replace WPILib part

byteit101 · #1 15-12-2009, 22:15

In the C programming manual that comes with WPILib, I remember it saying you can replace parts of WPILib by adding the source code to your class, and then just compiling. I was testing a modified Dashboard class (removed all functions, except Printf and Finalize, both renamed Add and Send (and inner code tweaked), and no matter what I tried, It would give either a compiler or linker error. The one tricky thing is I must get my custom dashboard class from ds->GetDashboardPacker() because it needs access to a shared status pointer the dashboard updates. How do I get this to work?

Things I have tried:
Dashboard.c & h in project dir
copy h to WPILib folder, overwriting original h
delete my .h
#if trickery (from my c new, else old, and a few other...)
h style trickery (forward declarations, etc...)
restore my h
combine my H and c

rfrank · #2 18-12-2009, 05:31

Could you post the compile errors you get?

byteit101 · #3 18-12-2009, 15:28

hmm, I can't seem to get the compiler errors at home, but they were along the lines of
error: 'class Dashboard' has no member named 'Add'
and the linking error was a standard linking error (x was not found,do you want to proceed with launch

when I compile it at home, I also get this warning:
function `void Dashboard::Add(const char*, const char*)' used but never defined

rfrank · #4 21-12-2009, 10:29

Quote:

Originally Posted by byteit101

error: 'class Dashboard' has no member named 'Add'

Quote:

Originally Posted by byteit101

`void Dashboard::Add(const char*, const char*)' used but never defined

Both of these imply that you haven't declared and/or defined this function correctly. The first looks like you tried to define 'Add' without declaring it, and the second looks like you tried to use the function without ever declaring or defining it.

Post your modified WPILib files (.cpp and .h).

byteit101 · #5 28-12-2009, 21:37

Header:

PHP Code:


			
#ifndef __DASHBOARD_H__

#define __DASHBOARD_H__



#include "ErrorBase.h"

#include "NetworkCommunication/FRCComm.h"



#include <VxWorks.h>

#include <stack>

#include <vector>

using namespace std;

typedef unsigned int uint;

/**

 * Pack data into the "user data" field that gets sent to the dashboard laptop

 * via the driver station.

 */

class Dashboard : public ErrorBase

{

        // Can only be constructed by the DriverStation class.

        friend class DriverStation;



    public:

        

        inline void Add(string name, string value);

        inline void Add(string name, int value);

        inline void Add(string name, float value);

        inline void Add(string name, double value);

        inline void Add(const char* name, int value);

        inline void Add(const char* name, float value);

        inline void Add(const char* name, double value);

        inline void Add(const char* name, const char* value);



        void AddDebugVariable(const char* name, const char* value);

        inline void AddDebugVariable(string name, string value);

        inline void AddDebugVariable(string name, int value);

        inline void AddDebugVariable(string name, float value);

        inline void AddDebugVariable(string name, double value);

        inline void AddDebugVariable(const char* name, int value);

        inline void AddDebugVariable(const char* name, float value);

        inline void AddDebugVariable(const char* name, double value);



        //AddDebugVariable renamed for convenience

        inline void var(const char* name, const char* value);

        inline void var(string name, string value);

        inline void var(string name, int value);

        inline void var(string name, float value);

        inline void var(string name, double value);

        inline void var(const char* name, int value);

        inline void var(const char* name, float value);

        inline void var(const char* name, double value);



        void AddRaw(const char *raw, uint length);



        INT32 Send();

    private:

        Dashboard(char **userStatus);

        virtual ~Dashboard();



        static const INT32 kMaxDashboardDataSize= USER_STATUS_DATA_SIZE - sizeof(UINT32) * 3 - sizeof(UINT8); // 13 bytes needed for 3 size parameters and the sequence number



        // Usage Guidelines...

        DISALLOW_COPY_AND_ASSIGN(Dashboard)

        ;



        int location;

        char **m_userStatus;

        char *m_localBuffer;

        char *raw;

        uint rawLength;

        SEM_ID m_printSemaphore;

        UINT8 m_sequence;

};



#endif

Source:

PHP Code:


			
//include my dashboard heade

#include "Dashboard.h"

#include "Synchronized.h"

#include "Utility.h"

#include "WPIStatus.h"

#include <strLib.h>

#include <sstream>



using namespace std;

/**

 * Dashboard constructor.

 * 

 * This is only called once when the DriverStation constructor is called.

 */

Dashboard::Dashboard(char **userStatus):

    m_userStatus(userStatus), m_localBuffer(NULL), m_printSemaphore(0), m_sequence(0)

{

    //Syntax: @@@451:|name=value|dbg=name: value|name=value|:451@@@

    m_localBuffer = new char[kMaxDashboardDataSize * 2];

    

    m_localBuffer[0] = '@';

    m_localBuffer[1] = '@';

    m_localBuffer[2] = '@';

    m_localBuffer[3] = '4';

    m_localBuffer[4] = '5';

    m_localBuffer[5] = '1';

    m_localBuffer[6] = ':';

    m_localBuffer[7] = '|';

    m_localBuffer[8] = 0;

    raw = new char[kMaxDashboardDataSize * 2];

    raw[0]=4;

    raw[1]=5;

    raw[2]=1;

    raw[3]=32;

    m_printSemaphore = semMCreate(SEM_DELETE_SAFE | SEM_INVERSION_SAFE); // synchronize access to multi-value registers

}



/**

 * Dashboard destructor.

 * 

 * Called only when the DriverStation class is destroyed.

 */

Dashboard::~Dashboard()

{

    m_userStatus = NULL;

    delete [] m_localBuffer;

    m_localBuffer = NULL;

}



/**

 * Print a string to the UserData text on the Dashboard.

 * 

 * This will add text to the buffer to send to the dashboard.

