[Robotflow-cvs] RobotFlow/Devices/src SNCRZ30.cc,1.22,1.23

[Dominic L. <ma...@us...>]

Update of /cvsroot/robotflow/RobotFlow/Devices/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv22557/src

Modified Files:
	SNCRZ30.cc 
Log Message:
waiting on socket, adding speed configuration

Index: SNCRZ30.cc
===================================================================
RCS file: /cvsroot/robotflow/RobotFlow/Devices/src/SNCRZ30.cc,v
retrieving revision 1.22
retrieving revision 1.23
diff -C2 -d -r1.22 -r1.23
*** SNCRZ30.cc	29 Mar 2005 15:20:39 -0000	1.22
--- SNCRZ30.cc	4 May 2005 19:22:36 -0000	1.23
***************
*** 82,85 ****
--- 82,90 ----
   * @parameter_description Continuously grab images ?
   *
+  * @parameter_name TRANSMIT_SPEED
+  * @parameter_type int
+  * @parameter_value 0 
+  * @parameter_description transfer rate FPS [0=FASTEST]
+  *
   * @parameter_name WAIT_REPLY
   * @parameter_type bool
***************
*** 141,149 ****
      m_wait_reply = dereference_cast<bool>(parameters.get("WAIT_REPLY"));
      m_inquiryPosition = dereference_cast<bool>(parameters.get("INQUIRY_POSITION"));
! 
      //initialize camera position
      m_currentZoom = 0;
      m_currentTilt = 0;
      m_currentPan = 0;
  
  }
--- 146,156 ----
      m_wait_reply = dereference_cast<bool>(parameters.get("WAIT_REPLY"));
      m_inquiryPosition = dereference_cast<bool>(parameters.get("INQUIRY_POSITION"));
!     m_transmitSpeed = dereference_cast<int>(parameters.get("TRANSMIT_SPEED"));
!     
      //initialize camera position
      m_currentZoom = 0;
      m_currentTilt = 0;
      m_currentPan = 0;
+     
  
  }
***************
*** 308,312 ****
    //send periodic images on image socket...
    ostringstream my_stream;
!   my_stream << "GET http://"<<m_host<<":"<<m_port<<"/image?speed=0 HTTP/1.1\r\n"<<endl;
    int sent_size =  m_imageSocket.send_packet((unsigned char*)my_stream.str().c_str(), my_stream.str().size());  
    //cerr<<"sent request size "<<sent_size<<endl;
--- 315,319 ----
    //send periodic images on image socket...
    ostringstream my_stream;
!   my_stream << "GET http://"<<m_host<<":"<<m_port<<"/image?speed="<<m_transmitSpeed<<" HTTP/1.1\r\n"<<endl;
    int sent_size =  m_imageSocket.send_packet((unsigned char*)my_stream.str().c_str(), my_stream.str().size());  
    //cerr<<"sent request size "<<sent_size<<endl;
***************
*** 622,643 ****
    
    //read data on socket
!   char buffer[32768];
  
    int size = m_imageSocket.recv_packet((unsigned char*)buffer,32768);
    //cerr<<"SNCRZ30::update_data got size :"<<size<<endl;
- 
-   int last_image_num =  process_image_data(buffer,size);
    
!   //reading all images in the buffer
!   while(1) {
! 
!     int temp_image_num = process_image_data(NULL,0);
! 
!     if (temp_image_num == last_image_num){
!       break;
      }
      else {
!       last_image_num = temp_image_num;
!     }
    }
  }
--- 629,650 ----
    
    //read data on socket
!   static char buffer[32768];
!   static int current_image_num = 0;
  
+   //read data
    int size = m_imageSocket.recv_packet((unsigned char*)buffer,32768);
    //cerr<<"SNCRZ30::update_data got size :"<<size<<endl;
    
!   if (size > 0) {
!     //process data
!     int last_image_num =  process_image_data(buffer,size);
!     
!     //look for a new image
!     if (last_image_num > current_image_num) {
!       current_image_num = last_image_num;
      }
      else {
!       update_data();
!     }  
    }
  }