Module: /home/henthorn/AUV/auv-qnx/auv/altex/onboard/camera/CameraDriver.cc Group: 'DGROUP' CONST,CONST2,_DATA,_BSS Segment: _TEXT DWORD USE32 00000dfc bytes /****************************************************************************/ /* Copyright (c) 2008 MBARI */ /* MBARI Proprietary Information. All rights reserved. */ /****************************************************************************/ /* Summary : BIAUV Camera Driver */ /* Filename : CameraDriver.cc */ /* Author : rsm, K Headley */ /* Project : */ /* Version : 1.0 */ /* Created : 05/02/2008 */ /* Modified : */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /****************************************************************************/ #include "CameraDriver.h" #define READ_TIMEOUT 3000 //Milliseconds #define MAXRECORDBYTES 512 #include "PeriodicTask.h" #include "SerialDeviceExt.h" #include "Syslog.h" #include "MathP.h" #include "Bicam.h" Boolean debug = False; ////////////////////////////////////////////////////////// // SerialDeviceExt has a single IP port associated with it // but the XPort has two (one for GPIO, the other for // serial traffic); Could redesign SerialDeviceExt or // eliminate it. /** Benthic Imaging AUV Camera */ Camera::Camera(SerialDeviceExt *device, Boolean test, Boolean sim) : PeriodicTask("cameraDriver"), _test(test), _sim(sim) { 0000 near Camera::Camera( SerialDeviceExt near *, char unsigned, char unsigned ): 0000 68 3c 02 00 00 push 0000023cH 0005 e8 00 00 00 00 call __CHK 000a 56 push esi 000b 57 push edi 000c 55 push ebp 000d 81 ec 08 02 00 00 sub esp,00000208H 0013 50 push eax 0014 89 d6 mov esi,edx 0016 a1 00 00 00 00 mov eax,__wint_thread_data 001b 89 84 24 9c 01 00 00 mov +19cH[esp],eax 0022 8d 84 24 9c 01 00 00 lea eax,+19cH[esp] 0029 a3 00 00 00 00 mov __wint_thread_data,eax 002e c7 84 24 a0 01 00 00 00 00 00 00 mov dword ptr +1a0H[esp],offset L75 0039 31 ff xor edi,edi 003b 89 bc 24 a4 01 00 00 mov +1a4H[esp],edi 0042 8b 04 24 mov eax,[esp] 0045 89 84 24 b4 01 00 00 mov +1b4H[esp],eax 004c 30 e4 xor ah,ah 004e 88 a4 24 b8 01 00 00 mov +1b8H[esp],ah 0055 ba 00 00 00 00 mov edx,offset L48 005a 8b 04 24 mov eax,[esp] 005d e8 00 00 00 00 call near PeriodicTask::PeriodicTask( char const near * ) 0062 89 04 24 mov [esp],eax 0065 89 e2 mov edx,esp 0067 89 94 24 d8 01 00 00 mov +1d8H[esp],edx 006e c7 84 24 a4 01 00 00 01 00 00 00 mov dword ptr +1a4H[esp],00000001H 0079 05 4e 01 00 00 add eax,0000014eH 007e e8 00 00 00 00 call near XPort::XPort() 0083 8d 90 b2 fe ff ff lea edx,-14eH[eax] 0089 89 14 24 mov [esp],edx 008c 83 c0 24 add eax,00000024H 008f e8 00 00 00 00 call near BicamGPS::BicamGPS() 0094 2d 72 01 00 00 sub eax,00000172H 0099 89 04 24 mov [esp],eax 009c 89 e0 mov eax,esp 009e 89 84 24 f8 01 00 00 mov +1f8H[esp],eax 00a5 c7 84 24 a4 01 00 00 02 00 00 00 mov dword ptr +1a4H[esp],00000002H 00b0 8b 04 24 mov eax,[esp] 00b3 05 32 0d 00 00 add eax,00000d32H 00b8 e8 00 00 00 00 call near XPortGPIO::XPortGPIO() 00bd 2d 32 0d 00 00 sub eax,00000d32H 00c2 89 04 24 mov [esp],eax 00c5 89 e0 mov eax,esp 00c7 89 84 24 d4 01 00 00 mov +1d4H[esp],eax 00ce c7 84 24 a4 01 00 00 03 00 00 00 mov dword ptr +1a4H[esp],00000003H 00d9 8b 04 24 mov eax,[esp] 00dc 05 46 0d 00 00 add eax,00000d46H 00e1 e8 00 00 00 00 call near XPortGPIO::XPortGPIO() 00e6 2d 46 0d 00 00 sub eax,00000d46H 00eb 89 04 24 mov [esp],eax 00ee 89 e0 mov eax,esp 00f0 89 84 24 e0 01 00 00 mov +1e0H[esp],eax 00f7 c7 84 24 a4 01 00 00 04 00 00 00 mov dword ptr +1a4H[esp],00000004H 0102 8b 04 24 mov eax,[esp] 0105 05 5a 0d 00 00 add eax,00000d5aH 010a e8 00 00 00 00 call near XPortGPIO::XPortGPIO() 010f 2d 5a 0d 00 00 sub eax,00000d5aH 0114 89 04 24 mov [esp],eax 0117 89 e0 mov eax,esp 0119 89 84 24 e4 01 00 00 mov +1e4H[esp],eax 0120 c7 84 24 a4 01 00 00 05 00 00 00 mov dword ptr +1a4H[esp],00000005H 012b 8b 04 24 mov eax,[esp] 012e 05 6e 0d 00 00 add eax,00000d6eH 0133 e8 00 00 00 00 call near XPortGPIO::XPortGPIO() 0138 2d 6e 0d 00 00 sub eax,00000d6eH 013d 89 04 24 mov [esp],eax 0140 89 e0 mov eax,esp 0142 89 84 24 08 02 00 00 mov +208H[esp],eax 0149 c7 84 24 a4 01 00 00 06 00 00 00 mov dword ptr +1a4H[esp],00000006H 0154 8b 04 24 mov eax,[esp] 0157 88 98 c0 0d 00 00 mov +0dc0H[eax],bl 015d 8b 04 24 mov eax,[esp] 0160 88 88 c1 0d 00 00 mov +0dc1H[eax],cl 0166 8b 04 24 mov eax,[esp] 0169 c7 40 29 00 00 00 00 mov dword ptr +29H[eax],offset void (near * const near __vftbl[])() printf("Camera:: Got here!\n"); 0170 68 0d 00 00 00 push offset L49 0175 e8 00 00 00 00 call printf_ 017a 83 c4 04 add esp,00000004H _device = device; 017d 8b 04 24 mov eax,[esp] 0180 89 70 5a mov +5aH[eax],esi _log = new CameraLog(this, DataLog::BinaryFormat); 0183 b8 46 03 00 00 mov eax,00000346H 0188 e8 00 00 00 00 call void near * near operator new( int unsigned ) 018d 89 84 24 ec 01 00 00 mov +1ecH[esp],eax 0194 8b 84 24 ec 01 00 00 mov eax,+1ecH[esp] 019b 89 84 24 e8 01 00 00 mov +1e8H[esp],eax 01a2 83 bc 24 e8 01 00 00 00 cmp dword ptr +1e8H[esp],00000000H 01aa 74 41 je L1 01ac 8b 84 24 ec 01 00 00 mov eax,+1ecH[esp] 01b3 89 84 24 fc 01 00 00 mov +1fcH[esp],eax 01ba c7 84 24 a4 01 00 00 07 00 00 00 mov dword ptr +1a4H[esp],00000007H 01c5 bb 01 00 00 00 mov ebx,00000001H 01ca 8b 14 24 mov edx,[esp] 01cd e8 00 00 00 00 call near CameraLog::CameraLog( Camera near *, DataLog::FileFormat ) 01d2 89 84 24 00 02 00 00 mov +200H[esp],eax 01d9 c7 84 24 a4 01 00 00 06 00 00 00 mov dword ptr +1a4H[esp],00000006H 01e4 8b 94 24 00 02 00 00 mov edx,+200H[esp] 01eb eb 07 jmp L2 01ed 8b 94 24 e8 01 00 00 L1 mov edx,+1e8H[esp] 01f4 8b 04 24 L2 