 * You must call Finalize() periodically to actually send the buffer to the dashboard if you are not using the packed dashboard data.

 */



void Dashboard::Add(string name, string value)

{

    this->Add(name.c_str(), value.c_str());

}

void Dashboard::Add(string name, int value)

{

    stringstream out;

    out << value;

    this->Add(name.c_str(), out.str().c_str());

}

//Add clones removed...



void Dashboard::AddDebugVariable(string name, string value)

{

    this->AddDebugVariable(name.c_str(), value.c_str());

}

void Dashboard::AddDebugVariable(string name, int value)

{

    stringstream out;

    out << value;

    this->AddDebugVariable(name.c_str(), out.str().c_str());

}

//AddDebugVariable clones removed...

//AddDebugVariable renamed for convenience

void Dashboard::var(const char* name, const char* value)

{

    this->AddDebugVariable(name, value);

}

void Dashboard::var(string name, string value)

{

    this->AddDebugVariable(name, value);

}

//var clones removed...

void Dashboard::AddRaw(const char *raw, uint length)

{

    {

        Synchronized sync(m_printSemaphore);

        memcpy(this->raw+4, raw, length);//keep intact the beginning



        this->rawLength=length;

    }

    if (length+(uint)strlen(m_localBuffer) > (uint)kMaxDashboardDataSize)

    {

        wpi_fatal(DashboardDataOverflow);

    }

    

}

void Dashboard::AddDebugVariable(const char* name, const char* value)

{

    string fv=name;

    fv+=": ";

    fv+=value;

    this->Add("dbg",fv.c_str());//TEST:this might fail the cast

}

void Dashboard::Add(const char* name, const char* value)

{

    INT32 size;

    {

        Synchronized sync(m_printSemaphore);

        memcpy(m_localBuffer + strlen(m_localBuffer), name, strlen(name));

        m_localBuffer[strlen(m_localBuffer)+1]=0;//keep null to allow strlen to function

        m_localBuffer[strlen(m_localBuffer)]='=';

        memcpy(m_localBuffer + strlen(m_localBuffer), value, strlen(value));

        m_localBuffer[strlen(m_localBuffer)+1]=0;//keep null to allow strlen to function

                m_localBuffer[strlen(m_localBuffer)]='|';

        //m_localBuffer + strlen(m_localBuffer), writeFmt, args);

        size = strlen(m_localBuffer);

    }

    if (size > kMaxDashboardDataSize)

    {

        wpi_fatal(DashboardDataOverflow);

    }

}



/**

 * Indicate that the packing is complete and commit the buffer to the DriverStation.

 * 

 * The packing of the dashboard packet is complete.

 * If you are not using the packed dashboard data, you can call Finalize() to commit the Printf() buffer and the error string buffer.

 * In effect, you are packing an empty structure.

 * Prepares a packet to go to the dashboard...

 * Pack the sequence number, Printf() buffer, the errors messages (not implemented yet), and packed dashboard data buffer.

 * @return The total size of the data packed into the userData field of the status packet.

 */

INT32 Dashboard::Send()

{

    if (*m_userStatus == NULL)

    {

        wpi_fatal(NullParameter);

        return 0;

    }

    

    INT32 size = 0;

    // QUE: Is this necessary? 

    // Sequence number

    memcpy(*m_userStatus + size, &m_sequence, sizeof(m_sequence));

    size += sizeof(m_sequence);

    m_sequence++;

    

    INT32 printSize;

    {

        //Raw data (images, etc)

        Synchronized sync(m_printSemaphore);

        

        memcpy(*m_userStatus + size, &rawLength, sizeof(rawLength));

        size += sizeof(rawLength);

        memcpy(*m_userStatus + size, raw, rawLength);

        size += printSize;

        //        raw[0]=4;

        //        raw[1]=5;

        //        raw[2]=1;

        //        raw[3]=32;

        //skip this because don't ever overwrite it



        // User printed strings

        printSize = strlen(m_localBuffer);

        memcpy(*m_userStatus + size, m_localBuffer, printSize);

        size += printSize;

        string end="|:451@@@";

        memcpy(*m_userStatus + size, end.c_str(), end.length());

                size += end.length();

        m_localBuffer[0] = '@';

        m_localBuffer[1] = '@';

        m_localBuffer[2] = '@';

        m_localBuffer[3] = '4';

        m_localBuffer[4] = '5';

        m_localBuffer[5] = '1';

        m_localBuffer[6] = ':';

        m_localBuffer[7] = '|';

        m_localBuffer[8] = 0;

    }

    

    return size;

}

main code:

PHP Code:


			
//...

DriverStation::GetInstance()->ds.GetDashboardPacker().Add("gsgs","fsdfds");

DriverStation::GetInstance()->ds.GetDashboardPacker().Send();

//...

slavik262 · #6 30-12-2009, 08:40

I'm just glancing at this quick, but IIRC, inline functions need the function body along with the declaration. You can't give a function prototype in a header, mark it as inline, and then go put the actual definition of the function somewhere else. I could be wrong though.

byteit101 · #7 30-12-2009, 11:46

Quote:

Originally Posted by slavik262

I'm just glancing at this quick, but IIRC, inline functions need the function body along with the declaration. You can't give a function prototype in a header, mark it as inline, and then go put the actual definition of the function somewhere else. I could be wrong though.

