Revision: 6930
http://playerstage.svn.sourceforge.net/playerstage/?rev=6930&view=rev
Author: thjc
Date: 2008-07-27 02:59:19 +0000 (Sun, 27 Jul 2008)
Log Message:
-----------
fix for Cmucam2 which was not matching command messages correctly, and
incorrectly acking commands
Modified Paths:
--------------
code/player/branches/release-2-1-patches/server/drivers/mixed/cmucam2/cmucam2.cc
Modified:
code/player/branches/release-2-1-patches/server/drivers/mixed/cmucam2/cmucam2.cc
===================================================================
---
code/player/branches/release-2-1-patches/server/drivers/mixed/cmucam2/cmucam2.cc
2008-07-25 23:17:00 UTC (rev 6929)
+++
code/player/branches/release-2-1-patches/server/drivers/mixed/cmucam2/cmucam2.cc
2008-07-27 02:59:19 UTC (rev 6930)
@@ -30,8 +30,8 @@
The cmucam2 driver connects over a serial port to a CMUCam2. Presents a
@ref interface_blobfinder interface and a @ref interface_ptz
-interface and can track multiple color blobs (plus an additional
[EMAIL PROTECTED] interface_camera for getting image data). Color tracking
parameters are
+interface and can track multiple color blobs (plus an additional
[EMAIL PROTECTED] interface_camera for getting image data). Color tracking
parameters are
defined in Player's config file (see below for an example).
@@ -75,9 +75,9 @@
- Default: 1
- Set bloborcamera to 1 if you want the blobfinder/ptz active, or set it
to 2 if you want camera/ptz active. (this will be changed in the future)
-
[EMAIL PROTECTED] Example
[EMAIL PROTECTED] Example
+
@verbatim
driver
(
@@ -89,7 +89,7 @@
# values must be between 40 and 240 (!)
color0 [ red_min red_max blue_min blue_max green_min green_max] )
# values must be between 40 and 240 (!)
- color1 [ red_min red_max blue_min blue_max green_min green_max] )
+ color1 [ red_min red_max blue_min blue_max green_min green_max] )
)
@endverbatim
@@ -117,7 +117,7 @@
#define MAX_CHANNELS 32
-class Cmucam2:public Driver
+class Cmucam2:public Driver
{
private:
@@ -138,7 +138,7 @@
// PTZ interface (provides)
player_devaddr_t ptz_id;
player_ptz_data_t ptz_data;
-
+
// Camera interface (provides)
player_devaddr_t cam_id;
player_camera_data_t cam_data;
@@ -157,18 +157,18 @@
public:
- // constructor
+ // constructor
//
Cmucam2( ConfigFile* cf, int section);
~Cmucam2();
- // Process incoming messages from clients
- virtual int ProcessMessage(QueuePointer & resp_queue,
-
player_msghdr * hdr,
+ // Process incoming messages from clients
+ virtual int ProcessMessage(QueuePointer & resp_queue,
+
player_msghdr * hdr,
void * data);
virtual void Main();
-
+
int Setup();
int Shutdown();
};
@@ -182,7 +182,7 @@
////////////////////////////////////////////////////////////////////////////////
// a driver registration function
-void
+void
Cmucam2_Register(DriverTable* table)
{
table->AddDriver("cmucam2", Cmucam2_Init);
@@ -194,11 +194,11 @@
memset (&this->blobfinder_id, 0, sizeof (player_devaddr_t));
memset (&this->ptz_id, 0, sizeof (player_devaddr_t));
memset (&this->cam_id, 0, sizeof (player_devaddr_t));
-
+
BlobORCamera = cf->ReadInt (section, "bloborcamera", 1);
if ((BlobORCamera != 1) && (BlobORCamera != 2))
BlobORCamera = 1;
-
+
// Outgoing blobfinder interface
if(cf->ReadDeviceAddr(&(this->blobfinder_id), section, "provides",
PLAYER_BLOBFINDER_CODE, -1, NULL) == 0)
@@ -209,7 +209,7 @@
return;
}
}
-
+
// Outgoing camera interface
if(cf->ReadDeviceAddr(&(this->cam_id), section, "provides",
PLAYER_CAMERA_CODE, -1, NULL) == 0)
@@ -220,7 +220,7 @@
return;
}
}
-
+
// Outgoing ptz interface
if(cf->ReadDeviceAddr(&(this->ptz_id), section, "provides",