mov eax,[esp] 01f7 89 50 5e mov +5eH[eax],edx _output= new CameraOutput(); 01fa b8 45 00 00 00 mov eax,00000045H 01ff e8 00 00 00 00 call void near * near operator new( int unsigned ) 0204 89 84 24 f4 01 00 00 mov +1f4H[esp],eax 020b 8b 84 24 f4 01 00 00 mov eax,+1f4H[esp] 0212 89 84 24 f0 01 00 00 mov +1f0H[esp],eax 0219 83 bc 24 f0 01 00 00 00 cmp dword ptr +1f0H[esp],00000000H 0221 74 3d je L3 0223 8b 84 24 f4 01 00 00 mov eax,+1f4H[esp] 022a 89 84 24 fc 01 00 00 mov +1fcH[esp],eax 0231 c7 84 24 a4 01 00 00 09 00 00 00 mov dword ptr +1a4H[esp],00000009H 023c 31 db xor ebx,ebx 023e 31 d2 xor edx,edx 0240 e8 00 00 00 00 call near CameraOutput::CameraOutput( SharedData::Access, char unsigned ) 0245 89 84 24 04 02 00 00 mov +204H[esp],eax 024c c7 84 24 a4 01 00 00 06 00 00 00 mov dword ptr +1a4H[esp],00000006H 0257 8b 94 24 04 02 00 00 mov edx,+204H[esp] 025e eb 07 jmp L4 0260 8b 94 24 f0 01 00 00 L3 mov edx,+1f0H[esp] 0267 8b 04 24 L4 mov eax,[esp] 026a 89 50 62 mov +62H[eax],edx _output->write(); 026d 8b 04 24 mov eax,[esp] 0270 8b 40 62 mov eax,+62H[eax] 0273 e8 00 00 00 00 call void near CameraOutput::write() addPeriodicCallback(200, (CallbackMethod)Camera::readData); 0278 c7 84 24 c0 01 00 00 00 00 00 00 mov dword ptr +1c0H[esp],offset void (near * near Camera::__mbrptrthunk())() 0283 31 db xor ebx,ebx 0285 89 9c 24 c4 01 00 00 mov +1c4H[esp],ebx 028c 89 9c 24 c8 01 00 00 mov +1c8H[esp],ebx 0293 8c d8 mov ax,ds 0295 8e c0 mov es,ax 0297 8d bc 24 a8 01 00 00 lea edi,+1a8H[esp] 029e 8d b4 24 c0 01 00 00 lea esi,+1c0H[esp] 02a5 a5 movsd 02a6 a5 movsd 02a7 a5 movsd 02a8 8b b4 24 b0 01 00 00 mov esi,+1b0H[esp] 02af 56 push esi 02b0 8b bc 24 b0 01 00 00 mov edi,+1b0H[esp] 02b7 57 push edi 02b8 8b 84 24 b0 01 00 00 mov eax,+1b0H[esp] 02bf 50 push eax 02c0 ba c8 00 00 00 mov edx,000000c8H 02c5 8b 44 24 0c mov eax,+0cH[esp] 02c9 e8 00 00 00 00 call void near PeriodicTask::addPeriodicCallback( int unsigned, void (near PeriodicTask::*)()) _samplePeriodCntr = 0; 02ce 8b 04 24 mov eax,[esp] 02d1 89 98 92 0d 00 00 mov +0d92H[eax],ebx _first = False; 02d7 8b 04 24 mov eax,[esp] 02da c6 80 9e 0d 00 00 00 mov byte ptr +0d9eH[eax],00H _running = False; 02e1 8b 04 24 mov eax,[esp] 02e4 c6 80 bf 0d 00 00 00 mov byte ptr +0dbfH[eax],00H if(_test) { 02eb 8b 04 24 mov eax,[esp] 02ee 8a 90 c0 0d 00 00 mov dl,+0dc0H[eax] 02f4 84 d2 test dl,dl 02f6 74 15 je L5 Syslog::write("CameraDriver:: _test = %d", _test); } 02f8 88 d0 mov al,dl 02fa 25 ff 00 00 00 and eax,000000ffH 02ff 50 push eax 0300 68 21 00 00 00 push offset L50 0305 e8 00 00 00 00 call void near Syslog::write( char const near *, ... ) 030a 83 c4 08 add esp,00000008H if( !_test ) { Syslog::write("CameraDriver:: Before navigation IF."); try { 030d 8b 04 24 L5 mov eax,[esp] 0310 80 b8 c0 0d 00 00 00 cmp byte ptr +0dc0H[eax],00H 0317 0f 85 b3 00 00 00 jne L11 031d 68 3b 00 00 00 push offset L51 0322 e8 00 00 00 00 call void near Syslog::write( char const near *, ... ) 0327 83 c4 04 add esp,00000004H 032a c7 84 24 a4 01 00 00 0b 00 00 00 mov dword ptr +1a4H[esp],0000000bH 0335 8d 84 24 68 01 00 00 lea eax,+168H[esp] 033c e8 00 00 00 00 call _setjmp_ 0341 83 f8 01 cmp eax,00000001H 0344 72 0b jb L6 0346 76 4d jbe L8 0348 83 f8 02 cmp eax,00000002H 034b 0f 84 49 01 00 00 je L13 _navigationIF = new NavigationIF("navigation"); 0351 b8 e5 01 00 00 L6 mov eax,000001e5H 0356 e8 00 00 00 00 call void near * near operator new( int unsigned ) 035b 85 c0 test eax,eax 035d 74 2c je L7 035f 89 84 24 fc 01 00 00 mov +1fcH[esp],eax 0366 c7 84 24 a4 01 00 00 0c 00 00 00 mov dword ptr +1a4H[esp],0000000cH 0371 bb 0a 00 00 00 mov ebx,0000000aH 0376 ba 60 00 00 00 mov edx,offset L52 037b e8 00 00 00 00 call near NavigationIF::NavigationIF( char const near *, int ) 0380 c7 84 24 a4 01 00 00 0b 00 00 00 mov dword ptr +1a4H[esp],0000000bH 038b 89 c2 L7 mov edx,eax 038d 8b 04 24 mov eax,[esp] 0390 89 50 66 mov +66H[eax],edx } catch( SharedObject::Error e ) { 0393 eb 30 jmp L10 Syslog::write("CameraDriver -- Caught exception: %s\n", e.msg ); 0395 c7 84 24 a4 01 00 00 0e 00 00 00 L8 mov dword ptr +1a4H[esp],0000000eH 03a0 8d 84 24 04 01 00 00 lea eax,+104H[esp] 03a7 50 push eax 03a8 68 6b 00 00 00 push offset L53 03ad e8 00 00 00 00 call void near Syslog::write( char const near *, ... ) 03b2 83 c4 08 add esp,00000008H } catch( ... ) { 03b5 e8 00 00 00 00 L9 call __wcpp_2_catch_done__ 03ba c7 84 24 a4 01 00 00 06 00 00 00 mov dword ptr +1a4H[esp],00000006H 03c5 c7 84 24 a4 01 00 00 06 00 00 00 L10 mov dword ptr +1a4H[esp],00000006H 03d0 8b 04 24 L11 mov eax,[esp] 03d3 c7 80 8a 0d 00 00 00 00 00 00 mov dword ptr +0d8aH[eax],00000000H 03dd 8b 04 24 mov eax,[esp] 03e0 c7 40 7a 00 00 00 00 mov dword ptr +7aH[eax],00000000H 03e7 8b 04 24 mov eax,[esp] 03ea c7 40 7e 00 00 00 00 mov dword ptr +7eH[eax],00000000H 03f1 8b 04 24 mov eax,[esp] 03f4 c7 80 82 00 00 00 00 00 00 00 mov dword ptr +82H[eax],00000000H 03fe 8b 04 24 mov eax,[esp] 0401 c7 80 86 00 00 00 00 00 00 00 mov dword ptr +86H[eax],00000000H 040b 68 00 00 42 40 push 40420000H 0410 6a 00 push 00000000H 0412 e8 00 00 00 00 call double near Math::degToRad( double ) 0417 8b 04 24 mov eax,[esp] 041a dd 58 6a fstp qword ptr +6aH[eax] 041d 68 00 80 5e c0 push 0c05e8000H 0422 6a 00 push 00000000H 0424 e8 00 00 00 00 call double near Math::degToRad( double ) 0429 8b 04 24 mov eax,[esp] 042c dd 58 72 fstp qword ptr +72H[eax] 042f 8b 04 24 mov eax,[esp] 0432 c7 80 92 00 00 00 00 00 00 00 mov dword ptr +92H[eax],00000000H 043c 8b 04 24 mov eax,[esp] 043f c7 80 96 00 00 00 00 00 08 40 mov dword ptr +96H[eax],40080000H 