Robotics Service Bus

//#include <rsb/Factory.h>

//#include <rsb/Handler.h>

//#include <rsb/converter/Repository.h>

//#include <rsb/converter/ProtocolBufferConverter.h>

//#include <rst/vision/SimpleXYZImage.pb.h>

#include <highgui.h>

#include <cv.h>

#include <rsb/Factory.h>

#include <rsb/Handler.h>

#include <rsb/converter/Repository.h>

#include <rsb/converter/ProtocolBufferConverter.h>

#include <rst/vision/SimpleXYZImage.pb.h>

using namespace std;

using namespace rsb;

using namespace rsb::converter;

using namespace rst::vision;

//using namespace cv;

void printImage(boost::shared_ptr<SimpleXYZImage> image) {

////    float *a = image->mutable_data()->mutable_data();

    cout << "received " << image->width() << "x" << image->height() << " image: " 

////             << a[0] << " " << a[1]

         << endl;

//cout << "print" << endl;

}

int main ( int argc, char **argv )

{

    // Register a specific template instanciation of the

    // ProtocolBufferConverter for our SimpleXYZImage protocol buffer

    // message.

    boost::shared_ptr<ProtocolBufferConverter<SimpleXYZImage> > converter(

            new ProtocolBufferConverter<SimpleXYZImage> ());

    stringConverterRepository()->registerConverter(converter);

    // Create a listener to receive SimpleImage protocol buffer

    // messages.

    ListenerPtr listener = Factory::getInstance().createListener(

            Scope("/bla"));

    while(1){

        listener->addHandler(

            HandlerPtr(new DataFunctionHandler<SimpleXYZImage> (&printImage)));

//  Mat img(480, 640, CV_8UC3, Scalar(0));

//  putText(img, "Hello World!", Point(200, 400), 

//           FONT_HERSHEY_SIMPLEX, 1.0, 

//           Scalar(255, 255, 0));

//             

//  namedWindow("image", CV_WINDOW_AUTOSIZE);

//  imshow("image", img);

//  cvShowImage( "My Window", img );

//  waitKey();

    }

    return 0;

}