You are somewhat correct:
http://www.parashift.com/c++-faq-lit...s.html#faq-9.7
http://www.parashift.com/c++-faq-lit...s.html#faq-9.8
http://www.parashift.com/c++-faq-lit...s.html#faq-9.9

slavik262 · #8 01-01-2010, 17:40

Just out of curiosity, why are you making them all inline?

byteit101 · #9 01-01-2010, 18:58

Quote:

Originally Posted by slavik262

Just out of curiosity, why are you making them all inline?

the clones are inline to only (hopefully) incur 1 function call, because they are small, and call the main function
normal:
Auto()
> var("x",5)
> > AddDebugVariable("x",5)
> > > AddDebugVariable("x","5")
> > > > Add("dbg","x: 5")

Inline:
Auto()
var("x",5)
AddDebugVariable("x",5)
AddDebugVariable("x","5")
> Add("dbg","x: 5")

Normal makes 4 function calls, Inline only 1
EDIT: I accidentally put inline on void Add(const char* name, const char* value); instead of void AddDebugVariable(const char* name, const char* value);

byteit101 · #10 26-02-2010, 15:19

I have this issue again on a different file, AxisCamera. I was adding a saving function, and it started doing it. I was editing it, save, compile, add more, etc... and I added one line, and it started doing it, and won't stop. I commented my chages, even completely replaced the files with the default WPILib's, but it does the error now. Rebuilds make no different.
errors:

Code:

