// Basic test for camera device.
int test_camera(playerc_client_t *client, int index)
{
int t;
void *rdevice;
playerc_camera_t *device;
char filename[128];
int csize, usize;
printf("device [camera] index [%d]\n", index);
device = playerc_camera_create(client, index);
TEST("subscribing (read)");
if (playerc_camera_subscribe(device, PLAYER_OPEN_MODE) != 0)
{
FAIL();
return -1;
}
PASS();
for (t = 0; t < 10; t++)
{
TEST1("reading data (attempt %d)", t);
do
rdevice = playerc_client_read(client);
while (rdevice == client);
if (rdevice == device)
{
PASS();
// Decompress the image
csize = device->image_count;
playerc_camera_decompress(device);
usize = device->image_count;
printf("camera: [w %d h %d d %d] [%d/%d bytes]\n",
device->width, device->height, device->bpp, csize, usize);
snprintf(filename, sizeof(filename), "camera_%03d.ppm", t);
printf("camera: saving [%s]\n", filename);
playerc_camera_save(device, filename);
}
else
FAIL();
}
TEST("unsubscribing");
if (playerc_camera_unsubscribe(device) != 0)
{
FAIL();
return -1;
}
PASS();
playerc_camera_destroy(device);
return 0;
}
PlayerCam::PlayerCam(char *hostname, int port) {
index = 0;
client = playerc_client_create(NULL, hostname, port);
playerc_client_connect(client);
camDevice = playerc_camera_create(client, index);
if (playerc_camera_subscribe(camDevice, PLAYER_OPEN_MODE) != 0) {
printf("PlayerCam: subscribe failed\n");
} else {
printf("PlayerCam: subscribe succeeded\n");
}
// get image details
depth = 3;
// set width, height 0 to trigger automatically:
width = 0;
height = 0;
updateMMap(0); // this will set height and width automatically
initialize(width, height, depth, 0, 1, 2); // create some space
}
int
player_init(int argc, char *argv[])
{
int csize, usize, i;
if(get_options(argc, argv) < 0)
{
print_usage();
exit(-1);
}
// Create a g_client object and connect to the server; the server must
// be running on "localhost" at port 6665
g_client = playerc_client_create(NULL, g_hostname, g_port);
playerc_client_set_transport(g_client, g_transport);
if (0 != playerc_client_connect(g_client))
{
fprintf(stderr, "error: %s\n", playerc_error_str());
exit(-1);
}
/* if (0 != playerc_client_datafreq(g_client, 20))
{
fprintf(stderr, "error: %s\n", playerc_error_str());
return -1;
}
*/
// Create a camera proxy (device id "camera:index") and susbscribe
g_camera = playerc_camera_create(g_client, g_camera_index);
if (0 != playerc_camera_subscribe(g_camera, PLAYER_OPEN_MODE))
{
fprintf(stderr, "camera error: %s\n", playerc_error_str());
fprintf(stderr, "playercam will attempt to continue without a camera\n");
playerc_camera_destroy(g_camera);
g_camera = NULL;
}
// Create a blobfinder proxy (device id "blobfinder:index") and susbscribe
g_blobfinder = playerc_blobfinder_create(g_client, g_blobfinder_index);
if (0 != playerc_blobfinder_subscribe(g_blobfinder, PLAYER_OPEN_MODE))
{
fprintf(stderr, "blobfinder error: %s\n", playerc_error_str());
fprintf(stderr, "playercam will attempt to continue without a blobfinder\n");
playerc_blobfinder_destroy(g_blobfinder);
g_blobfinder = NULL;
}
if ((NULL == g_camera) && (NULL == g_blobfinder))
{
fprintf(stderr, "we need either a camera or blobfinder! aborting\n");
exit(-1);
}
// Get up to 10 images until we have a valid frame (g_wdith > 0)
for (i=0, g_width=0; i < 10 && g_width==0 && NULL != playerc_client_read(g_client); ++i)
{
if (NULL != g_camera)
{
// Decompress the image
csize = g_camera->image_count;
playerc_camera_decompress(g_camera);
usize = g_camera->image_count;
g_print("camera: [w %d h %d d %d] [%d/%d bytes]\n",
g_camera->width, g_camera->height, g_camera->bpp, csize, usize);
g_width = g_camera->width;
g_height = g_camera->height;
if (allocated_size != usize)
{
g_img = realloc(g_img, usize);
allocated_size = usize;
}
}
else // try the blobfinder
{
g_print("blobfinder: [w %d h %d]\n",
g_blobfinder->width, g_blobfinder->height);
g_width = g_blobfinder->width;
g_height = g_blobfinder->height;
usize = g_width * g_height * 3;
if (allocated_size != usize)
{
g_img = realloc(g_img, usize);
allocated_size = usize;
}
// set the image data to 0 since we don't have a camera
memset(g_img, 128, usize);
}
}
g_window_width = g_width;
g_window_height = g_height;
assert(g_width>0);
assert(g_height>0);
playerc_client_datamode(g_client,PLAYER_DATAMODE_PULL);
playerc_client_set_replace_rule(g_client,-1,-1,PLAYER_MSGTYPE_DATA,-1,1);
return 0;
}