PLAYER_PTZ_CODE, -1, NULL) == 0)
@@ -240,7 +240,7 @@
color = new color_config[num_of_blobs];
for (int i = 0; i < num_of_blobs; i++)
{
- sprintf (variable, "color%d", i);
+ sprintf (variable, "color%d", i);
color[i].rmin = (int)cf->ReadTupleFloat (section,
variable, 0, 16);
color[i].rmax = (int)cf->ReadTupleFloat (section,
variable, 1, 16);
color[i].gmin = (int)cf->ReadTupleFloat (section,
variable, 2, 16);
@@ -260,7 +260,7 @@
pan_position = 0;
tilt_position = 0;
-
+
if(!(this->devicepath = (char*)cf->ReadString(section, "devicepath",
NULL)))
{
PLAYER_ERROR("must specify devicepath");
@@ -283,7 +283,7 @@
if(fd<0) // if not successful, stop
{
printf("Camera connection failed!\n");
- return -1;
+ return -1;
}
auto_servoing(fd, 0);
@@ -304,16 +304,16 @@
}
////////////////////////////////////////////////////////////////////////////////
-int Cmucam2::ProcessMessage (QueuePointer & resp_queue,
+int Cmucam2::ProcessMessage (QueuePointer & resp_queue,
player_msghdr *
hdr,
void * data)
{
assert(hdr);
assert(data);
- if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD, 0, ptz_id))
+ if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
PLAYER_PTZ_CMD_STATE, ptz_id))
{
- player_ptz_cmd_t & command =
+ player_ptz_cmd_t & command =
*reinterpret_cast<player_ptz_cmd_t * > (data);
if(pan_position != (short)ntohs((unsigned short)(command.pan)))
@@ -331,13 +331,10 @@
set_servo_position(fd, 1, -1*tilt_position);
}
- Publish (this->ptz_id, resp_queue,
- PLAYER_MSGTYPE_RESP_ACK,
- hdr->subtype);
return 0;
- }
+ }
-// if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
+// if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
// PLAYER_PTZ_REQ_AUTOSERVO, ptz_id))
// {
// player_ptz_req_control_mode *servo =
(player_ptz_req_control_mode*)data;
@@ -346,14 +343,14 @@
// PLAYER_MSG0 (1, "Auto servoing is enabled.");
// else
// PLAYER_MSG0 (1, "Auto servoing is disabled.");
-//
+//
// Publish (this->ptz_id, resp_queue,
// PLAYER_MSGTYPE_RESP_ACK,
// PLAYER_PTZ_REQ_AUTOSERVO);
// return PLAYER_MSGTYPE_RESP_ACK;
// }
- if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
+ if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_BLOBFINDER_REQ_SET_COLOR, blobfinder_id))
{
player_blobfinder_color_config_t color_config;
@@ -365,8 +362,8 @@
color[0].gmax = color_config.gmax;
color[0].bmin = color_config.bmin;
color[0].bmax = color_config.bmax;
-
- PLAYER_MSG6 (1,
+
+ PLAYER_MSG6 (1,
"Cmucam2_blobfinder received new tracking color:
[%d,%d,%d,%d,%d,%d]",
color[0].rmin, color[0].rmax,
color[0].gmin, color[0].gmax,
@@ -377,13 +374,13 @@
PLAYER_BLOBFINDER_REQ_SET_COLOR);
return PLAYER_MSGTYPE_RESP_ACK;
}
-
- if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
+
+ if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS, blobfinder_id))
{
player_blobfinder_imager_config player_ic;
player_ic = *((player_blobfinder_imager_config*)data);
-
+
stop_tracking (fd);
imager_config ic;
@@ -399,13 +396,13 @@
color_config cc;
track_blob (fd, cc);
-
+
Publish (this->blobfinder_id, resp_queue,
PLAYER_MSGTYPE_RESP_ACK,
PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS);
return PLAYER_MSGTYPE_RESP_ACK;
}
-
+
return -1;
}
@@ -470,10 +467,10 @@
}
blobfinder_data.blobs_count = blobs_observed;
-
+
/* got the data. now fill it in */
- Publish (this->blobfinder_id, PLAYER_MSGTYPE_DATA,
- PLAYER_BLOBFINDER_DATA_BLOBS, &blobfinder_data,
+ Publish (this->blobfinder_id, PLAYER_MSGTYPE_DATA,
+ PLAYER_BLOBFINDER_DATA_BLOBS, &blobfinder_data,
sizeof (player_blobfinder_data), NULL);
delete [] blobfinder_data.blobs;
return;
