DragonflyDeviceDriver2.h

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// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
/*
 * Copyright (C) 2007 RobotCub Consortium
 * Author: Alessandro Scalzo alessandro.scalzo@iit.it
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 */
 
#ifndef __DragonflyDeviceDriver2h__
#define __DragonflyDeviceDriver2h__
 
//=============================================================================
// YARP Includes
//=============================================================================
 
// May 06, readapted for YARP2 by nat
 
#include <yarp/os/Bottle.h>
#include <yarp/os/Stamp.h>
#include <yarp/dev/DeviceDriver.h>
#include <yarp/dev/IPreciselyTimed.h>
#include <yarp/dev/IFrameGrabberControls.h>
#include <yarp/dev/IFrameGrabberControlsDC1394.h>
#include <yarp/dev/IFrameGrabberImage.h>
#include <yarp/dev/IVisualParams.h>
 
namespace yarp {
    namespace dev {
//         class Dragonfly2OpenParameters;
        class DragonflyDeviceDriver2;
        class DragonflyDeviceDriver2Rgb;
        class DragonflyDeviceDriver2Raw;
    }
}
 
class yarp::dev::DragonflyDeviceDriver2 :
    public DeviceDriver,
    public IPreciselyTimed,
    public IFrameGrabberControls,
    public IFrameGrabberControlsDC1394,
    public IRgbVisualParams
{
private:
    DragonflyDeviceDriver2(const DragonflyDeviceDriver2&);
    void operator=(const DragonflyDeviceDriver2&);
 
public:
    DragonflyDeviceDriver2(bool raw = false);
 
    virtual ~DragonflyDeviceDriver2();
 
    virtual bool open(yarp::os::Searchable& config);
 
    virtual bool close(void);
 
    virtual yarp::os::Stamp getLastInputStamp();
 
    virtual bool setBrightness(double v);
    virtual bool setExposure(double v);
    virtual bool setSharpness(double v);
    virtual bool setWhiteBalance(double blue, double red);
    virtual bool setHue(double v);
    virtual bool setSaturation(double v);
    virtual bool setGamma(double v);
    virtual bool setShutter(double v);
    virtual bool setGain(double v);
    virtual bool setIris(double v);
    //virtual bool setTemperature(double v);
    //virtual bool setWhiteShading(double r,double g,double b);
    //virtual bool setOpticalFilter(double v);
    //virtual bool setCaptureQuality(double v);
 
    virtual double getBrightness();
    virtual double getExposure();
    virtual double getSharpness();
    virtual bool getWhiteBalance(double &blue, double &red);
    virtual double getHue();
    virtual double getSaturation();
    virtual double getGamma();
    virtual double getShutter();
    virtual double getGain();
    virtual double getIris();
 
 
    //virtual double getTemperature() const;
    //virtual double getWhiteShading() const;
    //virtual double getOpticalFilter() const;
    //virtual double getCaptureQuality() const;
 
    //virtual bool setAutoBrightness(bool bAuto=true);
 
    //virtual bool setAutoGain(bool bAuto=true);
 
    //virtual bool setAutoShutter(bool bAuto=true);
 
    //virtual bool setAutoWhiteBalance(bool bAuto=true);
 
    //virtual bool setAuto(bool bAuto=true);
 
    //virtual void PrintSettings();
 
    // DC1394
 
    virtual bool hasFeatureDC1394(int feature);
    virtual bool setFeatureDC1394(int feature, double value);
    virtual double getFeatureDC1394(int feature);
 
    virtual bool hasOnOffDC1394(int feature);
    virtual bool setActiveDC1394(int feature, bool onoff);
    virtual bool getActiveDC1394(int feature);
 
    virtual bool hasAutoDC1394(int feature);
    virtual bool hasManualDC1394(int feature);
    virtual bool hasOnePushDC1394(int feature);
    virtual bool setModeDC1394(int feature, bool auto_onoff);
    virtual bool getModeDC1394(int feature);
    virtual bool setOnePushDC1394(int feature);
 
    virtual unsigned int getVideoModeMaskDC1394();
    virtual unsigned int getVideoModeDC1394();
    virtual bool setVideoModeDC1394(int video_mode);
 
    virtual unsigned int getFPSMaskDC1394();
 
    virtual unsigned int getFPSDC1394();
    virtual bool setFPSDC1394(int fps);
 
    virtual unsigned int getISOSpeedDC1394();
    virtual bool setISOSpeedDC1394(int speed);
 
    virtual unsigned int getColorCodingMaskDC1394(unsigned int video_mode);
    virtual unsigned int getColorCodingDC1394();
    virtual bool setColorCodingDC1394(int coding);
 
    virtual bool setWhiteBalanceDC1394(double b, double r);
    virtual bool getWhiteBalanceDC1394(double &b, double &r);
 
