Revision: 6993
http://playerstage.svn.sourceforge.net/playerstage/?rev=6993&view=rev
Author: thjc
Date: 2008-08-30 02:14:03 +0000 (Sat, 30 Aug 2008)
Log Message:
-----------
Applied [ 1998688 ] camerav4l patch
Modified Paths:
--------------
code/player/branches/release-2-1-patches/server/drivers/camera/v4l/camerav4l.cc
Modified:
code/player/branches/release-2-1-patches/server/drivers/camera/v4l/camerav4l.cc
===================================================================
---
code/player/branches/release-2-1-patches/server/drivers/camera/v4l/camerav4l.cc
2008-08-30 02:06:38 UTC (rev 6992)
+++
code/player/branches/release-2-1-patches/server/drivers/camera/v4l/camerav4l.cc
2008-08-30 02:14:03 UTC (rev 6993)
@@ -174,7 +174,8 @@
#include <errno.h>
#include <string.h>
#include <math.h>
-#include <stdlib.h> // for atoi(3)
+#include <stddef.h>
+#include <stdlib.h> // for malloc() and free()
#include <unistd.h>
#include <time.h>
@@ -220,6 +221,10 @@
// Pixel depth
private: int depth;
+ // Format
+
+ private: uint32_t format;
+
// Camera palette
private: const char *palette;
@@ -263,16 +268,13 @@
private: time_t publish_time;
- // Data to send to server
- private: player_camera_data_t data;
-
};
// Initialization function
Driver* CameraV4L_Init( ConfigFile* cf, int section)
{
- return ((Driver*) (new CameraV4L( cf, section)));
+ return (reinterpret_cast<Driver *>(new CameraV4L( cf, section)));
}
@@ -373,28 +375,28 @@
{
fg_set_format(this->fg, VIDEO_PALETTE_GREY);
this->frame = frame_new(this->width, this->height, VIDEO_PALETTE_GREY );
- this->data.format = PLAYER_CAMERA_FORMAT_MONO8;
+ this->format = PLAYER_CAMERA_FORMAT_MONO8;
this->depth = 8;
}
else if (strcasecmp(this->palette, "RGB565") == 0)
{
fg_set_format(this->fg, VIDEO_PALETTE_RGB565 );
this->frame = frame_new(this->width, this->height, VIDEO_PALETTE_RGB565 );
- this->data.format = PLAYER_CAMERA_FORMAT_RGB565;
+ this->format = PLAYER_CAMERA_FORMAT_RGB565;
this->depth = 16;
}
else if (strcasecmp(this->palette, "RGB888") == 0)
{
fg_set_format(this->fg, VIDEO_PALETTE_RGB24 );
this->frame = frame_new(this->width, this->height, VIDEO_PALETTE_RGB24 );
- this->data.format = PLAYER_CAMERA_FORMAT_RGB888;
+ this->format = PLAYER_CAMERA_FORMAT_RGB888;
this->depth = 24;
}
else if (strcasecmp(this->palette, "RGB32") == 0)
{
fg_set_format(this->fg, VIDEO_PALETTE_RGB32 );
this->frame = frame_new(this->width, this->height, VIDEO_PALETTE_RGB32 );
- this->data.format = PLAYER_CAMERA_FORMAT_RGB888;
+ this->format = PLAYER_CAMERA_FORMAT_RGB888;
this->depth = 32;
}
else if (strcasecmp(this->palette, "YUV420P") == 0)
@@ -403,25 +405,23 @@
// 1.6.2 and earlier
fg_set_format(this->fg, VIDEO_PALETTE_YUV420P);
this->frame = frame_new(this->width, this->height, VIDEO_PALETTE_YUV420P );
- this->data.format = PLAYER_CAMERA_FORMAT_RGB888;
+ this->format = PLAYER_CAMERA_FORMAT_RGB888;
this->depth = 24;
this->rgb_converted_frame = frame_new(this->width,
this->height, VIDEO_PALETTE_RGB24 );
- // this->data.format = PLAYER_CAMERA_FORMAT_MONO8;
- // this->depth = 8;
}
else if (strcasecmp(this->palette, "YUV420P_GREY") == 0)
{
fg_set_format(this->fg, VIDEO_PALETTE_YUV420P);
this->frame = frame_new(this->width, this->height, VIDEO_PALETTE_YUV420P );
- this->data.format = PLAYER_CAMERA_FORMAT_MONO8;
