[Phission-cvs] phission/brains X11DisplayTest.py,NONE,1.1 X11DisplayTest.sh,NONE,1.1

[<pt...@us...>]

Update of /cvsroot/phission/phission/brains
In directory sc8-pr-cvs1:/tmp/cvs-serv5600

Added Files:
	X11DisplayTest.py X11DisplayTest.sh 
Log Message:

Used to test out the X11 display with a single window



--- NEW FILE: X11DisplayTest.py ---
#-----------------------------------------------------------------------------
# (c) 2003 Philip D.S. Thoren (pt...@cs...)
#
# This is used to test the X11Display class
#
#-----------------------------------------------------------------------------
import sys

#-----------------------------------------------------------------------------
# Make 'phission' an importable object name extension
sys.path.append("../../");

#-----------------------------------------------------------------------------
# Load brain stuff
from pyro.brain.behaviors.core import *  # Stop 
# MUST BE AFTER ANY OTHER brain imports
from phission.brains import Brain   

#-----------------------------------------------------------------------------
# import the modules from the phission directory.
# (1) X11Display
from phission.display.X11 import *
# (2) V4LCapture
from phission.capture.v4l import *
# (3) CSafeImage
from phission.base import *

#-----------------------------------------------------------------------------
class PhissionTest(Brain):  
    #-------------------------------------------------------------------------         
    # The __init__ method is the first method called ( When the PhissionTest
    # brain is first created. __init__ is called from the INIT def at the 
    # bottom of this source file .
    #-------------------------------------------------------------------------         
    def __init__(self, name, robot):  
        self.name = name
        self.robot = robot
        Brain.__init__(self, self.name, self.getRobot())  

        # Don't let the robot sleep when it's actively running
        self.setSleepTime(0)

        # Create the X11 display window
        self.display = X11Display();

        # Capture device
        self.capture = V4LCapture();

        self.capture.set(320,240);
        self.capture.setChannel(1);

        self.display.setLiveSourceInput(self.capture.getLiveSourceOutput())

    #-----------------------------------------------------------------------------
    # The setup function is called right after the module is __init__'d
    #-----------------------------------------------------------------------------
    def setup(self):
        pass
        
    #-----------------------------------------------------------------------------
    # The 'begin' method is called once at the beginning 
    # of a run session right before the first step call.
    #-----------------------------------------------------------------------------
    # It's called 'begin' because the Brain inherits from a Threading class
    # that uses the start() method spawn a thread.
    #-----------------------------------------------------------------------------
    # 'begin' can return an error code to stop a robot run session from begining
    # in the case a fatal error occurs
    #-----------------------------------------------------------------------------
    def begin(self):
        print >> sys.__stderr__, "begin called"
       
        # If the display window isn't open, open it
        if self.display.isVisible() == 0:
            if self.display.openWindow(320,240) == FAIL:
                print >> sys.__stderr__, "Error opening display window"
                return -1
        
        # make sure the capture device is open
        if self.capture.isDeviceOpen() == 0:
            if self.capture.openDevice("/dev/video0") == FAIL:
                print >> sys.__stderr__, "Error opening device"
                return -1
        
        # Start capturing if there is no capture in progress
        if self.capture.isCapturing() == 0:
            if self.capture.startCapture() == FAIL:
                print >> sys.__stderr__, "Error starting capture"
                return -1
        
        if self.display.isLiveSourceOn() == 0:
            if self.display.liveSourceOn() == FAIL:
                print >> sys.__stderr__, "Error starting live source"
                return -1
                
        return 0        
        
    #-----------------------------------------------------------------------------
    # The step method is called serially when the robot is running
    #-----------------------------------------------------------------------------
    def step(self):
        robot = self.getRobot();
        return

    #-----------------------------------------------------------------------------
    def stop(self):
        print >> sys.__stderr__, "stop called"
        
        # Start capturing if there is no capture in progress
        if self.capture.isCapturing() == 1:
            self.capture.stopCapture();
        
        if self.display.isLiveSourceOn() == 1:
            self.display.liveSourceOff();
            
    #-----------------------------------------------------------------------------
    def destroy(self):
        print >> sys.__stderr__, "destroy called"

        if self.display.isLiveSourceOn() == 1:
            self.display.liveSourceOff();

        # make sure the capture device is closed before quitting
        if self.capture.isDeviceOpen() == 1:
            self.capture.closeDevice();

        # If the display window is open, close it !!!
        if self.display.isVisible() == 1:
            self.display.closeWindow()
        
#-----------------------------------------------------------------------------
def INIT(robot):  
    return PhissionTest('PhissionTest', robot)  


--- NEW FILE: X11DisplayTest.sh ---
pyro -r SimpleRobot.py -b X11DisplayTest.py