bool PGRCamera::setImageSettings(Mode mode, PixelFormat format,
unsigned int offsetX, unsigned int offsetY, unsigned int width, unsigned int height) {
imgSettings.mode = mode;
imgSettings.offsetX = 0;
imgSettings.offsetY = 0;
imgSettings.width = width;
imgSettings.height = height;
imgSettings.pixelFormat = format;
bool valid;
Format7PacketInfo fmt7PacketInfo;
// Validate the settings to make sure that they are valid
error = cam.ValidateFormat7Settings(&imgSettings, &valid, &fmt7PacketInfo);
TEST_ERR(error);
if ( !valid )
{
// Settings are not valid
printf("Format7 settings are not valid\n");
return false;
}
// Set the settings to the camera
error = cam.SetFormat7Configuration(&imgSettings, fmt7PacketInfo.recommendedBytesPerPacket);
TEST_ERR(error);
return true;
}
bool PGRCamera::connectToCamera() {
Error error;
BusManager busMgr;
unsigned int numCameras;
error = busMgr.GetNumOfCameras(&numCameras);
TEST_ERR(error);
printf( "Number of PGR cameras detected: %u\n", numCameras );
if ( numCameras < 1 )
{
printf( "Insufficient number of cameras... exiting\n" );
return false;
}
PGRGuid guid;
error = busMgr.GetCameraFromIndex(0, &guid);
TEST_ERR(error);
// Connect to a camera
error = cam.Connect(&guid);
TEST_ERR(error);
return true;
}
bool PGRCamera::captureImage(Image &img) {
// Retrieve an image
error = cam.RetrieveBuffer( &img );
TEST_ERR(error);
return true;
}
bool PGRCamera::stopCapture() {
// Stop capturing images
error = cam.StopCapture();
TEST_ERR(error);
return true;
}
bool PGRCamera::startCapture(unsigned int frameRate) {
//set the correct frame rate
Property frProp;
frProp.type = FRAME_RATE;
frProp.absControl = true;
frProp.onOff = true;
frProp.absValue = (float) frameRate;
error = cam.SetProperty(&frProp, false);
TEST_ERR(error);
// Start capturing images
error = cam.StartCapture();
TEST_ERR(error);
return true;
}
bool PGRCamera::disconnectCamera() {
// Disconnect the camera
Error error;
error = cam.Disconnect();
TEST_ERR(error);
return true;
}
bool PGRCamera::setGain(float gain) {
//set the correct frame rate
Property frProp;
frProp.type = FlyCapture2::GAIN;
frProp.absControl = true;
frProp.onOff = false;
frProp.absValue = gain;
error = cam.SetProperty(&frProp, false);
TEST_ERR(error);
return true;
}
bool PGRCamera::setShutterSpeed(float shutterMillis) {
//set the correct frame rate
Property frProp;
frProp.type = SHUTTER;
frProp.absControl = true;
frProp.onOff = true;
frProp.absValue = (float) shutterMillis;
error = cam.SetProperty(&frProp, false);
TEST_ERR(error);
return true;
}
static int reg_test(enum sip_transp tp)
{
struct test test;
struct sip_server *srv = NULL;
struct sipreg *reg = NULL;
struct sip *sip = NULL;
char reg_uri[256];
int err;
memset(&test, 0, sizeof(test));
test.tp = tp;
err = sip_server_alloc(&srv);
if (err)
goto out;
err = sipstack_fixture(&sip);
if (err)
goto out;
err = sip_server_uri(srv, reg_uri, sizeof(reg_uri), tp);
if (err)
goto out;
err = sipreg_register(®, sip, reg_uri,
"sip:x@test",
"sip:x@test",
3600, "x", NULL, 0, 0, NULL, NULL, false,
sip_resp_handler, &test, NULL, NULL);
if (err)
goto out;
err = re_main_timeout(800);
if (err)
goto out;
TEST_ERR(test.err);
TEST_ASSERT(srv->n_register_req > 0);
TEST_ASSERT(test.n_resp > 0);
out:
mem_deref(reg);
sip_close(sip, true);
mem_deref(sip);
mem_deref(srv);
return err;
}
bool PGRCamera::printCapabilities() {
// Query for available Format 7 modes
Error error;
Format7Info fmt7Info;
bool supported;
fmt7Info.mode = imgSettings.mode;
error = cam.GetFormat7Info( &fmt7Info, &supported );
TEST_ERR(error);
printf(
"Max image pixels: (%u, %u)\n"
"Image Unit size: (%u, %u)\n"
"Offset Unit size: (%u, %u)\n"
"Pixel format bitfield: 0x%08x\n",