0449 8b 04 24 mov eax,[esp] 044c 80 b8 c1 0d 00 00 00 cmp byte ptr +0dc1H[eax],00H 0453 0f 85 c3 02 00 00 jne L16 0459 8b 40 5a mov eax,+5aH[eax] 045c e8 00 00 00 00 call char const near * near SerialDeviceExt::devName() 0461 89 c3 mov ebx,eax 0463 ba b4 00 00 00 mov edx,offset L55 0468 b8 00 00 00 00 mov eax,offset ostream near cout 046d e8 00 00 00 00 call ostream near & near ostream::operator <<( char const near * ) 0472 ba 00 00 00 00 mov edx,offset ostream near & near endl( ostream near & ) 0477 e8 00 00 00 00 call ostream near & near ostream::operator <<( ostream near & (near *)( )) 047c ba c5 00 00 00 mov edx,offset L56 0481 89 d8 mov eax,ebx 0483 e8 00 00 00 00 call strstr_ 0488 40 inc eax 0489 8d 54 24 04 lea edx,+4H[esp] 048d 8a 38 L12 mov bh,[eax] 048f 80 ff 3a cmp bh,3aH 0492 74 23 je L14 0494 88 3a mov [edx],bh 0496 42 inc edx 0497 40 inc eax 0498 eb f3 jmp L12 Syslog::write("CameraDriver -- Caught exception!\n"); } // don't open the device: // we'll be working through the // XPort interface //_device->openSD(); } _photoCntr = 0; _position.x = 0.; _position.y = 0.; _position.latitude = Math::degToRad(36.00); _position.longitude = Math::degToRad(-122.00); _position.altitude = 3.0; // // In simulation there is no hardware, so don't try to talk to it! // if( _sim ) { return; } // get hostname for xport char host[256]; const char *sp=_device->devName(); char *ip, *op; struct timeval now; cout<<"getting hostname"<closeSD(); } 07bd 8b 43 5a mov eax,+5aH[ebx] 07c0 e8 00 00 00 00 call void near SerialDeviceExt::closeSD() delete _log; 07c5 8b 43 5e L18 mov eax,+5eH[ebx] 07c8 85 c0 test eax,eax 07ca 74 0d je L19 07cc 8b b0 2a 01 00 00 mov esi,+12aH[eax] 07d2 ba 02 00 00 00 mov edx,00000002H 07d7 ff 16 call dword ptr [esi] delete _output; 07d9 8b 43 62 L19 mov eax,+62H[ebx] 07dc 85 c0 test eax,eax 07de 74 0a je L20 07e0 8b 70 20 mov esi,+20H[eax] 07e3 ba 02 00 00 00 mov edx,00000002H 07e8 ff 16 call dword ptr [esi] if( _sim ) { return; } // disconnect XPort sockets 07ea 80 bb c1 0d 00 00 00 L20 cmp byte ptr +0dc1H[ebx],00H 07f1 75 1d jne L21 printf("shutting down XPort sockets\n"); 07f3 68 3d 01 00 00 push offset L61 07f8 e8 00 00 00 00 call printf_ 07fd 83 c4 04 add esp,00000004H xport.disconnectxp(XPCON_ALL); 0800 8d 83 4e 01 00 00 lea eax,+14eH[ebx] 0806 ba 02 00 00 00 mov edx,00000002H 080b e8 00 00 00 00 call int near XPort::disconnectxp( ConnectionID ) } /** Camera initialize method. satisfies TaskIF(?) interface. */ 0810 c7 44 24 08 05 00 00 00 L21 mov dword ptr +8H[esp],00000005H 0818 8d 83 6e 0d 00 00 lea eax,+0d6eH[ebx] 081e 31 d2 xor edx,edx 0820 e8 00 00 00 00 call near XPortGPIO::~XPortGPIO() 0825 c7 44 24 08 04 00 00 00 mov dword ptr +8H[esp],00000004H 082d 83 e8 14 sub eax,00000014H 0830 31 d2 xor edx,edx 0832 e8 00 00 00 00 call near XPortGPIO::~XPortGPIO() 0837 c7 44 24 08 03 00 00 00 mov dword ptr +8H[esp],00000003H 083f 83 e8 14 sub eax,00000014H 0842 31 d2 xor edx,edx 0844 e8 00 00 00 00 call near XPortGPIO::~XPortGPIO() 0849 c7 44 24 08 02 00 00 00 mov dword ptr +8H[esp],00000002H 0851 83 e8 14 sub eax,00000014H 0854 31 d2 xor edx,edx 0856 e8 00 00 00 00 call near XPortGPIO::~XPortGPIO() 085b be 01 00 00 00 mov esi,00000001H 0860 89 74 24 08 mov +8H[esp],esi 0864 2d c0 0b 00 00 sub eax,00000bc0H 0869 31 d2 xor edx,edx 086b e8 00 00 00 00 call near BicamGPS::~BicamGPS() 0870 2d 72 01 00 00 sub eax,00000172H 0875 31 ff xor edi,edi 0877 89 7c 24 08 mov +8H[esp],edi 087b 89 f2 mov edx,esi 087d e8 00 00 00 00 call near PeriodicTask::~PeriodicTask() 0882 89 c3 mov ebx,eax 0884 f6 c1 02 test cl,02H 0887 74 05 je L22 0889 e8 00 00 00 00 call void near operator delete( void near * ) 088e 8b 04 24 L22 mov eax,[esp] 0891 a3 00 00 00 00 mov __wint_thread_data,eax 0896 89 d8 L23 mov eax,ebx 0898 83 c4 18 add esp,00000018H 089b 5f pop edi 089c 5e pop esi 089d 59 pop ecx 089e 5b pop ebx 089f c3 ret void Camera::initialize() { 08a0 void near Camera::initialize(): 08a0 68 04 00 00 00 push 00000004H 08a5 e8 00 00 00 00 call __CHK } /** Read position data and periodically update camera GPS input. */ 08aa c3 ret void Camera::readData() { struct timeval now; static struct timeval previousUpdate; double elapsedSec; static Boolean init=FALSE; // initialize current time and previous update time 08ab void near Camera::readData(): 08ab 68 68 00 00 00 push 00000068H 08b0 e8 00 00 00 00 call __CHK 08b5 53 push ebx 08b6 51 push ecx 08b7 52 push edx 08b8 56 push esi 08b9 57 push edi 08ba 55 push ebp 08bb 83 ec 2c sub esp,0000002cH 08be 89 c1 mov ecx,eax gettimeofday(&now,NULL); 08c0 31 d2 xor edx,edx 08c2 8d 44 24 08 lea eax,+8H[esp] 08c6 e8 00 00 00 00 call gettimeofday_ if(init==FALSE){ 08cb 31 c0 xor eax,eax 08cd a0 00 00 00 00 mov al,char unsigned near Camera::void near readData()::.0::init 08d2 85 c0 test eax,eax 08d4 75 1a jne L24 memcpy(&previousUpdate,&now,sizeof(struct timeval)); 08d6 bb 08 00 00 00 mov ebx,00000008H 08db 8d 54 24 08 lea edx,+8H[esp] 08df b8 00 00 00 00 mov eax,offset timeval near Camera::void near readData()::.0::previousUpdate 08e4 e8 00 00 00 00 call memcpy_ init=TRUE; } // // Get current position // 08e9 c6 05 00 00 00 00 01 mov byte ptr char unsigned near Camera::void near readData()::.0::init,01H if( !