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cameraUVC.cc

/****************************************************************************\
 *  CameraUVC version 0.1a                                                  *
 *  A Camera Plugin Driver for the Player/Stage robot server                *
 *                                                                          *
 *  Copyright (C) 2006 Raymond Sheh                                         *
 *  rsheh at cse dot unsw dot edu dot au     http://rsheh.cse.unsw.edu.au/  *
 *                                                                          *
 *  A Player/Stage plugin driver for cameras compatible with the Linux      *
 *  UVC camera driver (see http://linux-uvc.berlios.de/), such as the       *
 *  Logitech QuickCam Pro 5000.                                             *
 *                                                                          *
 *                                                                          *
 *  This program is free software; you can redistribute it and/or modify    *
 *  it under the terms of the GNU General Public License as published by    *
 *  the Free Software Foundation; either version 2 of the License, or       *
 *  (at your option) any later version.                                     *
 *                                                                          *
 *  This program is distributed in the hope that it will be useful,         *
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of          *
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the           *
 *  GNU General Public License for more details.                            *
 *                                                                          *
 *  You should have received a copy of the GNU General Public License       *
 *  along with this program; if not, write to the Free Software             *
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston,                   *
 *  MA  02111-1307  USA                                                     *
 *                                                                          *
 *                                                                          *
 *  Portions based on the Player/Stage Sample Plugin Driver                 *
 *  Portions based on luvcview by Laurent Pinchart and Michel Xhaard        *
 *                                                                          *
 * Updated in September 2006 by Luke Gumbley to enhance stability
 *                                                                          *
 *                                                                          *
\****************************************************************************/

#include "cameraUVC.h"

Driver* CameraUvc_Init(ConfigFile* cf, int section)
{
        return((Driver*)(new CameraUvc(cf, section)));
}

void CameraUVC_Register(DriverTable* table)
{
        table->AddDriver("camerauvc", CameraUvc_Init);
}

/*
extern "C"
{
        int player_driver_init(DriverTable* table)
        {
                CameraUVC_Register(table);
                return(0);
        } 
}
*/

CameraUvc::CameraUvc(ConfigFile* cf, int section)
    : Driver(cf, section, true, PLAYER_MSGQUEUE_DEFAULT_MAXLEN, PLAYER_CAMERA_CODE)
{
        ui=new UvcInterface(cf->ReadString(section, "port", "/dev/video0"),
                                                cf->ReadTupleInt( section, "size", 0, 320),
                                                cf->ReadTupleInt( section, "size", 1, 240));
}

CameraUvc::~CameraUvc()
{
  delete ui;
}


// Set up the device.  Return 0 if things go well, and -1 otherwise.
// Also starts the mainloop. 
int CameraUvc::Setup()
{   
        printf("CameraUvc: Driver initialising\n");

        if(ui->Open()==-1)
        {
                PLAYER_ERROR("CameraUvc: Error setting up video capture!");
                SetError(-1);
                return -1; 
        }

        StartThread();
        printf("CameraUvc: Driver initialisation done\n");
        
        return 0;
}

// Shutdown the device. 
// Also stops the mainloop. 
int CameraUvc::Shutdown()
{
        printf("CameraUvc: Driver shutting down\n");

        StopThread();
        ui->Close();

        printf("CameraUvc: Driver shutdown complete\n");
        return 0;
}

// Main function (mainloop)
void CameraUvc::Main() 
{
        while (true)
        {
                // Test if we are supposed to cancel this thread.
                pthread_testcancel();

                // Process any pending requests.
                ProcessMessages();

                ui->Read();

                // Store image details
                data.width=ui->GetWidth(); 
                data.height=ui->GetHeight(); 
                data.bpp=24; 
                data.format=PLAYER_CAMERA_FORMAT_RGB888;
                data.fdiv=1; 
                data.compression=PLAYER_CAMERA_COMPRESS_JPEG;
                data.image_count=ui->GetFrameSize();
                data.image = new unsigned char[data.image_count];
                ui->CopyFrame(data.image);

                // Write data to the client (through the server)
                Publish (device_addr,PLAYER_MSGTYPE_DATA,PLAYER_CAMERA_DATA_STATE,&data);
                delete [] data.image;
        }
}

// Process requests.  Returns 1 if the configuration has changed.
// Ignore all requests for now. 
int CameraUvc::ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data)
{
  return -1;
}

---

Last updated 12 September 2005 21:38:45