fmt7Info.maxWidth,
fmt7Info.maxHeight,
fmt7Info.imageHStepSize,
fmt7Info.imageVStepSize,
fmt7Info.offsetHStepSize,
fmt7Info.offsetVStepSize,
fmt7Info.pixelFormatBitField );
return true;
}
bool PGRCamera::printInfo() {
// Get the camera information
CameraInfo camInfo;
error = cam.GetCameraInfo(&camInfo);
TEST_ERR(error);
printf(
"\n*** CAMERA INFORMATION ***\n"
"Serial number - %u\n"
"Camera model - %s\n"
"Camera vendor - %s\n"
"Sensor - %s\n"
"Resolution - %s\n"
"Firmware version - %s\n"
"Firmware build time - %s\n\n",
camInfo.serialNumber,
camInfo.modelName,
camInfo.vendorName,
camInfo.sensorInfo,
camInfo.sensorResolution,
camInfo.firmwareVersion,
camInfo.firmwareBuildTime );
return true;
}
int main(int ac, char **av)
{
const char * const fifoname = "./fio.fifo";
const char * const filename = "./fio.file";
const mode_t mode = S_IRUSR | S_IWUSR | S_IWGRP | S_IWOTH;
FILE *file;
char line[BUFSIZ];
const int lock = 1;
int errors = 0;
int fd, wfd;
if (ac == 2 && !strcmp(av[1], "help"))
{
printf("usage: %s\n", *av);
return EXIT_SUCCESS;
}
printf("Testing: %s\n", "fio");
umask(0);
if ((fd = fifo_open(fifoname, mode, lock, &wfd)) == -1)
{
++errors, printf("Test1: fifo_open(\"%s\", %d, %d) failed (%s)\n", fifoname, (int)mode, lock, strerror(errno));
#ifndef HAVE_FCNTL_THAT_CAN_LOCK_FIFOS
printf("\n Can your system lock fifos?\n\n");
#endif
}
else
{
if ((fcntl_lock(fd, F_SETLK, F_WRLCK, SEEK_SET, 0, 0)) != -1)
++errors, printf("Test2: fcntl_lock(wrlock) failed\n");
/* Should really test that the following non-blocking changes do occur */
if (nonblock_on(fd) == -1)
++errors, printf("Test3: nonblock_on() failed (%s)\n", strerror(errno));
if (nonblock_off(fd) == -1)
++errors, printf("Test4: nonblock_off() failed (%s)\n", strerror(errno));
if (fcntl_set_flag(fd, O_NONBLOCK) == -1)
++errors, printf("Test5: fcntl_set_flag() failed (%s)\n", strerror(errno));
if (fcntl_clear_flag(fd, O_NONBLOCK) == -1)
++errors, printf("Test6: fcntl_clear_flag() failed (%s)\n", strerror(errno));
close(fd);
close(wfd);
unlink(fifoname);
}
#define CHECK_FGETLINE(i, size, expected) \
if ((expected) && !fgetline(line, (size), file)) \
++errors, printf("Test%d: fgetline() failed\n", (i)); \
else if ((expected) && strcmp(line, ((expected) ? (expected) : ""))) \
++errors, printf("Test%d: fgetline() read \"%s\", not \"%s\"\n", (i), line, (expected ? expected : "(null)"));
#define TEST_FGETLINE(i, buf, size, contents, line1, line2, line3) \
if (!(file = fopen(filename, "wb"))) \
++errors, printf("Test%d: failed to run test: failed to create test file\n", (i)); \
else \
{ \
if (fwrite((contents), 1, strlen(contents), file) != strlen(contents)) \
++errors, printf("Test%d: failed to run test: failed to write to test file\n", (i)); \
else \
{ \
fclose(file); \
if (!(file = fopen(filename, "r"))) \
++errors, printf("Test%d: failed to run test: failed to open test file for reading\n", (i)); \
else \
{ \
CHECK_FGETLINE((i), (size), (line1)) \
CHECK_FGETLINE((i), (size), (line2)) \
CHECK_FGETLINE((i), (size), (line3)) \
if (fgetline(buf, BUFSIZ, file)) \
++errors, printf("Test%d: fgetline() failed to return NULL at end of file\n", (i)); \
} \
} \
fclose(file); \
unlink(filename); \
}
TEST_FGETLINE(7, line, BUFSIZ, "abc\ndef\r\nghi\r", "abc\n", "def\n", "ghi\n")
TEST_FGETLINE(8, line, BUFSIZ, "abc\rdef\nghi\r\n", "abc\n", "def\n", "ghi\n")
TEST_FGETLINE(9, line, BUFSIZ, "abc\r\ndef\rghi\n", "abc\n", "def\n", "ghi\n")
TEST_FGETLINE(10, line, BUFSIZ, "abc\ndef\rghi", "abc\n", "def\n", "ghi")
TEST_FGETLINE(11, line, BUFSIZ, "", (char *)NULL, (char *)NULL, (char *)NULL)
TEST_FGETLINE(12, line, 5, "abc", "abc", (char *)NULL, (char *)NULL)