_test ) { 08f0 80 b9 c0 0d 00 00 00 L24 cmp byte ptr +0dc0H[ecx],00H 08f7 75 16 jne L25 _navigationIF->state(&_position, &_attitude); 08f9 8d 99 14 01 00 00 lea ebx,+114H[ecx] 08ff 8d 51 6a lea edx,+6aH[ecx] 0902 8b 41 66 mov eax,+66H[ecx] 0905 e8 00 00 00 00 call void near NavigationIF::state( NavigationIF::Position near *, NavigationIF::Attitude near * ) } else { 090a e9 93 00 00 00 jmp L28 _position.x += 0.2; //Increment 20 cm. 090f dd 41 7a L25 fld qword ptr +7aH[ecx] 0912 dc 05 15 02 00 00 fadd qword ptr L67 0918 dd 59 7a fstp qword ptr +7aH[ecx] _position.latitude+=0.001; 091b dd 41 6a fld qword ptr +6aH[ecx] 091e dc 05 1d 02 00 00 fadd qword ptr L68 0924 dd 59 6a fstp qword ptr +6aH[ecx] _position.longitude+=0.001; 0927 dd 41 72 fld qword ptr +72H[ecx] 092a dc 05 1d 02 00 00 fadd qword ptr L68 0930 dd 59 72 fstp qword ptr +72H[ecx] _position.altitude+=0.01; 0933 dd 81 92 00 00 00 fld qword ptr +92H[ecx] 0939 dc 05 25 02 00 00 fadd qword ptr L69 093f dd 99 92 00 00 00 fstp qword ptr +92H[ecx] if(_position.latitude>35.0) { 0945 dd 41 6a fld qword ptr +6aH[ecx] 0948 dc 1d 2d 02 00 00 fcomp qword ptr L70 094e df e0 fstsw ax 0950 9e sahf 0951 76 0e jbe L26 _position.latitude=0.0; } 0953 c7 41 6a 00 00 00 00 mov dword ptr +6aH[ecx],00000000H 095a c7 41 6e 00 00 00 00 mov dword ptr +6eH[ecx],00000000H if(_position.longitude>130.0) { 0961 dd 41 72 L26 fld qword ptr +72H[ecx] 0964 dc 1d 35 02 00 00 fcomp qword ptr L71 096a df e0 fstsw ax 096c 9e sahf 096d 76 0e jbe L27 _position.longitude=0.0; } 096f c7 41 72 00 00 00 00 mov dword ptr +72H[ecx],00000000H 0976 c7 41 76 00 00 00 00 mov dword ptr +76H[ecx],00000000H if(_position.altitude>10.0) { 097d dd 81 92 00 00 00 L27 fld qword ptr +92H[ecx] 0983 dc 1d 3d 02 00 00 fcomp qword ptr L72 0989 df e0 fstsw ax 098b 9e sahf 098c 76 14 jbe L28 _position.altitude=0.0; } } // // Update the GPS NMEA strings for the camera GPS serial input // // update() sets the GPS location (note that we only change four // parameters; the others are set in initialization) // writeNMEA() formats the NMEA strings // and sends them to the XPort. // GPS updates should be sent at a 1 Hz rate to // ensure that the camera maintains GPS lock; otherwise, the camera // will not record GPS metadata) 098e c7 81 92 00 00 00 00 00 00 00 mov dword ptr +92H[ecx],00000000H 0998 c7 81 96 00 00 00 00 00 00 00 mov dword ptr +96H[ecx],00000000H if( !_sim ) { // update current time 09a2 80 b9 c1 0d 00 00 00 L28 cmp byte ptr +0dc1H[ecx],00H 09a9 0f 85 da 00 00 00 jne L30 gettimeofday(&now,NULL); // compute time since last update (current-previous) 09af 31 d2 xor edx,edx 09b1 8d 44 24 08 lea eax,+8H[esp] 09b5 e8 00 00 00 00 call gettimeofday_ elapsedSec=((double)now.tv_sec+((double)now.tv_usec/1000000.0)); 09ba db 44 24 0c fild dword ptr +0cH[esp] 09be dc 35 45 02 00 00 fdiv qword ptr L73 09c4 db 44 24 08 fild dword ptr +8H[esp] 09c8 de c1 faddp st(1),st 09ca dd 5c 24 10 fstp qword ptr +10H[esp] elapsedSec-=((double)previousUpdate.tv_sec+((double)previousUpdate.tv_usec/1000000.0)); // the loop runs every 200 ms, and we want to update // every 1 sec, so we have update at time > 0.8 sec 09ce db 05 04 00 00 00 fild dword ptr timeval near Camera::void near readData()::.0::previousUpdate+4H 09d4 dc 35 45 02 00 00 fdiv qword ptr L73 09da db 05 00 00 00 00 fild dword ptr timeval near Camera::void near readData()::.0::previousUpdate 09e0 de c1 faddp st(1),st 09e2 dc 6c 24 10 fsubr qword ptr +10H[esp] 09e6 dd 54 24 10 fst qword ptr +10H[esp] if(elapsedSec >= 0.800000) { //Syslog::write("elapsedSec=%2.6lf\n",elapsedSec); // set previous update time = current time 09ea dc 1d 4d 02 00 00 fcomp qword ptr L74 09f0 df e0 fstsw ax 09f2 9e sahf 09f3 0f 82 90 00 00 00 jb L30 memcpy(&previousUpdate,&now,sizeof(struct timeval)); // update NMEA field values (time, lat, lon, alt) 09f9 bb 08 00 00 00 mov ebx,00000008H 09fe 8d 54 24 08 lea edx,+8H[esp] 0a02 b8 00 00 00 00 mov eax,offset timeval near Camera::void near readData()::.0::previousUpdate 0a07 e8 00 00 00 00 call memcpy_ camGPS.update(now, Math::radToDeg(_position.latitude), Math::radToDeg(_position.longitude), _position.altitude); 0a0c 8b 91 96 00 00 00 mov edx,+96H[ecx] 0a12 52 push edx 0a13 8b 99 92 00 00 00 mov ebx,+92H[ecx] 0a19 53 push ebx 0a1a 8b 71 76 mov esi,+76H[ecx] 0a1d 56 push esi 0a1e 8b 79 72 mov edi,+72H[ecx] 0a21 57 push edi 0a22 e8 00 00 00 00 call double near Math::radToDeg( double ) 0a27 83 ec 08 sub esp,00000008H 0a2a dd 1c 24 fstp qword ptr [esp] 0a2d 8b 69 6e mov ebp,+6eH[ecx] 0a30 55 push ebp 0a31 8b 41 6a mov eax,+6aH[ecx] 0a34 50 push eax 0a35 e8 00 00 00 00 call double near Math::radToDeg( double ) 0a3a 83 ec 08 sub esp,00000008H 0a3d dd 1c 24 fstp qword ptr [esp] 0a40 8b 54 24 24 mov edx,+24H[esp] 0a44 52 push edx 0a45 8b 5c 24 24 mov ebx,+24H[esp] 0a49 53 push ebx 0a4a 8d 91 72 01 00 00 lea edx,+172H[ecx] 0a50 89 d0 mov eax,edx 0a52 e8 00 00 00 00 call int near BicamGPS::update( timeval, double, double, double ) if( !_test ) 0a57 80 b9 c0 0d 00 00 00 cmp byte ptr +0dc0H[ecx],00H 0a5e 75 1e jne L29 Syslog::write("NMEA Update: %s\n",camGPS.getGPGGA()->toString()); // send NMEA to camera 0a60 89 d0 mov eax,edx 0a62 e8 00 00 00 00 call GPGGA near * near BicamGPS::getGPGGA() 0a67 8b 90 cc 05 00 00 mov edx,+5ccH[eax] 0a6d ff 52 04 call dword ptr +4H[edx] 0a70 50 push eax 0a71 68 5a 01 00 00 push offset L62 0a76 e8 00 00 00 00 call void near Syslog::write( char const near *, ... ) 0a7b 83 c4 08 add esp,00000008H camGPS.writeNMEA(); } } // // Check to see if a client has requested photos: // 0a7e 8d 81 72 01 00 00 L29 lea eax,+172H[ecx] 0a84 e8 00 00 00 00 call int near BicamGPS::writeNMEA() _output->read(); if( (_output->data.nPhotos || _output->data.onContinuously) 0a89 8b 41 62 L30 mov eax,+62H[ecx] 0a8c e8 00 00 00 00 call void near CameraOutput::read() && (_output->data.cameraState == CameraIF::Ready) ) { 0a91 8b 41 62 mov