    virtual bool getFormat7MaxWindowDC1394(unsigned int &xdim,unsigned int &ydim,unsigned int &xstep,unsigned int &ystep,unsigned int &xoffstep,unsigned int &yoffstep);
 
    virtual bool getFormat7WindowDC1394(unsigned int &xdim,unsigned int &ydim,int &x0,int &y0);
    virtual bool setFormat7WindowDC1394(unsigned int xdim,unsigned int ydim,int x0,int y0);
 
    virtual bool setOperationModeDC1394(bool b1394b);
    virtual bool getOperationModeDC1394();
 
    virtual bool setTransmissionDC1394(bool bTxON);
    virtual bool getTransmissionDC1394();
    //virtual bool setBayerDC1394(bool bON);
    //virtual bool getBayerDC1394();
 
    virtual bool setBroadcastDC1394(bool onoff);
    virtual bool setDefaultsDC1394();
    /*
    * Reset camera.
    * @return true/false upon success/failure
    */
    virtual bool setResetDC1394();
    virtual bool setPowerDC1394(bool onoff);
    virtual bool setCaptureDC1394(bool bON);
 
    virtual unsigned int getBytesPerPacketDC1394();
    virtual bool setBytesPerPacketDC1394(unsigned int bpp);
 
    //IVisualParams
 
    virtual int getRgbHeight();
 
    virtual int getRgbWidth();
    virtual bool getRgbSupportedConfigurations(yarp::sig::VectorOf<yarp::dev::CameraConfig> &configurations);
    virtual bool getRgbResolution(int &width, int &height);
    virtual bool setRgbResolution(int width, int height);
 
    virtual bool getRgbFOV(double &horizontalFov, double &verticalFov);
 
    virtual bool setRgbFOV(double horizontalFov, double verticalFov);
 
    virtual bool getRgbIntrinsicParam(yarp::os::Property &intrinsic);
 
    virtual bool getRgbMirroring(bool &mirror);
 
    virtual bool setRgbMirroring(bool mirror);
 
    // Control2
 
    /* Implementation of IFrameGrabberControls2 interface */
    virtual bool getCameraDescription(CameraDescriptor *camera);
    virtual bool hasFeature(int feature, bool *hasFeature);
    virtual bool setFeature(int feature, double values);
    virtual bool getFeature(int feature, double *values);
    virtual bool setFeature(int feature, double  value1, double  value2);
    virtual bool getFeature(int feature, double *value1, double *value2);
    virtual bool hasOnOff(int feature, bool *HasOnOff);
    virtual bool setActive(int feature, bool onoff);
    virtual bool getActive(int feature, bool *isActive);
    virtual bool hasAuto(int feature, bool *hasAuto);
    virtual bool hasManual(int feature, bool *hasManual);
    virtual bool hasOnePush(int feature, bool *hasOnePush);
    virtual bool setMode(int feature, FeatureMode mode);
    virtual bool getMode(int feature, FeatureMode *mode);
    virtual bool setOnePush(int feature);
 
protected:
    void* system_resources;
    bool raw;
    FeatureMode TRANSL_MODE(bool mode) { return (mode ? MODE_AUTO : MODE_MANUAL); }
    bool TRANSL_MODE(FeatureMode mode) { return (mode == MODE_AUTO? 1 : 0); }
};
 
class yarp::dev::DragonflyDeviceDriver2Rgb :
    public yarp::dev::DragonflyDeviceDriver2,
    public IFrameGrabberImage,
    public IFrameGrabberImageRaw
{
private:
    DragonflyDeviceDriver2Rgb(const DragonflyDeviceDriver2Rgb&);
    void operator=(const DragonflyDeviceDriver2Rgb&);
 
public:
    DragonflyDeviceDriver2Rgb() : DragonflyDeviceDriver2(false){}
 
    virtual ~DragonflyDeviceDriver2Rgb(){}
 
    bool getImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>& image);
 
    bool getImage(yarp::sig::ImageOf<yarp::sig::PixelMono>& image);
 
    virtual int height() const;
 
    virtual int width() const;
};
 
class yarp::dev::DragonflyDeviceDriver2Raw :
    public yarp::dev::DragonflyDeviceDriver2,
    public IFrameGrabberImageRaw
{
private:
    DragonflyDeviceDriver2Raw(const DragonflyDeviceDriver2Raw&);
    void operator=(const DragonflyDeviceDriver2Raw&);
 
public:
    DragonflyDeviceDriver2Raw() : DragonflyDeviceDriver2(true){}
 
    virtual ~DragonflyDeviceDriver2Raw(){}
 
    bool getImage(yarp::sig::ImageOf<yarp::sig::PixelMono>& image);
 
    virtual int height() const;
 
    virtual int width() const;
};
#endif