Unused files removal.

diff --git a/src/camera/rozkuk/camera.c b/src/camera/rozkuk/camera.c
deleted file mode 100644 (file)
index e2a1d4a..0000000
--- a/src/camera/rozkuk/camera.c
+++ /dev/null
@@ -1,365 +0,0 @@
-/*
- * V4L2 (video4linux v2) camera capture
- *
- * based on "V4L2 video capture example" capture.c
- *   http://v4l2spec.bytesex.org/v4l2spec/capture.c
- *
- * adapted by Marek Peca <mp@duch.cz> 2009/04
- *   for the EUROBOT competition team
- *   of the Dept. of Control Engineering  http://dce.fel.cvut.cz/
- */
-
-#include <inttypes.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <assert.h>
-
-#include <fcntl.h>
-#include <unistd.h>
-#include <errno.h>
-#include <malloc.h>
-#include <sys/stat.h>
-#include <sys/types.h>
-#include <sys/time.h>
-#include <sys/mman.h>
-#include <sys/ioctl.h>
-
-#include <asm/types.h>
-#include <linux/videodev2.h>
-#include <libv4lconvert.h>
-
-#include "camera.h"
-
-#define CLEAR(x) memset(&(x), 0, sizeof(x))
-
-struct buffer {
-  void *start;
-  size_t length;
-};
-
-static int fd = -1;
-static struct v4lconvert_data *conv;
-struct buffer *buffers = NULL;
-unsigned int n_buffers = 0;
-
-int xioctl(int fd, int request, void *arg) {
-  int r;
-
-  do
-    r = ioctl(fd, request, arg);
-  while (-1 == r && EINTR == errno);
-
-  return r;
-}
-
-int read_frame(process_image_callback_t cb) {
-  struct v4l2_buffer buf;
-
-  CLEAR(buf);
-  buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-  buf.memory = V4L2_MEMORY_MMAP;
-
-  if (-1 == xioctl(fd, VIDIOC_DQBUF, &buf)) {
-    switch (errno) {
-    case EAGAIN:
-      return 1;
-
-    case EIO:
-      /* Could ignore EIO, see spec. */
-
-    default:
-      /* error */
-      return -1;
-    }
-  }
-
-  assert(buf.index < n_buffers);
-
-  unsigned char rgb[640*480*3];
-  if (cb) {
-    struct v4l2_format src_fmt = {
-      .type = V4L2_BUF_TYPE_VIDEO_CAPTURE,
-      .fmt = {
-       .pix = { .width  = 640,
-                .height = 480,
-                .pixelformat = V4L2_PIX_FMT_YUYV,
-                .field = V4L2_FIELD_INTERLACED,
-       }}};
-    struct v4l2_format dst_fmt = {
-      .type = V4L2_BUF_TYPE_VIDEO_CAPTURE,
-      .fmt = {
-       .pix = { .width  = 640,
-                .height = 480,
-                .pixelformat = V4L2_PIX_FMT_RGB24,
-                .field = V4L2_FIELD_INTERLACED,
-       }}};
-
-    v4lconvert_convert(conv,
-                      &src_fmt, &dst_fmt,
-                      buffers[buf.index].start, buffers[buf.index].length,
-                      rgb, sizeof(rgb));
-    cb(rgb);
-  }
-
-  if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))
-    return -1;
-
-  return 0;
-}
-
-#if 0
-void mainloop() {
-  unsigned int count;
-
-  count = 100;
-
-  while (count-- > 0) {
-    for (;;) {
-      fd_set fds;
-      struct timeval tv;
-      int r;
-
-      FD_ZERO(&fds);
-      FD_SET(fd, &fds);
-
-      /* Timeout. */
-      tv.tv_sec = 2;
-      tv.tv_usec = 0;
-
-      r = select(fd + 1, &fds, NULL, NULL, &tv);
-
-      if (-1 == r) {
-       if (EINTR == errno)
-         continue;
-
-       errno_exit("select");
-      }
-
-      if (0 == r) {
-       fprintf(stderr, "select timeout\n");
-       exit(EXIT_FAILURE);
-      }
-
-      if (read_frame())
-       break;
-
-      /* EAGAIN - continue select loop. */
-    }
-  }
-}
-#endif
-
-int stop_capturing() {
-  enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-
-  if (-1 == xioctl(fd, VIDIOC_STREAMOFF, &type))
-    return -1;
-
-  return 0;
-}
-
-int start_capturing() {
-  unsigned int i;
-  enum v4l2_buf_type type;
-
-  for (i = 0; i < n_buffers; ++i) {
-    struct v4l2_buffer buf;
-
-    CLEAR(buf);
-    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-    buf.memory = V4L2_MEMORY_MMAP;
-    buf.index = i;
-
-    if (-1 == xioctl(fd, VIDIOC_QBUF, &buf))
-      return -1;
-  }
-
-  type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-
-  if (-1 == xioctl(fd, VIDIOC_STREAMON, &type))
-    return -1;
-
-  return 0;
-}
-
-int uninit_device() {
-  unsigned int i;
-
-  v4lconvert_destroy(conv);
-
-  for (i = 0; i < n_buffers; ++i)
-    if (-1 == munmap(buffers[i].start, buffers[i].length))
-      return -1;