eax,+62H[ecx] 0a94 83 78 28 00 cmp dword ptr +28H[eax],00000000H 0a98 75 0a jne L31 0a9a 80 78 44 00 cmp byte ptr +44H[eax],00H 0a9e 0f 84 e2 00 00 00 je L35 0aa4 8b 41 62 L31 mov eax,+62H[ecx] 0aa7 83 78 24 00 cmp dword ptr +24H[eax],00000000H 0aab 0f 85 d5 00 00 00 jne L35 if(_output->data.nPhotos) 0ab1 8b 68 28 mov ebp,+28H[eax] 0ab4 85 ed test ebp,ebp 0ab6 74 10 je L32 Syslog::write("CameraDriver::readData - starting a %d photo sequence.", _output->data.nPhotos); else 0ab8 55 push ebp 0ab9 68 6b 01 00 00 push offset L63 0abe e8 00 00 00 00 call void near Syslog::write( char const near *, ... ) 0ac3 83 c4 08 add esp,00000008H 0ac6 eb 0d jmp L33 Syslog::write("CameraDriver::readData - Turning the camera on."); // Enable the strobes at the beginning of photo sequence // Delay ~ 2s after activation, before triggering // to allow strobes to charge. // Note that this must be done before running set to TRUE // to prevent the photo sequence to run // (There is probably a better place to define the start delay) 0ac8 68 a2 01 00 00 L32 push offset L64 0acd e8 00 00 00 00 call void near Syslog::write( char const near *, ... ) 0ad2 83 c4 04 add esp,00000004H if(!_sim) strobeDisable.setActive(); 0ad5 80 b9 c1 0d 00 00 00 L33 cmp byte ptr +0dc1H[ecx],00H 0adc 75 0b jne L34 0ade 8d 81 5a 0d 00 00 lea eax,+0d5aH[ecx] 0ae4 e8 00 00 00 00 call int near XPortGPIO::setActive() sleep(_strobeEnableStartDelaySec); 0ae9 8b 81 82 0d 00 00 L34 mov eax,+0d82H[ecx] 0aef e8 00 00 00 00 call sleep_ _nPhotos = _output->data.nPhotos; 0af4 8b 41 62 mov eax,+62H[ecx] 0af7 8b 40 28 mov eax,+28H[eax] 0afa 89 81 86 0d 00 00 mov +0d86H[ecx],eax _nSamplePeriods = _output->data.nSamplePeriods; 0b00 8b 41 62 mov eax,+62H[ecx] 0b03 8b 40 30 mov eax,+30H[eax] 0b06 89 81 8e 0d 00 00 mov +0d8eH[ecx],eax _distance = _output->data.distance; 0b0c 8b 41 62 mov eax,+62H[ecx] 0b0f 8b 50 34 mov edx,+34H[eax] 0b12 89 91 96 0d 00 00 mov +0d96H[ecx],edx 0b18 8b 50 38 mov edx,+38H[eax] 0b1b 89 91 9a 0d 00 00 mov +0d9aH[ecx],edx _first = True; 0b21 c6 81 9e 0d 00 00 01 mov byte ptr +0d9eH[ecx],01H _running = True; 0b28 c6 81 bf 0d 00 00 01 mov byte ptr +0dbfH[ecx],01H _output->data.cameraState = CameraIF::Busy; 0b2f 8b 41 62 mov eax,+62H[ecx] 0b32 c7 40 24 01 00 00 00 mov dword ptr +24H[eax],00000001H _xLast = _position.x; 0b39 8b 41 7a mov eax,+7aH[ecx] 0b3c 89 81 af 0d 00 00 mov +0dafH[ecx],eax 0b42 8b 41 7e mov eax,+7eH[ecx] 0b45 89 81 b3 0d 00 00 mov +0db3H[ecx],eax _yLast = _position.y; 0b4b 8b 81 82 00 00 00 mov eax,+82H[ecx] 0b51 89 81 b7 0d 00 00 mov +0db7H[ecx],eax 0b57 8b 81 86 00 00 00 mov eax,+86H[ecx] 0b5d 89 81 bb 0d 00 00 mov +0dbbH[ecx],eax _output->data.nSamplePeriods = 0; 0b63 8b 41 62 mov eax,+62H[ecx] 0b66 c7 40 30 00 00 00 00 mov dword ptr +30H[eax],00000000H _output->data.distance = 0.; 0b6d 8b 41 62 mov eax,+62H[ecx] 0b70 c7 40 34 00 00 00 00 mov dword ptr +34H[eax],00000000H 0b77 c7 40 38 00 00 00 00 mov dword ptr +38H[eax],00000000H _output->write(); } 0b7e 8b 41 62 mov eax,+62H[ecx] 0b81 e8 00 00 00 00 call void near CameraOutput::write() if( !_running ) { return; } 0b86 80 b9 bf 0d 00 00 00 L35 cmp byte ptr +0dbfH[ecx],00H 0b8d 0f 84 5f 02 00 00 je L47 if( _output->data.onContinuously ) _nPhotos = 2; 0b93 8b 41 62 mov eax,+62H[ecx] 0b96 80 78 44 00 cmp byte ptr +44H[eax],00H 0b9a 74 0a je L36 0b9c c7 81 86 0d 00 00 02 00 00 00 mov dword ptr +0d86H[ecx],00000002H time_t localtime = time(NULL); 0ba6 31 c0 L36 xor eax,eax 0ba8 e8 00 00 00 00 call time_ 0bad 89 44 24 28 mov +28H[esp],eax if( _nSamplePeriods ) { 0bb1 8b 99 8e 0d 00 00 mov ebx,+0d8eH[ecx] 0bb7 85 db test ebx,ebx 0bb9 0f 84 c4 00 00 00 je L41 if( _nPhotos > 0 ) { 0bbf 83 b9 86 0d 00 00 00 cmp dword ptr +0d86H[ecx],00000000H 0bc6 0f 8e 1f 02 00 00 jle L46 if( (_samplePeriodCntr % _nSamplePeriods) == 0 ) { 0bcc 8b 91 92 0d 00 00 mov edx,+0d92H[ecx] 0bd2 89 d0 mov eax,edx 0bd4 c1 fa 1f sar edx,1fH 0bd7 f7 fb idiv ebx 0bd9 85 d2 test edx,edx 0bdb 0f 85 97 00 00 00 jne L40 _nPhotos--; 0be1 ff 89 86 0d 00 00 dec dword ptr +0d86H[ecx] _photoCntr++; 0be7 ff 81 8a 0d 00 00 inc dword ptr +0d8aH[ecx] if( _nPhotos <= 0 ) { // disable strobes at end of photo sequence 0bed 83 b9 86 0d 00 00 00 cmp dword ptr +0d86H[ecx],00000000H 0bf4 7f 25 jg L38 if(!_sim) strobeDisable.setInactive(); 0bf6 80 b9 c1 0d 00 00 00 cmp byte ptr +0dc1H[ecx],00H 0bfd 75 0b jne L37 0bff 8d 81 5a 0d 00 00 lea eax,+0d5aH[ecx] 0c05 e8 00 00 00 00 call int near XPortGPIO::setInactive() _running = False; 0c0a c6 81 bf 0d 00 00 00 L37 mov byte ptr +0dbfH[ecx],00H _output->data.cameraState = CameraIF::Ready; } 0c11 8b 41 62 mov eax,+62H[ecx] 0c14 c7 40 24 00 00 00 00 mov dword ptr +24H[eax],00000000H _samplePeriodCntr = 0; // // pulse() activates the // XPort GPIO pin(s) selected in the // XPort constructor by turning them on, waiting, then // turning them off again 0c1b c7 81 92 0d 00 00 00 00 00 00 L38 mov dword ptr +0d92H[ecx],00000000H if( !