HsWebots 0.1.1.2 → 0.1.1.3

raw patch · 2 files changed

+15/−9 lines, 2 files

Files

• HsWebots.cabal +2/−2
• src/Webots/Camera.hs +13/−7

@@ -1,13 +1,13 @@ cabal-version: 1.12 --- This file has been generated from package.yaml by hpack version 0.32.0.+-- This file has been generated from package.yaml by hpack version 0.31.2. -- -- see: https://github.com/sol/hpack -- -- hash: 66c419d2ae26231c929cb01f682a33f4bd73417a459bf81865045a2c3294a26d  name:           HsWebots-version:        0.1.1.2+version:        0.1.1.3 synopsis:       Webots bindings for Haskell description:    Please see the README on GitHub at <https://github.com/cyberbotics/HsWebots#readme> category:       Robotics

@@ -48,10 +48,10 @@ wb_camera_get_sampling_period tag =    [C.exp| int { wb_camera_get_sampling_period($(WbDeviceTag tag)) } |] -wb_camera_get_image :: WbDeviceTag -> IO (I.Image I.PixelRGBA8)+wb_camera_get_image :: WbDeviceTag -> IO (I.Image I.PixelRGB8) wb_camera_get_image tag = do-  let channel = 4-      zero = I.PixelRGBA8 0 0 0 0+  let channel = 3+      zero = I.PixelRGB8 0 0 0   width <- fromIntegral <$> wb_camera_get_width tag   height <- fromIntegral <$> wb_camera_get_height tag   ptr1 <- [C.exp| const char* { wb_camera_get_image($(WbDeviceTag tag)) } |]@@ -62,11 +62,17 @@     throwIO $ userError  $ "vector's length(" ++ show len ++ ") is not the same as image' one."   else do     F.withForeignPtr fptr $ \ptr2 -> do-      BSI.memcpy (F.castPtr ptr2) (F.castPtr ptr1) len---      return $ I.pixelMap bgr2rgb img+      let dst = (F.castPtr ptr2)+          src = (F.castPtr ptr1)+          len' = fromIntegral len+      [C.exp| void {+         for(int i=0;i<$(int len')/3;i++){+           $(char* dst)[3*i]   = $(char* src)[4*i+2];+           $(char* dst)[3*i+1] = $(char* src)[4*i+1];+           $(char* dst)[3*i+2] = $(char* src)[4*i];+         }+      }|]       return $ img-  where-    bgr2rgb (I.PixelRGBA8 b g r a) = I.PixelRGBA8 r g b a    wb_camera_get_width :: WbDeviceTag -> IO CInt  wb_camera_get_width tag =