<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ --> <HEAD> <meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8"> <meta name="keywords" content="stage, robot, simulation, player, player/stage"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <style type="text/css"> .floatright { float: right; margin: 0 0 1em 1em; } body { font-family: sans-serif; #font-family: Geneva, Verdana, Helvetica, Arial, sans-serif; background-color: #FFF; color:#000; } a:link { color: #A00; } a:visited { color: #800; } a { text-decoration: none; } a:hover { text-decoration: underline; } .timestamp { text-align:right; background-color: #DDD; font-size:75%;} h1 { font-size:160%; } h2 { font-size:110%; #color: #FFF; #background-color: #666; #padding:3px; } h3 { text-align:left; } img { border: 0; } ul.menu { position:relative; left:-2.5em; margin-bottom:0px; margin-top:0px; } ul.menu1 { position:relative; 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you can redistribute it and/or modify</span> <a name="l00007"></a>00007 <span class="comment"> * it under the terms of the GNU General Public License as published by</span> <a name="l00008"></a>00008 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span> <a name="l00009"></a>00009 <span class="comment"> * (at your option) any later version.</span> <a name="l00010"></a>00010 <span class="comment"> *</span> <a name="l00011"></a>00011 <span class="comment"> * This program is distributed in the hope that it will be useful,</span> <a name="l00012"></a>00012 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span> <a name="l00013"></a>00013 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span> <a name="l00014"></a>00014 <span class="comment"> * GNU General Public License for more details.</span> <a name="l00015"></a>00015 <span class="comment"> *</span> <a name="l00016"></a>00016 <span class="comment"> * You should have received a copy of the GNU General Public License</span> <a name="l00017"></a>00017 <span class="comment"> * along with this program; if not, write to the Free Software</span> <a name="l00018"></a>00018 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span> <a name="l00019"></a>00019 <span class="comment"> *</span> <a name="l00020"></a>00020 <span class="comment"> */</span> <a name="l00021"></a>00021 <a name="l00022"></a>00022 <span class="preprocessor">#include <stdint.h></span> <a name="l00023"></a>00023 <a name="l00024"></a>00024 <span class="preprocessor">#include <libplayercore/playercore.h></span> <a name="l00025"></a>00025 <a name="l00026"></a>00026 <span class="preprocessor">#include "v4lcapture.h"</span> <a name="l00027"></a>00027 <a name="l00028"></a>00028 <span class="preprocessor">#define PLAYER_CAMERA_FORMAT_RGB 6</span> <a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define PLAYER_CAMERA_FORMAT_YUV420P 7</span> <a name="l00030"></a>00030 <span class="preprocessor"></span> <a name="l00032"></a>00032 <span class="comment">// The class for the driver</span> <a name="l00033"></a><a class="code" href="classSphereDriver.html">00033</a> <span class="keyword">class </span><a class="code" href="classSphereDriver.html">SphereDriver</a> : <span class="keyword">public</span> <a class="code" href="classThreadedDriver.html" title="Base class for drivers which oeprate with a thread.">ThreadedDriver</a> <a name="l00034"></a>00034 { <a name="l00035"></a>00035 <span class="keyword">public</span>: <a name="l00036"></a>00036 <a name="l00037"></a>00037 <span class="comment">// Constructor; need that</span> <a name="l00038"></a>00038 <a class="code" href="classSphereDriver.html#aae00afd6dde3191c6393252f037fb178">SphereDriver</a>(<a class="code" href="classConfigFile.html" title="Class for loading configuration file information.">ConfigFile</a>* cf, <span class="keywordtype">int</span> section); <a name="l00039"></a>00039 <a name="l00040"></a>00040 <span class="comment">// Must implement the following methods.</span> <a name="l00041"></a>00041 <span class="keywordtype">int</span> <a class="code" href="classSphereDriver.html#a16a4d91e9b4e78cb2f3ef5466c929fe1" title="Sets up the resources needed by the driver thread.">MainSetup</a>(); <a name="l00042"></a>00042 <span class="keywordtype">void</span> <a class="code" href="classSphereDriver.html#a54c7eaae54358897a1211739b9db357e" title="Cleanup method for driver thread (called when main exits).">MainQuit</a>(); <a name="l00043"></a>00043 <span class="comment">// Main function for device thread.