int main(int argc, char *argv[]) {
DriverCreator *fake_factory =
new DriverCreatorOf<FakeFrameGrabber>("fake_grabber","grabber","FakeFrameGrabber");
Drivers::factory().add(fake_factory); // hand factory over to YARP
PolyDriver dd("fake_grabber");
if (!dd.isValid()) {
printf("fake_grabber not available\n");
return 1;
}
IFrameGrabberImage *grabber;
dd.view(grabber);
if (grabber==NULL) {
printf("*** Device failed to supply images\n");
return 1;
}
printf("*** Device can supply images\n");
ImageOf<PixelRgb> img;
if (grabber->getImage(img)) {
printf("*** Got a %dx%d image\n", img.width(), img.height());
} else {
printf("Failed to read an image\n");
return 1;
}
return 0;
}
bool DevicePipe::updateService() {
IFrameGrabberImage *imgSource;
IAudioGrabberSound *sndSource;
IAudioVisualGrabber *imgSndSource;
IAudioVisualStream *sourceType;
IAudioRender *sndSink;
IFrameWriterImage *imgSink;
IFrameWriterAudioVisual *imgSndSink;
IAudioVisualStream *sinkType;
source.view(imgSource);
source.view(sndSource);
source.view(imgSndSource);
source.view(sourceType);
sink.view(imgSink);
sink.view(sndSink);
sink.view(imgSndSink);
sink.view(sinkType);
if (sourceType!=NULL) {
if (!(sourceType->hasAudio()&&sourceType->hasVideo())) {
imgSndSource = NULL;
}
}
if (sinkType!=NULL) {
if (!(sinkType->hasAudio()&&sinkType->hasVideo())) {
imgSndSink = NULL;
}
}
if (imgSndSource!=NULL&&imgSndSink!=NULL) {
ImageOf<PixelRgb> tmp;
Sound tmpSound;
imgSndSource->getAudioVisual(tmp,tmpSound);
imgSndSink->putAudioVisual(tmp,tmpSound);
printf("piped %dx%d image, %dx%d sound\n",
tmp.width(), tmp.height(),
tmpSound.getSamples(), tmpSound.getChannels());
} else if (imgSource!=NULL&&imgSink!=NULL) {
ImageOf<PixelRgb> tmp;
imgSource->getImage(tmp);
imgSink->putImage(tmp);
printf("piped %dx%d image\n", tmp.width(), tmp.height());
} else if (sndSource!=NULL&&sndSink!=NULL) {
Sound tmp;
sndSource->getSound(tmp);
sndSink->renderSound(tmp);
printf("piped %dx%d sound\n", tmp.getSamples(), tmp.getChannels());
} else {
printf("Don't know how to pipe between these devices.\n");
printf("Piping is very limited at the moment.\n");
printf("You're probably better off writing some short custom code.\n");
return false;
}
return true;
}
int main() {
Network::setLocalMode(true);
FakeFrameGrabber fake;
fake.start();
PolyDriver dd("(device test_grabber) (local /client) (remote /server)");
if (!dd.isValid()) {
printf("Device not available\n");
exit(1);
}
printf("*** Device created\n");
IFrameGrabberImage *grabber;
dd.view(grabber);
if (grabber!=NULL) {
printf("*** It can supply images\n");
ImageOf<PixelRgb> img;
if (grabber->getImage(img)) {
printf("*** Got a %dx%d image\n", img.width(), img.height());
} else {
printf("*** Failed to actually read an image\n");
}
IFrameGrabberControls *ctrl;
dd.view(ctrl);
if (ctrl!=NULL) {
printf("*** It can be controlled as a framegrabber\n");
double x = ctrl->getBrightness();
printf("*** brightness before setting is reported as %g\n", x);
ctrl->setBrightness(100);
printf("*** brightness set\n");
x = ctrl->getBrightness();
printf("*** brightness after setting reported as %g\n", x);
} else {
printf("*** It can <<<<<NOT>>>>> be controlled as a framegrabber\n");
}
} else {
printf("*** It can <<<<<NOT>>>>> supply images\n");
}
IPidControl *pid;
dd.view(pid);
if (pid!=NULL) {
printf("*** It can do PID control\n");
} else {
printf("*** It can <<<<<NOT>>>>> do PID control\n");
}
return 0;
}
void testBasic() {
report(0,"a very basic driver instantiation test");
PolyDriver dd;
Property p;
p.put("device","test_grabber");
bool result;
result = dd.open(p);
checkTrue(result,"open reported successful");
IFrameGrabberImage *grabber = NULL;
result = dd.view(grabber);
checkTrue(result,"interface reported");
ImageOf<PixelRgb> img;
grabber->getImage(img);
checkTrue(img.width()>0,"interface seems functional");
result = dd.close();
checkTrue(result,"close reported successful");
}
int main(int argc, char *argv[]) {
Network yarp;
// give YARP a factory for creating instances of FakeFrameGrabber
DriverCreator *fakey_factory =
new DriverCreatorOf<FakeFrameGrabber>("fakey",
"grabber",
"FakeFrameGrabber");
Drivers::factory().add(fakey_factory); // hand factory over to YARP
// use YARP to create and configure an instance of FakeFrameGrabber
Property config;
if (argc==1) {
// no arguments, use a default
config.fromString("(device fakey) (w 640) (h 480)");
} else {
// expect something like "--device fakey --w 640 --h 480"
// or "--device dragonfly"
// or "--device test_grabber --period 0.5 --mode [ball]"
config.fromCommand(argc,argv);
}
PolyDriver dd(config);
if (!dd.isValid()) {
printf("Failed to create and configure a device\n");
return 1;
}
IFrameGrabberImage *grabberInterface;
if (!dd.view(grabberInterface)) {
printf("Failed to view device through IFrameGrabberImage interface\n");
return 1;
}
ImageOf<PixelRgb> img;
grabberInterface->getImage(img);
printf("Got a %dx%d image\n", img.width(), img.height());
dd.close();
return 0;
}
