Update of /cvsroot/playerstage/code/player/server/drivers/mixed/sr3000
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv13047/server/drivers/mixed/sr3000
Modified Files:
sr3000.cc
Log Message:
Removed many configuration requests from the camera interface that should be
properties because they're specified to one device.
Index: sr3000.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/sr3000/sr3000.cc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** sr3000.cc 20 Nov 2006 12:41:20 -0000 1.2
--- sr3000.cc 11 Aug 2007 00:21:28 -0000 1.3
***************
*** 26,34 ****
/** @{ */
/** @defgroup driver_sr3000 sr3000
! * @brief SR3000
! The sr3000 driver controls the Swiss Ranger SR3000 camera. A broad range of
! camera option parameters are supported, via the libusbSR library. The driver
! provides a @ref interface_pointcloud3d interface and two @ref
interface_camera
interfaces for both distance and intensity images.
--- 26,34 ----
/** @{ */
/** @defgroup driver_sr3000 sr3000
! * @brief SR3000
! The sr3000 driver controls the Swiss Ranger SR3000 camera. A broad range of
! camera option parameters are supported, via the libusbSR library. The driver
! provides a @ref interface_pointcloud3d interface and two @ref interface_camera
interfaces for both distance and intensity images.
***************
*** 40,44 ****
- @ref interface_pointcloud3d : the 3d point cloud generated by the SR3000
! - @ref interface_camera : snapshot images (both distance and intensity) taken
by
the SR3000
--- 40,44 ----
- @ref interface_pointcloud3d : the 3d point cloud generated by the SR3000
! - @ref interface_camera : snapshot images (both distance and intensity) taken
by
the SR3000
***************
*** 49,60 ****
@par Supported configuration requests
! The @ref interface_camera interface supports:
! - PLAYER_CAMERA_REQ_SET_AUTOILLUMINATION
! - PLAYER_CAMERA_REQ_SET_MODULATION_FREQ
! - PLAYER_CAMERA_REQ_GET_MODULATION_FREQ
! - PLAYER_CAMERA_REQ_SET_INTEGRATION_TIME
! - PLAYER_CAMERA_REQ_GET_INTEGRATION_TIME
! - PLAYER_CAMERA_REQ_SET_THRESHOLD
! - PLAYER_CAMERA_REQ_SET_TEMPORAL_IIR
@par Configuration file options
--- 49,71 ----
@par Supported configuration requests
! - none
!
! @par Properties provided
!
! - auto_illumination (integer): Set to 1 to turn auto illumination on.
! - integration_time (integer): Integration time.
! - modulation_freq (integer): This device employs the following values:
! 40MHz -> 3.75 m,
! 30MHz -> 5.0 m,
! 21MHz -> 7.1 m,
! 20MHz -> 7.5 m,
! 19MHz -> 7.9 m,
! 10MHz -> 15.0 m,
! 6.6MHz -> 22.5 m,
! 5MHz -> 30.0 m
! - sat_threshold (integer): Saturation threshold.
! - amp_threshold (integer): Amplification threshold.
! - static_delay (double): Temporal IIR static delay (0.0-1.0).
! - dynamic_delay (double): Temporal IIR dynamic delay (0.0-1.0).
@par Configuration file options
***************
*** 62,66 ****
- none
! @par Example
@verbatim
--- 73,77 ----
- none
! @par Example
@verbatim
***************
*** 84,100 ****
#define CAM_COLS 176
! class SR3000:public Driver
{
public:
! // constructor
SR3000 (ConfigFile* cf, int section);
~SR3000 ();
!
int Setup ();
int Shutdown ();
// MessageHandler
! virtual int ProcessMessage (MessageQueue * resp_queue,
! player_msghdr * hdr,
void * data);
--- 95,111 ----
#define CAM_COLS 176
! class SR3000:public Driver
{
public:
! // constructor
SR3000 (ConfigFile* cf, int section);
~SR3000 ();
!
