Thread: [Personalrobots-commit] SF.net SVN: personalrobots: [40] pkg/trunk/axis_cam

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Revision: 40
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=40&view=rev
Author:   morgan_quigley
Date:     2008-03-26 17:30:22 -0700 (Wed, 26 Mar 2008)

Log Message:
-----------
axis_cam now uses jeremy's hot libcurl code for getting images. it still uses wget for setting ptz but that will likely change in a few days or less

Modified Paths:
--------------
    pkg/trunk/axis_cam/include/axis_cam/axis_cam.h
    pkg/trunk/axis_cam/nodes/test_multiple_receivers
    pkg/trunk/axis_cam/src/axis_cam/Makefile
    pkg/trunk/axis_cam/src/libaxis_cam/axis_cam.cpp

Added Paths:
-----------
    pkg/trunk/axis_cam/nodes/test_axis_cam
    pkg/trunk/axis_cam/src/axis_cam/axis_cam.cpp

Removed Paths:
-------------
    pkg/trunk/axis_cam/nodes/test_axis_cam_wget
    pkg/trunk/axis_cam/src/axis_cam/axis_cam_wget.cpp

Modified: pkg/trunk/axis_cam/include/axis_cam/axis_cam.h
===================================================================

--- pkg/trunk/axis_cam/include/axis_cam/axis_cam.h	2008-03-27 00:28:10 UTC (rev 39)
+++ pkg/trunk/axis_cam/include/axis_cam/axis_cam.h	2008-03-27 00:30:22 UTC (rev 40)
@@ -30,6 +30,7 @@
 #ifndef AXIS_CAM_AXIS_CAM_H
 #define AXIS_CAM_AXIS_CAM_H
 
+#include <curl/curl.h>
 #include <string>
 using namespace std;
 
@@ -39,18 +40,20 @@
   AxisCam(string ip);
   ~AxisCam();
 
-  bool wget_jpeg(uint8_t ** const fetch_jpeg_buf, uint32_t *fetch_buf_size, 
-                 string filename = string());
+  bool get_jpeg(uint8_t ** const fetch_jpeg_buf, uint32_t *fetch_buf_size);
   bool ptz(double pan, double tilt, double zoom);
 
 private:
   string ip;
   uint8_t *jpeg_buf;
-  uint32_t jpeg_buf_size;
+  uint32_t jpeg_buf_size, jpeg_file_size;
+  CURL *jpeg_curl;
   inline double clamp(double d, double low, double high)
   { 
     return (d < low ? low : (d > high ? high : d)); 
   }
+  static size_t jpeg_write(void *buf, size_t size, size_t nmemb, void *userp);
+  char *image_url;
 };
 
 #endif

Copied: pkg/trunk/axis_cam/nodes/test_axis_cam (from rev 33, pkg/trunk/axis_cam/nodes/test_axis_cam_wget)
===================================================================
--- pkg/trunk/axis_cam/nodes/test_axis_cam	                        (rev 0)
+++ pkg/trunk/axis_cam/nodes/test_axis_cam	2008-03-27 00:30:22 UTC (rev 40)
@@ -0,0 +1,11 @@
+#!/usr/bin/env ruby
+require "#{`#{ENV['ROS_ROOT']}/rospack latest yamlgraph`}/lib/yamlgraph/ygl.rb"
+g = YAMLGraph.new
+g.param 'axis_cam.host', '192.168.1.90'
+g.node 'axis_cam/axis_cam', {'launch'=>'xterm'}
+g.node 'image_viewer/image_viewer', {'launch'=>'xterm'}
+#g.node 'vacuum/vacuum', {'launch' => 'valgrind'}
+g.flow 'axis_cam:image', 'image_viewer:image'
+#g.flow 'axis_cam:image', 'vacuum:hose'
+YAMLGraphLauncher.new.launch g
+