-
-  free(buffers);
-  return 0;
-}
-
-int init_mmap() {
-  struct v4l2_requestbuffers req;
-
-  CLEAR(req);
-  /* req.count = 4; */
-  req.count = 2;
-  req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-  req.memory = V4L2_MEMORY_MMAP;
-
-  if (-1 == xioctl(fd, VIDIOC_REQBUFS, &req))
-    return -1;
-  if (req.count < 2)
-    return -1;
-
-  if ((buffers = calloc(req.count, sizeof(*buffers))) == NULL)
-    return -1;
-
-  for (n_buffers = 0; n_buffers < req.count; ++n_buffers) {
-    struct v4l2_buffer buf;
-
-    CLEAR(buf);
-    buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-    buf.memory = V4L2_MEMORY_MMAP;
-    buf.index = n_buffers;
-
-    if (-1 == xioctl(fd, VIDIOC_QUERYBUF, &buf))
-      return -1;
-
-    buffers[n_buffers].length = buf.length;
-    buffers[n_buffers].start = mmap(NULL /* start anywhere */ ,
-                                   buf.length,
-                                   PROT_READ | PROT_WRITE
-                                   /* required */ ,
-                                   MAP_SHARED /* recommended */ ,
-                                   fd, buf.m.offset);
-
-    if (MAP_FAILED == buffers[n_buffers].start)
-      return -1;
-  }
-
-  return 0;
-}
-
-int init_device(unsigned w, unsigned h, uint32_t pix_fmt) {
-  struct v4l2_capability cap;
-  struct v4l2_cropcap cropcap;
-  struct v4l2_crop crop;
-  struct v4l2_format fmt;
-  unsigned int min;
-
-  if (-1 == xioctl(fd, VIDIOC_QUERYCAP, &cap))
-    return -1;
-  if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE))
-    return -1;
-  if (!(cap.capabilities & V4L2_CAP_STREAMING))
-    return -1;
-
-  conv = v4lconvert_create(fd);
-
-  /* Select video input, video standard and tune here. */
-  CLEAR(cropcap);
-  cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-
-  if (0 == xioctl(fd, VIDIOC_CROPCAP, &cropcap)) {
-    crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-    crop.c = cropcap.defrect;  /* reset to default */
-
-    if (-1 == xioctl(fd, VIDIOC_S_CROP, &crop)) {
-      switch (errno) {
-      case EINVAL:
-       /* Cropping not supported. */
-       break;
-      default:
-       /* Errors ignored. */
-       break;
-      }
-    }
-  } else {
-    /* Errors ignored. */
-  }
-
-  CLEAR(fmt);
-  fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-  fmt.fmt.pix.width = w;
-  fmt.fmt.pix.height = h;
-  //fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
-  //fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_MJPEG;
-  fmt.fmt.pix.pixelformat = pix_fmt;
-  fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
-
-  if (-1 == xioctl(fd, VIDIOC_S_FMT, &fmt))
-    return -1;
-
-  /* Note VIDIOC_S_FMT may change width and height. */
-
-  /* Buggy driver paranoia. */
-  min = fmt.fmt.pix.width * 2;
-  if (fmt.fmt.pix.bytesperline < min)
-    fmt.fmt.pix.bytesperline = min;
-  min = fmt.fmt.pix.bytesperline * fmt.fmt.pix.height;
-  if (fmt.fmt.pix.sizeimage < min)
-    fmt.fmt.pix.sizeimage = min;
-
-  return 0;
-}
-
-void close_device() {
-  close(fd);
-}
-
-int open_device(char *dev_name) {
-  return fd = open(dev_name, O_RDWR /* required */  | O_NONBLOCK, 0);
-}
-
-/* * */
-
-int camera_on(char *dev_name, unsigned w, unsigned h, uint32_t pix_fmt) {
-  return -((open_device(dev_name) == -1) ||
-          init_device(w, h, pix_fmt) ||
-          init_mmap() ||
-          start_capturing());
-}
-
-void camera_off() {
-  stop_capturing();
-  uninit_device();
-  close_device();
-}
-
-int camera_get_frame(process_image_callback_t cb, int timeout_usec) {
-  for (;;) {
-    fd_set fds;
-    struct timeval tv, *tvp;
-    int r;
-
-    FD_ZERO(&fds);
-    FD_SET(fd, &fds);
-
-    if (timeout_usec > 0) {
-      tv.tv_sec = timeout_usec/1000000;
-      tv.tv_usec = timeout_usec%1000000;
-      tvp = &tv;
-    }
-    else
-      tvp = NULL;
-
-    r = select(fd + 1, &fds, NULL, NULL, tvp);
-
-    if (-1 == r) {
-      if (EINTR == errno)
-       continue;
-      return -1;
-    }
-
-    if (0 == r)
-      /* timeout */
-      return 1;
-
-    r = read_frame(cb);
-    if (r < 0)
-      return -1;
-    if (r == 0)
-      return 0;
-
-    /* EAGAIN - continue select loop. */
-  }
-}

