Revision: 8227
http://playerstage.svn.sourceforge.net/playerstage/?rev=8227&view=rev
Author: gbiggs
Date: 2009-08-26 08:19:56 +0000 (Wed, 26 Aug 2009)
Log Message:
-----------
Fixed missing dependencies for Python and Ruby bindings. Applied patch
#2839013: sonyevid30 RTOD/DTOR patch
Modified Paths:
--------------
code/player/trunk/client_libs/libplayerc/bindings/python/CMakeLists.txt
code/player/trunk/client_libs/libplayerc/bindings/ruby/CMakeLists.txt
code/player/trunk/server/drivers/ptz/sonyevid30.cc
Modified:
code/player/trunk/client_libs/libplayerc/bindings/python/CMakeLists.txt
===================================================================
--- code/player/trunk/client_libs/libplayerc/bindings/python/CMakeLists.txt
2009-08-26 06:09:46 UTC (rev 8226)
+++ code/player/trunk/client_libs/libplayerc/bindings/python/CMakeLists.txt
2009-08-26 08:19:56 UTC (rev 8227)
@@ -36,6 +36,8 @@
# Copy playerc.i to the build directory
SET (playerc_i "${CMAKE_CURRENT_SOURCE_DIR}/playerc.i")
+ SET (SWIG_MODULE_playerc_EXTRA_DEPS
${PROJECT_SOURCE_DIR}/client_libs/libplayerc/playerc.h
+
${PROJECT_BINARY_DIR}/libplayerinterface/player_interfaces.h)
SWIG_ADD_MODULE (playerc python ${playerc_i})
SWIG_LINK_LIBRARIES (playerc ${PYTHON_LIBRARIES})
ADD_DEPENDENCIES (${SWIG_MODULE_playerc_REAL_NAME}
playerc_wrap_i_target)
Modified: code/player/trunk/client_libs/libplayerc/bindings/ruby/CMakeLists.txt
===================================================================
--- code/player/trunk/client_libs/libplayerc/bindings/ruby/CMakeLists.txt
2009-08-26 06:09:46 UTC (rev 8226)
+++ code/player/trunk/client_libs/libplayerc/bindings/ruby/CMakeLists.txt
2009-08-26 08:19:56 UTC (rev 8227)
@@ -42,6 +42,8 @@
#If playercr is called simply playerc, all sorts of errors happen
#I guess is namespace conflict with Python bindings' playerc
#currently we create playercr locally but install it as playerc
+ SET (SWIG_MODULE_playercr_EXTRA_DEPS
${PROJECT_SOURCE_DIR}/client_libs/libplayerc/playerc.h
+
${PROJECT_BINARY_DIR}/libplayerinterface/player_interfaces.h)
SWIG_ADD_MODULE (playercr ruby ${playerc_i})
SWIG_LINK_LIBRARIES (playercr ${RUBY_LIBRARY})
ADD_DEPENDENCIES (${SWIG_MODULE_playercr_REAL_NAME}
playerc_wrap_i_target)
Modified: code/player/trunk/server/drivers/ptz/sonyevid30.cc
===================================================================
--- code/player/trunk/server/drivers/ptz/sonyevid30.cc 2009-08-26 06:09:46 UTC
(rev 8226)
+++ code/player/trunk/server/drivers/ptz/sonyevid30.cc 2009-08-26 08:19:56 UTC
(rev 8227)
@@ -108,6 +108,7 @@
#include "config.h"
#include <fcntl.h>
+#include <stddef.h>
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
@@ -116,6 +117,7 @@
#include <stdlib.h>
#include <unistd.h>
#include <math.h>
+#include <time.h>
#include <libplayercore/playercore.h>
#include <replace/replace.h>
@@ -143,6 +145,22 @@
#define VISCA_COMMAND_CODE 0x01
#define VISCA_INQUIRY_CODE 0x09
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+// Convert degrees to radians
+#ifndef DTOR
+#define DTOR(d) ((static_cast<double>(d)) * (M_PI) / 180.0)
+#endif
+
+// Convert radians to degrees
+#ifndef RTOD
+#define RTOD(r) ((static_cast<double>(r)) * 180.0 / M_PI)
+#endif
+
+#define EPS 0.0000001
+
/*
*
*
@@ -198,14 +216,22 @@
float evid_cam_pan_radians(evid_cam_t cam, short pan_cu)
{
+/*
float conv_factor = -cam.pan_max_rad / cam.pan_max_cu;
return pan_cu * conv_factor;
+*/
+ cam = cam;
