Update of /cvsroot/playerstage/code/player/utils/playerv
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10631/utils/playerv
Modified Files:
playerv.h Makefile.am registry.c
Added Files:
pv_dev_camera.c
Log Message:
applied patch [ 1834960 ] PlayerV Camera support
Index: registry.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/registry.c,v
retrieving revision 1.29
retrieving revision 1.30
diff -C2 -d -r1.29 -r1.30
*** registry.c 20 Aug 2007 19:42:49 -0000 1.29
--- registry.c 21 Nov 2007 09:34:19 -0000 1.30
***************
*** 137,140 ****
--- 137,151 ----
break;
+ case PLAYER_CAMERA_CODE:
+ device->proxy = camera_create(mainwnd, opt, client,
+ device->addr.index,
+ device->drivername,
+ device->subscribe);
+ device->fndestroy = (fndestroy_t) camera_destroy;
+ device->fnupdate = (fnupdate_t) camera_update;
+ break;
+
+
+
case PLAYER_FIDUCIAL_CODE:
device->proxy = fiducial_create(mainwnd, opt, client,
Index: Makefile.am
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/Makefile.am,v
retrieving revision 1.46
retrieving revision 1.47
diff -C2 -d -r1.46 -r1.47
*** Makefile.am 25 Sep 2007 20:25:15 -0000 1.46
--- Makefile.am 21 Nov 2007 09:34:19 -0000 1.47
***************
*** 18,21 ****
--- 18,22 ----
pv_dev_aio.c \
pv_dev_blobfinder.c \
+ pv_dev_camera.c \
pv_dev_bumper.c \
pv_dev_dio.c \
Index: playerv.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/playerv.h,v
retrieving revision 1.51
retrieving revision 1.52
diff -C2 -d -r1.51 -r1.52
*** playerv.h 1 Nov 2007 22:16:23 -0000 1.51
--- playerv.h 21 Nov 2007 09:34:19 -0000 1.52
***************
*** 586,589 ****
--- 586,637 ----
/***************************************************************************
+ * Camera device
+ ***************************************************************************/
+
+ // Camera device info
+ typedef struct
+ {
+ // Driver name
+ char *drivername;
+
+ // Camera device proxy
+ playerc_camera_t *proxy;
+
+ // Menu stuff
+ rtk_menu_t *menu;
+ rtk_menuitem_t *subscribe_item;
+ rtk_menuitem_t *stats_item;
+ rtk_menuitem_t *scale_item;
+
+ // Figure for drawing the camera scan
+ rtk_fig_t *image_fig;
+ int image_init;
+
+ // Image scale (m/pixel)
+ double scale;
+
+ // Image buffer
+ int allocated_size;
+ char *img_buffer;
+
+ // Timestamp on most recent data
+ double datatime;
+
+ } camera_t;
+
+
+ // Create a camera device
+ camera_t *camera_create(mainwnd_t *mainwnd, opt_t *opt, playerc_client_t
*client,
+ int index, const char *drivername, int
subscribe);
+
+ // Destroy a camera device
+ void camera_destroy(camera_t *camera);
+
+ // Update a camera device
+ void camera_update(camera_t *camera);
+
+
+
+ /***************************************************************************
* Blobfinder device
***************************************************************************/
--- NEW FILE: pv_dev_camera.c ---
/*
* PlayerViewer
* Copyright (C) Andrew Howard 2002
*
* 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: Camera interface
* Author: Kevin Barry (Based off Andrew Howard's blobfinder)
* Date: 19 Nov 2007
***************************************************************************/
#include <assert.h>
#include <stdlib.h>
#include <string.h>
#include "playerv.h"
// Update the blobfinder configuration
//void blobfinder_update_config(blobfinder_t *blobfinder);
void flip_image(unsigned char *dst, unsigned char *src, int width, int height,
int bpp, int usize);
// Draw the camera scan
void camera_draw(camera_t *camera);
// Create a camera device
camera_t *camera_create(mainwnd_t *mainwnd, opt_t *opt, playerc_client_t
*client,
int index, const char *drivername, int
subscribe)
{
char section[64];
char label[64];
camera_t *camera;
camera = malloc(sizeof(camera_t));
camera->datatime = 0;
camera->drivername = strdup(drivername);
camera->proxy = playerc_camera_create(client, index);
// Construct the menu
snprintf(label, sizeof(label), "camera:%d (%s)", index, camera->drivername);
camera->menu = rtk_menu_create_sub(mainwnd->device_menu, label);
camera->subscribe_item = rtk_menuitem_create(camera->menu, "Subscribe", 1);
camera->stats_item = rtk_menuitem_create(camera->menu, "Show stats", 1);