diff --git a/src/camera/rozkuk/camera.h b/src/camera/rozkuk/camera.h
deleted file mode 100644 (file)
index 63d35d7..0000000
--- a/src/camera/rozkuk/camera.h
+++ /dev/null
@@ -1,12 +0,0 @@
-#include <inttypes.h>
-/* provide pixel format constants: */
-#include <sys/types.h>
-#include <asm/types.h>
-#include <linux/videodev2.h>
-
-typedef void (*process_image_callback_t)(void *img);
-
-int camera_on(char *dev_name, unsigned w, unsigned h, uint32_t pix_fmt);
-void camera_off();
-int camera_get_frame(process_image_callback_t cb, int timeout_usec);
- 

diff --git a/src/camera/rozkuk/camgrab.c b/src/camera/rozkuk/camgrab.c
deleted file mode 100644 (file)
index 5eecb87..0000000
--- a/src/camera/rozkuk/camgrab.c
+++ /dev/null
@@ -1,20 +0,0 @@
-#include <stdio.h>
-#include <unistd.h>
-
-#include "camera.h"
-
-void process_frame(void *img) {
-  fwrite(img, 640*480*3, 1, stdout);
-}
-
-int main() {
-  int i;
-
-  camera_on("/dev/video0", 640, 480, V4L2_PIX_FMT_MJPEG /*V4L2_PIX_FMT_YUYV*/);
-
-  for (i = 0; i < 15; i++)
-    camera_get_frame(NULL, 0);
-  camera_get_frame(process_frame, 0);
-
-  return 0;
-}

diff --git a/src/camera/rozkuk/rozkorte.c b/src/camera/rozkuk/rozkorte.c
deleted file mode 100644 (file)
index 7def505..0000000
--- a/src/camera/rozkuk/rozkorte.c
+++ /dev/null
@@ -1,46 +0,0 @@
-#include <orte.h>
-#include <roboorte_robottype.h>
-#include <semaphore.h>
-
-#include "rozkorte.h"
-
-sem_t running_sem;
-int running = 1;
-int game_color = 0;
-
-struct robottype_orte_data orte;
-
-void orte_send(int lot) {
-  
-
-  orte.camera_result.lot = lot;
-  ORTEPublicationSend(orte.publication_camera_result);
-}
-
-void rcv_camera_control(const ORTERecvInfo *info, void *vinstance, void *arg) {
-  switch (info->status) {
-  case NEW_DATA:
-    running = orte.camera_control.on;
-    game_color = orte.camera_control.game_color;
-    sem_post(&running_sem);
-    break;
-  case DEADLINE:
-    break;
-  }
-}
-
-int orte_init() {
-  if (robottype_roboorte_init(&orte))
-    return -1;
-
-  /***
-   *** ?!?!?!?!
-   *** !FIXME!
-   *** do I need to setup orte.strength?
-   ***/
-
-  robottype_publisher_camera_result_create(&orte, NULL, NULL);
-  robottype_subscriber_camera_control_create(&orte, rcv_camera_control, NULL);
-
-  return 0;
-}

diff --git a/src/camera/rozkuk/rozkorte.h b/src/camera/rozkuk/rozkorte.h
deleted file mode 100644 (file)
index e28581e..0000000
--- a/src/camera/rozkuk/rozkorte.h
+++ /dev/null
@@ -1,8 +0,0 @@
-#include <semaphore.h>
-
-extern sem_t running_sem;
-extern int running;
-extern int game_color;
-
-int orte_init();
-void orte_send(int lot);