C:/Users/albertlr/projects/TarzaNN/TarzaNN/InputSocketFeaturePlane.h

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#ifndef INPUTSOCKETFEATUREPLANE_H_INCLUDED
#define INPUTSOCKETFEATUREPLANE_H_INCLUDED


/************************************************************************************/
//Network commands for Trish head

#define MAXLEN 1000

//Axis
#define LEYE_V 1
#define LEYE_H 2
#define HEAD   3
#define REYE_H 4
#define REYE_V 5


//Motion Controller Constants
#define RIGHT_EYE_V             1       //move right eye up or down
#define RIGHT_EYE_H             2       //move right eye to the left or to the right
#define LEFT_EYE_V              4       //move left eye up or down
#define LEFT_EYE_H              8       //move left eye to the left or to the right
#define ONLY_HEAD               16      //move head (but not the eyes)
#define HEAD_AND_EYES   32      //move head and eyes together
#define LEFT_EYE                33      //move left eye (vertical and horizontal motion)
#define RIGHT_EYE               34      //move right eye (vertical and horizontal motion)
#define AXIS_POS                50      //get position of an axis
#define INVALID                 234     //invalid command
#define MC_ERROR                235     //error occured
#define MC_OK                   236     //command executed

#define EYE_H_SCALE 45.08
#define EYE_V_SCALE 100.12
#define HEAD_H_SCALE = 125.06

//Frame grabber settings
#define GRAB                    1
#define SNAP                    2

#define RGB32                   1
#define RGB24                   2

#define GREYLG                  0
#define GREYSM                  1
#define COLORLG                 2
#define COLORSM                 3

//Frame grabber commands
#define GETFRAMES               128     //get N frames
#define INIT                    129     //initialize frame grabber

#define FG_OK                   235     //command executed
#define FG_ERROR                236     //command failed

/************************************************************************************/

#include "InputControllerAbstract.h"

#include "common.h"
#include <QString>
#include <QByteArray>
#include <QMutex>
#include <q3socketdevice.h>
#include <QHostAddress>
#include <QImage>
#include <QPixmap>

class InputSocketFeaturePlane : public InputControllerAbstract {
        friend class FeaturePlaneFactory;

protected:
    InputSocketFeaturePlane( Network* net, int l, QString* n, int w, int h, NotifyStrategyAbstract* notify,
                            const char* controllerHost = "130.63.92.218", 
                            int controllerPort = 4000, 
                            const char* imageHost = "130.63.92.218", 
                            int imagePort = 5000);

public:
    ~InputSocketFeaturePlane();
    OutputImage* getHeadImage();
    bool moveHead(int deltaX, int deltaY, bool notify=true);

private:
    InputSocketFeaturePlane();
    void initializeImageSocket();
    void initializeControllerSocket();

    QHostAddress controllerHost;
    int controllerPort;
    Q3SocketDevice controllerSocket;
    QMutex controllerSocketMutex;

    QHostAddress imageHost;
    int imagePort;
    Q3SocketDevice imageSocket; 
    QMutex imageSocketMutex;

    int imageH,imageW,imageD; //width, height, depth
    unsigned char* imageData;
    unsigned char* imageDataR, *imageDataG, *imageDataB;    
};
#endif // INPUTSOCKETFEATUREPLANE_H_INCLUDED