+ this->format = PLAYER_CAMERA_FORMAT_MONO8;
this->depth = 8;
}
else if (strcasecmp(this->palette, "JPEG") == 0)
{
fg_set_format(this->fg, VIDEO_PALETTE_JPEG );
this->frame = frame_new(this->width, this->height, VIDEO_PALETTE_JPEG );
- this->data.format = PLAYER_CAMERA_FORMAT_RGB888;
+ this->format = PLAYER_CAMERA_FORMAT_RGB888;
this->depth = 24;
}
else
@@ -450,7 +450,7 @@
// Free resources
frame_release(this->frame);
if ((this->frame->format == VIDEO_PALETTE_YUV420P)&&
- (this->data.format == PLAYER_CAMERA_FORMAT_RGB888))
+ (this->format == PLAYER_CAMERA_FORMAT_RGB888))
frame_release(this->rgb_converted_frame);
fg_close(this->fg);
return 0;
@@ -510,7 +510,7 @@
//printf("click %d\n", frameno);
snprintf(filename, sizeof(filename), "click-%04d.ppm", frameno++);
if ((this->frame->format == VIDEO_PALETTE_YUV420P)&&
- (this->data.format == PLAYER_CAMERA_FORMAT_RGB888))
+ (this->format == PLAYER_CAMERA_FORMAT_RGB888))
{
frame_save(this->rgb_converted_frame, filename);
//printf("saved converted frame\n");
@@ -528,12 +528,12 @@
void * data)
{
assert(hdr);
- assert(data);
/* We currently don't support any messages, but if we do...
if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_CAMERA_REQ_GET_GEOM, this->device_addr))
{
+ assert(data);
assert(hdr->size == sizeof(player_position2d_data_t));
ProcessGetGeom(hdr, *reinterpret_cast<player_camera_data_t *> (data));
return(0);
@@ -544,60 +544,96 @@
return -1;
}
+#define IS_JPEG(ptr) ((((ptr)[0]) == 0xff) && (((ptr)[1]) == 0xd8))
+
////////////////////////////////////////////////////////////////////////////////
// Update the device data (the data going back to the client).
void CameraV4L::RefreshData()
{
int i;
- size_t image_count;
unsigned char * ptr1, * ptr2;
+ player_camera_data_t * data = reinterpret_cast<player_camera_data_t
*>(malloc(sizeof(player_camera_data_t)));
- // Compute size of image
- image_count = this->width * this->height * this->depth / 8;
+ if (!data)
+ {
+ PLAYER_ERROR("Out of memory!");
+ return;
+ }
// Set the image properties
- this->data.width = this->width;
- this->data.height = this->height;
- this->data.bpp = this->depth;
- this->data.image_count = image_count;
- this->data.image = new unsigned char [image_count];
- this->data.compression = PLAYER_CAMERA_COMPRESS_RAW;
+ data->width = this->width;
+ data->height = this->height;
+ data->bpp = this->depth;
+ data->format = this->format;
+ data->fdiv = 0;
+ data->image_count = 0;
+ data->image = NULL;
+ data->compression = PLAYER_CAMERA_COMPRESS_RAW;
if (have_ov519)
{
- this->data.image_count = (*(unsigned short *)(frame->data))*8;
- assert(data.image_count > 0);
- assert(data.image_count <= ((size_t)(this->frame->size)));
- this->data.compression = PLAYER_CAMERA_COMPRESS_JPEG;
- memcpy(data.image, &(((char*)frame->data)[2]), data.image_count);
+ data->image_count = (*(reinterpret_cast<unsigned short *>(frame->data))) *
8;
+ assert(data->image_count > 0);
+ assert(data->image_count <= static_cast<size_t>(this->frame->size));
+ data->image = reinterpret_cast<uint8_t *>(malloc(data->image_count));
+ if (!(data->image))
+ {
+ PLAYER_ERROR("Out of memory!");
+ free(data);
+ return;
+ }
+ data->compression = PLAYER_CAMERA_COMPRESS_JPEG;
+ memcpy(data->image, &((reinterpret_cast<char *>(frame->data))[2]),
