static void resetBus() {
//cleanup primitive resources. required if the last user abruptly
//terminated. this method isn't ideal since it just resets the first bus,
//even though there might be more (there aren't on our robot, though).
raw1394handle_t handle = raw1394_new_handle();
if(!handle) {
CV_Error(CV_StsError, "unable to open raw1394 handle (is there a bus available on this computer?)");
}
const int numPorts = raw1394_get_port_info(handle, NULL, 0);
if(numPorts < 1) {
raw1394_destroy_handle(handle);
CV_Error(CV_StsError, "no raw1394 ports");
}
raw1394_set_port(handle, 0);
raw1394_reset_bus(handle);
raw1394_destroy_handle(handle);
}
int main(int argc, char **argv)
{
raw1394handle_t handle;
int retval;
quadlet_t rom[0x100];
size_t rom_size;
unsigned char rom_version;
rom1394_directory dir;
char *(leaf[2]);
handle = raw1394_new_handle();
if (!handle) {
if (!errno) {
printf(not_compatible);
} else {
perror("couldn't get handle");
printf(not_loaded);
}
exit(EXIT_FAILURE);
}
if (raw1394_set_port(handle, 0) < 0) {
perror("couldn't set port");
exit(EXIT_FAILURE);
}
/* get the current rom image */
retval=raw1394_get_config_rom(handle, rom, 0x100, &rom_size, &rom_version);
rom_size = rom1394_get_size(rom);
printf("get_config_rom returned %d, romsize %d, rom_version %d:",retval,rom_size,rom_version);
/* get the local directory */
rom1394_get_directory( handle, raw1394_get_local_id(handle) & 0x3f, &dir);
/* free the allocated mem for the textual leaves */
rom1394_free_directory( &dir);
/* add an RFC 2734 unit directory */
dir.unit_spec_id = 0x0000005e;
dir.unit_sw_version = 0x00000001;
leaf[0] = "IANA";
leaf[1] = "IPv4";
dir.nr_textual_leafs = 2;
dir.textual_leafs = leaf;
/* manipulate the rom */
retval = rom1394_add_unit( rom, &dir);
/* get the computed size of the rom image */
rom_size = rom1394_get_size(rom);
printf("rom1394_add_unit_directory returned %d, romsize %d:",retval,rom_size);
/* convert computed rom size from quadlets to bytes before update */
rom_size *= sizeof(quadlet_t);
retval = raw1394_update_config_rom(handle, rom, rom_size, rom_version);
printf("update_config_rom returned %d\n",retval);
printf("You need to reload your ieee1394 modules to reset the rom.\n");
raw1394_reset_bus(handle);
exit(EXIT_SUCCESS);
}
int CameraDcam::findCameraByGuid(void)
{
/*-----------------------------------------------------------------------
* get the camera nodes and describe them as we find them
* Number of available ports is known globally.
*-----------------------------------------------------------------------*/
//as the root node is not determined statically we may reset the bus in order to make a camera become
//NOT a root node.
//Uses generally the first camera found on bus.
int portNum,resetNum, numNodes, foundCamerasOnBus;
int resetBus = 1;
nodeid_t * camera_nodes = NULL;
for (resetNum=0; resetNum < MAX_RESETS && resetBus == 1; resetNum++)
{
resetBus = 0;
foundCamerasOnBus = 0;
for (portNum=0; portNum < firewireNumPorts; portNum++)
{
porthandle[portNum] = dc1394_create_handle(portNum);//handle for portNum
if (porthandle[portNum]==NULL)
{
GDOS_WARNING("error: Unable to aquire handle for port %i.\n", portNum);
}
//each port can have multiple cameras attached.
numNodes = 0;
camera_nodes = dc1394_get_camera_nodes(porthandle[portNum], &numNodes, 0); //last parameter defines if output is given.
//if any camera is found on this port...
if (numNodes > 0)
{
GDOS_DBG_INFO("found %i cameras to port %i.\n",numNodes, portNum);
//try to put them all at their position.
int k;
for (k = 0; k < numNodes; k++)
{
//try to get camera guid
dc1394_camerainfo info;
if (dc1394_get_camera_info(porthandle[portNum], camera_nodes[k], &info) == DC1394_SUCCESS)
{
//test if camera node is root, if so reset bus...
if (camera_nodes[k] == raw1394_get_nodecount(porthandle[portNum])-1)
{
//reset and retry if root
GDOS_WARNING("error: camera found as root node - resetting.\n");
raw1394_reset_bus(porthandle[portNum]);
int node_pos = 0;
for (node_pos=0; node_pos < 10; node_pos++)
resetBus = 1;
foundCamerasOnBus = foundCamerasOnBus - k; //no -1 as the array stqarts with 0
}
GDOS_DBG_INFO("found camera with guid:%x \n", info.euid_64);
//put camera in the global variable
if ((cameraGuid == 0) || (cameraGuid == (int) info.euid_64))
{
GDOS_DBG_INFO("using camera node:%i with guid:%x \n",camera_nodes[k], info.euid_64);
camera_node = camera_nodes[k];
dc1394CameraPortNo = portNum;
}
foundCamerasOnBus = foundCamerasOnBus + 1;
}//if camera_info
}//for numCameras
}//if numCamera > 0
else {
GDOS_ERROR("No cameras found! (%d nodes on the bus)\n"
" - could be you need to try a different 1394 device (modify code to fix)\n",
numNodes );
}
}//for firewireNumPorts
}//for MAXRESETS
GDOS_DBG_INFO("bus init complete found %i cameras.\n",foundCamerasOnBus);
if (resetNum == MAX_RESETS-1)
return FW_ERROR;
return DC1394_SUCCESS;
}