Build Started in Project 'Breakaway':   2010-02-26 15:17:08
Generation of makefiles started.
Generation of makefiles finished (Elapsed Time: 00:00).
Platform: Wind River VxWorks 6.3
Command: make --no-print-directory BUILD_SPEC=PPC603gnu DEBUG_MODE=1 TRACE=1
Working Directory: C:/WindRiver/workspace/Breakaway/PPC603gnu
if [ ! -d "`dirname "Breakaway_partialImage/Debug/Objects/Breakaway/AxisCamera.o"`" ]; then mkdir -p "`dirname "Breakaway_partialImage/Debug/Objects/Breakaway/AxisCamera.o"`"; fi;echo "building Breakaway_partialImage/Debug/Objects/Breakaway/AxisCamera.o"; ccppc -g -mcpu=603 -mstrict-align -mno-implicit-fp -mlongcall -ansi -Wall  -MD -MP -mlongcall  -IC:/WindRiver/vxworks-6.3/target/h -IC:/WindRiver/vxworks-6.3/target/h/WPILib -IC:/WindRiver/vxworks-6.3/target/h/wrn/coreip   -DCPU=PPC603 -DTOOL_FAMILY=gnu -DTOOL=gnu -D_WRS_KERNEL    -o "Breakaway_partialImage/Debug/Objects/Breakaway/AxisCamera.o" -c "C:/WindRiver/workspace/Breakaway/AxisCamera.cpp"
building Breakaway_partialImage/Debug/Objects/Breakaway/AxisCamera.o
if [ ! -d "`dirname "Breakaway_partialImage/Debug/Objects/Breakaway/Main.o"`" ]; then mkdir -p "`dirname "Breakaway_partialImage/Debug/Objects/Breakaway/Main.o"`"; fi;echo "building Breakaway_partialImage/Debug/Objects/Breakaway/Main.o"; ccppc -g -mcpu=603 -mstrict-align -mno-implicit-fp -mlongcall -ansi -Wall  -MD -MP -mlongcall  -IC:/WindRiver/vxworks-6.3/target/h -IC:/WindRiver/vxworks-6.3/target/h/WPILib -IC:/WindRiver/vxworks-6.3/target/h/wrn/coreip   -DCPU=PPC603 -DTOOL_FAMILY=gnu -DTOOL=gnu -D_WRS_KERNEL    -o "Breakaway_partialImage/Debug/Objects/Breakaway/Main.o" -c "C:/WindRiver/workspace/Breakaway/Main.cpp"
building Breakaway_partialImage/Debug/Objects/Breakaway/Main.o
if [ ! -d "`dirname "Breakaway_partialImage/Debug/Objects/Breakaway/PCVideoServer.o"`" ]; then mkdir -p "`dirname "Breakaway_partialImage/Debug/Objects/Breakaway/PCVideoServer.o"`"; fi;echo "building Breakaway_partialImage/Debug/Objects/Breakaway/PCVideoServer.o"; ccppc -g -mcpu=603 -mstrict-align -mno-implicit-fp -mlongcall -ansi -Wall  -MD -MP -mlongcall  -IC:/WindRiver/vxworks-6.3/target/h -IC:/WindRiver/vxworks-6.3/target/h/WPILib -IC:/WindRiver/vxworks-6.3/target/h/wrn/coreip   -DCPU=PPC603 -DTOOL_FAMILY=gnu -DTOOL=gnu -D_WRS_KERNEL    -o "Breakaway_partialImage/Debug/Objects/Breakaway/PCVideoServer.o" -c "C:/WindRiver/workspace/Breakaway/PCVideoServer.cpp"
building Breakaway_partialImage/Debug/Objects/Breakaway/PCVideoServer.o
if [ ! -d "`dirname "Breakaway_partialImage/Debug/Breakaway_partialImage.o"`" ]; then mkdir -p "`dirname "Breakaway_partialImage/Debug/Breakaway_partialImage.o"`"; fi;echo "building Breakaway_partialImage/Debug/Breakaway_partialImage.o"; ccppc -r -nostdlib -Wl,-X  -o "Breakaway_partialImage/Debug/Breakaway_partialImage.o" Breakaway_partialImage/Debug/Objects/Breakaway/Array.o Breakaway_partialImage/Debug/Objects/Breakaway/AxisCamera.o Breakaway_partialImage/Debug/Objects/Breakaway/BTR.o Breakaway_partialImage/Debug/Objects/Breakaway/Main.o Breakaway_partialImage/Debug/Objects/Breakaway/Mechs.o Breakaway_partialImage/Debug/Objects/Breakaway/PCVideoServer.o Breakaway_partialImage/Debug/Objects/Breakaway/Ptr.o Breakaway_partialImage/Debug/Objects/Breakaway/ZDashboard.o      && if [ "0" = "1" ]; then plink "Breakaway_partialImage/Debug/Breakaway_partialImage.o";fi
building Breakaway_partialImage/Debug/Breakaway_partialImage.o
if [ ! -d "`dirname "Breakaway/Debug/Breakaway.out"`" ]; then mkdir -p "`dirname "Breakaway/Debug/Breakaway.out"`"; fi;echo "building Breakaway/Debug/Breakaway.out";rm -f "Breakaway/Debug/Breakaway.out";nmppc Breakaway_partialImage/Debug/Breakaway_partialImage.o C:/WindRiver/vxworks-6.3/target/lib/WPILib.a  | tclsh C:/WindRiver/vxworks-6.3/host/resource/hutils/tcl/munch.tcl -c ppc > Breakaway/Debug/ctdt.c; ccppc -g -mcpu=603 -mstrict-align -mno-implicit-fp -mlongcall -fdollars-in-identifiers -Wall  -IC:/WindRiver/vxworks-6.3/target/h -IC:/WindRiver/vxworks-6.3/target/h/WPILib -IC:/WindRiver/vxworks-6.3/target/h/wrn/coreip   -DCPU=PPC603 -DTOOL_FAMILY=gnu -DTOOL=gnu -D_WRS_KERNEL     -o Breakaway/Debug/ctdt.o -c Breakaway/Debug/ctdt.c; ccppc -r -nostdlib -Wl,-X -T C:/WindRiver/vxworks-6.3/target/h/tool/gnu/ldscripts/link.OUT -o "Breakaway/Debug/Breakaway.out" Breakaway/Debug/ctdt.o Breakaway_partialImage/Debug/Breakaway_partialImage.o C:/WindRiver/vxworks-6.3/target/lib/WPILib.a       && if [ "0" = "1" ]; then plink "Breakaway/Debug/Breakaway.out";fi
building Breakaway/Debug/Breakaway.out
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.bss+0x0):C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:25: multiple definition of `AxisCamera::m_instance'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.bss+0x4):C:/WindRiver/workspace/Breakaway/Array.cpp:2: first defined here
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x1a7c): In function `AxisCamera::s_ImageStreamTaskFunction(AxisCamera*)':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:183: multiple definition of `AxisCamera::s_ImageStreamTaskFunction(AxisCamera*)'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x1e2c):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:185: first defined here
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x5b0): In function `AxisCamera::~AxisCamera()':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:43: multiple definition of `AxisCamera::~AxisCamera()'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x7f4):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:45: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCamera::~AxisCamera()' changed from 992 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 884 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x924): In function `AxisCamera::~AxisCamera()':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:43: multiple definition of `AxisCamera::~AxisCamera()'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0xbd4):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:45: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCamera::~AxisCamera()' changed from 992 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 884 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0xc98): In function `AxisCamera::~AxisCamera()':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:43: multiple definition of `AxisCamera::~AxisCamera()'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0xfb4):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:45: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCamera::~AxisCamera()' changed from 992 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 884 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x11f4): In function `AxisCamera::DeleteInstance()':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:78: multiple definition of `AxisCamera::DeleteInstance()'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x15a0):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:80: first defined here
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x1258): In function `AxisCamera::IsFreshImage()':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:87: multiple definition of `AxisCamera::IsFreshImage()'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x1604):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:89: first defined here
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x1288): In function `AxisCamera::GetNewImageSem()':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:100: multiple definition of `AxisCamera::GetNewImageSem()'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x1634):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:102: first defined here
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x130c): In function `AxisCamera::GetImage(Image_struct*)':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:113: multiple definition of `AxisCamera::GetImage(Image_struct*)'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x16b8):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:115: first defined here
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x1520): In function `AxisCamera::GetImage()':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:140: multiple definition of `AxisCamera::GetImage()'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x18cc):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:142: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCamera::GetImage()' changed from 356 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 352 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x1680): In function `AxisCamera::CopyJPEG(char**, int&, int&)':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:157: multiple definition of `AxisCamera::CopyJPEG(char**, int&, int&)'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x1a30):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:159: first defined here
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x1ac8): In function `AxisCamera::ImageStreamTaskFunction()':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:193: multiple definition of `AxisCamera::ImageStreamTaskFunction()'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x1e78):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:195: first defined here
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x1b50): In function `AxisCamera::ReadImagesFromCamera()':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:218: multiple definition of `AxisCamera::ReadImagesFromCamera()'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x1f00):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:220: first defined here
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x1e90): In function `AxisCamera::UpdatePublicImageFromCamera(char*, int)':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:301: multiple definition of `AxisCamera::UpdatePublicImageFromCamera(char*, int)'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2240):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:303: first defined here
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x21b0): In function `AxisCamera::RestartCameraTask()':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:336: multiple definition of `AxisCamera::RestartCameraTask()'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2560):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:338: first defined here
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x224c): In function `AxisCameraStart':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:346: multiple definition of `AxisCameraStart'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x25fc):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:348: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraStart' changed from 72 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 60 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x2288): In function `AxisCameraGetImage':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:351: multiple definition of `AxisCameraGetImage'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2644):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:353: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraGetImage' changed from 112 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 100 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x22ec): In function `AxisCameraWriteBrightness':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:356: multiple definition of `AxisCameraWriteBrightness'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x26b4):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:358: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraWriteBrightness' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x2348): In function `AxisCameraGetBrightness':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:361: multiple definition of `AxisCameraGetBrightness'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x271c):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:363: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraGetBrightness' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x23a4): In function `AxisCameraWriteWhiteBalance':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:366: multiple definition of `AxisCameraWriteWhiteBalance'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2784):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:368: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraWriteWhiteBalance' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x2400): In function `AxisCameraGetWhiteBalance':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:371: multiple definition of `AxisCameraGetWhiteBalance'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x27ec):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:373: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraGetWhiteBalance' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x245c): In function `AxisCameraWriteColorLevel':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:376: multiple definition of `AxisCameraWriteColorLevel'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2854):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:378: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraWriteColorLevel' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x24b8): In function `AxisCameraGetColorLevel':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:381: multiple definition of `AxisCameraGetColorLevel'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x28bc):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:383: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraGetColorLevel' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x2514): In function `AxisCameraWriteExposureControl':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:386: multiple definition of `AxisCameraWriteExposureControl'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2924):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:388: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraWriteExposureControl' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x2570): In function `AxisCameraGetExposureControl':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:391: multiple definition of `AxisCameraGetExposureControl'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x298c):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:393: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraGetExposureControl' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x25cc): In function `AxisCameraWriteExposurePriority':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:396: multiple definition of `AxisCameraWriteExposurePriority'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x29f4):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:398: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraWriteExposurePriority' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x2628): In function `AxisCameraGetExposurePriority':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:401: multiple definition of `AxisCameraGetExposurePriority'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2a5c):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:403: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraGetExposurePriority' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x2684): In function `AxisCameraWriteMaxFPS':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:406: multiple definition of `AxisCameraWriteMaxFPS'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2ac4):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:408: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraWriteMaxFPS' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x26e0): In function `AxisCameraGetMaxFPS':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:411: multiple definition of `AxisCameraGetMaxFPS'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2b2c):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:413: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraGetMaxFPS' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x273c): In function `AxisCameraWriteResolution':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:416: multiple definition of `AxisCameraWriteResolution'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2b94):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:418: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraWriteResolution' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x2798): In function `AxisCameraGetResolution':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:421: multiple definition of `AxisCameraGetResolution'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2bfc):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:423: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraGetResolution' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x27f4): In function `AxisCameraWriteCompression':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:426: multiple definition of `AxisCameraWriteCompression'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2c64):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:428: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraWriteCompression' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x2850): In function `AxisCameraGetCompression':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:431: multiple definition of `AxisCameraGetCompression'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2ccc):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:433: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraGetCompression' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x28ac): In function `AxisCameraWriteRotation':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:436: multiple definition of `AxisCameraWriteRotation'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2d34):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:438: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraWriteRotation' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x2908): In function `AxisCameraGetRotation':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:441: multiple definition of `AxisCameraGetRotation'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2d9c):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:443: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraGetRotation' changed from 104 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 92 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x2964): In function `AxisCameraDeleteInstance':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:446: multiple definition of `AxisCameraDeleteInstance'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2e04):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:448: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraDeleteInstance' changed from 96 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 84 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)(.text+0x29b8): In function `AxisCameraFreshImage':
C:/WindRiver/workspace/WPILib/Vision/AxisCamera.cpp:451: multiple definition of `AxisCameraFreshImage'
Breakaway_partialImage/Debug/Breakaway_partialImage.o(.text+0x2e64):C:/WindRiver/workspace/Breakaway/AxisCamera.cpp:453: first defined here
c:/windriver/gnu/3.4.4-vxworks-6.3/x86-win32/bin/../lib/gcc/powerpc-wrs-vxworks/3.4.4/../../../../../x86-win32/powerpc-wrs-vxworks/bin/ld.exe: Warning: size of symbol `AxisCameraFreshImage' changed from 112 in Breakaway_partialImage/Debug/Breakaway_partialImage.o to 100 in C:/WindRiver/vxworks-6.3/target/lib/WPILib.a(AxisCamera.o)
collect2: ld returned 256 exit status
make: built targets of C:/WindRiver/workspace/Breakaway/PPC603gnu
Build Finished in Project 'Breakaway':   2010-02-26 15:17:16   (Elapsed Time: 00:08)

