// -*- C++ -*-
/*!
 * @file  Flip.cpp
 * @brief Flip component
 * @date $Date$
 *
 * $Id$
 */

#include "Flip.h"

// Module specification
// <rtc-template block="module_spec">
static const char* flip_spec[] =
  {
    "implementation_id", "Flip",
    "type_name",         "Flip",
    "description",       "Flip component",
    "version",           "1.0.0",
    "vendor",            "Aizu",
    "category",          "Category",
    "activity_type",     "PERIODIC",
    "kind",              "DataFlowComponent",
    "max_instance",      "1",
    "language",          "C++",
    "lang_type",         "compile",
    // Configuration variables
    "conf.default.flipMode", "0",
    // Widget
    "conf.__widget__.flipMode", "radio",
    // Constraints
    "conf.__constraints__.flipMode", "(-1, 0, 1)",
    ""
  };
// </rtc-template>

/*!
 * @brief constructor
 * @param manager Maneger Object
 */
Flip::Flip(RTC::Manager* manager)
    // <rtc-template block="initializer">
  : RTC::DataFlowComponentBase(manager),
    m_originalImageIn("originalImage", m_originalImage),
    m_flippedImageOut("flippedImage", m_flippedImage)

    // </rtc-template>
{
}

/*!
 * @brief destructor
 */
Flip::~Flip()
{
}



RTC::ReturnCode_t Flip::onInitialize()
{
  // Registration: InPort/OutPort/Service
  // <rtc-template block="registration">
  // Set InPort buffers
  addInPort("originalImage", m_originalImageIn);
  
  // Set OutPort buffer
  addOutPort("flippedImage", m_flippedImageOut);
  
  // Set service provider to Ports
  
  // Set service consumers to Ports
  
  // Set CORBA Service Ports
  
  // </rtc-template>

  // <rtc-template block="bind_config">
  // Bind variables and configuration variable
  bindParameter("flipMode", m_flipMode, "0");
  // </rtc-template>
  
  return RTC::RTC_OK;
}

/*
RTC::ReturnCode_t Flip::onFinalize()
{
  return RTC::RTC_OK;
}
*/

/*
RTC::ReturnCode_t Flip::onStartup(RTC::UniqueId ec_id)
{
  return RTC::RTC_OK;
}
*/

/*
RTC::ReturnCode_t Flip::onShutdown(RTC::UniqueId ec_id)
{
  return RTC::RTC_OK;
}
*/


RTC::ReturnCode_t Flip::onActivated(RTC::UniqueId ec_id)
{
	// イメージ用メモリの初期化
	m_imageBuff = NULL;
	m_flipImageBuff = NULL;
	// OutPort の画面サイズの初期化
	m_flippedImage.width = 0;
	m_flippedImage.height = 0;
  return RTC::RTC_OK;
}


RTC::ReturnCode_t Flip::onDeactivated(RTC::UniqueId ec_id)
{
	if (m_imageBuff != NULL)
	{
		// イメージ用メモリの解放
		cvReleaseImage(&m_imageBuff);
		cvReleaseImage(&m_flipImageBuff);
	}
  return RTC::RTC_OK;
}


RTC::ReturnCode_t Flip::onExecute(RTC::UniqueId ec_id)
{
	// 新しいデータのチェック
	if (m_originalImageIn.isNew()) {
		// InPort データの読み込み
		m_originalImageIn.read();
		// InPort とOutPort の画面サイズ処理およびイメージ用メモリの確保
		if (m_originalImage.width != m_flippedImage.width || m_originalImage.height != m_flippedImage.height)
		{
			m_flippedImage.width = m_originalImage.width;
			m_flippedImage.height = m_originalImage.height;
			// InPort のイメージサイズが変更された場合
			if (m_imageBuff != NULL)
			{
				cvReleaseImage(&m_imageBuff);
				cvReleaseImage(&m_flipImageBuff);
			}
			// イメージ用メモリの確保
			m_imageBuff = cvCreateImage(cvSize(m_originalImage.width, m_originalImage.height), IPL_DEPTH_8U, 3);
			m_flipImageBuff = cvCreateImage(cvSize(m_originalImage.width, m_originalImage.height), IPL_DEPTH_8U, 3);
		}
		// InPort の画像データをIplImage のimageData にコピー
		memcpy(m_imageBuff->imageData, (void *)&(m_originalImage.pixels[0]), m_originalImage.pixels.length());
		// InPort からの画像データを反転する。 m_flipMode 0: X 軸周り, 1: Y 軸周り, -1: 両方の軸周り
		cvFlip(m_imageBuff, m_flipImageBuff, m_flipMode);
		// 画像データのサイズ取得
		int len = m_flipImageBuff->nChannels * m_flipImageBuff->width * m_flipImageBuff->height;
		m_flippedImage.pixels.length(len);
		// 反転した画像データをOutPort にコピー
		memcpy((void *)&(m_flippedImage.pixels[0]), m_flipImageBuff->imageData, len);
		// 反転した画像データをOutPort から出力する。
		m_flippedImageOut.write();
	}
  return RTC::RTC_OK;
}

/*
RTC::ReturnCode_t Flip::onAborting(RTC::UniqueId ec_id)
{
  return RTC::RTC_OK;
}
*/

/*
RTC::ReturnCode_t Flip::onError(RTC::UniqueId ec_id)
{
  return RTC::RTC_OK;
}
*/

/*
RTC::ReturnCode_t Flip::onReset(RTC::UniqueId ec_id)
{
  return RTC::RTC_OK;
}
*/

/*
RTC::ReturnCode_t Flip::onStateUpdate(RTC::UniqueId ec_id)
{
  return RTC::RTC_OK;
}
*/

/*
RTC::ReturnCode_t Flip::onRateChanged(RTC::UniqueId ec_id)
{
  return RTC::RTC_OK;
}
*/



extern "C"
{
 
  void FlipInit(RTC::Manager* manager)
  {
    coil::Properties profile(flip_spec);
    manager->registerFactory(profile,
                             RTC::Create<Flip>,
                             RTC::Delete<Flip>);
  }
  
};