data->image_count);
}
else if (this->fg->picture.palette == VIDEO_PALETTE_JPEG)
{
- this->data.compression = PLAYER_CAMERA_COMPRESS_JPEG;
memcpy(&i, this->frame->data, sizeof(int));
- data.image_count = i;
- assert(data.image_count > 0);
- assert(data.image_count <= ((size_t)(this->frame->size)));
- memcpy(data.image, ((unsigned char *)(this->frame->data)) + sizeof(int),
data.image_count);
+ data->image_count = i;
+ assert(data->image_count > 1);
+ assert(data->image_count <= static_cast<size_t>(this->frame->size));
+ if (!(IS_JPEG((reinterpret_cast<unsigned char *>(this->frame->data)) +
sizeof(int))))
+ {
+ PLAYER_ERROR("Not an JPEG image...");
+ free(data);
+ return;
+ }
+ data->image = reinterpret_cast<uint8_t *>(malloc(data->image_count));
+ if (!(data->image))
+ {
+ PLAYER_ERROR("Out of memory!");
+ free(data);
+ return;
+ }
+ data->compression = PLAYER_CAMERA_COMPRESS_JPEG;
+ memcpy(data->image, (reinterpret_cast<unsigned char *>(this->frame->data))
+ sizeof(int), data->image_count);
}
else
{
+ data->image_count = this->width * this->height * this->depth / 8;
+ assert(data->image_count > 0);
+ data->image = reinterpret_cast<uint8_t *>(malloc(data->image_count));
+ if (!(data->image))
+ {
+ PLAYER_ERROR("Out of memory!");
+ free(data);
+ return;
+ }
// Copy the image pixels
if ((this->frame->format == VIDEO_PALETTE_YUV420P) &&
- (this->data.format == PLAYER_CAMERA_FORMAT_RGB888))
+ (this->format == PLAYER_CAMERA_FORMAT_RGB888))
{// do conversion to RGB (which is bgr at the moment for some reason?)
- assert(data.image_count <= (size_t)
this->rgb_converted_frame->size);
+ assert(data->image_count <=
static_cast<size_t>(this->rgb_converted_frame->size));
ccvt_420p_bgr24(this->width, this->height,
- (unsigned char*) this->frame->data,
- (unsigned char*) this->rgb_converted_frame->data);
- ptr1 = (unsigned char *)this->rgb_converted_frame->data;
+ reinterpret_cast<unsigned char *>(this->frame->data),
+ reinterpret_cast<unsigned char
*>(this->rgb_converted_frame->data));
+ ptr1 = reinterpret_cast<unsigned char
*>(this->rgb_converted_frame->data);
}
else
{
- assert(data.image_count <= (size_t) this->frame->size);
- ptr1 = (unsigned char *)this->frame->data;
+ assert(data->image_count <=
static_cast<size_t>(this->frame->size));
+ ptr1 = reinterpret_cast<unsigned char *>(this->frame->data);
}
- ptr2 = this->data.image;
+ ptr2 = reinterpret_cast<unsigned char *>(data->image);
switch (this->depth)
{
case 24:
@@ -622,7 +658,7 @@
}
break;
default:
- memcpy(ptr2, ptr1, data.image_count);
+ memcpy(ptr2, ptr1, data->image_count);
}
}
@@ -630,17 +666,19 @@
{
if ((time(NULL) - (this->publish_time)) < (this->publish_interval))
{
- this->data.width = 0;
- this->data.height = 0;
- this->data.bpp = 0;
- this->data.image_count = 0;
+ data->width = 0;
+ data->height = 0;
+ data->bpp = 0;
+ data->image_count = 0;
+ free(data->image);
+ data->image = NULL;
} else this->publish_time = time(NULL);
}
Publish(this->device_addr,
PLAYER_MSGTYPE_DATA, PLAYER_CAMERA_DATA_STATE,
- reinterpret_cast<void*>(&this->data));
- delete [] this->data.image;
+ reinterpret_cast<void *>(data), 0, NULL, false);
+ // copy = false, don't dispose anything here!
return;
}
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