_sim ) { 0c25 80 b9 c1 0d 00 00 00 cmp byte ptr +0dc1H[ecx],00H 0c2c 75 0b jne L39 camTrigger.pulse(); } // // It would be nice to somehow embed the photo number _photoCntr. // 0c2e 8d 81 32 0d 00 00 lea eax,+0d32H[ecx] 0c34 e8 00 00 00 00 call int near XPortGPIO::pulse() Syslog::write("CameraDriver::Took a photo at %s", ctime(&localtime)); 0c39 8d 44 24 28 L39 lea eax,+28H[esp] 0c3d e8 00 00 00 00 call ctime_ 0c42 50 push eax 0c43 68 d2 01 00 00 push offset L65 0c48 e8 00 00 00 00 call void near Syslog::write( char const near *, ... ) 0c4d 83 c4 08 add esp,00000008H _log->write(); 0c50 8b 41 5e mov eax,+5eH[ecx] 0c53 e8 00 00 00 00 call int near DataLogWriter::write() _output->data.nPhotos = _nPhotos; 0c58 8b 41 62 mov eax,+62H[ecx] 0c5b 8b 91 86 0d 00 00 mov edx,+0d86H[ecx] 0c61 89 50 28 mov +28H[eax],edx _output->data.photoCntr = _photoCntr; 0c64 8b 41 62 mov eax,+62H[ecx] 0c67 8b 91 8a 0d 00 00 mov edx,+0d8aH[ecx] 0c6d 89 50 2c mov +2cH[eax],edx _output->write(); } 0c70 8b 41 62 mov eax,+62H[ecx] 0c73 e8 00 00 00 00 call void near CameraOutput::write() _samplePeriodCntr++; 0c78 ff 81 92 0d 00 00 L40 inc dword ptr +0d92H[ecx] } } else //_nSamplePeriods==0 { double dx, dy; // // Take photos based on distance increment. // 0c7e e9 68 01 00 00 jmp L46 if(_first) { 0c83 80 b9 9e 0d 00 00 00 L41 cmp byte ptr +0d9eH[ecx],00H 0c8a 74 18 je L42 _dmg = 0.0; 0c8c 89 99 9f 0d 00 00 mov +0d9fH[ecx],ebx 0c92 89 99 a3 0d 00 00 mov +0da3H[ecx],ebx _dmgIncr = 0.0; } 0c98 89 99 a7 0d 00 00 mov +0da7H[ecx],ebx 0c9e 89 99 ab 0d 00 00 mov +0dabH[ecx],ebx dx = _position.x - _xLast; 0ca4 dd 41 7a L42 fld qword ptr +7aH[ecx] 0ca7 dc a1 af 0d 00 00 fsub qword ptr +0dafH[ecx] 0cad dd 1c 24 fstp qword ptr [esp] dy = _position.y - _yLast; 0cb0 dd 81 82 00 00 00 fld qword ptr +82H[ecx] 0cb6 dc a1 b7 0d 00 00 fsub qword ptr +0db7H[ecx] 0cbc dd 5c 24 20 fstp qword ptr +20H[esp] _xLast = _position.x; 0cc0 8b 41 7a mov eax,+7aH[ecx] 0cc3 89 81 af 0d 00 00 mov +0dafH[ecx],eax 0cc9 8b 41 7e mov eax,+7eH[ecx] 0ccc 89 81 b3 0d 00 00 mov +0db3H[ecx],eax _yLast = _position.y; 0cd2 8b 81 82 00 00 00 mov eax,+82H[ecx] 0cd8 89 81 b7 0d 00 00 mov +0db7H[ecx],eax 0cde 8b 81 86 00 00 00 mov eax,+86H[ecx] 0ce4 89 81 bb 0d 00 00 mov +0dbbH[ecx],eax _dmg += sqrt( dx*dx + dy*dy ); 0cea dd 04 24 fld qword ptr [esp] 0ced d8 c8 fmul st,st(0) 0cef dd 5c 24 18 fstp qword ptr +18H[esp] 0cf3 dd 44 24 20 fld qword ptr +20H[esp] 0cf7 d8 c8 fmul st,st(0) 0cf9 dc 44 24 18 fadd qword ptr +18H[esp] 0cfd e8 00 00 00 00 call IF@DSQRT 0d02 dd 5c 24 18 fstp qword ptr +18H[esp] 0d06 dd 81 9f 0d 00 00 fld qword ptr +0d9fH[ecx] 0d0c dc 44 24 18 fadd qword ptr +18H[esp] 0d10 dd 99 9f 0d 00 00 fstp qword ptr +0d9fH[ecx] _dmgIncr += sqrt( dx*dx + dy*dy ); 0d16 dd 81 a7 0d 00 00 fld qword ptr +0da7H[ecx] 0d1c dc 44 24 18 fadd qword ptr +18H[esp] 0d20 dd 91 a7 0d 00 00 fst qword ptr +0da7H[ecx] if( _dmgIncr >= _distance ) { 0d26 dc 99 96 0d 00 00 fcomp qword ptr +0d96H[ecx] 0d2c df e0 fstsw ax 0d2e 9e sahf 0d2f 0f 82 b6 00 00 00 jb L46 _dmgIncr = 0.; 0d35 c7 81 a7 0d 00 00 00 00 00 00 mov dword ptr +0da7H[ecx],00000000H 0d3f c7 81 ab 0d 00 00 00 00 00 00 mov dword ptr +0dabH[ecx],00000000H _nPhotos--; 0d49 ff 89 86 0d 00 00 dec dword ptr +0d86H[ecx] _photoCntr++; 0d4f ff 81 8a 0d 00 00 inc dword ptr +0d8aH[ecx] if( _nPhotos <= 0 ) { // disable strobes at end of photo sequence 0d55 83 b9 86 0d 00 00 00 cmp dword ptr +0d86H[ecx],00000000H 0d5c 7f 25 jg L44 if(!_sim) strobeDisable.setInactive(); 0d5e 80 b9 c1 0d 00 00 00 cmp byte ptr +0dc1H[ecx],00H 0d65 75 0b jne L43 0d67 8d 81 5a 0d 00 00 lea eax,+0d5aH[ecx] 0d6d e8 00 00 00 00 call int near XPortGPIO::setInactive() _running = False; 0d72 c6 81 bf 0d 00 00 00 L43 mov byte ptr +0dbfH[ecx],00H _output->data.cameraState = CameraIF::Ready; } // // enable strobes and trigger camera // 0d79 8b 41 62 mov eax,+62H[ecx] 0d7c c7 40 24 00 00 00 00 mov dword ptr +24H[eax],00000000H if( !_sim ) { 0d83 80 b9 c1 0d 00 00 00 L44 cmp byte ptr +0dc1H[ecx],00H 0d8a 75 0b jne L45 camTrigger.pulse(); } // // It would be nice to somehow embed the photo number _photoCntr. // 0d8c 8d 81 32 0d 00 00 lea eax,+0d32H[ecx] 0d92 e8 00 00 00 00 call int near XPortGPIO::pulse() Syslog::write("CameraDriver::Took a photo at %s.", ctime(&localtime)); 0d97 8d 44 24 28 L45 lea eax,+28H[esp] 0d9b e8 00 00 00 00 call ctime_ 0da0 50 push eax 0da1 68 f3 01 00 00 push offset L66 0da6 e8 00 00 00 00 call void near Syslog::write( char const near *, ... ) 0dab 83 c4 08 add esp,00000008H _log->write(); 0dae 8b 41 5e mov eax,+5eH[ecx] 0db1 e8 00 00 00 00 call int near DataLogWriter::write() _output->data.nPhotos = _nPhotos; 0db6 8b 41 62 mov eax,+62H[ecx] 0db9 8b 91 86 0d 00 00 mov edx,+0d86H[ecx] 0dbf 89 50 28 mov +28H[eax],edx _output->data.photoCntr = _photoCntr; 0dc2 8b 41 62 mov eax,+62H[ecx] 0dc5 8b 91 8a 0d 00 00 mov edx,+0d8aH[ecx] 0dcb 89 50 2c mov +2cH[eax],edx _output->data.dmg = _dmg; 0dce 8b 41 62 mov eax,+62H[ecx] 0dd1 8b 91 9f 0d 00 00 mov edx,+0d9fH[ecx] 0dd7 89 50 3c mov +3cH[eax],edx 0dda 8b 91 a3 0d 00 00 mov edx,+0da3H[ecx] 0de0 89 50 40 mov +40H[eax],edx _output->write(); } } 0de3 8b 41 62 mov eax,+62H[ecx] 0de6 e8 00 00 00 00 call void near CameraOutput::write() _first = False; 0deb c6 81 9e 0d 00 00 00 L46 mov byte ptr +0d9eH[ecx],00H } 0df2 83 c4 2c L47 add esp,0000002cH 0df5 5d pop ebp 0df6 5f pop edi 0df7 5e pop esi 0df8 5a pop edx 0df9 59 pop ecx 0dfa 5b pop ebx 0dfb c3 ret No disassembly errors ------------------------------------------------------------ Segment: CONST DWORD USE32 00000255 bytes 0000 63 61 6d 65 72 61 44 72 L48 - cameraDr 0008 69 76 65 72 00 - iver. 000d 43 61 6d 65 72 61 3a 3a L49 - Camera:: 0015 20 47 6f 74 20 68 65 72 - Got her 001d 65 21 0a 00 - e!.. 0021 43 61 6d 65 72 61 44 72 L50 - CameraDr 0029 69 76 65 72 3a 3a 20 5f - iver:: _ 0031 74 65 73 74 20 3d 20 25 - test = % 0039 64 00 - d. 003b 43 61 6d 65 72 61 44 72 L51 - CameraDr 0043 69 76 65 72 3a 3a 20 42 - iver:: B 004b 65 66 6f 72 65 20 6e 61 - efore na 0053 76 69 67 61 74 69 6f 6e - vigation 005b 20 49 46 2e 00 - IF.. 0060 6e 61 76 69 67 61 74 69 L52 - navigati 0068 6f 6e 00 - on. 006b 43 61 6d 65 72 61 44 72 L53 - CameraDr 0073 69 76 65 72 20 2d 2d 20 - iver -- 007b 43 61 75 67 68 74 20 65 - Caught e 0083 78 63 65 70 74 69 6f 6e - xception 008b 3a 20 25 73 0a 00 - : %s.. 0091 43 61 6d 65 72 61 44 72 L54 - CameraDr 0099 69 76 65 72 20 2d 2d 20 - iver -- 00a1 43 61 75 67 68 74 20 65 - Caught e 00a9 78 63 65 70 74 69 6f 6e - xception 00b1 21 0a 00 - !.. 