Deleted: pkg/trunk/axis_cam/nodes/test_axis_cam_wget
===================================================================
--- pkg/trunk/axis_cam/nodes/test_axis_cam_wget	2008-03-27 00:28:10 UTC (rev 39)
+++ pkg/trunk/axis_cam/nodes/test_axis_cam_wget	2008-03-27 00:30:22 UTC (rev 40)
@@ -1,11 +0,0 @@
-#!/usr/bin/env ruby
-require "#{`#{ENV['ROS_ROOT']}/rospack latest yamlgraph`}/lib/yamlgraph/ygl.rb"
-g = YAMLGraph.new
-g.param 'axis_cam_wget.host', '192.168.1.90'
-g.node 'axis_cam/axis_cam_wget', {'launch'=>'xterm'}
-g.node 'image_viewer/image_viewer', {'launch'=>'xterm'}
-g.node 'vacuum/vacuum', {'launch' => 'valgrind'}
-g.flow 'axis_cam_wget:image', 'image_viewer:image'
-g.flow 'axis_cam_wget:image', 'vacuum:hose'
-YAMLGraphLauncher.new.launch g
-

Modified: pkg/trunk/axis_cam/nodes/test_multiple_receivers
===================================================================
--- pkg/trunk/axis_cam/nodes/test_multiple_receivers	2008-03-27 00:28:10 UTC (rev 39)
+++ pkg/trunk/axis_cam/nodes/test_multiple_receivers	2008-03-27 00:30:22 UTC (rev 40)
@@ -1,11 +1,11 @@
 #!/usr/bin/env ruby
 require "#{`#{ENV['ROS_ROOT']}/rospack latest yamlgraph`}/lib/yamlgraph/ygl.rb"
 g = YAMLGraph.new
-g.param 'axis_cam_wget.host', '192.168.1.90'
-g.node 'axis_cam/axis_cam_wget', {'launch'=>'xterm'}
+g.param 'axis_cam.host', '192.168.1.90'
+g.node 'axis_cam/axis_cam', {'launch'=>'xterm'}
 g.node 'image_viewer/image_viewer', {'launch'=>'xterm'}
 g.node 'image_viewer/image_viewer', {'name'=>'iv2','launch'=>'xterm'}
-g.flow 'axis_cam_wget:image', 'image_viewer:image'
-g.flow 'axis_cam_wget:image', 'iv2:image'
+g.flow 'axis_cam:image', 'image_viewer:image'
+g.flow 'axis_cam:image', 'iv2:image'
 YAMLGraphLauncher.new.launch g
 

Modified: pkg/trunk/axis_cam/src/axis_cam/Makefile
===================================================================
--- pkg/trunk/axis_cam/src/axis_cam/Makefile	2008-03-27 00:28:10 UTC (rev 39)
+++ pkg/trunk/axis_cam/src/axis_cam/Makefile	2008-03-27 00:30:22 UTC (rev 40)
@@ -1,4 +1,4 @@
-SRC = axis_cam_wget.cpp
-OUT = ../../nodes/axis_cam_wget
+SRC = axis_cam.cpp
+OUT = ../../nodes/axis_cam
 PKG = axis_cam
 include $(shell $(ROS_ROOT)/rospack find roscpp)/make_include/node.mk