TEST_FGETLINE(13, line, 5, "abc\n", "abc\n", (char *)NULL, (char *)NULL)
TEST_FGETLINE(14, line, 5, "abc\r\n", "abc\n", (char *)NULL, (char *)NULL)
TEST_FGETLINE(15, line, 5, "abc\r", "abc\n", (char *)NULL, (char *)NULL)
TEST_FGETLINE(16, line, 3, "abc\r", "ab", "c\n", (char *)NULL)
TEST_FGETLINE(17, NULL, 0, "abc\r", (char *)NULL, (char *)NULL, (char *)NULL)
/* Test read_timeout() and write_timeout() */
if ((fd = open(filename, O_WRONLY | O_CREAT | O_TRUNC | O_NONBLOCK, S_IRUSR | S_IWUSR)) == -1)
++errors, printf("Test19: failed to create %s (%s)\n", filename, strerror(errno));
else
{
char buf[12] = "0123456789\n";
if (write_timeout(fd, 1, 0) == -1)
++errors, printf("Test18: write_timeout(fd, 1, 0) failed (%s)\n", strerror(errno));
else if (write(fd, buf, 11) != 11)
++errors, printf("Test18: write(fd, \"0123456789\\n\", 11) failed (%s)\n", strerror(errno));
else
{
close(fd);
if ((fd = open(filename, O_RDONLY | O_NONBLOCK)) == -1)
++errors, printf("Test19: failed to open %s for reading (%s)\n", filename, strerror(errno));
else if (read_timeout(fd, 1, 0) == -1)
++errors, printf("Test19: read_timeout(fd, 1, 0) failed (%s)\n", strerror(errno));
else if (read(fd, buf, 11) != 11)
++errors, printf("Test19: read(fd) failed (%s)\n", strerror(errno));
}
close(fd);
}
unlink(filename);
/* Test error handling */
#define TEST_ERR(i, func) \
if ((func) != -1) \
++errors, printf("Test%d: %s failed to return -1\n", (i), (#func)); \
else if (errno != EINVAL) \
++errors, printf("Test%d: %s failed (errno = %s, not %s)\n", (i), (#func), strerror(errno), strerror(EINVAL));
TEST_ERR(20, read_timeout(-1, 0, 0))
TEST_ERR(21, read_timeout(0, -1, 0))
TEST_ERR(22, read_timeout(0, 0, -1))
TEST_ERR(23, write_timeout(-1, 0, 0))
TEST_ERR(24, write_timeout(0, -1, 0))
TEST_ERR(25, write_timeout(0, 0, -1))
TEST_ERR(26, rw_timeout(-1, 0, 0))
TEST_ERR(27, rw_timeout(0, -1, 0))
TEST_ERR(28, rw_timeout(0, 0, -1))
TEST_ERR(29, nap(-1, 0))
TEST_ERR(30, nap(0, -1))
if (errors)
printf("%d/30 tests failed\n", errors);
else
printf("All tests passed\n");
#ifndef HAVE_FCNTL_THAT_CAN_LOCK_FIFOS
printf("\n");
printf(" Note: Some systems (e.g. FreeBSD) can't lock fifos so fifo_open()\n");
printf(" can't guarantee a unique reader.\n");
#endif
return (errors == 0) ? EXIT_SUCCESS : EXIT_FAILURE;
}
static int test_stun_request(int proto, bool natted)
{
struct stunserver *srv = NULL;
struct stun_ctrans *ct = NULL;
struct nat *nat = NULL;
struct test test;
struct sa laddr, public_addr;
int err;
memset(&test, 0, sizeof(test));
err = stunserver_alloc(&srv);
if (err)
goto out;
err = stun_alloc(&test.stun, NULL, NULL, NULL);
if (err)
goto out;
if (proto == IPPROTO_UDP) {
err = sa_set_str(&laddr, "127.0.0.1", 0);
TEST_ERR(err);
err = udp_listen(&test.us, &laddr, udp_recv_handler, &test);
if (err)
goto out;
err = udp_local_get(test.us, &laddr);
TEST_ERR(err);
}
if (natted) {
err = sa_set_str(&public_addr, "4.5.6.7", 0);
TEST_ERR(err);
err = nat_alloc(&nat, srv->us, &public_addr);
if (err)
goto out;
sa_set_port(&public_addr, sa_port(&laddr));
}
else {
public_addr = laddr;
}
err = stun_request(&ct, test.stun, proto, test.us,
stunserver_addr(srv, proto), 0,
STUN_METHOD_BINDING, NULL, 0, true,
stun_resp_handler, &test, 0);
if (err)
goto out;
TEST_ASSERT(ct != NULL);
err = re_main_timeout(100);
if (err)
goto out;
if (srv->err) {
err = srv->err;
goto out;
}
if (test.err) {
err = test.err;
goto out;
}
/* verify results */
TEST_ASSERT(srv->nrecv >= 1);
TEST_EQUALS(1, test.n_resp);
if (proto == IPPROTO_UDP) {
TEST_SACMP(&public_addr, &test.mapped_addr, SA_ALL);
}
out:
mem_deref(test.stun);
mem_deref(test.us);
mem_deref(nat);
mem_deref(srv);
return err;
}
