutionEngine* engine, TaskCore::TaskState initial_state)
+    : DetectorBase(name, engine, initial_state)
+{
+}
+
+Detector::~Detector()
+{
+}
+
+
+
+/// The following lines are template definitions for the various state machine
+// hooks defined by Orocos::RTT. See Detector.hpp for more detailed
+// documentation about them.
+
+// bool Detector::configureHook()
+// {
+//     if (! DetectorBase::configureHook())
+//         return false;
+//     return true;
+// }
+// bool Detector::startHook()
+// {
+//     if (! DetectorBase::startHook())
+//         return false;
+//     return true;
+// }
+// void Detector::updateHook()
+// {
+//     DetectorBase::updateHook();
+// }
+// void Detector::errorHook()
+// {
+//     DetectorBase::errorHook();
+// }
+// void Detector::stopHook()
+// {
+//     DetectorBase::stopHook();
+// }
+// void Detector::cleanupHook()
+// {
+//     DetectorBase::cleanupHook();
+// }
+