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#include "simple_webcam_service_multi.h"
#include <drekar_launch_process_cpp/drekar_launch_process_cpp.h>
// This program provides a simple Robot Raconteur server for viewing
// multiple webcams
// Namespace alias for convenience. Do not use in header files!
namespace RR = RobotRaconteur;
namespace cam = ::experimental::simplewebcam3;
int main(int argc, char* argv[])
{
// Initialize the host by giving it a vector of names
std::vector<Webcam_name> names;
Webcam_name n1 = {0, "Left"};
names.push_back(n1);
Webcam_name n2 = {1, "Right"};
names.push_back(n2);
RR_SHARED_PTR<WebcamHost_impl> webcamhost = RR_MAKE_SHARED<WebcamHost_impl>(names);
// Use node setup to help initialize server node
RR::ServerNodeSetup node_setup(ROBOTRACONTEUR_SERVICE_TYPES, "experimental.simplewebcam3_multi", 22355);
// Register the service
auto ctx = RR::RobotRaconteurNode::s()->RegisterService("multiwebcam", "experimental.simplewebcam3", webcamhost);
// Print out some info for the user
std::cout << "Simple Multi Webcam Service Started" << std::endl << std::endl;
std::cout << "Candidate connection urls:" << std::endl;
ctx->PrintCandidateConnectionURLs();
std::cout << std::endl;
std::cout << "Press Ctrl-C to quit" << std::endl;
// Use drekar_launch_process_cpp package to wait for exit
drekar_launch_process_cpp::CWaitForExit wait_exit;
wait_exit.WaitForExit();
// Shutdown the webcams
webcamhost->shutdown();
return 0;
}
// Initialize the webcams
WebcamHost_impl::WebcamHost_impl(std::vector<Webcam_name> names)
{
for (auto e : names)
{
cameras.push_back(RR_MAKE_SHARED<Webcam_impl>(e.index, e.name));
}
}
WebcamHost_impl::~WebcamHost_impl() { shutdown(); }
// Shutdown all webcams
void WebcamHost_impl::shutdown()
{
boost::mutex::scoped_lock lock(this_lock);
for (auto& e : cameras)
{
e->shutdown();
}
}
// Return the indices and names of the available webcams
RR::RRMapPtr<int32_t, RR::RRArray<char> > WebcamHost_impl::get_webcam_names()
{
auto o = RR::AllocateEmptyRRMap<int32_t, RR::RRArray<char> >();
for (size_t i = 0; i < cameras.size(); i++)
{
auto rr_camname = RR::stringToRRArray(cameras.at(i)->get_name());
o->insert(std::make_pair(i, rr_camname));
}
return o;
}
// Function to implement the "Webcams" objref. Return the
// object for the selected webcam
RR_SHARED_PTR<cam::Webcam> WebcamHost_impl::get_webcams(int32_t ind)
{
boost::mutex::scoped_lock lock(this_lock);
if (!(ind < cameras.size()))
throw RR::InvalidOperationException("Invalid camera");
return cameras.at(ind);
}
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