Header:

Code:

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef __AXIS_CAMERA_H__
#define __AXIS_CAMERA_H__

#include <taskLib.h>
#include <vxWorks.h> 
#include <sockLib.h> 
#include <inetLib.h>

#include "Vision/AxisCameraParams.h"
#include "Vision/ColorImage.h"
#include "Vision/HSLImage.h"
#include "nivision.h"
#include <set>
#include "Task.h"

/**
 * AxisCamera class.
 * This class handles everything about the Axis 206 FRC Camera.
 * It starts up 2 tasks each using a different connection to the camera:
 * - image reading task that reads images repeatedly from the camera
 * - parameter handler task in the base class that monitors for changes to
 *     parameters and updates the camera
 */
class AxisCamera: public AxisCameraParams
{
	AxisCamera(const char *cameraIP = "192.168.0.90",bool filesave=false, const char *fpath="img/");
public:
	virtual ~AxisCamera();
	static AxisCamera& GetInstance(bool filesave=false, const char *fpath="img/");
	void DeleteInstance();

	bool IsFreshImage();
	SEM_ID GetNewImageSem();

	int GetImage(Image *imaqImage);
	int GetImage(ImageBase *image);
	ImageBase *GetImage();
	//Image *GetimaqImage();

	int CopyJPEG(char **destImage, int &destImageSize, int &destImageBufferSize);

private:
	static int s_ImageStreamTaskFunction(AxisCamera *thisPtr);
	int ImageStreamTaskFunction();

	int ReadImagesFromCamera();
	void UpdatePublicImageFromCamera(char *imgBuffer, int imgSize);

	virtual void RestartCameraTask();
	static int s_SaveImageFunction(AxisCamera *thisPtr);
	int SaveImageFunction();

	static AxisCamera *m_instance;
	int m_cameraSocket;
	typedef std::set<SEM_ID> SemSet_t;
	SemSet_t m_newImageSemSet;

	char* m_protectedImageBuffer;
	int m_protectedImageBufferLength;
	int m_protectedImageSize;
	SEM_ID m_protectedImageSem;
	bool m_freshImage;