Copied: pkg/trunk/axis_cam/src/axis_cam/axis_cam.cpp (from rev 36, pkg/trunk/axis_cam/src/axis_cam/axis_cam_wget.cpp)
===================================================================
--- pkg/trunk/axis_cam/src/axis_cam/axis_cam.cpp	                        (rev 0)
+++ pkg/trunk/axis_cam/src/axis_cam/axis_cam.cpp	2008-03-27 00:30:22 UTC (rev 40)
@@ -0,0 +1,92 @@
+///////////////////////////////////////////////////////////////////////////////
+// The axis_cam package provides a library that talks to Axis IP-based cameras
+// as well as ROS nodes which use these libraries
+//
+// Copyright (C) 2008, Morgan Quigley
+//
+// Redistribution and use in source and binary forms, with or without 
+// modification, are permitted provided that the following conditions are met:
+//   * Redistributions of source code must retain the above copyright notice, 
+//     this list of conditions and the following disclaimer.
+//   * Redistributions in binary form must reproduce the above copyright 
+//     notice, this list of conditions and the following disclaimer in the 
+//     documentation and/or other materials provided with the distribution.
+//   * Neither the name of Stanford University nor the names of its 
+//     contributors may be used to endorse or promote products derived from 
+//     this software without specific prior written permission.
+//   
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
+// POSSIBILITY OF SUCH DAMAGE.
+
+#include "ros/ros_slave.h"
+#include "image_flows/FlowImage.h"
+#include "axis_cam/axis_cam.h"
+
+class AxisCamWget : public ROS_Slave
+{
+public:
+  FlowImage *image;
+  string axis_host;
+  AxisCam *cam;
+  int frame_id;
+
+  AxisCamWget() : ROS_Slave(), cam(NULL), frame_id(0)
+  {
+    register_source(image = new FlowImage("image"));
+    if (!get_string_param(".host", axis_host))
+    {
+      printf("host parameter not specified; defaulting to 192.168.0.90\n");
+      axis_host = "192.168.0.90";
+    }
+    printf("axis_cam host set to [%s]\n", axis_host.c_str());
+    get_int_param(".frame_id", &frame_id);
+    cam = new AxisCam(axis_host);
+    printf("package path is [%s]\n", get_my_package_path().c_str());
+  }
+  virtual ~AxisCamWget()
+  { 
+    if (cam) 
+      delete cam; 
+  }
+  bool take_and_send_image()
+  {
+    uint8_t *jpeg;
+    uint32_t jpeg_size;
+    if (!cam->get_jpeg(&jpeg, &jpeg_size))
+    {
+      log(ROS::ERROR, "woah! AxisCam::get_jpeg returned an error");
+      return false;
+    }
+    image->set_data_size(jpeg_size);
+    memcpy(image->data, jpeg, jpeg_size);
+    image->width = 704;
+    image->height = 480;
+    image->compression = "jpeg";
+    image->colorspace = "rgb24";
+    image->frame_id = frame_id;
+    image->publish();
+    return true;
+  }
+};
+
+int main(int argc, char **argv)
+{
+  AxisCamWget a;
+  while (a.happy())
+    if (!a.take_and_send_image())
+    {
+      a.log(ROS::ERROR,"couldn't take image.");
+      break;
+    }
+  return 0;
+}
+

Deleted: pkg/trunk/axis_cam/src/axis_cam/axis_cam_wget.cpp
===================================================================
--- pkg/trunk/axis_cam/src/axis_cam/axis_cam_wget.cpp	2008-03-27 00:28:10 UTC (rev 39)
+++ pkg/trunk/axis_cam/src/axis_cam/axis_cam_wget.cpp	2008-03-27 00:30:22 UTC (rev 40)
@@ -1,90 +0,0 @@
-///////////////////////////////////////////////////////////////////////////////
-// The axis_cam package provides a library that talks to Axis IP-based cameras
-// as well as ROS nodes which use these libraries
-//
-// Copyright (C) 2008, Morgan Quigley
-//
-// Redistribution and use in source and binary forms, with or without 
-// modification, are permitted provided that the following conditions are met:
-//   * Redistributions of source code must retain the above copyright notice, 
-//     this list of conditions and the following disclaimer.
-//   * Redistributions in binary form must reproduce the above copyright 
-//     notice, this list of conditions and the following disclaimer in the 
-//     documentation and/or other materials provided with the distribution.
-//   * Neither the name of Stanford University nor the names of its 
-//     contributors may be used to endorse or promote products derived from 
-//     this software without specific prior written permission.
-//   
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
-// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
-// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
-// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 
-// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
-// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
-// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
-// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
-// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
-// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
-// POSSIBILITY OF SUCH DAMAGE.
-
-#include "ros/ros_slave.h"
-#include "SDL/SDL.h"
-#include "image_flows/FlowImage.h"
-#include "axis_cam/axis_cam.h"
-
-class AxisCamWget : public ROS_Slave
-{
-public:
-  FlowImage *image;
-  string axis_host;
-  AxisCam *cam;
-  int frame_id;
-
-  AxisCamWget() : ROS_Slave(), cam(NULL), frame_id(0)
-  {
-    register_source(image = new FlowImage("image"));
-    if (!get_string_param(".host", axis_host))
-    {
-      printf("host parameter not specified; defaulting to 192.168.0.90\n");
-      axis_host = "192.168.0.90";
-    }
-    printf("axis_cam host set to [%s]\n", axis_host.c_str());
-    get_int_param(".frame_id", &frame_id);
-    cam = new AxisCam(axis_host);
-    printf("package path is [%s]\n", get_my_package_path().c_str());
-  }
-  virtual ~AxisCamWget()
-  { 
-    if (cam) 
-      delete cam; 
-  }
-  bool take_and_send_image()
-  {
-    uint8_t *jpeg;
-    uint32_t jpeg_size;
-    if (!cam->wget_jpeg(&jpeg, &jpeg_size))
-      return false;
-    image->set_data_size(jpeg_size);
-    memcpy(image->data, jpeg, jpeg_size);
-    image->width = 704;
-    image->height = 480;
-    image->compression = "jpeg";
-    image->colorspace = "rgb24";
-    image->frame_id = frame_id;
-    image->publish();
-    return true;
-  }
-};
-
-int main(int argc, char **argv)
-{
-  AxisCamWget a;
-  while (a.happy())
-    if (!a.take_and_send_image())
-    {
-      printf("couldn't take image.\n");
-      break;
-    }
-  return 0;
-}
-