int Setup ();
int Shutdown ();
// MessageHandler
! virtual int ProcessMessage (MessageQueue * resp_queue,
! player_msghdr * hdr,
void * data);
***************
*** 115,123 ****
unsigned int rows, cols, bpp, inr;
unsigned char integration_time;
! ModulationFrq modulation_freq;
size_t buffer_size, buffer_points_size;
void *buffer;
float *buffer_points, *xp, *yp, *zp;
// device bookkeeping
player_devaddr_t pcloud_addr;
--- 126,138 ----
unsigned int rows, cols, bpp, inr;
unsigned char integration_time;
! //ModulationFrq modulation_freq;
size_t buffer_size, buffer_points_size;
void *buffer;
float *buffer_points, *xp, *yp, *zp;
+ // Properties
+ IntProperty auto_illumination, integration_time, modulation_freq,
sat_threshold, amp_threshold;
+ DoubleProperty static_delay, dynamic_delay;
+
// device bookkeeping
player_devaddr_t pcloud_addr;
***************
*** 131,135 ****
//Factory creation function. This functions is given as an argument when
// the driver is added to the driver table
! Driver*
SR3000_Init (ConfigFile* cf, int section)
{
--- 146,150 ----
//Factory creation function. This functions is given as an argument when
// the driver is added to the driver table
! Driver*
SR3000_Init (ConfigFile* cf, int section)
{
***************
*** 138,142 ****
////////////////////////////////////////////////////////////////////////////////
! //Registers the driver in the driver table. Called from the
// player_driver_init function that the loader looks for
void
--- 153,157 ----
////////////////////////////////////////////////////////////////////////////////
! //Registers the driver in the driver table. Called from the
// player_driver_init function that the loader looks for
void
***************
*** 150,154 ****
// pre-Setup() setup.
SR3000::SR3000 (ConfigFile* cf, int section)
! : Driver (cf, section)
{
memset (&this->pcloud_addr, 0, sizeof (player_devaddr_t));
--- 165,171 ----
// pre-Setup() setup.
SR3000::SR3000 (ConfigFile* cf, int section)
! : Driver (cf, section),
! auto_illumination (0), integration_time (0), modulation_freq (0),
! sat_threshold (0), amp_threshold (0), static_delay (0), dynamic_delay
(0)
{
memset (&this->pcloud_addr, 0, sizeof (player_devaddr_t));
***************
*** 156,159 ****
--- 173,184 ----
memset (&this->i_cam_addr, 0, sizeof (player_devaddr_t));
+ this->RegisterProperty ("auto_illumination", &this->auto_illumination, cf,
section);
+ this->RegisterProperty ("integration_time", &this->integration_time, cf,
section);
+ this->RegisterProperty ("modulation_freq", &this->modulation_freq, cf,
section);
+ this->RegisterProperty ("sat_threshold", &this->sat_threshold, cf, section);
+ this->RegisterProperty ("amp_threshold", &this->amp_threshold, cf, section);
+ this->RegisterProperty ("static_delay", &this->static_delay, cf, section);
+ this->RegisterProperty ("dynamic_delay", &this->dynamic_delay, cf, section);
+
providePCloud = FALSE; provideDCam = FALSE; provideICam = FALSE;
***************
*** 204,208 ****
////////////////////////////////////////////////////////////////////////////////
// Set up the device. Return 0 if things go well, and -1 otherwise.
! int
SR3000::Setup ()
{
--- 229,233 ----
////////////////////////////////////////////////////////////////////////////////
// Set up the device. Return 0 if things go well, and -1 otherwise.
! int
SR3000::Setup ()
{
***************
*** 219,222 ****
--- 244,248 ----
inr = SR_GetNumImg (srCam);
modulation_freq = SR_GetModulationFrequency (srCam);
+ integration_time = SR_GetIntegrationTime (srCam);
buffer_size = SR_GetBufferSize (srCam);
PLAYER_MSG5 (2, ">> Expecting %dx%dx%dx%d (%d bytes)", cols, rows, bpp,
inr, buffer_size);
***************
*** 228,232 ****
return (-1);
}
!
// ---[ Alloc memory for the buffer ]---
buffer = malloc (buffer_size);
--- 254,258 ----
return (-1);
}
!
// ---[ Alloc memory for the buffer ]---
buffer = malloc (buffer_size);
***************
*** 250,263 ****
////////////////////////////////////////////////////////////////////////////////
// Shutdown the device
! int
SR3000::Shutdown ()
{
StopThread ();
!
// ---[ Close the camera ]---
int res = SR_Close (srCam);
PLAYER_MSG1 (1, "> SR3000 driver shutting down... %d [done]", res);
!
// ---[ Free the allocated memory buffer ]---
free (buffer);
--- 276,289 ----
////////////////////////////////////////////////////////////////////////////////
// Shutdown the device
! int
SR3000::Shutdown ()
{
StopThread ();
!
