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00054 #ifdef __LINUX__
00055 #include "cob_camera_sensors/AbstractColorCamera.h"
00056 #else
00057 #include "cob_driver/cob_camera_sensors/common/include/cob_camera_sensors/AbstractColorCamera.h"
00058 #endif
00059
00060 using namespace ipa_CameraSensors;
00061
00062 AbstractColorCamera::~AbstractColorCamera()
00063 {
00064 }
00065
00066 t_cameraType AbstractColorCamera::GetCameraType()
00067 {
00068 return m_CameraType;
00069 }
00070
00071 unsigned long AbstractColorCamera::TestCamera(const char* filename)
00072 {
00073 std::cout << "AbstractColorCamera::TestCamera: Testing camera interface class AbstractColorCamera..." << std::endl;
00074 std::cout << std::endl;
00075 if (!isInitialized())
00076 {
00077 std::cout << "AbstractColorCamera::TestCamera: Initializing camera device..." << std::endl;
00078 if (Init(filename) & (RET_FAILED | RET_FUNCTION_NOT_IMPLEMENTED))
00079 {
00080 std::cout << "AbstractColorCamera::TestCamera: Initializing camera device... FAILED" << std::endl;
00081 return (RET_FAILED | RET_INIT_CAMERA_FAILED);
00082 }
00083 std::cout << "AbstractColorCamera::TestCamera: Initializing camera device... OK" << std::endl;
00084 }
00085 std::cout << std::endl;
00086
00087 if (!isOpen())
00088 {
00089 std::cout << "AbstractColorCamera::TestCamera: Opening camera device..." << std::endl;
00090 if (Open() & (RET_FAILED | RET_FUNCTION_NOT_IMPLEMENTED))
00091 {
00092 std::cout << "AbstractColorCamera::TestCamera: Opening camera device... FAILED" << std::endl;
00093 return (RET_FAILED | RET_OPEN_CAMERA_FAILED);
00094 }
00095 std::cout << "AbstractColorCamera::TestCamera: Opening camera device... OK" << std::endl;
00096 }
00097 std::cout << std::endl;
00098
00099 std::cout << "AbstractColorCamera::TestCamera: Displaying camera information..." << std::endl;
00100 unsigned long ret = PrintCameraInformation();
00101 if (ret & RET_FAILED)
00102 {
00103 std::cout << "AbstractColorCamera::TestCamera: Displaying camera information... FAILED." << std::endl;
00104 return (RET_FAILED | RET_OPEN_CAMERA_FAILED);
00105 }
00106 else if (ret & RET_FUNCTION_NOT_IMPLEMENTED)
00107 {
00108 std::cout << "AbstractColorCamera::TestCamera: Displaying camera information... NOT IMPLEMENTED" << std::endl;
00109 }
00110 else
00111 {
00112 std::cout << "AbstractColorCamera::TestCamera: Displaying camera information... OK." << std::endl;
00113 }
00114 std::cout << std::endl;
00115
00116 std::cout << "AbstractColorCamera::TestCamera: checking isInitialized()..." << std::endl;
00117 if (!isInitialized())
00118 {
00119 std::cout << "AbstractColorCamera::TestCamera: checking isInitialized()... FAILED" << std::endl;
00120 return (RET_FAILED | RET_INIT_CHECK_FAILED);
00121 }
00122 std::cout << "AbstractColorCamera::TestCamera: checking isInitialized()... OK" << std::endl;
00123 std::cout << std::endl;
00124
00125 std::cout << "AbstractColorCamera::TestCamera: checking isOpen()..." << std::endl;
00126 if (!isOpen())
00127 {
00128 std::cout << "AbstractColorCamera::TestCamera: checking isOpen()... FAILED" << std::endl;
00129 return (RET_FAILED | RET_OPEN_CHECK_FAILED);
00130 }
00131 std::cout << "AbstractColorCamera::TestCamera: checking isOpen()... OK" << std::endl;
00132 std::cout << std::endl;
00133
00134 std::cout << "AbstractColorCamera::TestCamera: checking Close()..." << std::endl;
00135 if (Close() & (RET_FAILED | RET_FUNCTION_NOT_IMPLEMENTED))
00136 {
00137 std::cout << "AbstractColorCamera::TestCamera: checking Close()... FAILED" << std::endl;
00138 return (RET_FAILED | RET_CLOSE_CAMERA_FAILED);
00139 }
00140 std::cout << "AbstractColorCamera::TestCamera: checking Close()... OK" << std::endl;
00141 std::cout << std::endl;
00142
00143 std::cout << "AbstractColorCamera::TestCamera: checking isOpen()..." << std::endl;
00144 if (isOpen())
00145 {
00146 std::cout << "AbstractColorCamera::TestCamera: checking isOpen()... FAILED" << std::endl;
00147 return (RET_FAILED | RET_OPEN_CHECK_FAILED);
00148 }
00149 std::cout << "AbstractColorCamera::TestCamera: checking isOpen()... OK" << std::endl;
00150 std::cout << std::endl;
00151
00152 std::cout << "AbstractColorCamera::TestCamera: checking Open()..." << std::endl;
00153 if (Open() & (RET_FAILED | RET_FUNCTION_NOT_IMPLEMENTED))
00154 {
00155 std::cout << "AbstractColorCamera::TestCamera: checking Open()... FAILED" << std::endl;
00156 return (RET_FAILED | RET_OPEN_CAMERA_FAILED);
00157 }
00158 std::cout << "AbstractColorCamera::TestCamera: checking Open()... OK" << std::endl;
00159 std::cout << std::endl;
00160
00161 std::cout << "AbstractColorCamera::TestCamera: checking SaveParams()..." << std::endl;
00162 ret = SaveParameters("testSaveParams.xml");
00163 if (ret & RET_FAILED)
00164 {
00165 std::cout << "AbstractColorCamera::TestCamera: checking SaveParams()... FAILED" << std::endl;
00166 return (RET_FAILED | RET_SAVE_PARAMS_FAILED);
00167 }
00168 else if (ret & RET_FUNCTION_NOT_IMPLEMENTED)
00169 {
00170 std::cout << "AbstractColorCamera::TestCamera: checking SaveParams()... NOT IMPLEMENTED" << std::endl;
00171 }
00172 else
00173 {
00174 std::cout << "AbstractColorCamera::TestCamera: checking SaveParams()... OK" << std::endl;
00175 }
00176 std::cout << std::endl;
00177
00178 std::cout << "AbstractColorCamera::TestCamera: checking SetPropertyDefaults()..." << std::endl;
00179 ret = SetPropertyDefaults();
00180 if (ret & RET_FAILED)
00181 {
00182 std::cout << "AbstractColorCamera::TestCamera: checking SetPropertyDefaults()... FAILED" << std::endl;
00183 return (RET_FAILED | RET_SET_PROPERTY_DEFAULTS_FAILED);
00184 }
00185 else if (ret & RET_FUNCTION_NOT_IMPLEMENTED)
00186 {
00187 std::cout << "AbstractColorCamera::TestCamera: checking SetPropertyDefaults()... NOT IMPLEMENTED" << std::endl;
00188 }
00189 else
00190 {
00191 std::cout << "AbstractColorCamera::TestCamera: checking SetPropertyDefaults()... OK" << std::endl;
00192 }
00193 std::cout << std::endl;
00194
00195 return RET_OK;
00196 }