Revision: 8941
http://playerstage.svn.sourceforge.net/playerstage/?rev=8941&view=rev
Author: jpgr87
Date: 2010-10-13 00:46:29 +0000 (Wed, 13 Oct 2010)
Log Message:
-----------
Updated unicapimage to Player 3.0 ThreadedDriver model. Changed unicapimage
CMakeLists.txt to look for libunicap.pc. Fixed bogus assertion that was
causing PlayerCam to crash.
Modified Paths:
--------------
code/player/trunk/server/drivers/camera/unicap/CMakeLists.txt
code/player/trunk/server/drivers/camera/unicap/unicapImage.cc
code/player/trunk/utils/playercam/playercam.c
Modified: code/player/trunk/server/drivers/camera/unicap/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/camera/unicap/CMakeLists.txt
2010-10-12 00:46:54 UTC (rev 8940)
+++ code/player/trunk/server/drivers/camera/unicap/CMakeLists.txt
2010-10-13 00:46:29 UTC (rev 8941)
@@ -1,20 +1,13 @@
PLAYERDRIVER_OPTION (unicapimage build_unicapimage ON)
-SET (UNICAP_DIR "" CACHE STRING "Directory containing the UniCap headers and
libraries")
-MARK_AS_ADVANCED (UNICAP_DIR)
-IF ("${UNICAP_DIR}" STREQUAL "")
- SET (unicapReqHeader "unicap.h")
- SET (unicapExtraFlags "")
- SET (unicapExtraLibs "-lunicap -lrt")
-ELSE ("${UNICAP_DIR}" STREQUAL "")
- SET (unicapReqHeader "${UNICAP_DIR}/include/unicap/unicap.h")
- SET (unicapExtraFlags "-I${UNICAP_DIR}/include/unicap")
- SET (unicapExtraLibs "-L${UNICAP_DIR}/lib -lcanlib -lrt")
-ENDIF ("${UNICAP_DIR}" STREQUAL "")
+PLAYERDRIVER_REQUIRE_PKG (unicapimage build_unicapimage libunicap
unicap_includeDirs
+ unicap_libDirs unicap_linkLibs unicap_linkFlags unicap_cFlags)
-PLAYERDRIVER_REQUIRE_HEADER (unicapimage build_unicapimage ${unicapReqHeader})
PLAYERDRIVER_ADD_DRIVER (unicapimage build_unicapimage
- LINKFLAGS -L{UNICAP_DIR}/lib -lunicap -lrt
- CFLAGS -I${UNICAP_DIR}/include
-I${UNICAP_DIR}/include/unicap
+ INCLUDEDIRS ${unicap_includeDirs}
+ LIBDIRS ${unicap_libDirs}
+ LINKLIBS ${unicap_linkLibs}
+ LINKFLAGS ${unicap_linkFlags}
+ CFLAGS ${unicap_cFlags}
SOURCES unicapImage.cc)
Modified: code/player/trunk/server/drivers/camera/unicap/unicapImage.cc
===================================================================
--- code/player/trunk/server/drivers/camera/unicap/unicapImage.cc
2010-10-12 00:46:54 UTC (rev 8940)
+++ code/player/trunk/server/drivers/camera/unicap/unicapImage.cc
2010-10-13 00:46:29 UTC (rev 8941)
@@ -92,7 +92,7 @@
////////////////////////////////////////////////////////////////////////////////
// The UniCap_Image device class.
-class UniCap_Image : public Driver
+class UniCap_Image : public ThreadedDriver
{
public:
// Constructor
@@ -102,17 +102,21 @@
~UniCap_Image ();
// Implementations of virtual functions
- virtual int Setup ();
- virtual int Shutdown ();
+ virtual int MainSetup ();
+ virtual void MainQuit ();
+ virtual int ProcessMessage(QueuePointer & resp_queue,
+ player_msghdr * hdr,
+ void * data);
// Camera interface (provides)
player_devaddr_t cam_id;
player_camera_data_t cam_data;
+
private:
// Main function for device thread.
virtual void Main ();
- virtual void RefreshData ();
+ void PublishCamera ();
int color_space, video_format, device_id;
@@ -145,7 +149,7 @@
// Constructor. Retrieve options from the configuration file and do any
// pre-Setup() setup.
