AbstractColorCamera.cpp

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */


#include "../include/cob_camera_sensors/StdAfx.h"

#ifdef __LINUX__
#include "cob_camera_sensors/AbstractColorCamera.h"
#else
#include "cob_driver/cob_camera_sensors/common/include/cob_camera_sensors/AbstractColorCamera.h"
#endif

#include <iostream>

using namespace ipa_CameraSensors;

AbstractColorCamera::~AbstractColorCamera()
{
}

t_cameraType AbstractColorCamera::GetCameraType()
{
        return m_CameraType;
}

unsigned long AbstractColorCamera::TestCamera(const char* filename)
{
        std::cout << "AbstractColorCamera::TestCamera: Testing camera interface class AbstractColorCamera..." << std::endl;
        std::cout << std::endl;
        if (!isInitialized())
        {
                std::cout << "AbstractColorCamera::TestCamera: Initializing camera device..." << std::endl;
                if (Init(filename) & (RET_FAILED | RET_FUNCTION_NOT_IMPLEMENTED))
                {
                        std::cout << "AbstractColorCamera::TestCamera: Initializing camera device...          FAILED" << std::endl;
                        return (RET_FAILED | RET_INIT_CAMERA_FAILED);
                }
                std::cout << "AbstractColorCamera::TestCamera: Initializing camera device...          OK" << std::endl;
        }
        std::cout << std::endl;

        if (!isOpen())
        {
                std::cout << "AbstractColorCamera::TestCamera: Opening camera device..." << std::endl;
                if (Open() & (RET_FAILED | RET_FUNCTION_NOT_IMPLEMENTED))
                {
                        std::cout << "AbstractColorCamera::TestCamera: Opening camera device...          FAILED" << std::endl;
                        return (RET_FAILED | RET_OPEN_CAMERA_FAILED);
                }
                std::cout << "AbstractColorCamera::TestCamera: Opening camera device...          OK" << std::endl;
        }
        std::cout << std::endl;

        std::cout << "AbstractColorCamera::TestCamera: Displaying camera information..." << std::endl;
        unsigned long ret = PrintCameraInformation();
        if (ret & RET_FAILED)
        {
                std::cout << "AbstractColorCamera::TestCamera: Displaying camera information...          FAILED." << std::endl;
                return (RET_FAILED | RET_OPEN_CAMERA_FAILED);
        }
        else if (ret & RET_FUNCTION_NOT_IMPLEMENTED)
        {
                std::cout << "AbstractColorCamera::TestCamera: Displaying camera information...          NOT IMPLEMENTED" << std::endl;
        }
        else
        {
                std::cout << "AbstractColorCamera::TestCamera: Displaying camera information...          OK." << std::endl;
        }
        std::cout << std::endl;

        std::cout << "AbstractColorCamera::TestCamera: checking isInitialized()..." << std::endl;
        if (!isInitialized())
        {
                std::cout << "AbstractColorCamera::TestCamera: checking isInitialized()...          FAILED" << std::endl;
                return (RET_FAILED | RET_INIT_CHECK_FAILED);
        }
        std::cout << "AbstractColorCamera::TestCamera: checking isInitialized()...          OK" << std::endl;
        std::cout << std::endl;

        std::cout << "AbstractColorCamera::TestCamera: checking isOpen()..." << std::endl;
        if (!isOpen())
        {
                std::cout << "AbstractColorCamera::TestCamera: checking isOpen()...          FAILED" << std::endl;
                return (RET_FAILED | RET_OPEN_CHECK_FAILED);
        }
        std::cout << "AbstractColorCamera::TestCamera: checking isOpen()...          OK" << std::endl;
        std::cout << std::endl;

        std::cout << "AbstractColorCamera::TestCamera: checking Close()..." << std::endl;
        if (Close() & (RET_FAILED | RET_FUNCTION_NOT_IMPLEMENTED))
        {
                std::cout << "AbstractColorCamera::TestCamera: checking Close()...          FAILED" << std::endl;
                return (RET_FAILED | RET_CLOSE_CAMERA_FAILED);
        }
        std::cout << "AbstractColorCamera::TestCamera: checking Close()...          OK" << std::endl;
        std::cout << std::endl;

        std::cout << "AbstractColorCamera::TestCamera: checking isOpen()..." << std::endl;
        if (isOpen())
        {
                std::cout << "AbstractColorCamera::TestCamera: checking isOpen()...          FAILED" << std::endl;
                return (RET_FAILED | RET_OPEN_CHECK_FAILED);
        }
        std::cout << "AbstractColorCamera::TestCamera: checking isOpen()...          OK" << std::endl;
        std::cout << std::endl;

        std::cout << "AbstractColorCamera::TestCamera: checking Open()..." << std::endl;
        if (Open() & (RET_FAILED | RET_FUNCTION_NOT_IMPLEMENTED))
        {
                std::cout << "AbstractColorCamera::TestCamera: checking Open()...          FAILED" << std::endl;
                return (RET_FAILED | RET_OPEN_CAMERA_FAILED);
        }
        std::cout << "AbstractColorCamera::TestCamera: checking Open()...          OK" << std::endl;
        std::cout << std::endl;

        std::cout << "AbstractColorCamera::TestCamera: checking SaveParams()..." << std::endl;
        ret = SaveParameters("testSaveParams.xml");
        if (ret & RET_FAILED)
        {
                std::cout << "AbstractColorCamera::TestCamera: checking SaveParams()...          FAILED" << std::endl;
                return (RET_FAILED | RET_SAVE_PARAMS_FAILED);
        }
        else if (ret & RET_FUNCTION_NOT_IMPLEMENTED)
        {
                std::cout << "AbstractColorCamera::TestCamera: checking SaveParams()...          NOT IMPLEMENTED" << std::endl;
        }
        else
        {
                std::cout << "AbstractColorCamera::TestCamera: checking SaveParams()...          OK" << std::endl;
        }
        std::cout << std::endl;

        std::cout << "AbstractColorCamera::TestCamera: checking SetPropertyDefaults()..." << std::endl;
        ret = SetPropertyDefaults();
        if (ret & RET_FAILED)
        {
                std::cout << "AbstractColorCamera::TestCamera: checking SetPropertyDefaults()...          FAILED" << std::endl;
                return (RET_FAILED | RET_SET_PROPERTY_DEFAULTS_FAILED);
        }
        else if (ret & RET_FUNCTION_NOT_IMPLEMENTED)
        {
                std::cout << "AbstractColorCamera::TestCamera: checking SetPropertyDefaults()...          NOT IMPLEMENTED" << std::endl;
        }
        else
        {
                std::cout << "AbstractColorCamera::TestCamera: checking SetPropertyDefaults()...          OK" << std::endl;
        }
        std::cout << std::endl;

        return RET_OK;
}