Modified: pkg/trunk/axis_cam/src/libaxis_cam/axis_cam.cpp
===================================================================
--- pkg/trunk/axis_cam/src/libaxis_cam/axis_cam.cpp	2008-03-27 00:28:10 UTC (rev 39)
+++ pkg/trunk/axis_cam/src/libaxis_cam/axis_cam.cpp	2008-03-27 00:30:22 UTC (rev 40)
@@ -36,17 +36,14 @@
   jpeg_buf = NULL;
   jpeg_buf_size = 0;
   curl_global_init(0);
+
   ostringstream oss;
-  oss << "http://" << ip << "/axis-cgi/com/ptz.cgi";
-  setptz_curl = curl_easy_init();
-  curl_easy_setopt(setptz_curl, CURLOPT_URL, oss.str().c_str());
-  curl_easy_setopt(setptz_curl, CURLOPT_WRITEFUNCTION, AxisCam::setptz_write);
-  curl_easy_setopt(setptz_curl, CURLOPT_WRITEDATA, this);
+  oss << "http://" << ip << "/jpg/image.jpg";
+  image_url = new char[oss.str().length()+1];
+  strcpy(image_url, oss.str().c_str());
 
-  oss.str(""); // clear it
-  oss << "http://" << ip << "/jpg/image.jpg";
   jpeg_curl = curl_easy_init();
-  curl_easy_setopt(jpeg_curl, CURLOPT_URL, oss.str().c_str());
+  curl_easy_setopt(jpeg_curl, CURLOPT_URL, image_url);
   curl_easy_setopt(jpeg_curl, CURLOPT_WRITEFUNCTION, AxisCam::jpeg_write);
   curl_easy_setopt(jpeg_curl, CURLOPT_WRITEDATA, this);
 
@@ -55,6 +52,7 @@
 
 AxisCam::~AxisCam()
 {
+  delete[] image_url;
   if (jpeg_buf)
     delete[] jpeg_buf;
   jpeg_buf = NULL;
@@ -69,10 +67,17 @@
     *fetch_buf_size = 0;
   }
   else
+  {
+    printf("woah! bad input parameters\n");
     return false; // don't make me crash
+  }
   jpeg_file_size = 0;
-  if (curl_easy_perform(jpeg_curl))
+  CURLcode code;
+  if (code = curl_easy_perform(jpeg_curl))
+  {
+    printf("woah! curl error: [%s]\n", curl_easy_strerror(code));
     return false;
+  }
   *fetch_jpeg_buf = jpeg_buf;
   *fetch_buf_size = jpeg_file_size;
   return true;
@@ -87,6 +92,7 @@
   {
     // overalloc
     a->jpeg_buf_size = 2 * (a->jpeg_file_size + (size*nmemb));
+    printf("jpeg_buf_size is now %d\n", a->jpeg_buf_size);
     if (a->jpeg_buf)
       delete[] a->jpeg_buf;
     a->jpeg_buf = new uint8_t[a->jpeg_buf_size];


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Thread: [Personalrobots-commit] SF.net SVN: personalrobots: [40] pkg/trunk/axis_cam

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