[Personalrobots-commit] SF.net SVN: personalrobots: [79] pkg/trunk/axis_cam

[<mor...@us...>]

Revision: 79
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=79&view=rev
Author:   morgan_quigley
Date:     2008-04-02 18:52:29 -0700 (Wed, 02 Apr 2008)

Log Message:
-----------
bug fixes in the camera parameter get/set code (not resetting the state of the stringstream). next up is to be able to turn the white balance on/off...

Modified Paths:
--------------
    pkg/trunk/axis_cam/include/axis_cam/axis_cam.h
    pkg/trunk/axis_cam/manifest.xml
    pkg/trunk/axis_cam/src/libaxis_cam/axis_cam.cpp
    pkg/trunk/axis_cam/test/test_camcontrol/Makefile
    pkg/trunk/axis_cam/test/test_camcontrol/test_camcontrol.cpp

Modified: pkg/trunk/axis_cam/include/axis_cam/axis_cam.h
===================================================================
--- pkg/trunk/axis_cam/include/axis_cam/axis_cam.h	2008-04-03 01:06:55 UTC (rev 78)
+++ pkg/trunk/axis_cam/include/axis_cam/axis_cam.h	2008-04-03 01:52:29 UTC (rev 79)
@@ -33,6 +33,7 @@
 #include <curl/curl.h>
 #include <string>
 #include <sstream>
+#include "thread_utils/mutex.h"
 using namespace std;
 
 class AxisCam
@@ -55,6 +56,7 @@
   CURL *jpeg_curl, *getptz_curl, *setptz_curl;
   char *image_url, *ptz_url;
   stringstream ptz_ss; // need to mutex this someday...
+  ThreadUtils::Mutex ptz_ss_mutex;
   inline double clamp(double d, double low, double high)
   { 
     return (d < low ? low : (d > high ? high : d)); 

Modified: pkg/trunk/axis_cam/manifest.xml
===================================================================
--- pkg/trunk/axis_cam/manifest.xml	2008-04-03 01:06:55 UTC (rev 78)
+++ pkg/trunk/axis_cam/manifest.xml	2008-04-03 01:52:29 UTC (rev 79)
@@ -13,6 +13,7 @@
 <url>http://stair.stanford.edu</url>
 <depend package="common_flows"/>
 <depend package="image_viewer"/>
+<depend package="thread_utils"/>
 <depend package="string_utils"/>
 </package>
 

Modified: pkg/trunk/axis_cam/src/libaxis_cam/axis_cam.cpp
===================================================================
--- pkg/trunk/axis_cam/src/libaxis_cam/axis_cam.cpp	2008-04-03 01:06:55 UTC (rev 78)
+++ pkg/trunk/axis_cam/src/libaxis_cam/axis_cam.cpp	2008-04-03 01:52:29 UTC (rev 79)
@@ -68,10 +68,6 @@
   printf("Getting images from [%s]\n", oss.str().c_str());
   if (!query_params())
     printf("sad! I couldn't query the camera parameters.\n");
-  if (!query_params())
-    printf("sad! I couldn't query the camera parameters.\n");
-  if (!query_params())
-    printf("sad! I couldn't query the camera parameters.\n");
 }
 
 AxisCam::~AxisCam()
@@ -131,8 +127,11 @@
   if (size * nmemb == 0)
     return 0;
   AxisCam *a = (AxisCam *)userp;
+  a->ptz_ss_mutex.lock();
   a->ptz_ss << string((char *)buf, size*nmemb);
-  printf("%d bytes\n", size*nmemb);
+  //printf("writing %d bytes\n", size*nmemb);
+  //cout << a->ptz_ss.str() << endl;
+  a->ptz_ss_mutex.unlock();
   //cout << string((char *)buf, size*nmemb);
   return size*nmemb;
 }
@@ -191,7 +190,11 @@
 
 bool AxisCam::send_params(string params)
 {
+//  stringstream ss;
+  ptz_ss_mutex.lock();
+  ptz_ss.clear(); // reset stringstream state so we can insert into it again
   ptz_ss.str("");
+  ptz_ss_mutex.unlock();
   curl_easy_setopt(setptz_curl, CURLOPT_POSTFIELDS, params.c_str());
   CURLcode code;
   if (code = curl_easy_perform(setptz_curl))
@@ -204,14 +207,18 @@
 
 bool AxisCam::query_params()
 {
+  ptz_ss_mutex.lock();
+  ptz_ss.clear(); // reset stringstream state so we can insert into it again
   ptz_ss.str("");
+  ptz_ss_mutex.unlock();
   CURLcode code;
   if (code = curl_easy_perform(getptz_curl))
   {
     printf("woah! curl error: [%s]\n", curl_easy_strerror(code));
     return false;
   }
-  printf("response:\n%s\n", ptz_ss.str().c_str());
+  ptz_ss_mutex.lock();
+  printf("%d-byte response:\n%s\n", ptz_ss.str().length(), ptz_ss.str().c_str());
   while (ptz_ss.good())
   {
     string line;
@@ -241,6 +248,7 @@
     printf("\n");
 */
   }
+  ptz_ss_mutex.unlock();
   return true;
 }
 

Modified: pkg/trunk/axis_cam/test/test_camcontrol/Makefile
===================================================================
--- pkg/trunk/axis_cam/test/test_camcontrol/Makefile	2008-04-03 01:06:55 UTC (rev 78)
+++ pkg/trunk/axis_cam/test/test_camcontrol/Makefile	2008-04-03 01:52:29 UTC (rev 79)
@@ -1,6 +1,6 @@
 SRC = test_camcontrol.cpp kbhit.cpp
 OUT = test_camcontrol
-LFLAGS = -L../../lib -laxis_cam -lcurl -lstring_utils
+LFLAGS = -L../../lib -lcurl
 LIBDEPS = ../../lib/libaxis_cam.a
 PKG = axis_cam
 include $(shell $(ROS_ROOT)/rospack find roscpp)/make_include/node.mk

Modified: pkg/trunk/axis_cam/test/test_camcontrol/test_camcontrol.cpp
===================================================================
--- pkg/trunk/axis_cam/test/test_camcontrol/test_camcontrol.cpp	2008-04-03 01:06:55 UTC (rev 78)
+++ pkg/trunk/axis_cam/test/test_camcontrol/test_camcontrol.cpp	2008-04-03 01:52:29 UTC (rev 79)
@@ -28,6 +28,7 @@
 // POSSIBILITY OF SUCH DAMAGE.
 
 #include <cstdio>
+#include <iostream>
 #include "axis_cam/axis_cam.h"
 #include "kbhit.h"
 


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