camera->scale_item = rtk_menuitem_create(camera->menu, "Scale Image", 1);
snprintf(section, sizeof(section), "camera:%d", index);
// Set the initial menu state
rtk_menuitem_check(camera->subscribe_item, subscribe);
rtk_menuitem_check(camera->stats_item, 0);
// Default scale for drawing the image (m/pixel)
camera->scale = 0.01;
// Construct figures
camera->image_init = 0;
camera->allocated_size = 0;
camera->image_fig = rtk_fig_create(mainwnd->canvas, NULL, 99);
rtk_fig_movemask(camera->image_fig, RTK_MOVE_TRANS);
return camera;
}
// Destroy a camera device
void camera_destroy(camera_t *camera)
{
// Destroy figures
rtk_fig_destroy(camera->image_fig);
// Destroy menu items
rtk_menuitem_destroy(camera->stats_item);
rtk_menuitem_destroy(camera->subscribe_item);
rtk_menu_destroy(camera->menu);
// Unsubscribe/destroy the proxy
if (camera->proxy->info.subscribed)
playerc_camera_unsubscribe(camera->proxy);
playerc_camera_destroy(camera->proxy);
free(camera->drivername);
free(camera);
}
// Update a camera device
void camera_update(camera_t *camera)
{
// Update the device subscription
if (rtk_menuitem_ischecked(camera->subscribe_item))
{
if (!camera->proxy->info.subscribed)
if (playerc_camera_subscribe(camera->proxy, PLAYER_OPEN_MODE) != 0)
PRINT_ERR1("libplayerc error: %s", playerc_error_str());
}
else
{
if (camera->proxy->info.subscribed)
if (playerc_camera_unsubscribe(camera->proxy) != 0)
PRINT_ERR1("libplayerc error: %s", playerc_error_str());
}
rtk_menuitem_check(camera->subscribe_item, camera->proxy->info.subscribed);
// Draw in the camera scan if it has been changed.
if (camera->proxy->info.subscribed)
{
if (camera->proxy->info.datatime != camera->datatime) {
playerc_camera_decompress(camera->proxy);
if(camera->allocated_size != camera->proxy->image_count) {
camera->img_buffer = realloc(camera->img_buffer,
camera->proxy->image_count);
camera->allocated_size = camera->proxy->image_count;
}
flip_image(camera->img_buffer, camera->proxy->image,
camera->proxy->width,
camera->proxy->height, camera->proxy->bpp,
camera->proxy->image_count);
camera_draw(camera);
}
camera->datatime = camera->proxy->info.datatime;
}
else
{
rtk_fig_show(camera->image_fig, 0);
camera->datatime = 0;
}
}
#define PX(ix) ((ix - camera->proxy->width/2) * camera->scale)
#define PY(iy) ((camera->proxy->height/2 - iy) * camera->scale)
#define DX(ix) ((ix) * camera->scale)
#define DY(iy) ((iy) * camera->scale)
// Draw the camera scan
void camera_draw(camera_t *camera)
{
int i;
char text[64];
double ox, oy, dx, dy;
int sizex, sizey;
double scalex, scaley;
rtk_fig_show(camera->image_fig, 1);
rtk_fig_clear(camera->image_fig);
// Set the initial pose of the image if it hasnt already been set.
if (camera->image_init == 0)
{
rtk_canvas_get_size(camera->image_fig->canvas, &sizex, &sizey);
rtk_canvas_get_scale(camera->image_fig->canvas, &scalex, &scaley);
rtk_fig_origin(camera->image_fig, 0, -sizey * scaley / 4, 0 );
camera->image_init = 1;
}
if (rtk_menuitem_ischecked(camera->scale_item))
camera->scale = .01;
else {
rtk_canvas_get_scale(camera->image_fig->canvas, &scalex, &scaley);
camera->scale = scalex;
}
// Draw an opaque rectangle on which to render the image.
rtk_fig_color_rgb32(camera->image_fig, 0x000000);
rtk_fig_rectangle(camera->image_fig, 0, 0, 0,
DX(camera->proxy->width), DY(camera->proxy->height), 0);
rtk_fig_image(camera->image_fig, 0, 0, 0, camera->scale,
camera->proxy->width, camera->proxy->height, camera->proxy->bpp,
camera->img_buffer, NULL);
if (rtk_menuitem_ischecked(camera->stats_item))
{
snprintf(text, sizeof(text), "%dx%d %dbpp", camera->proxy->width,
camera->proxy->height,
camera->proxy->bpp);
rtk_fig_text(camera->image_fig, PX(10), PY(camera->proxy->height + 10), 0,
text);
}
}
void flip_image(unsigned char *dst, unsigned char *src, int width, int height,
int bpp, int usize)
{
/* ERROR CHECK BPP!! */
/* if i need to flip just the rows */
int r, row_width;
if(bpp % 8 != 0) {
/* Something is wrong. I don't know how to flip this. Sucks to
be you */
memcpy(dst, src, usize);
return;
}
row_width = width * bpp/8;
for(r = height; r >= 0; r--) {
memcpy(dst, src + r*row_width, row_width);
dst = dst + row_width;
}
}
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