UniCap_Image::UniCap_Image (ConfigFile* cf, int section)
- : Driver (cf, section)
+ : ThreadedDriver (cf, section)
{
memset (&this->cam_id, 0, sizeof (player_devaddr_t));
@@ -189,7 +193,7 @@
////////////////////////////////////////////////////////////////////////////////
// Set up the device. Return 0 if things go well, and -1 otherwise.
-int UniCap_Image::Setup ()
+int UniCap_Image::MainSetup ()
{
PLAYER_MSG0 (1, "> UniCap_Image starting up... [done]");
@@ -226,6 +230,9 @@
}
PLAYER_MSG3 (2, "Selected video format %d: [%dx%d]", this->video_format,
format.size.width, format.size.height);
+ // Set Unicap to use a user buffer
+ format.buffer_type = UNICAP_BUFFER_TYPE_USER;
+
if (!SUCCESS (unicap_set_format (handle, &format) ) )
{
PLAYER_ERROR1 ("Failed to set video format to %d!", this->video_format);
@@ -246,20 +253,14 @@
// Allocate buffer data
buffer.data = (unsigned char*)(malloc (format.size.width *
format.size.height * format.bpp / 8));
buffer.buffer_size = format.size.width * format.size.height * format.bpp / 8;
-
- // Start the device thread
- StartThread ();
return (0);
}
////////////////////////////////////////////////////////////////////////////////
// Shutdown the device
-int UniCap_Image::Shutdown ()
+void UniCap_Image::MainQuit ()
{
- // Stop the driver thread
- StopThread ();
-
// Stop the device
if ( !SUCCESS (unicap_stop_capture (handle) ) )
PLAYER_ERROR1 ("Failed to stop capture on device: %s\n",
device.identifier);
@@ -270,29 +271,33 @@
free (buffer.data);
PLAYER_MSG0 (1, "> UniCap_Image driver shutting down... [done]");
- return (0);
+ return;
}
////////////////////////////////////////////////////////////////////////////////
// Main function for device thread
void UniCap_Image::Main ()
{
- timespec sleepTime = {0, 1000};
// The main loop; interact with the device here
while (true)
{
- nanosleep (&sleepTime, NULL);
-
// test if we are supposed to cancel
pthread_testcancel ();
// Refresh data
- this->RefreshData ();
+ this->PublishCamera ();
+
+ // Sleep the thread
+ usleep(1000);
+
+ printf("Loop\n");
}
}
-void UniCap_Image::RefreshData ()
+/////////////////////////////////////////////////////////////////////////////////
+// Grab and publish a frame
+void UniCap_Image::PublishCamera ()
{
// Queue the buffer
// The buffer now gets filled with image data by the capture device
@@ -305,14 +310,26 @@
cam_data.width = buffer.format.size.width;
cam_data.height = buffer.format.size.height;
+ cam_data.compression = PLAYER_CAMERA_COMPRESS_RAW;
+ cam_data.fdiv = 1;
+ cam_data.bpp = format.bpp;
// To do: implement the code for different formats later
- cam_data.format = PLAYER_CAMERA_FORMAT_MONO8;
+ cam_data.format = PLAYER_CAMERA_FORMAT_RGB888;
cam_data.image_count = buffer.buffer_size;
cam_data.image = new unsigned char [cam_data.image_count];
- for (int i = 0; i < cam_data.image_count; i++)
+ for (unsigned int i = 0; i < cam_data.image_count; i++)
cam_data.image[i] = buffer.data[i];
Publish (this->cam_id, PLAYER_MSGTYPE_DATA, PLAYER_CAMERA_DATA_STATE,
&cam_data);
delete [] cam_data.image;
}
+
+///////////////////////////////////////////////////////////////////////////////////
+// Message handling
+int UniCap_Image::ProcessMessage(QueuePointer & resp_queue, player_msghdr *
hdr,
+ void * data)
+{
+ // No messages to process
+ return -1;
+}
Modified: code/player/trunk/utils/playercam/playercam.c
===================================================================
--- code/player/trunk/utils/playercam/playercam.c 2010-10-12 00:46:54 UTC
(rev 8940)
+++ code/player/trunk/utils/playercam/playercam.c 2010-10-13 00:46:29 UTC
(rev 8941)
@@ -467,7 +467,7 @@
{
// Decompress the image if necessary
playerc_camera_decompress(g_camera);
- assert(allocated_size > g_camera->image_count*3);
+ assert(allocated_size >= g_camera->image_count);
// figure out the colorspace
switch (g_camera->format)
{
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