void QsortRead(struct rIndex2 *array,uint64_t x, uint64_t y) {
struct rIndex2 pivote, aux;
uint64_t x1, y1;
copyRead(&pivote, &array[(x+y)/2]);
x1 = x;
y1 = y;
do{
while (strcmp(pivote.id, array[x1].id)>0) x1++;
while (strcmp(pivote.id, array[y1].id)<0) y1--;
if (x1 < y1) {
copyRead(&aux,&array[x1]);
copyRead(&array[x1], &array[y1]);
copyRead(&array[y1], &aux);
x1++;
y1--;
}else if (x1 == y1) x1++;
} while (x1 <=y1);
if (x<y1) QsortRead(array,x,y1);
if (x1<y) QsortRead(array,x1,y);
}
/** Read camera data.
*
* @return true if successful
*/
bool HiwrCameraControllerNodelet::read() {
bool success = true;
if(config_width_ < 1 || config_height_ < 1 )
return false;
try
{
bool copy_worked = copyRead();
if(!copy_worked)
return false;
image_ipl_->imageData = (char *)final_;
}
catch (uvc_cam::Exception& e)
{
printf("exception readind data %s", e.what());
success = false;
}
return success;
}