+ return DTOR(-pan_cu);
}
float evid_cam_tilt_radians(evid_cam_t cam, short tilt_cu)
{
+/*
float conv_factor = cam.tilt_max_rad / cam.tilt_max_cu;
return tilt_cu * conv_factor;
+*/
+ cam = cam;
+ return DTOR(tilt_cu);
}
float evid_cam_panspeed_radians(evid_cam_t cam, short panspeed_cu)
@@ -232,24 +258,35 @@
float evid_cam_zoom_radians(evid_cam_t cam, short zoom_cu)
{
+/*
float conv_factor = (cam.fov_max_rad - cam.fov_min_rad)
/ (cam.fov_max_cu -
cam.fov_min_cu);
return (zoom_cu - cam.fov_min_cu) * conv_factor + cam.fov_min_rad;
+*/
+ return DTOR(RTOD(cam.fov_max_rad) + (static_cast<double>(zoom_cu) *
(RTOD(cam.fov_min_rad) - RTOD(cam.fov_max_rad))) / 1024.0);
}
short evid_cam_pan_cu(evid_cam_t cam, float pan_radians)
{
+/*
float conv_factor = -cam.pan_max_cu / cam.pan_max_rad;
pan_radians = clip_float(pan_radians, -cam.pan_max_rad,
cam.pan_max_rad);
return (short) rint(pan_radians * conv_factor);
+*/
+ cam = cam;
+ return static_cast<short>(-(RTOD(pan_radians)));
}
short evid_cam_tilt_cu(evid_cam_t cam, float tilt_radians)
{
+/*
float conv_factor = cam.tilt_max_cu / cam.tilt_max_rad;
tilt_radians = clip_float(tilt_radians, cam.tilt_min_rad,
cam.tilt_max_rad);
return (short) rint(tilt_radians * conv_factor);
+*/
+ cam = cam;
+ return static_cast<short>(RTOD(tilt_radians));
}
/*
@@ -314,6 +351,7 @@
*/
short evid_cam_zoom_cu(evid_cam_t cam, float zoom_radians)
{
+/*
float conv_factor = (cam.fov_max_cu - cam.fov_min_cu)
/ (cam.fov_max_rad -
cam.fov_min_rad);
if (zoom_radians == 0) {
@@ -323,6 +361,9 @@
return (short) ((zoom_radians - cam.fov_min_rad) * conv_factor
+ cam.fov_min_cu);
}
+*/
+ if (fabs(zoom_radians) < EPS) zoom_radians = cam.fov_max_rad;
+ return (1024 * (static_cast<short>(RTOD(zoom_radians)) -
static_cast<short>(RTOD(cam.fov_max_rad)))) /
(static_cast<short>(RTOD(cam.fov_min_rad)) -
static_cast<short>(RTOD(cam.fov_max_rad)));
}
/*
@@ -705,9 +746,9 @@
// put the camera back to center
usleep(PTZ_SLEEP_TIME_USEC);
- SendAbsPanTilt(0,0);
+ SendAbsPanTilt(evid_cam_pan_cu(this->cam_config_, 0.0),
evid_cam_tilt_cu(this->cam_config_, 0.0));
usleep(PTZ_SLEEP_TIME_USEC);
- SendAbsZoom(cam_config_.fov_max_cu);
+ SendAbsZoom(evid_cam_zoom_cu(this->cam_config_, 0.0));
if(close(ptz_fd))
perror("SonyEVID30::Shutdown():close():");
@@ -1201,12 +1242,12 @@
cam_config_ = SONY_EVI_CAMERAS[0];
}
- if (maxfov != 0) {
- cam_config_.fov_max_rad = maxfov;
+ if (!(fabs(this->maxfov) < EPS)) {
+ this->cam_config_.fov_max_rad = this->maxfov;
+ }
+ if (!(fabs(this->minfov) < EPS)) {
+ this->cam_config_.fov_min_rad = this->minfov;
}
- if (minfov != 0) {
- cam_config_.fov_min_rad = minfov;
- }
}
return 0;
}
@@ -1297,7 +1338,7 @@
switch (control_mode_) {
case PLAYER_PTZ_VELOCITY_CONTROL:
// Change of velocity requested?
- if (cmd->panspeed != panspeed_demand_rad
+ if (cmd->panspeed != panspeed_demand_rad
|| cmd->tiltspeed != tiltspeed_demand_rad) {
panspeed_demand_rad = cmd->panspeed;
tiltspeed_demand_rad = cmd->tiltspeed;
@@ -1497,6 +1538,7 @@
{
while (1) {
player_ptz_data_t data;
+ struct timespec ts;
// Process incoming requests
pthread_testcancel();
@@ -1514,7 +1556,9 @@
pthread_testcancel();
Publish(device_addr, PLAYER_MSGTYPE_DATA, PLAYER_PTZ_DATA_STATE,
&data,sizeof(player_ptz_data_t),NULL);
- usleep(PTZ_SLEEP_TIME_USEC);
+ ts.tv_sec = 0;
+ ts.tv_nsec = PTZ_SLEEP_TIME_USEC * 1000;
+ nanosleep(&ts, NULL);
}
}
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