void
resolveCB(DNSServiceRef sdRef,
DNSServiceFlags flags,
uint32_t interfaceIndex,
DNSServiceErrorType errorCode,
const char *fullname,
const char *hosttarget,
uint16_t port,
uint16_t txtLen,
const char *txtRecord,
void *context)
{
player_sd_dev_t* sddev = (player_sd_dev_t*)context;
const char* value;
uint8_t value_len;
char* colon;
char buf[PLAYER_SD_TXT_MAXLEN];
// Handle resolution result
if(errorCode == kDNSServiceErr_NoError)
{
// Fill in the address info
memset(sddev->hostname,0,sizeof(sddev->hostname));
strncpy(sddev->hostname,hosttarget,sizeof(sddev->hostname)-1);
sddev->robot = port;
if(!(value = (const char*)TXTRecordGetValuePtr(txtLen,
txtRecord,
PLAYER_SD_DEVICE_TXTNAME,
&value_len)))
{
PLAYER_ERROR1("Failed to find TXT info for service %s\n", sddev->name);
sddev->addr_fail = 1;
return;
}
if(!(colon = strchr(value,':')) ||
((colon-value) <= 0) ||
((value_len - (colon-value+1)) <= 0))
{
PLAYER_ERROR2("Failed to parse TXT info \"%s\" for service %s\n",
value, sddev->name);
sddev->addr_fail = 1;
return;
}
memset(buf,0,sizeof(buf));
strncpy(buf,value,(colon-value));
sddev->interf = str_to_interf(buf);
memset(buf,0,sizeof(buf));
strncpy(buf,colon+1,(value_len-(colon-value+1)));
sddev->index = atoi(buf);
sddev->addr_valid = 1;
}
else
{
// Something went wrong.
sddev->addr_fail = 1;
}
}
////////////////////////////////////////////////////////////////////////////////
// Check that we have some data in the message.
bool LocalBB::CheckHeader(player_msghdr * hdr)
{
if (hdr->size <= 0)
{
PLAYER_ERROR2("request is wrong length (%d <= %d); ignoring", hdr->size, 0);
return false;
}
return true;
}
/**
* Apply setting according to field value read from config or request;
* changed are: this->fieldType
* @param sfield one of values mentioned in config for "field" setting
* @return 0 on success
*/
int CameraV4L2::selectField(const char *sfield){
int i;
for(i=0; fieldy[i].name; i++)
if (strcasecmp(sfield, fieldy[i].name) == 0)
break;
if (fieldy[i].name){
this->fieldType = fieldy[i].fieldType;
} else {
PLAYER_ERROR2("Field type %s is not supported",
sfield, __FILE__);
return -1;
}
return 0;
}
/**
* Apply setting according to mode value from config or request;
* changed are: this->data.format, this->depth, this->v4l2_type_id
* @param sformat one of values mentioned in config for "mode" setting
* @return 0 on success
*/
int CameraV4L2::selectFormat(const char *sformat){
int i;
for(i=0; formaty[i].name; i++)
if (strcasecmp(sformat, formaty[i].name) == 0)
break;
if (formaty[i].name){
this->data.format = formaty[i].player_type_id;
this->depth = formaty[i].bits;
this->v4l2_type_id = formaty[i].v4l2_type_id;
} else {
PLAYER_ERROR2("image pallete %s is not supported (add it yourself to formaty struct in %s)",
sformat, __FILE__);
return -1;
}
return 0;
}
/**
* Apply setting according to snorm value read from config or request;
* changed are: this->norm, this->width, this->height
* @param snorm one of values mentioned in config for "norm" setting
* @return 0 on success
*/
int CameraV4L2::selectNorm(const char *snorm){
int i=0;
for(i=0; normy[i].name; i++)
if (strcasecmp(snorm, normy[i].name) == 0)
break;
if (normy[i].name){
this->norm = normy[i].id;
this->width = normy[i].width;
this->height = normy[i].height;
} else {
PLAYER_ERROR2("norm: %s is not supported (add it yourself to normy struct in %s)",
snorm, __FILE__);
return -1;
}
return 0;
}
/**
@brief Update the device data (the data going back to the client).
*/
void CameraV4L2::WriteData()
{
size_t image_size, size;
unsigned char * ptr1, * ptr2;
struct my_buffer *v4lBuffer = getFrameBuffer(fg);
if (v4lBuffer==NULL)
exit(1);
ptr1 = (unsigned char *)v4lBuffer->start;
ptr2 = this->data.image;
// Compute size of image
image_size = this->width * this->height * this->depth / 8;
// Set the image properties
this->data.width = htons(this->width);
this->data.height = htons(this->height);
this->data.bpp = this->depth;
this->data.compression = PLAYER_CAMERA_COMPRESS_RAW;
this->data.image_size = htonl(image_size);
if (image_size > sizeof(this->data.image)){
PLAYER_ERROR2("image_size <= sizeof(this->data.image) failed: %d > %d",
image_size, sizeof(this->data.image));
}
assert(image_size <= sizeof(this->data.image));
if (image_size > (size_t) v4lBuffer->length){
PLAYER_WARN("Frame size is smaller then expected");
image_size = (size_t) v4lBuffer->length;
}
//assert(image_size <= (size_t) v4lBuffer->length);
if (!flip_rb) {
memcpy(ptr2, ptr1, image_size);
} else {
int imgSize = ((this->width) * (this->height));
int i;
switch (v4l2_type_id)
{
case V4L2_PIX_FMT_RGB24:
case V4L2_PIX_FMT_BGR24:
for (i = 0; i < imgSize; i++)
{
ptr2[0] = ptr1[2];
ptr2[1] = ptr1[1];
ptr2[2] = ptr1[0];
ptr1 += 3;
ptr2 += 3;
}
break;
case V4L2_PIX_FMT_RGB32:
case V4L2_PIX_FMT_BGR32:
for (i = 0; i < imgSize; i++)
{
ptr2[0] = ptr1[2];
ptr2[1] = ptr1[1];
ptr2[2] = ptr1[0];
ptr2[3] = ptr1[3];
ptr1 += 4;
ptr2 += 4;
}
break;
default:
memcpy(ptr2, ptr1, image_size);
}
}
// Copy data to server
size = sizeof(this->data) - sizeof(this->data.image) + image_size;
struct timeval timestamp;
timestamp.tv_sec = this->tsec;
timestamp.tv_usec = this->tusec;
PutData((void*) &this->data, size, ×tamp);
giveBackFrameBuffer(fg, v4lBuffer);
return;
}