	Task m_imageStreamTask;
	Task m_imageSaveTask;
	const char *fpathSave;
};

extern "C" {
	void AxisCameraStart();
	int AxisCameraGetImage(Image *image);
	void AxisCameraDeleteInstance();
	int AxisCameraFreshImage();

	// Mid-stream gets & writes
	void AxisCameraWriteBrightness(int brightness);
	int AxisCameraGetBrightness();
	void AxisCameraWriteWhiteBalance(AxisCameraParams::WhiteBalance_t whiteBalance);
	AxisCameraParams::WhiteBalance_t AxisCameraGetWhiteBalance();
	void AxisCameraWriteColorLevel(int colorLevel);
	int AxisCameraGetColorLevel();
	void AxisCameraWriteExposureControl(AxisCameraParams::Exposure_t exposure);
	AxisCameraParams::Exposure_t AxisCameraGetExposureControl();
	void AxisCameraWriteExposurePriority(int exposurePriority);
	int AxisCameraGetExposurePriority();
	void AxisCameraWriteMaxFPS(int maxFPS);
	int AxisCameraGetMaxFPS();

	// New-Stream gets & writes
	void AxisCameraWriteResolution(AxisCameraParams::Resolution_t resolution);
	AxisCameraParams::Resolution_t AxisCameraGetResolution();
	void AxisCameraWriteCompression(int compression);
	int AxisCameraGetCompression();
	void AxisCameraWriteRotation(AxisCameraParams::Rotation_t rotation);
	AxisCameraParams::Rotation_t AxisCameraGetRotation();
}

#endif

Source (cpp):

Code:

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include <string.h>
#include "Synchronized.h"
#include "AxisCamera.h"
#include "PCVideoServer.h"

/** Private NI function to decode JPEG */ 
IMAQ_FUNC int Priv_ReadJPEGString_C(Image* _image, const unsigned char* _string, UINT32 _stringLength); 

// Max packet without jumbo frames is 1500... add 36 because??
#define kMaxPacketSize 1536
#define kImageBufferAllocationIncrement 1000

AxisCamera* AxisCamera::m_instance = NULL;

/**
 * AxisCamera constructor
 */
AxisCamera::AxisCamera(const char *ipAddress,bool filesave, const char *fpath)
	: AxisCameraParams(ipAddress)
	, m_cameraSocket (0)
	, m_protectedImageBuffer(NULL)
	, m_protectedImageBufferLength (0)
	, m_protectedImageSize (0)
	, m_protectedImageSem (NULL)
	, m_freshImage (false)
, m_imageStreamTask("cameraTask", (FUNCPTR)s_ImageStreamTaskFunction)
, m_imageSaveTask("cameraSaveTask", (FUNCPTR)s_SaveImageFunction)
{
	m_protectedImageSem = semMCreate(SEM_Q_PRIORITY | SEM_INVERSION_SAFE | SEM_DELETE_SAFE);

	m_imageStreamTask.Start((int)this);
	//fpathSave=fpath;
}

/**
 * Destructor
 */
AxisCamera::~AxisCamera()
{
	m_imageStreamTask.Stop();
	close(m_cameraSocket);

	SemSet_t::iterator it = m_newImageSemSet.begin();
	SemSet_t::iterator end = m_newImageSemSet.end();
	for (;it != end; it++)
	{
		semDelete(*it);
	}
	m_newImageSemSet.clear();

	semDelete(m_protectedImageSem);
	m_instance = NULL;
}

/**
 * Get a pointer to the AxisCamera object, if the object does not exist, create it
 * @return reference to AxisCamera object
 */
AxisCamera& AxisCamera::GetInstance(bool filesave, const char *fpath)
{
	if (NULL == m_instance) {
		// Since this is a singleton for now, just use the default IP address.
		m_instance = new AxisCamera("192.168.0.90",filesave,fpath);
		// TODO: Keep track of this so it can be shut down!
		new PCVideoServer();
	}
	return *m_instance;
}

/**
 * Called by Java to delete the camera... how thoughtful
 */
void AxisCamera::DeleteInstance()
{
	delete m_instance;
}

/**
 * Return true if the latest image from the camera has not been retrieved by calling GetImage() yet.
 * @return true if the image has not been retrieved yet.
 */
bool AxisCamera::IsFreshImage()
{
	return m_freshImage;
}

/**
 * Get the semaphore to be used to synchronize image access with camera acquisition
 * 
 * Call semTake on the returned semaphore to block until a new image is acquired.
 * 
 * The semaphore is owned by the AxisCamera class and will be deleted when the class is destroyed.
 * @return A semaphore to notify when new image is received
 */
SEM_ID AxisCamera::GetNewImageSem()
{
	SEM_ID sem = semBCreate (SEM_Q_PRIORITY, SEM_EMPTY);
	m_newImageSemSet.insert(sem);
	return sem;
}

/**
 * Get an image from the camera and store it in the provided image.
 * @param image The imaq image to store the result in. This must be an HSL or RGB image
 * This function is called by Java.
 * @return 1 upon success, zero on a failure
 */
int AxisCamera::GetImage(Image* imaqImage)
{
	if (m_protectedImageBuffer == NULL)
		return 0;
	Synchronized sync(m_protectedImageSem);
	Priv_ReadJPEGString_C(imaqImage,
		(unsigned char*)m_protectedImageBuffer, m_protectedImageSize);
	m_freshImage = false;
	return 1;
}

