///
/// @return Returns the value of m_inited after initialization, e.g. returns TRUE if the camera is successfully initialized
///
bool SimpleDirectShowAcq::Open()
{
struct SimpleCapParams params;
bool success = false;
if (m_width == 0 || m_height == 0) // these get set in Init()
{
m_logMsg = "Unable to Open camera: width and height are not set.";
}
else
{
m_numCameras = setupESCAPI();
if (m_numCameras == 0)
{
m_logMsg.Format("%s: no cameras found.\n", __FUNCTION__);
}
else
{
params.mWidth = m_width;
params.mHeight = m_height;
params.mTargetBuf = (int *)m_buf; // m_buf gets set in Init()
m_cameraIndex = 0;
if (initCapture(m_cameraIndex, ¶ms))
{
m_inited = true; // assigning it here avoids an annoying compiler warning
}
}
}
return m_inited;
}
VREP_DLLEXPORT unsigned char v_repStart(void* reservedPointer,int reservedInt)
{ // This is called just once, at the start of V-REP
// Dynamically load and bind V-REP functions:
char curDirAndFile[1024];
GetModuleFileName(NULL,curDirAndFile,1023);
PathRemoveFileSpec(curDirAndFile);
std::string currentDirAndPath(curDirAndFile);
std::string temp(currentDirAndPath);
temp+="\\v_rep.dll";
vrepLib=loadVrepLibrary(temp.c_str());
if (vrepLib==NULL)
{
std::cout << "Error, could not find or correctly load v_rep.dll. Cannot start 'Cam' plugin.\n";
return(0); // Means error, V-REP will unload this plugin
}
if (getVrepProcAddresses(vrepLib)==0)
{
std::cout << "Error, could not find all required functions in v_rep.dll. Cannot start 'Cam' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // Means error, V-REP will unload this plugin
}
int vrepVer;
simGetIntegerParameter(sim_intparam_program_version,&vrepVer);
if (vrepVer<20600) // if V-REP version is smaller than 2.06.00
{
std::cout << "Sorry, your V-REP copy is somewhat old, V-REP 2.6.0 or later is required. Cannot start 'Cam' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // initialization failed!!
}
// Marc modified following function to return a neg. value in case of initialization error:
deviceCount=setupESCAPI();
if (deviceCount<0)
{
std::cout << "ESCAPI initialization failed (error code: " << deviceCount << "). Is 'escapi.dll' available? Cannot start 'Cam' plugin.\n";
unloadVrepLibrary(vrepLib);
return(0); // initialization failed!!
}
// Register one new Lua command:
int inArgs1[]={3,sim_lua_arg_int,sim_lua_arg_int,sim_lua_arg_int};
simRegisterCustomLuaFunction(LUA_START,strConCat("number result,number resX,number resY=",LUA_START,"(number deviceIndex,number resX,number resY)"),inArgs1,LUA_START_CALLBACK);
int inArgs2[]={1,sim_lua_arg_int};
simRegisterCustomLuaFunction(LUA_END,strConCat("number result=",LUA_END,"(number deviceIndex)"),inArgs2,LUA_END_CALLBACK);
simRegisterCustomLuaFunction(LUA_INFO,strConCat("string info=",LUA_INFO,"(number index)"),inArgs2,LUA_INFO_CALLBACK);
int inArgs5[]={2,sim_lua_arg_int,sim_lua_arg_int};
simRegisterCustomLuaFunction(LUA_GRAB,strConCat("number result=",LUA_GRAB,"(number index,number visionSensorHandle)"),inArgs5,LUA_GRAB_CALLBACK);
InitializeCriticalSection(&m_cs);
return(3); // initialization went fine, return the version number of this extension module (can be queried with simGetModuleName)
// version 1 was for V-REP versions before V-REP 2.5.12
// version 2 was for V-REP versions before V-REP 2.6.0
}
void main()
{
int devices = setupESCAPI();
if (devices == 0)
{
printf("ESCAPI initialization failure or no devices found.\n");
return;
}
int i;
for (i = 0; i < devices; i++)
{
char temp[256];
getCaptureDeviceName(i, temp, 256);
printf("Device %d: \"%s\"\n", i, temp);
}
}