// ---[ Close the camera ]---
int res = SR_Close (srCam);
PLAYER_MSG1 (1, "> SR3000 driver shutting down... %d [done]", res);
!
// ---[ Free the allocated memory buffer ]---
free (buffer);
***************
*** 270,274 ****
// Process messages from/for a camera interface
int
! SR3000::ProcessMessageCamera (MessageQueue* resp_queue,
player_msghdr * hdr,
void * data,
--- 296,300 ----
// Process messages from/for a camera interface
int
! SR3000::ProcessMessageCamera (MessageQueue* resp_queue,
player_msghdr * hdr,
void * data,
***************
*** 276,417 ****
{
int res;
!
! // ---[ Set Autoillumination
! if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
! PLAYER_CAMERA_REQ_SET_AUTOILLUMINATION, cam_addr))
! {
! // check if autoillumination should be enabled or disabled
! player_camera_autoillumination_config *datatype =
(player_camera_autoillumination_config*)data;
! if (datatype->value == 1)
! res = SR_SetAutoIllumination (srCam, 5, 255, 10, 45);
! else
! res = SR_SetAutoIllumination (srCam, 255, 0, 0, 0);
! // Check the error code
! if (res == 0)
{
! Publish (cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK, hdr->subtype);
return (0);
}
! else
{
! Publish (cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK, hdr->subtype);
! return (-1);
! }
! }
! // ---[ Set modulation frequency
! else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
! PLAYER_CAMERA_REQ_SET_MODULATION_FREQ, cam_addr))
! {
! player_camera_modulation_freq_config *datatype =
(player_camera_modulation_freq_config*)data;
! res = SR_SetModulationFrequency (srCam, (ModulationFrq)datatype->value);
! // Check the error code
! if (res == 0)
! {
! Publish (cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK, hdr->subtype);
return (0);
}
! else
{
! Publish (cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK, hdr->subtype);
! return (-1);
! }
! }
! // ---[ Get modulation frequency
! else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
! PLAYER_CAMERA_REQ_GET_MODULATION_FREQ, cam_addr))
! {
! // Assemble the data packet
! player_camera_modulation_freq_config datatype;
! datatype.value = (unsigned char)SR_GetModulationFrequency (srCam);
!
! Publish (cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK, hdr->subtype);
! return (0);
! }
! // ---[ Set integration time
! else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
! PLAYER_CAMERA_REQ_SET_INTEGRATION_TIME, cam_addr))
! {
! player_camera_integration_time_config *datatype =
(player_camera_integration_time_config*)data;
! res = SR_SetIntegrationTime (srCam, datatype->value);
! // Check the error code
! if (res == 0)
! {
! Publish (cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK, hdr->subtype);
return (0);
}
! else
{
! Publish (cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK, hdr->subtype);
! return (-1);
}
! }
! // ---[ Get integration time
! else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
! PLAYER_CAMERA_REQ_GET_INTEGRATION_TIME, cam_addr))
! {
! // Assemble the data packet
! player_camera_integration_time_config datatype;
! datatype.value = (unsigned char)SR_GetIntegrationTime (srCam);
! Publish (cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK, hdr->subtype);
! return (0);
}
! // ---[ Set thresholds
! else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
! PLAYER_CAMERA_REQ_SET_THRESHOLD, cam_addr))
{
! player_camera_threshold_config *datatype =
(player_camera_threshold_config*)data;
! if (datatype->subtype == PLAYER_CAMERA_REQ_SET_SATURATION_THRESHOLD)
! res = SR_SetSaturationThreshold (srCam, datatype->value);
! else if (datatype->subtype == PLAYER_CAMERA_REQ_SET_AMPLITUDE_THRESHOLD)
! res = SR_SetAmplitudeThreshold (srCam, datatype->value);
! else
! {
! Publish (cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK, hdr->subtype);
return (-1);
! }
!
! // Check the error code
! if (res == 0)
{
! Publish (cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK, hdr->subtype);
return (0);
}
! else
{
! Publish (cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK, hdr->subtype);
! return (-1);
}
}
! // ---[ Set IIR
! else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
! PLAYER_CAMERA_REQ_SET_TEMPORAL_IIR, cam_addr))
{
! player_camera_iir_config *datatype = (player_camera_iir_config*)data;
! res = SR_SetTemporalIIR (srCam, datatype->static_delay,
datatype->dynamic_delay);
!
