From: Petr Kubiznak <kubizpet@fel.cvut.cz>
Date: Wed, 26 May 2010 13:34:33 +0000 (+0200)
Subject: All debug messages to error output.
X-Git-Tag: start2011~42
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/eed8d843b871ba74f3f0537c9e862417e207c074

All debug messages to error output.
---

diff --git a/src/camera/rozkuk/rozkuk.cxx b/src/camera/rozkuk/rozkuk.cxx
index d56d6d04..4c5ccc4c 100644
--- a/src/camera/rozkuk/rozkuk.cxx
+++ b/src/camera/rozkuk/rozkuk.cxx
@@ -245,7 +245,7 @@ int modeRealtime(CvCapture* capture) {
 
 		frame = cvQueryFrame(capture);                      // Get one frame
 		if(!frame) {
-			fprintf(stdout, "NULL frame\n");
+			fprintf(stderr, "NULL frame\n");
 			continue;
 		}
 
@@ -312,10 +312,11 @@ int modeRecognize(CvCapture* capture) {
 #endif                    /*----------- DEBUG SESSION ONLY -----------*/
 			frame = cvQueryFrame(capture);
 		if(!frame) {
-			fprintf(stdout, "NULL frame\n");
+			fprintf(stderr, "NULL frame\n");
 			// save error code to orte and publish it
 			orte.camera_result.error |= camera_ERR_NO_FRAME;
 			ORTEPublicationSend(orte.publication_camera_result);
+			usleep(100*1000);
 			continue;
 		} else if(orte.camera_result.error & camera_ERR_NO_FRAME) {
 			orte.camera_result.error &= ~camera_ERR_NO_FRAME;
@@ -336,7 +337,7 @@ int modeRecognize(CvCapture* capture) {
 	 	sideConfig = recognize(floatMat, sideMasks, SIDEMASKSCNT, &sideDist);
 	 	centerConfig = recognize(floatMat, centerMasks, CENTERMASKSCNT, &centerDist);
 	 	//publish results
-		fprintf(stdout, "thr: %d, side: %d (%f), center: %d (%f)\n", threshold, sideConfig, sideDist, centerConfig, centerDist);
+		fprintf(stderr, "thr: %d, side: %d (%f), center: %d (%f)\n", threshold, sideConfig, sideDist, centerConfig, centerDist);
 		orte.camera_result.side = sideConfig;
 		orte.camera_result.center = centerConfig;
 		orte.camera_result.sideDist = sideDist;
@@ -386,7 +387,7 @@ int modeWait(CvCapture *capture) {
 
 		}
 #endif                    /*----------- DEBUG SESSION ONLY -----------*/
-		fprintf(stdout, "waiting...\n");
+		fprintf(stderr, "waiting...\n");
 		sleep(1);
 	}
 	return MODE_RECOGNIZE;
@@ -403,12 +404,14 @@ int modeManager(int defaultMode) {
 
 	// connect to a camera
 	while(!((capture=cvCaptureFromCAM(0)) || (capture=cvCaptureFromCAM(1)))) {
-		fprintf(stdout, "NULL capture (is camera connected?)\n");
+		fprintf(stderr, "NULL capture (is camera connected?)\n");
 		orte.camera_result.error |= camera_ERR_NO_VIDEO;
-		sleep(1);
+		ORTEPublicationSend(orte.publication_camera_result);
+		usleep(500*1000);
 	}
 	orte.camera_result.error &= ~camera_ERR_NO_VIDEO;
-	fprintf(stdout, "rozkuk started, camera connected successfully\n");
+	ORTEPublicationSend(orte.publication_camera_result);
+	fprintf(stderr, "rozkuk started, camera connected successfully\n");
 
 #ifdef ROZKUK_DEBUG       /************ DEBUG SESSION ONLY ************/
 	// create gui windows and init font
@@ -502,7 +505,7 @@ int loadMask(const char *filename, CvMat **mask) {
 	
 	IplImage *img = cvLoadImage(filename, CV_LOAD_IMAGE_GRAYSCALE);
 	if(!img) {
-		fprintf(stdout, "Mask %s cannot be loaded.\n", filename);
+		fprintf(stderr, "Mask %s cannot be loaded.\n", filename);
 		fprintf(stderr, "Run me from _build/user/camera/rozkuk\n");
 		return 0;
 	}
@@ -511,7 +514,7 @@ int loadMask(const char *filename, CvMat **mask) {
 	if(!(len=clr2float(img, mask, CL_NEUTRAL, 1.0, NULL)))
 		fprintf(stderr, "A problem while converting mask to float occured.\n");
 	else
-		fprintf(stdout, "Mask %s successfully loaded.\n", filename);
+		fprintf(stderr, "Mask %s successfully loaded.\n", filename);
 
 	cvReleaseImage(&img);
 	return len;