/**
 * Get an image from the camera and store it in the provided image.
 * @param image The image to store the result in. This must be an HSL or RGB image
 * @return 1 upon success, zero on a failure
 */
int AxisCamera::GetImage(ImageBase* image)
{
	return GetImage(image->GetImaqImage());
}

/**
 * Instantiate a new image object and fill it with the latest image from the camera.
 * 
 * The returned pointer is owned by the caller and is their responsibility to delete.
 * @return a pointer to an HSLImage object
 */
ImageBase* AxisCamera::GetImage()
{
    ImageBase *image = new ImageBase(IMAQ_IMAGE_RGB);
	GetImage(image);
	return image;
}

/**
 * Copy an image into an existing buffer.
 * This copies an image into an existing buffer rather than creating a new image
 * in memory. That way a new image is only allocated when the image being copied is
 * larger than the destination.
 * This method is called by the PCVideoServer class.
 * @param imageData The destination image.
 * @param numBytes The size of the destination image.
 * @return 0 if failed (no source image or no memory), 1 if success.
 */
int AxisCamera::CopyJPEG(char **destImage, int &destImageSize, int &destImageBufferSize)
{
	Synchronized sync(m_protectedImageSem);
	wpi_assert(destImage != NULL);
	if (m_protectedImageBuffer == NULL) return 0; // if no source image
	if (destImageBufferSize < m_protectedImageSize) // if current destination buffer too small
	{
		if (*destImage != NULL) delete [] *destImage;
		destImageBufferSize = m_protectedImageSize + kImageBufferAllocationIncrement;
		*destImage = new char[destImageBufferSize];
		if (*destImage == NULL) return 0;
	}
	// copy this image into destination buffer
	wpi_assert(*destImage != NULL);
	wpi_assert(m_protectedImageBuffer != NULL);
	wpi_assert(m_protectedImageSize > 0);
	// TODO: Is this copy realy necessary... perhaps we can simply transmit while holding the protected buffer
	memcpy(*destImage, m_protectedImageBuffer, m_protectedImageSize);
	destImageSize = m_protectedImageSize;
	return 1;
}

/**
 * Static interface that will cause an instantiation if necessary.
 * This static stub is directly spawned as a task to read images from the camera.
 */
int AxisCamera::s_ImageStreamTaskFunction(AxisCamera *thisPtr)
{
	return thisPtr->ImageStreamTaskFunction();
}

/**
 * Task spawned by AxisCamera constructor to receive images from cam
 * If setNewImageSem has been called, this function does a semGive on each new image
 * Images can be accessed by calling getImage()
 */
int AxisCamera::ImageStreamTaskFunction()
{
	// Loop on trying to setup the camera connection. This happens in a background
	// thread so it shouldn't effect the operation of user programs.
	while (1)
	{
		char * requestString = "GET /mjpg/video.mjpg HTTP/1.1\n\
User-Agent: HTTPStreamClient\n\
Connection: Keep-Alive\n\
Cache-Control: no-cache\n\
Authorization: Basic RlJDOkZSQw==\n\n";
		m_cameraSocket = CreateCameraSocket(requestString);
		if (m_cameraSocket == 0)
		{
			// Don't hammer the camera if it isn't ready.
			taskDelay(1000);
			continue;
		}
		ReadImagesFromCamera();
	}
}

/**
 * This function actually reads the images from the camera.
 */
int AxisCamera::ReadImagesFromCamera()
{
	char *imgBuffer = NULL;
	int imgBufferLength = 0;
	//Infinite loop, task deletion handled by taskDeleteHook
	// Socket cleanup handled by destructor
	
	// TODO: these recv calls must be non-blocking. Otherwise if the camera
	// fails during a read, the code hangs and never retries when the camera comes
	// back up.

	int counter = 2;
	while (1)
	{
		char initialReadBuffer[kMaxPacketSize] = "";
		char intermediateBuffer[1];
		char *trailingPtr = initialReadBuffer;
		int trailingCounter = 0;
		while (counter)
		{
			// TODO: fix me... this cannot be the most efficient way to approach this, reading one byte at a time.
			if(recv(m_cameraSocket, intermediateBuffer, 1, 0) == ERROR)
			{
				perror ("AxisCamera: Failed to read image header");
				close (m_cameraSocket);
				return (ERROR);
			}
			strncat(initialReadBuffer, intermediateBuffer, 1);
			// trailingCounter ensures that we start looking for the 4 byte string after
			// there is at least 4 bytes total. Kind of obscure.
			// look for 2 blank lines (\r\n)
			if (NULL != strstr(trailingPtr, "\r\n\r\n"))
			{
				--counter;
			}
			if (++trailingCounter >= 4)
			{
				trailingPtr++;
			}
		}
		counter = 1;
		char *contentLength = strstr(initialReadBuffer, "Content-Length: ");
		if (contentLength == NULL)
		{
			perror("AxisCamera: No content-length token found in packet");
			close(m_cameraSocket);
			return(ERROR);
		}
		contentLength = contentLength + 16; // skip past "content length"
		int readLength = atol(contentLength); // get the image byte count

		// Make sure buffer is large enough
		if (imgBufferLength < readLength)
		{
			if (imgBuffer) delete[] imgBuffer;
			imgBufferLength = readLength + kImageBufferAllocationIncrement;
			imgBuffer = new char[imgBufferLength];
			if (imgBuffer == NULL)
			{
				imgBufferLength = 0;
				continue;
			}
		}

		// Read the image data for "Content-Length" bytes
		int bytesRead = 0;
		int remaining = readLength;
		while(bytesRead < readLength)
		{
			int bytesThisRecv = recv(m_cameraSocket, &imgBuffer[bytesRead], remaining, 0);
			bytesRead += bytesThisRecv;
			remaining -= bytesThisRecv;
		}
		// Update image
		UpdatePublicImageFromCamera(imgBuffer, readLength);
	}
}

