Update of /cvsroot/playerstage/code/player/server/drivers/base
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4552/server/drivers/base
Added Files:
Tag: release-2-0-patches
.cvsignore Makefile.am imagebase.cc imagebase.h
Log Message:
backported lots of stuff from HEAD
--- NEW FILE: .cvsignore ---
Makefile
Makefile.in
--- NEW FILE: imagebase.h ---
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000 Brian Gerkey et al
* [EMAIL PROTECTED]
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
///////////////////////////////////////////////////////////////////////////
//
// Desc: base driver for image processing and transform drivers
// Author: Toby Collett
// Date: 15 Feb 2004
// CVS: $Id: imagebase.h,v 1.1.2.2 2006/06/07 16:12:38 gerkey Exp $
//
///////////////////////////////////////////////////////////////////////////
/** @ingroup drivers */
/** @{ */
/** @defgroup driver_imagebase imagebase
* @brief driver base for image processing drivers, inherit from this driver
and implement the process frame method
@par Requires
- This driver acquires image data from a @ref interface_camera
interface.
@par Provides
- Depends on inheriting class
@par Configuration requests
- none
@par Configuration file options
@par Example
@author Toby Collett
*/
/** @} */
#include <libplayercore/playercore.h>
#include <libplayercore/error.h>
// Driver for detecting laser retro-reflectors.
class ImageBase : public Driver
{
public:
// Constructor
ImageBase(ConfigFile *cf, int section, bool overwrite_cmds,
size_t queue_maxlen, int interf);
ImageBase(ConfigFile *cf, int section, bool overwrite_cmds =
true, size_t queue_maxlen = PLAYER_MSGQUEUE_DEFAULT_MAXLEN);
virtual ~ImageBase() {};
// Setup/shutdown routines.
virtual int Setup();
virtual int Shutdown();
// Process incoming messages from clients
int ProcessMessage (MessageQueue * resp_queue, player_msghdr *
hdr, void * data);
protected:
virtual int ProcessFrame() = 0;
// Main function for device thread.
virtual void Main();
// Input camera stuff
Device *camera_driver;
player_devaddr_t camera_addr;
player_camera_data_t stored_data;
bool HaveData;
};
--- NEW FILE: Makefile.am ---
AM_CPPFLAGS = -Wall -I$(top_srcdir)
noinst_LTLIBRARIES = libbase.la
libbase_la_SOURCES = imagebase.cc imagebase.h
--- NEW FILE: imagebase.cc ---
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000 Brian Gerkey et al
* [EMAIL PROTECTED]
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
///////////////////////////////////////////////////////////////////////////
//
// Desc: base driver for image processing and transform drivers
// Author: Toby Collett
// Date: 15 Feb 2004
// CVS: $Id: imagebase.cc,v 1.1.2.2 2006/06/07 16:12:38 gerkey Exp $
//
///////////////////////////////////////////////////////////////////////////
#include "imagebase.h"
////////////////////////////////////////////////////////////////////////////////
// Constructor
ImageBase::ImageBase(ConfigFile *cf, int section, bool overwrite_cmds, size_t
queue_maxlen, int interf)
: Driver(cf, section, overwrite_cmds, queue_maxlen, interf)
{
memset(&this->camera_addr, 0, sizeof(player_devaddr_t));
HaveData = false;
// Must have an input camera
if (cf->ReadDeviceAddr(&this->camera_addr, section, "requires",
PLAYER_CAMERA_CODE, -1, NULL) != 0)
{
this->SetError(-1);
return;
}
}
ImageBase::ImageBase(ConfigFile *cf, int section, bool overwrite_cmds, size_t
queue_maxlen)
: Driver(cf, section, overwrite_cmds, queue_maxlen)
{
memset(&this->camera_addr, 0, sizeof(player_devaddr_t));
HaveData = false;
// Must have an input camera
if (cf->ReadDeviceAddr(&this->camera_addr, section, "requires",
PLAYER_CAMERA_CODE, -1, NULL) != 0)
{
this->SetError(-1);
return;
}
}
////////////////////////////////////////////////////////////////////////////////
// Set up the device (called by server thread).
int ImageBase::Setup()
{
// Subscribe to the camera.
if (Device::MatchDeviceAddress (camera_addr, device_addr))
{
PLAYER_ERROR ("attempt to subscribe to self");
return -1;
}
if (!(camera_driver = deviceTable->GetDevice (camera_addr)))
{
PLAYER_ERROR ("unable to locate suitable camera device");
return -1;
}
if (camera_driver->Subscribe (InQueue) != 0)
{
PLAYER_ERROR ("unable to subscribe to camera device");
return -1;
}
StartThread();
return 0;
}
////////////////////////////////////////////////////////////////////////////////
// Shutdown the device (called by server thread).
int ImageBase::Shutdown()
{
StopThread();
camera_driver->Unsubscribe(InQueue);
return 0;
}
////////////////////////////////////////////////////////////////////////////////
// Process an incoming message
int ImageBase::ProcessMessage (MessageQueue * resp_queue, player_msghdr * hdr,
void * data)
{
assert(hdr);
assert(data);
if(Message::MatchMessage (hdr, PLAYER_MSGTYPE_DATA, PLAYER_CAMERA_DATA_STATE,
camera_addr))
{
Lock();
if (!HaveData)
{
memcpy(&stored_data, data,hdr->size);
HaveData = true;
}
Unlock();
return 0;
}
return -1;
}
void ImageBase::Main()
{
for(;;)
{
pthread_testcancel();
InQueue->Wait();
ProcessMessages();
Lock();
if (HaveData)
{
Unlock();
ProcessFrame();
Lock();
HaveData = false;
}
Unlock();
}
}
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