! // Check the error code
! if (res == 0)
{
! Publish (cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK, hdr->subtype);
return (0);
}
! else
{
! Publish (cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK, hdr->subtype);
! return (-1);
}
}
!
return (0);
}
!
////////////////////////////////////////////////////////////////////////////////
// ProcessMessage
! int
! SR3000::ProcessMessage (MessageQueue* resp_queue,
player_msghdr * hdr,
void * data)
--- 302,477 ----
{
int res;
! Property *property = NULL;
! // Check for properties
! if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ, PLAYER_SET_INTPROP_REQ,
cam_addr))
! {
! player_intprop_req_t req = *reinterpret_cast<player_intprop_req_t*>
(data);
! if ((property = propertyBag.GetProperty (req.key)) == NULL)
! return (-1);
! if (property->KeyIsEqual ("auto_illumination"))
{
! // ---[ Set Autoillumination
! if (req->value == 1)
! res = SR_SetAutoIllumination (srCam, 5, 255, 10, 45);
! else
! res = SR_SetAutoIllumination (srCam, 255, 0, 0, 0);
!
! // Check the error code
! if (res == 0)
! {
! property->SetValueFromMessage (reinterpret_cast<void*> (&req));
! Publish(cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_SET_INTPROP_REQ, NULL, 0, NULL);
! }
! else
! {
! Publish(cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK,
PLAYER_SET_INTPROP_REQ, NULL, 0, NULL);
! }
return (0);
}
! else if (property->KeyIsEqual ("integration_time")
{
! // ---[ Set integration time
! res = SR_SetIntegrationTime (srCam, req->value);
! // Check the error code
! if (res == 0)
! {
! property->SetValueFromMessage (reinterpret_cast<void*> (&req));
! Publish(cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_SET_INTPROP_REQ, NULL, 0, NULL);
! }
! else
! {
! Publish(cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK,
PLAYER_SET_INTPROP_REQ, NULL, 0, NULL);
! }
return (0);
}
! else if (property->KeyIsEqual ("modulation_freq")
{
! // ---[ Set modulation frequency
! res = SR_SetModulationFrequency (srCam, (ModulationFrq)req->value);
! // Check the error code
! if (res == 0)
! {
! property->SetValueFromMessage (reinterpret_cast<void*> (&req));
! Publish(cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_SET_INTPROP_REQ, NULL, 0, NULL);
! }
! else
! {
! Publish(cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK,
PLAYER_SET_INTPROP_REQ, NULL, 0, NULL);
! }
return (0);
}
! else if (property->KeyIsEqual ("sat_threshold")
{
! // ---[ Set saturation threshold
! res = SR_SetSaturationThreshold (srCam, req->value);
!
! // Check the error code
! if (res == 0)
! {
! property->SetValueFromMessage (reinterpret_cast<void*> (&req));
! Publish(cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_SET_INTPROP_REQ, NULL, 0, NULL);
! }
! else
! {
! Publish(cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK,
PLAYER_SET_INTPROP_REQ, NULL, 0, NULL);
! }
! return (0);
}
! else if (property->KeyIsEqual ("amp_threshold")
! {
! // ---[ Set amplitude threshold
! res = SR_SetAmplitudeThreshold (srCam, req->value);
! // Check the error code
! if (res == 0)
! {
! property->SetValueFromMessage (reinterpret_cast<void*> (&req));
! Publish(cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_SET_INTPROP_REQ, NULL, 0, NULL);
! }
! else
! {
! Publish(cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK,
PLAYER_SET_INTPROP_REQ, NULL, 0, NULL);
! }
! return (0);
! }
! return (-1); // Let the default property handling handle it
}
! else if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_GET_INTPROP_REQ, device_addr))
{
! player_intprop_req_t req = *reinterpret_cast<player_intprop_req_t*>
(data);
! if ((property = propertyBag.GetProperty (req.key)) == NULL)
return (-1);
! if (property->KeyIsEqual ("modulation_freq"))
{
! // ---[ Get modulation frequency
! reinterpret_cast<IntProperty*> (property)->SetValue
(SR_GetModulationFrequency (srCam));
! property->GetValueToMessage (reinterpret_cast<void*> (&req));
! Publish(device_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_GET_INTPROP_REQ, reinterpret_cast<void*> (&req),
sizeof(player_intprop_req_t), NULL);
return (0);
}
! else if (property->KeyIsEqual ("integration_time"))
{
! // ---[ Get integration time
! reinterpret_cast<IntProperty*> (property)->SetValue
(SR_GetIntegrationTime (srCam));
! property->GetValueToMessage (reinterpret_cast<void*> (&req));
! Publish(device_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_GET_INTPROP_REQ, reinterpret_cast<void*> (&req),
sizeof(player_intprop_req_t), NULL);
! return (0);
}
+ return (-1); // Let the default property handling handle it
}
! else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_SET_DBLPROP_REQ, cam_addr))
{
! player_dblprop_req_t req = *reinterpret_cast<player_dblprop_req_t*>
(data);
! if ((property = propertyBag.GetProperty (req.key)) == NULL)
! return (-1);
! if (property->KeyIsEqual ("static_delay"))
{
! // ---[ Set IIR static delay
! DoubleProperty *dynamic_delay = propertyBag.GetProperty
("dynamic_delay");
! res = SR_SetTemporalIIR (srCam, req->value, dynamic_delay);
!
