NaoCamera::NaoCamera(const char* device, CameraInfo::Camera camera, int width, int height, bool flip,
const CameraSettings::CameraSettingsCollection& settings, const Matrix5uc& autoExposureWeightTable) :
camera(camera),
WIDTH(width),
HEIGHT(height)
{
VERIFY((fd = open(device, O_RDWR | O_NONBLOCK)) != -1);
mapBuffers();
queueBuffers();
setImageFormat();
setFrameRate(1, 30);
checkSettingsAvailability();
specialSettings.horizontalFlip.value = flip ? 1 : 0;
setControlSetting(specialSettings.horizontalFlip);
specialSettings.verticalFlip.value = flip ? 1 : 0;
setControlSetting(specialSettings.verticalFlip);
setSettings(settings, autoExposureWeightTable);
writeCameraSettings();
readCameraSettings();
startCapturing();
}
void StreamSoundSource::play()
{
if(!m_soundFile) {
g_logger.error("there is not sound file to play the stream");
return;
}
queueBuffers();
SoundSource::play();
}
bool Stream::play()
{
// We don't want to play this Stream twice, do we ?
if (playing())
return true;
if (!streamBuf(buffers[0]))
return false;
if (!streamBuf(buffers[1]))
return false;
queueBuffers(2, buffers);
playSource();
return true;
}
bool Stream::update()
{
int processed = processedBuffers();
bool active = true;
while (processed--)
{
ALuint buffer;
unqueueBuffers(1, &buffer);
active = streamBuf(buffer);
queueBuffers(1, &buffer);
}
return active;
}
void StreamSoundSource::play()
{
m_playing = true;
if(!m_soundFile) {
m_waitingFile = true;
return;
}
if(m_eof) {
m_soundFile->reset();
m_eof = false;
}
queueBuffers();
SoundSource::play();
}
void Stream::stop()
{
queueBuffers(2, buffers);
stopSource();
}
void Stream::pause()
{
queueBuffers(2, buffers);
pauseSource();
}