00b4 67 65 74 74 69 6e 67 20 L55 - getting 00bc 68 6f 73 74 6e 61 6d 65 - hostname 00c4 00 - . 00c5 3a 00 L56 - :. 00c7 67 6f 74 20 68 6f 73 74 L57 - got host 00cf 6e 61 6d 65 3a 00 - name:. 00d5 43 61 6d 65 72 61 44 72 L58 - CameraDr 00dd 69 76 65 72 20 64 69 73 - iver dis 00e5 61 62 6c 69 6e 67 20 31 - abling 1 00ed 32 56 20 63 61 6d 65 72 - 2V camer 00f5 61 20 70 6f 77 65 72 20 - a power 00fd 73 75 70 70 6c 79 00 - supply. 0104 43 61 6d 65 72 61 44 72 L59 - CameraDr 010c 69 76 65 72 20 65 6e 61 - iver ena 0114 62 6c 69 6e 67 20 6c 61 - bling la 011c 73 65 72 00 - ser. 0120 20 43 61 6d 65 72 61 44 L60 - CameraD 0128 65 73 74 72 75 63 74 6f - estructo 0130 72 20 45 78 65 63 75 74 - r Execut 0138 69 6e 67 2e 00 - ing.. 013d 73 68 75 74 74 69 6e 67 L61 - shutting 0145 20 64 6f 77 6e 20 58 50 - down XP 014d 6f 72 74 20 73 6f 63 6b - ort sock 0155 65 74 73 0a 00 - ets.. 015a 4e 4d 45 41 20 55 70 64 L62 - NMEA Upd 0162 61 74 65 3a 20 25 73 0a - ate: %s. 016a 00 - . 016b 43 61 6d 65 72 61 44 72 L63 - CameraDr 0173 69 76 65 72 3a 3a 72 65 - iver::re 017b 61 64 44 61 74 61 20 2d - adData - 0183 20 73 74 61 72 74 69 6e - startin 018b 67 20 61 20 25 64 20 70 - g a %d p 0193 68 6f 74 6f 20 73 65 71 - hoto seq 019b 75 65 6e 63 65 2e 00 - uence.. 01a2 43 61 6d 65 72 61 44 72 L64 - CameraDr 01aa 69 76 65 72 3a 3a 72 65 - iver::re 01b2 61 64 44 61 74 61 20 2d - adData - 01ba 20 54 75 72 6e 69 6e 67 - Turning 01c2 20 74 68 65 20 63 61 6d - the cam 01ca 65 72 61 20 6f 6e 2e 00 - era on.. 01d2 43 61 6d 65 72 61 44 72 L65 - CameraDr 01da 69 76 65 72 3a 3a 54 6f - iver::To 01e2 6f 6b 20 61 20 70 68 6f - ok a pho 01ea 74 6f 20 61 74 20 25 73 - to at %s 01f2 00 - . 01f3 43 61 6d 65 72 61 44 72 L66 - CameraDr 01fb 69 76 65 72 3a 3a 54 6f - iver::To 0203 6f 6b 20 61 20 70 68 6f - ok a pho 020b 74 6f 20 61 74 20 25 73 - to at %s 0213 2e 00 - .. 0215 9a 99 99 99 99 99 c9 3f L67 - .......? 021d fc a9 f1 d2 4d 62 50 3f L68 - ....MbP? 0225 7b 14 ae 47 e1 7a 84 3f L69 - {..G.z.? 022d 00 00 00 00 00 80 41 40 L70 - ......A@ 0235 00 00 00 00 00 40 60 40 L71 - .....@`@ 023d 00 00 00 00 00 00 24 40 L72 - ......$@ 0245 00 00 00 00 80 84 2e 41 L73 - .......A 024d 9a 99 99 99 99 99 e9 3f L74 - .......? No disassembly errors ------------------------------------------------------------ Segment: CONST2 PARA USE32 00000196 bytes 0000 00 00 00 00 00 00 00 00 L75 - ........ 0008 b8 00 00 00 DD DGROUP:L77 000c 00 00 00 00 - .... 0010 c6 00 00 00 DD DGROUP:L78 0014 00 00 00 00 - .... 0018 d4 00 00 00 DD DGROUP:L79 001c 00 00 00 00 - .... 0020 e2 00 00 00 DD DGROUP:L80 0024 00 00 00 00 - .... 0028 f0 00 00 00 DD DGROUP:L81 002c 00 00 00 00 - .... 0030 fe 00 00 00 DD DGROUP:L82 0034 00 00 00 00 - .... 0038 78 01 00 00 DD DGROUP:L91 003c 00 00 00 00 - .... 0040 00 00 00 00 DD char unsigned const near __stattabcmd[] 0044 00 00 00 00 - .... 0048 82 01 00 00 DD DGROUP:L92 004c 00 00 00 00 - .... 0050 00 00 00 00 DD char unsigned const near __stattabcmd[] 0054 00 00 00 00 - .... 0058 62 01 00 00 DD DGROUP:L90 005c 00 00 00 00 - .... 0060 8c 01 00 00 DD DGROUP:L93 0064 00 00 00 00 - .... 0068 00 00 00 00 DD char unsigned const near __stattabcmd[] 006c 00 00 00 00 - .... 0070 60 01 00 00 DD DGROUP:L89 0074 00 00 00 00 - .... 0078 00 00 00 00 DD char unsigned const near __stattabcmd[] 007c 00 00 00 00 - .... 0080 60 01 00 00 DD DGROUP:L89 0084 00 00 00 00 00 00 00 00 L76 - ........ 008c 0c 01 00 00 DD DGROUP:L83 0090 00 00 00 00 - .... 0094 1a 01 00 00 DD DGROUP:L84 0098 00 00 00 00 - .... 009c 28 01 00 00 DD DGROUP:L85 00a0 00 00 00 00 - .... 00a4 36 01 00 00 DD DGROUP:L86 00a8 00 00 00 00 - .... 00ac 44 01 00 00 DD DGROUP:L87 00b0 00 00 00 00 - .... 00b4 52 01 00 00 DD DGROUP:L88 00b8 07 00 18 00 00 00 00 00 L77 - ........ 00c0 00 00 - .. 00c2 00 00 00 00 DD near PeriodicTask::~PeriodicTask() 00c6 08 00 18 00 00 00 72 01 L78 - ......r. 00ce 00 00 - .. 00d0 00 00 00 00 DD near BicamGPS::~BicamGPS() 00d4 08 00 18 00 00 00 32 0d L79 - ......2. 00dc 00 00 - .. 00de 00 00 00 00 DD near XPortGPIO::~XPortGPIO() 00e2 08 00 18 00 00 00 46 0d L80 - ......F. 00ea 00 00 - .. 00ec 00 00 00 00 DD near XPortGPIO::~XPortGPIO() 00f0 08 00 18 00 00 00 5a 0d L81 - ......Z. 00f8 00 00 - .. 00fa 00 00 00 00 DD near XPortGPIO::~XPortGPIO() 00fe 08 00 18 00 00 00 6e 0d L82 - ......n. 0106 00 00 - .. 0108 00 00 00 00 DD near XPortGPIO::~XPortGPIO() 010c 07 00 0c 00 00 00 00 00 L83 - ........ 0114 00 00 - .. 0116 00 00 00 00 DD near PeriodicTask::~PeriodicTask() 011a 08 00 0c 00 00 00 72 01 L84 - ......r. 0122 00 00 - .. 0124 00 00 00 00 DD near BicamGPS::~BicamGPS() 0128 08 00 0c 00 00 00 32 0d L85 - ......2. 0130 00 00 - .. 0132 00 00 00 00 DD near XPortGPIO::~XPortGPIO() 0136 08 00 0c 00 00 00 46 0d L86 - ......F. 013e 00 00 - .. 0140 00 00 00 00 DD near XPortGPIO::~XPortGPIO() 0144 08 00 0c 00 00 00 5a 0d L87 - ......Z. 014c 00 00 - .. 014e 00 00 00 00 DD near XPortGPIO::~XPortGPIO() 0152 08 00 0c 00 00 00 6e 0d L88 - ......n. 015a 00 00 - .. 015c 00 00 00 00 DD near XPortGPIO::~XPortGPIO() 0160 03 00 L89 - .. 0162 02 00 cc ff ff ff 68 ff L90 - ......h. 016a ff ff 02 00 00 00 - ...... 0170 00 00 00 00 DD char unsigned const near __typesig[] 0174 00 00 00 00 - .... 0178 0a 00 60 00 00 00 L91 - ..`... 