int UpdateBlobWindow(void* data)
{
if (data == 0) return 0;
Rect rect = *((Rect*)data);
SDL_mutexP(srvMutex);
PosixTimer pt;
bool fDone = false;
while (!fDone) {
try {
newRange = srv->grabColorBin(7, rect);
fYUVRangeChange = true;
fDone = true;
} catch (...) {
// Are we out of time?
if (pt.elapsed() > 5) {
cerr << "Updating blob window timed out." << endl;
fYUVRangeChange = false;
fDone = true;
} else {
fYUVRangeChange = false;
fDone = false;
}
}
}
SDL_mutexV(srvMutex);
fUpdatingBlobWindow = false;
return 0;
}
int UpdateYUVRange(void* data)
{
if (data == 0) return 0;
YUVRange yuv = *((YUVRange*)data);
SDL_mutexP(srvMutex);
PosixTimer pt;
bool fDone = false;
while (!fDone) {
try {
if (currentRange == yuv) {
srv->setColorBin(5, currentRange);
} else {
srv->setColorBin(5, currentRange+yuv);
undoList.push(currentRange);
currentRange += yuv;
}
fYUVRangeChange = false;
fDone = true;
} catch (...) {
// Are we out of time?
if (pt.elapsed() > 5) {
cerr << "Updating yuv range window timed out." << endl;
fYUVRangeChange = true;
fDone = true;
} else {
fYUVRangeChange = true;
fDone = false;
}
}
}
SDL_mutexV(srvMutex);
fUpdatingYUVRange = false;
return 0;
}
// A persistent read function.
static ssize_t read_r(int fd, void *buf, size_t count, size_t ms)
{
double tMax = ms / 1000.0; // convert to seconds
PosixTimer t;
int r;
unsigned int total = 0;
while (total < count) {
r = read(fd, ((unsigned char *)buf) + total, count - total);
// did something seriously go wrong?
if (r < 0 && errno != EINTR) {
__dbg(string("PosixSerial: failed to read: ") + string(strerror(errno)));
throw PosixSerial::ReadFailure();
} else if (r > 0) {
// progress!
total += r;
t.start(); // restart the timer
}
// are we out of time?
if (ms > 0 && t.elapsed() > tMax) {
__dbg(string("PosixSerial: read timed out"));
throw PosixSerial::ReadTimeout();
}
}
return total;
}
// A persistent write function.
static ssize_t write_r(int fd, const void *buf, size_t count, size_t ms)
{
double tMax = ms / 1000.0; // convert to seconds
PosixTimer t;
int r;
unsigned int written = 0;
while (written < count) {
r = write(fd, ((const unsigned char *)buf) + written, count - written);
// did something seriously go wrong?
if (r < 0 && errno != EINTR) {
__dbg(string("PosixSerial: failed to write: ") + string(strerror(errno)));
throw PosixSerial::WriteFailure();
} else if (r > 0) {
// progress!
written += r;
t.start(); // restart the timer
}
// are we out of time?
if (ms > 0 && t.elapsed() > tMax) {
__dbg(string("PosixSerial: write timed out"));
throw PosixSerial::WriteTimeout();
}
}
return written;
}
int BlobFinder(void* data)
{
const unsigned int blobColor = SDL_MapRGB(screen->format, 255, 0, 255);
const unsigned int blobBPP = screen->format->BitsPerPixel;
const unsigned int blobWinW = 80;
const unsigned int blobWinH = 64;
list<Blob> blobs;
while (!fQuitApplication) {
// Get blobs.
SDL_mutexP(srvMutex);
PosixTimer pt;
bool fDone = false;
while (!fDone) {
try {
srv->getBlobs(5, blobs);
fDone = true;
} catch (...) {
if (pt.elapsed() > 5) {
cerr << "Blob finder timed out." << endl;
fDone = true;
blobs.clear();
} else {
fDone = false;
}
}
}
SDL_mutexV(srvMutex);
SDL_mutexP(blobImageMutex);
if (blobImage == 0) {
if ((blobImage = SDL_CreateRGBSurface(SDL_SWSURFACE,blobWinW,blobWinH,blobBPP,0,0,0,0)) < 0) {
cerr << "Failed to create blob surface: " << SDL_GetError() << endl;
}
}
if (blobImage != 0) {
// Clear it.
SDL_FillRect(blobImage, 0, 0);
// Draw blobs.
for (list<Blob>::iterator iter = blobs.begin(); iter != blobs.end(); ++iter) {
SDL_Rect rect;
rect.x = iter->getX1();
rect.y = blobWinH - iter->getY2() - 1;
rect.w = abs(iter->getX2() - iter->getX1());
rect.h = abs(iter->getY2() - iter->getY1());
SDL_FillRect(blobImage, &rect, blobColor);
}
fUpdatedBlobs = true;
}
SDL_mutexV(blobImageMutex);
usleep(10000);
}
return 0;
}
Surveyor* CreateSurveyor(string devName, Surveyor::CameraResolution camRes, double timeout)
{
// Create the Surveyor object.
Surveyor* ret = 0;
PosixTimer pt;
bool fDone = false;
while (!fDone) {
try {
ret = new Surveyor(devName, camRes);
ret->setColorBin(5, currentRange);
fDone = true;
} catch (...) {
fDone = false;
// Are we out of time?
if (timeout > 0 && pt.elapsed() > timeout) {
return 0;
}
}
}
return ret;
}
int UpdateImage(void* data)
{
double timeout = data != 0 ? *((double*)data) : 5;
Picture pic;
SDL_mutexP(srvMutex);
PosixTimer pt;
bool fDone = false;
while (!fDone) {
try {
pic = srv->takePicture();
fDone = true;
} catch (...) {
// Are we out of time?
if (timeout > 0 && pt.elapsed() > timeout) {
fDone = true;
} else {
fDone = false;
}
}
}
SDL_mutexV(srvMutex);
if (pic) {
SDL_mutexP(jpegImageMutex);
if (jpegImage != 0) {
SDL_FreeSurface(jpegImage);
}
if ((jpegImage = IMG_Load_RW(SDL_RWFromConstMem(pic.data(), pic.size()), 1)) == 0) {
cerr << "Failed to load image: " << SDL_GetError() << endl;
} else {
fUpdatedImage = true;
}
SDL_mutexV(jpegImageMutex);
}
fUpdatingImage = false;
return 0;
}