/**
 * Copy the image from private buffer to shared buffer.
 * @param imgBuffer The buffer containing the image
 * @param bufLength The length of the image
 */
void AxisCamera::UpdatePublicImageFromCamera(char *imgBuffer, int imgSize)
{
	{
		Synchronized sync(m_protectedImageSem);

		// Adjust the buffer size if current destination buffer is too small.
		if (m_protectedImageBufferLength < imgSize)
		{
			if (m_protectedImageBuffer != NULL) delete [] m_protectedImageBuffer;
			m_protectedImageBufferLength = imgSize + kImageBufferAllocationIncrement;
			m_protectedImageBuffer = new char[m_protectedImageBufferLength];
			if (m_protectedImageBuffer == NULL)
			{
				m_protectedImageBufferLength = 0;
				return;
			}
		}

		memcpy(m_protectedImageBuffer, imgBuffer, imgSize);
		m_protectedImageSize = imgSize;
	}

	m_freshImage = true;
	// Notify everyone who is interested.
	SemSet_t::iterator it = m_newImageSemSet.begin();
	SemSet_t::iterator end = m_newImageSemSet.end();
	for (;it != end; it++)
	{
		semGive(*it);
	}
}

/**
 * Implement the pure virtual interface so that when parameter changes require a restart, the image task can be bounced.
 */
void AxisCamera::RestartCameraTask()
{
	m_imageStreamTask.Stop();
	m_imageStreamTask.Start((int)this);
}


// C bindings used by Java
// These need to stay as is or Java has to change

void AxisCameraStart()
{
	AxisCamera::GetInstance();
}

int AxisCameraGetImage (Image* image)
{
	return AxisCamera::GetInstance().GetImage(image);
}

void AxisCameraWriteBrightness(int brightness)
{
	AxisCamera::GetInstance().WriteBrightness(brightness);
}

int AxisCameraGetBrightness()
{
	return AxisCamera::GetInstance().GetBrightness();
}

void AxisCameraWriteWhiteBalance(AxisCameraParams::WhiteBalance_t whiteBalance)
{
	AxisCamera::GetInstance().WriteWhiteBalance(whiteBalance);
}

AxisCameraParams::WhiteBalance_t AxisCameraGetWhiteBalance()
{
	return AxisCamera::GetInstance().GetWhiteBalance();
}

void AxisCameraWriteColorLevel(int colorLevel)
{
	AxisCamera::GetInstance().WriteColorLevel(colorLevel);
}

int AxisCameraGetColorLevel()
{
	return AxisCamera::GetInstance().GetColorLevel();
}

void AxisCameraWriteExposureControl(AxisCameraParams::Exposure_t exposure)
{
	AxisCamera::GetInstance().WriteExposureControl(exposure);
}

AxisCameraParams::Exposure_t AxisCameraGetExposureControl()
{
	return AxisCamera::GetInstance().GetExposureControl();
}

void AxisCameraWriteExposurePriority(int exposure)
{
	AxisCamera::GetInstance().WriteExposurePriority(exposure);
}

int AxisCameraGetExposurePriority()
{
	return AxisCamera::GetInstance().GetExposurePriority();
}

void AxisCameraWriteMaxFPS(int maxFPS)
{
	AxisCamera::GetInstance().WriteMaxFPS(maxFPS);
}

int AxisCameraGetMaxFPS()
{
	return AxisCamera::GetInstance().GetMaxFPS();
}

void AxisCameraWriteResolution(AxisCameraParams::Resolution_t resolution)
{
	AxisCamera::GetInstance().WriteResolution(resolution);
}

AxisCameraParams::Resolution_t AxisCameraGetResolution()
{
	return AxisCamera::GetInstance().GetResolution();
}

void AxisCameraWriteCompression(int compression)
{
	AxisCamera::GetInstance().WriteCompression(compression);
}

int AxisCameraGetCompression()
{
	return AxisCamera::GetInstance().GetCompression();
}

void AxisCameraWriteRotation(AxisCameraParams::Rotation_t rotation)
{
	AxisCamera::GetInstance().WriteRotation(rotation);
}

AxisCameraParams::Rotation_t AxisCameraGetRotation()
{
	return AxisCamera::GetInstance().GetRotation();
}

void AxisCameraDeleteInstance()
{
	AxisCamera::GetInstance().DeleteInstance();
}

int AxisCameraFreshImage()
{
	return AxisCamera::GetInstance().IsFreshImage();
}

Edit: as you can see in the error box, I also have PCVideoServer, but it does not have any errors.
Edit2: Array.cpp is all comments

Radical Pi · #11 26-02-2010, 17:54

try a make clean. the writers of WPILib have been having compiler troubles too apparently and a clean seemed to help it

byteit101 · #12 26-02-2010, 19:52

rebuild is a clean, build all in one. I tried multiple times, but no luck. I did get it working by commenting out AxisCamera.h in the includes, but this is sub-optimal because it effects all the projects. I have not had any issues with PCVideoServer, although I have not made any changes to the API/H file. I did change the API for AxixCamera, but it compiled for a while before dying

stevethetinker · #13 27-02-2010, 17:19

To answer the original question: when you pull the source for a library file into your project, DON"T DELETE ANYTHING. What happens when you delete something is this: somewhere (doesn't have to be in anything you did) there is likely to be a reference to the thing(s) you delete. The linker notices the references to your new stuff and pulls your new object file in. Then it notices that there is a reference to this something that is satisfied by the original object file in the library and pulls it in too. You get double definitions for the things that appear in both.

The bit about being somewhat correct about inline functions is a dig. It is absolutely correct that you can't just add inline to function declarations - you have to move the body of the function to where it is declared.

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