017e 00 00 00 00 DD void near operator delete( void near * ) 0182 0a 00 60 00 00 00 L92 - ..`... 0188 00 00 00 00 DD void near operator delete( void near * ) 018c 0a 00 60 00 00 00 L93 - ..`... 0192 00 00 00 00 DD void near operator delete( void near * ) No disassembly errors ------------------------------------------------------------ Segment: _DATA PARA USE32 000000d3 bytes 0000 char near array_h_id[] LABEL BYTE 0000 24 48 65 61 64 65 72 3a - $Header: 0008 20 2f 68 6f 6d 65 2f 63 - /home/c 0010 76 73 2f 61 75 76 2d 71 - vs/auv-q 0018 6e 78 2f 61 75 76 2f 61 - nx/auv/a 0020 6c 74 65 78 2f 6f 6e 62 - ltex/onb 0028 6f 61 72 64 2f 66 72 61 - oard/fra 0030 6d 65 77 6f 72 6b 2f 44 - mework/D 0038 79 6e 61 6d 69 63 41 72 - ynamicAr 0040 72 61 79 2e 68 2c 76 20 - ray.h,v 0048 31 2e 34 20 32 30 30 37 - 1.4 2007 0050 2f 30 33 2f 31 36 20 32 - /03/16 2 0058 32 3a 35 34 3a 33 30 20 - 2:54:30 0060 68 65 6e 74 68 6f 72 6e - henthorn 0068 20 45 78 70 20 24 00 00 - Exp $.. 0070 char near Math_h_id[] LABEL BYTE 0070 24 48 65 61 64 65 72 3a - $Header: 0078 20 2f 68 6f 6d 65 2f 63 - /home/c 0080 76 73 2f 61 75 76 2d 71 - vs/auv-q 0088 6e 78 2f 61 75 76 2f 61 - nx/auv/a 0090 6c 74 65 78 2f 6f 6e 62 - ltex/onb 0098 6f 61 72 64 2f 75 74 69 - oard/uti 00a0 6c 73 2f 4d 61 74 68 50 - ls/MathP 00a8 2e 68 2c 76 20 31 2e 34 - .h,v 1.4 00b0 2e 32 2e 32 20 32 30 31 - .2.2 201 00b8 36 2f 31 30 2f 30 35 20 - 6/10/05 00c0 31 38 3a 32 34 3a 32 33 - 18:24:23 00c8 20 72 6f 62 20 45 78 70 - rob Exp 00d0 20 24 00 - $. No disassembly errors ------------------------------------------------------------ Segment: _BSS PARA USE32 0000000a bytes No disassembly errors ------------------------------------------------------------ Comdat: void (near * near Camera::__mbrptrthunk())() SEGMENT ANY '_TEXT' 00000006 bytes 0000 b8 00 00 00 00 mov eax,offset void near Camera::readData() 0005 c3 ret No disassembly errors ------------------------------------------------------------ Comdat: istream near & near operator >>( istream near &, ::smanip const near & ) SEGMENT ANY '_TEXT' 00000021 bytes 0000 68 0c 00 00 00 push 0000000cH 0005 e8 00 00 00 00 call __CHK 000a 53 push ebx 000b 51 push ecx 000c 89 c3 mov ebx,eax 000e 89 d1 mov ecx,edx 0010 8b 52 04 mov edx,+4H[edx] 0013 8b 00 mov eax,[eax] 0015 8b 40 04 mov eax,+4H[eax] 0018 01 d8 add eax,ebx 001a ff 11 call dword ptr [ecx] 001c 89 d8 mov eax,ebx 001e 59 pop ecx 001f 5b pop ebx 0020 c3 ret No disassembly errors ------------------------------------------------------------ Comdat: istream near & near operator >>( istream near &, ::smanip const near & ) SEGMENT ANY '_TEXT' 00000021 bytes 0000 68 0c 00 00 00 push 0000000cH 0005 e8 00 00 00 00 call __CHK 000a 53 push ebx 000b 51 push ecx 000c 89 c3 mov ebx,eax 000e 89 d1 mov ecx,edx 0010 8b 52 04 mov edx,+4H[edx] 0013 8b 00 mov eax,[eax] 0015 8b 40 04 mov eax,+4H[eax] 0018 01 d8 add eax,ebx 001a ff 11 call dword ptr [ecx] 001c 89 d8 mov eax,ebx 001e 59 pop ecx 001f 5b pop ebx 0020 c3 ret No disassembly errors ------------------------------------------------------------ Comdat: void (near * const near __vftbl[])() SEGMENT ANY 'DGROUP:CONST2' 00000018 bytes 0000 00 00 00 00 DD near Camera::~Camera() 0004 00 00 00 00 DD void near PeriodicTask::run() 0008 00 00 00 00 DD void near Task::processCommand( Task::Command near * ) 000c 00 00 00 00 DD int unsigned near Task::maxCommandBytes() 0010 00 00 00 00 DD void near PeriodicTask::log( int ) 0014 00 00 00 00 DD void near PeriodicTask::startSampling() No disassembly errors ------------------------------------------------------------ Comdat: char unsigned const near __stattabcmd[] SEGMENT ANY 'DGROUP:CONST2' 00000006 bytes 0000 01 00 06 00 00 00 - ...... No disassembly errors ------------------------------------------------------------ Comdat: char unsigned const near __typesig[] SEGMENT ANY 'DGROUP:CONST2' 00000011 bytes 0000 00 00 00 00 00 - ..... 0005 00 00 00 00 DD near SharedObject::Error::Error( SharedObject::Error const near & ) 0009 00 00 00 00 DD near SharedObject::Error::~Error() 000d 64 00 00 00 - d... No disassembly errors ------------------------------------------------------------ Comdat: ostream near & near operator <<( ostream near &, ::smanip const near & ) SEGMENT ANY '_TEXT' 00000021 bytes 0000 68 0c 00 00 00 push 0000000cH 0005 e8 00 00 00 00 call __CHK 000a 53 push ebx 000b 51 push ecx 000c 89 c3 mov ebx,eax 000e 89 d1 mov ecx,edx 0010 8b 52 04 mov edx,+4H[edx] 0013 8b 00 mov eax,[eax] 0015 8b 40 04 mov eax,+4H[eax] 0018 01 d8 add eax,ebx 001a ff 11 call dword ptr [ecx] 001c 89 d8 mov eax,ebx 001e 59 pop ecx 001f 5b pop ebx 0020 c3 ret No disassembly errors ------------------------------------------------------------ Comdat: ostream near & near operator <<( ostream near &, ::smanip const near & ) SEGMENT ANY '_TEXT' 00000021 bytes 0000 68 0c 00 00 00 push 0000000cH 0005 e8 00 00 00 00 call __CHK 000a 53 push ebx 000b 51 push ecx 000c 89 c3 mov ebx,eax 000e 89 d1 mov ecx,edx 0010 8b 52 04 mov edx,+4H[edx] 0013 8b 00 mov eax,[eax] 0015 8b 40 04 mov eax,+4H[eax] 0018 01 d8 add eax,ebx 001a ff 11 call dword ptr [ecx] 001c 89 d8 mov eax,ebx 001e 59 pop ecx 001f 5b pop ebx 0020 c3 ret No disassembly errors ------------------------------------------------------------ Comdat: char unsigned const near __typesig[] SEGMENT ANY 'DGROUP:CONST2' 00000011 bytes 0000 00 00 00 00 00 - ..... 0005 00 00 00 00 DD near Camera::Camera( Camera const near & ) 0009 00 00 00 00 DD near Camera::~Camera() 000d c2 0d 00 00 - .... No disassembly errors ------------------------------------------------------------