! // Check the error code
! if (res == 0)
! {
! property->SetValueFromMessage (reinterpret_cast<void*> (&req));
! Publish(cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_SET_DBLPROP_REQ, NULL, 0, NULL);
! }
! else
! {
! Publish(cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK,
PLAYER_SET_DBLPROP_REQ, NULL, 0, NULL);
! }
return (0);
}
! else if (property->KeyIsEqual ("dynamic_delay"))
{
! // ---[ Set IIR dynamic delay
! DoubleProperty *static_delay = propertyBag.GetProperty ("static_delay");
! res = SR_SetTemporalIIR (srCam, static_delay, req->value);
!
! // Check the error code
! if (res == 0)
! {
! property->SetValueFromMessage (reinterpret_cast<void*> (&req));
! Publish(cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_SET_DBLPROP_REQ, NULL, 0, NULL);
! }
! else
! {
! Publish(cam_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK,
PLAYER_SET_DBLPROP_REQ, NULL, 0, NULL);
! }
! return (0);
}
+ return (-1); // Let the default property handling handle it
}
!
return (0);
}
!
////////////////////////////////////////////////////////////////////////////////
// ProcessMessage
! int
! SR3000::ProcessMessage (MessageQueue* resp_queue,
player_msghdr * hdr,
void * data)
***************
*** 419,426 ****
assert (hdr);
assert (data);
!
ProcessMessageCamera (resp_queue, hdr, data, d_cam_addr);
ProcessMessageCamera (resp_queue, hdr, data, i_cam_addr);
!
return (0);
}
--- 479,486 ----
assert (hdr);
assert (data);
!
ProcessMessageCamera (resp_queue, hdr, data, d_cam_addr);
ProcessMessageCamera (resp_queue, hdr, data, i_cam_addr);
!
return (0);
}
***************
*** 442,446 ****
pthread_testcancel ();
ProcessMessages ();
!
// get data ------------------------------------------------------------
if ((rows != 1) && (cols != 1))
--- 502,506 ----
pthread_testcancel ();
ProcessMessages ();
!
// get data ------------------------------------------------------------
if ((rows != 1) && (cols != 1))
***************
*** 458,462 ****
res = SR_Acquire (srCam, MODE);
!
// Publish pointcloud3d data if subscribed
if (providePCloud)
--- 518,522 ----
res = SR_Acquire (srCam, MODE);
!
// Publish pointcloud3d data if subscribed
if (providePCloud)
***************
*** 472,486 ****
element.point.pz = zp[i];
! element.color.alpha = 255;
! element.color.red = 255;
element.color.green = 255;
element.color.blue = 255;
! pcloud_data.points[i] = element;
! }
// Write the Pointcloud3d data
Publish (pcloud_addr, NULL, PLAYER_MSGTYPE_DATA,
PLAYER_POINTCLOUD3D_DATA_STATE,
! &pcloud_data, 4 + pcloud_data.points_count*sizeof
(player_pointcloud3d_element_t),
NULL);
!
}
--- 532,546 ----
element.point.pz = zp[i];
! element.color.alpha = 255;
! element.color.red = 255;
element.color.green = 255;
element.color.blue = 255;
! pcloud_data.points[i] = element;
! }
// Write the Pointcloud3d data
Publish (pcloud_addr, NULL, PLAYER_MSGTYPE_DATA,
PLAYER_POINTCLOUD3D_DATA_STATE,
! &pcloud_data, 4 + pcloud_data.points_count*sizeof
(player_pointcloud3d_element_t),
NULL);
!
}
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