From de8124faa678d32c5bd26a2777ea0f7c324ffa10 Mon Sep 17 00:00:00 2001
From: Francisco Perez <f.perez475@gmail.com>
Date: Mon, 13 Mar 2017 13:40:35 +0100
Subject: [PATCH] [issue #639] Made cameraview bilingual

---
 src/tools/cameraview/CMakeLists.txt       | 10 +++--
 src/tools/cameraview/cameraview.cfg       |  6 ++-
 src/tools/cameraview/cameraview.cpp       | 49 ++++++-----------------
 src/tools/cameraview/pioneer_left_cam.cfg |  1 -
 4 files changed, 24 insertions(+), 42 deletions(-)
 delete mode 100644 src/tools/cameraview/pioneer_left_cam.cfg

diff --git a/src/tools/cameraview/CMakeLists.txt b/src/tools/cameraview/CMakeLists.txt
index ea40fd317..02232f6bc 100644
--- a/src/tools/cameraview/CMakeLists.txt
+++ b/src/tools/cameraview/CMakeLists.txt
@@ -14,10 +14,14 @@ include_directories(
     ${ZLIB_INCLUDE_DIRS}
     ${resourcelocator_INCLUDE_DIRS}
     ${easyiceconfig_INCLUDE_DIRS}
+    ${jderobottypes_INCLUDE_DIRS}
+    ${jderobotcomm_INCLUDE_DIRS}
+    ${roscpp_INCLUDE_DIRS}
 )
 link_directories(
 	${resourcelocator_LIBRARY_DIRS}
 	${easyiceconfig_LIBRARY_DIRS}
+    ${jderobotcomm_LIBRARY_DIRS}
 )
 
 add_executable (cameraview ${SOURCE_FILES})
@@ -29,11 +33,11 @@ TARGET_LINK_LIBRARIES(cameraview
     ${gtkmm_LIBRARIES}
     ${libglademm_LIBRARIES}
     colorspacesmm
-    JderobotInterfaces
-    parallelIce
     ${easyiceconfig_LIBRARIES} 
     ${ZeroCIce_LIBRARIES}
     ${ZLIB_LIBRARIES}
-${CMAKE_THREAD_LIBS_INIT}
+    ${CMAKE_THREAD_LIBS_INIT}
 	${resourcelocator_LIBRARIES}
+    ${catkin_LIBRARIES}
+    ${jderobotcomm_LIBRARIES}
 )
diff --git a/src/tools/cameraview/cameraview.cfg b/src/tools/cameraview/cameraview.cfg
index c998e04e1..3dbc09deb 100644
--- a/src/tools/cameraview/cameraview.cfg
+++ b/src/tools/cameraview/cameraview.cfg
@@ -1,2 +1,6 @@
-Cameraview.Camera.Proxy=cameraA:default -h 0.0.0.0 -p 9999
+# 0 -> Deactivate, 1 -> Ice , 2 -> ROS
+Cameraview.Camera.Server=1
+Cameraview.Camera.Proxy=cameraA:tcp -h localhost -p 9999
 Cameraview.Camera.Format=RGB8
+Cameraview.Camera.Topic=/camera/rgb/image_raw
+Cameraview.Camera.Name=cameraA
\ No newline at end of file
diff --git a/src/tools/cameraview/cameraview.cpp b/src/tools/cameraview/cameraview.cpp
index 241649c9c..cc681c6e1 100644
--- a/src/tools/cameraview/cameraview.cpp
+++ b/src/tools/cameraview/cameraview.cpp
@@ -22,58 +22,33 @@
 
 #include <iostream>
 #include <Ice/Ice.h>
-#include <IceUtil/IceUtil.h>
-#include <jderobot/camera.h>
 #include <visionlib/colorspaces/colorspacesmm.h>
 #include "viewer.h"
-#include "parallelIce/cameraClient.h"
 #include "easyiceconfig/EasyIce.h" 
+#include <jderobot/comm/cameraClient.hpp>
+#include <jderobot/types/image.h>
 
 int main(int argc, char** argv){
+
 	int status;
 	cameraview::Viewer viewer;
 	Ice::CommunicatorPtr ic;
 
-	jderobot::cameraClient* camRGB;
-
-	try{
-		ic = EasyIce::initialize(argc,argv);
-		Ice::ObjectPrx base = ic->propertyToProxy("Cameraview.Camera.Proxy");
-		Ice::PropertiesPtr prop = ic->getProperties();
-
-		if (0==base)
-			throw "Could not create proxy";
+	JdeRobotComm::CameraClient* camRGB;
 
+	ic = EasyIce::initialize(argc,argv);
 
-		camRGB = new jderobot::cameraClient(ic,"Cameraview.Camera.");
+	camRGB = JdeRobotComm::getCameraClient(ic, "Cameraview.Camera");
 
-		if (camRGB == NULL){
-			throw "Invalid proxy";
-		}
-		camRGB->start();
+	JdeRobotTypes::Image rgb;
 
-		cv::Mat rgb;
+	while(viewer.isVisible()){
+		//jderobot::ImageDataPtr data = camRGB->getImageData(format);
 
-		while(viewer.isVisible()){
-			//jderobot::ImageDataPtr data = camRGB->getImageData(format);
-
-			camRGB->getImage(rgb);
-			viewer.display(rgb);
-			viewer.displayFrameRate(camRGB->getRefreshRate());
-		}
-	}catch (const Ice::Exception& ex) {
-		std::cerr << ex << std::endl;
-		status = 1;
-	} catch (const char* msg) {
-		std::cerr << msg << std::endl;
-		status = 1;
+		rgb = camRGB->getImage();
+		viewer.display(rgb.data);
+		viewer.displayFrameRate(0);
 	}
 
-	if (ic)
-		ic->destroy();
-
-	camRGB->stop_thread();
-	delete(camRGB);
-
 	return status;
 }
diff --git a/src/tools/cameraview/pioneer_left_cam.cfg b/src/tools/cameraview/pioneer_left_cam.cfg
deleted file mode 100644
index e70db362f..000000000
--- a/src/tools/cameraview/pioneer_left_cam.cfg
+++ /dev/null
@@ -1 +0,0 @@
-Cameraview.Camera.Proxy=cam_sensor_left:tcp -h localhost -p 9995