</span> <a name="l00044"></a>00044 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classSphereDriver.html#a35bb7ec3584b467cf67115ea7628f385" title="Main method for driver thread.">Main</a>(); <a name="l00045"></a>00045 <a name="l00046"></a>00046 <span class="comment">// This method will be invoked on each incoming message</span> <a name="l00047"></a>00047 <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classSphereDriver.html#aa28d5b13e311c66f663c1f68f4b09ce4" title="Message handler.">ProcessMessage</a>(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> & resp_queue, <a name="l00048"></a>00048 <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr</a> * hdr, <a name="l00049"></a>00049 <span class="keywordtype">void</span> * data); <a name="l00050"></a>00050 <span class="comment">//void ProcessConfig();</span> <a name="l00051"></a>00051 <span class="keywordtype">void</span> ProcessCommand(<a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr_t</a>* hdr, <a class="code" href="structplayer__ptz__cmd.html" title="Command: state (PLAYER_PTZ_CMD_STATE).">player_ptz_cmd_t</a> &data); <a name="l00052"></a>00052 <span class="keywordtype">void</span> RefreshData(); <a name="l00053"></a>00053 <a name="l00054"></a>00054 <span class="keyword">private</span>: <a name="l00055"></a>00055 <a name="l00056"></a>00056 <span class="keywordtype">void</span> <a class="code" href="classSphereDriver.html#a52d261e5284b8990b37f92ef1bb3494f" title="Conversion of YUV422 pixel data into RGB ( CCIR 601 ).">YUV422toRGB</a>(uint8_t* argInputData, uint8_t* argOutputData); <a name="l00057"></a>00057 <a name="l00058"></a>00058 <span class="keyword">inline</span> <span class="keywordtype">double</span> LimitPan(<span class="keywordtype">double</span> argP) <a name="l00059"></a>00059 {<span class="keywordflow">return</span> (argP < mPanMin) ? mPanMin : ((argP > mPanMax) ? mPanMax : argP);}; <a name="l00060"></a>00060 <span class="keyword">inline</span> <span class="keywordtype">double</span> LimitTilt(<span class="keywordtype">double</span> argT) <a name="l00061"></a>00061 {<span class="keywordflow">return</span> (argT < mTiltMin) ? mTiltMin : ((argT > mTiltMax) ? mTiltMax : argT);}; <a name="l00062"></a>00062 <a name="l00063"></a>00063 <span class="comment">// Camera interface</span> <a name="l00064"></a>00064 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> mCameraAddr; <a name="l00065"></a>00065 <a class="code" href="structplayer__camera__data.html" title="Data: state (PLAYER_CAMERA_DATA_STATE).">player_camera_data_t</a> mCameraData; <a name="l00066"></a>00066 <span class="comment">// PTZ interface</span> <a name="l00067"></a>00067 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> mPtzAddr; <a name="l00068"></a>00068 <a class="code" href="structplayer__ptz__data.html" title="Data: state (PLAYER_PTZ_DATA_STATE).">player_ptz_data_t</a> mPtzData; <a name="l00069"></a>00069 <a class="code" href="structplayer__ptz__cmd.html" title="Command: state (PLAYER_PTZ_CMD_STATE).">player_ptz_cmd_t</a> mPtzCmd; <a name="l00070"></a>00070 <a name="l00071"></a>00071 int32_t mSleep; <a name="l00072"></a>00072 int32_t mFrameRate; <a name="l00073"></a>00073 int32_t mShutterSpeed; <a name="l00074"></a>00074 int32_t mCompressionPreference; <a name="l00075"></a>00075 int32_t mAutomaticGain; <a name="l00076"></a>00076 int32_t mSharpness; <a name="l00077"></a>00077 int32_t mBacklight; <a name="l00078"></a>00078 int32_t mFlicker; <a name="l00079"></a>00079 int32_t mNoiseReduction; <a name="l00080"></a>00080 int32_t mDumpSettings; <a name="l00081"></a>00081 int32_t mDebug; <a name="l00082"></a>00082 <span class="keyword">const</span> <span class="keywordtype">char</span> *mAutomaticWb; <a name="l00083"></a>00083 <a name="l00084"></a>00084 <span class="keywordtype">double</span> mPanMin; <a name="l00085"></a>00085 <span class="keywordtype">double</span> mPanMax; <a name="l00086"></a>00086 <span class="keywordtype">double</span> mTiltMin; <a name="l00087"></a>00087 <span class="keywordtype">double</span> mTiltMax; <a name="l00088"></a>00088 <a name="l00089"></a>00089 <span class="comment">// Video device</span> <a name="l00090"></a>00090 <span class="keyword">const</span> <span class="keywordtype">char</span> *mDevice; <a name="l00091"></a>00091 <span class="comment">// Input source</span> <a name="l00092"></a>00092 int32_t mSource; <a name="l00093"></a>00093 <a name="l00094"></a>00094 <span class="comment">// Camera palette</span> <a name="l00095"></a>00095 <span class="keyword">const</span> <span class="keywordtype">char</span> *mPalette; <a name="l00096"></a>00096 <span class="comment">// Frame grabber interface</span> <a name="l00097"></a>00097 <a class="code" href="structFRAMEGRABBER.html">FRAMEGRABBER</a>* mFg; <a name="l00098"></a>00098 <a name="l00099"></a>00099 <span class="comment">// The current image (local copy)</span> <a name="l00100"></a>00100 <a class="code" href="structFRAME.html">FRAME</a>* mFrame; <a name="l00101"></a>00101 <a class="code" href="structFRAME.html">FRAME</a>* mRGBFrame; <a name="l00102"></a>00102 int32_t mFrameNumber; <a name="l00103"></a>00103 <a name="l00104"></a>00104 <span class="comment">// Image dimensions</span> <a name="l00105"></a>00105 int32_t mWidth, mHeight; <a name="l00106"></a>00106 <span class="comment">// Pixel depth</span> <a name="l00107"></a>00107 int32_t mDepth; <a name="l00108"></a>00108 <a name="l00109"></a>00109 <span class="comment">// Write frames to disk?</span> <a name="l00110"></a>00110 int32_t mSave; <a name="l00111"></a>00111 <a name="l00112"></a>00112 }; </pre></div></div> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>