@@ -484,21 +481,21 @@
{
memset (&this->ptz_data, 0, sizeof (this->ptz_data));
- ptz_data.zoom = 45; // cmucam does not have these
+ ptz_data.zoom = 45; // cmucam does not have these
ptz_data.panspeed = 0;
ptz_data.tiltspeed = 0;
ptz_data.zoom = ptz_data.zoom;
ptz_data.panspeed = ptz_data.panspeed;
ptz_data.tiltspeed = ptz_data.tiltspeed;
-
+
ptz_data.pan = -1*get_servo_position (fd, 0);
ptz_data.tilt = -1*get_servo_position (fd, 1);
ptz_data.pan = ptz_data.pan;
- ptz_data.tilt = ptz_data.tilt;
+ ptz_data.tilt = ptz_data.tilt;
- Publish (this->ptz_id, PLAYER_MSGTYPE_DATA, PLAYER_PTZ_DATA_STATE,
+ Publish (this->ptz_id, PLAYER_MSGTYPE_DATA, PLAYER_PTZ_DATA_STATE,
&ptz_data, sizeof (player_ptz_data_t), NULL);
-
+
return;
}
@@ -509,7 +506,7 @@
camera_packet = (packet_f*)malloc(sizeof(packet_f));
assert(camera_packet);
-
+
memset (&this->cam_data, 0, sizeof (this->cam_data));
memset (camera_packet, 0, sizeof (packet_f));
@@ -522,12 +519,12 @@
get_image (camera_packet, &cam_data);
free(camera_packet);
- Publish (this->cam_id, PLAYER_MSGTYPE_DATA, PLAYER_CAMERA_DATA_STATE,
+ Publish (this->cam_id, PLAYER_MSGTYPE_DATA, PLAYER_CAMERA_DATA_STATE,
&cam_data, sizeof (player_camera_data_t), NULL);
return;
}
-/**************************************************************************
+/**************************************************************************
*** GET BLOB ***
**************************************************************************/
/* Description: This function uses CMUcam's T packet for tracking to get
@@ -537,15 +534,15 @@
Returns: The Player format for blob information
*/
-void Cmucam2::get_blob (packet_t cam_packet,
+void Cmucam2::get_blob (packet_t cam_packet,
player_blobfinder_blob_t *blob,
color_config range)
{
// a descriptive color for the blob
- unsigned char red = (range.rmin + range.rmax)/2;
+ unsigned char red = (range.rmin + range.rmax)/2;
unsigned char green = (range.gmin + range.gmax)/2;
unsigned char blue = (range.bmin + range.bmax)/2;
-
+
(*blob).color = red << 16 + green << 8 + blue;
// the number of pixels in the blob
(*blob).area = cam_packet.blob_area;
@@ -555,13 +552,13 @@
(*blob).left = 2*cam_packet.left_x;
// highest and lowest y-value for top and bottom
(*blob).right = 2*cam_packet.right_x;
- (*blob).top = (cam_packet.left_y > cam_packet.right_y) ?
+ (*blob).top = (cam_packet.left_y > cam_packet.right_y) ?
cam_packet.left_y : cam_packet.right_y;
- (*blob).bottom = (cam_packet.left_y <= cam_packet.right_y) ?
+ (*blob).bottom = (cam_packet.left_y <= cam_packet.right_y) ?
cam_packet.left_y : cam_packet.right_y;
}
-/**************************************************************************
+/**************************************************************************
*** GET IMAGE ***
**************************************************************************/
/* Description: This function uses CMUcam's F packet to get an image
@@ -569,12 +566,12 @@
Returns: The Player format for image data
*/
-void Cmucam2::get_image (packet_f* cam_packet,
+void Cmucam2::get_image (packet_f* cam_packet,
player_camera_data_t *cam_data)
{
int x = 0;
int y = 0;
-
+
(*cam_data).width = cam_packet->xsize;
(*cam_data).height = cam_packet->ysize;
(*cam_data).bpp = 24;
@@ -592,7 +589,7 @@
int blue = cam_packet->rows[y].rgb[x].b;
(*cam_data).image[y * (*cam_data).width * 2 + x * 2]
= (red + green + blue);
- (*cam_data).image[y * (*cam_data).width * 2 + x * 2 +
1]
+ (*cam_data).image[y * (*cam_data).width * 2 + x * 2 + 1]
= (red + green + blue);
}
}
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