FirewireCameraDC1394-DR2_2.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.
 *
 */
 
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#ifndef __FIREWIRE_CAMERA_DR2_H__
#define __FIREWIRE_CAMERA_DR2_H__
 
#include <stdio.h>
#include <memory.h>
#include <mutex>
#include <Flycapture2.h>
#include <yarp/os/Time.h>
#include <yarp/os/Stamp.h>
 
#define DR_UNINIT           0
#define DR_RGB_HALF_RES     1
#define DR_RGB_FULL_RES     2
#define DR_BAYER_FULL_RES   3
 
#define NUM_DMA_BUFFERS 8
 
 
class CFWCamera_DR2_2 : public yarp::dev::IFrameGrabberControlsDC1394
{
public:
    CFWCamera_DR2_2(bool raw) : mRawDriver(raw)
    {
    }
 
    virtual ~CFWCamera_DR2_2()
    {
        Close();
    }
 
    int width() { return m_XDim; }
    int height(){ return m_YDim; }
 
    int getRawBufferSize(){ return m_pFrame->GetDataSize(); }
 
    const yarp::os::Stamp& getLastInputStamp(){ return m_Stamp; }
 
    bool SetVideoMode(FlyCapture2::VideoMode video_mode);
    bool SetF7(int mode,int xdim,int ydim,int pixel_format,int speed,int x0,int y0);
 
    bool Create(yarp::os::Searchable& config);
 
    virtual void Close();
 
    bool CaptureImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>& image)
    {
        return Capture(&image);
    }
 
    bool CaptureImage(yarp::sig::ImageOf<yarp::sig::PixelMono>& image)
    {
        return Capture(&image);
    }
 
    bool CaptureRgb(unsigned char* pBuffer)
    {
        return Capture(0,pBuffer);
    }
 
    bool CaptureRaw(unsigned char* pBuffer)
    {
        return Capture(0,pBuffer,true);
    }
 
    bool Capture(yarp::sig::ImageOf<yarp::sig::PixelRgb>* pImage,unsigned char *pBuffer=0,bool bRaw=false);
    bool Capture(yarp::sig::ImageOf<yarp::sig::PixelMono>* pImage);
 
protected:
    bool mRawDriver;
 
    FlyCapture2::BusManager *m_pBusManager;
    FlyCapture2::Camera *m_pCamera;
    FlyCapture2::Error error;
 
    bool mHires;
    FlyCapture2::CameraInfo m_CameraInfo;
    int m_BusSpeedBS;
 
    FlyCapture2::FC2Config m_CamConfig;
 
    FlyCapture2::Format7ImageSettings m_F7ImageSettings;
    float m_F7PercentSpeed;
    unsigned int m_F7PacketSize;
    FlyCapture2::Format7Info m_F7Info;
    bool m_bTxOn;
 
    unsigned int m_nNumCameras;
    int m_nActiveCams;
 
 
    bool m_bFrameIsValid;
    bool m_bCameraOn;
 
    unsigned int m_XDim,m_YDim;
 
    unsigned int m_iMin[FlyCapture2::UNSPECIFIED_PROPERTY_TYPE],m_iMax[FlyCapture2::UNSPECIFIED_PROPERTY_TYPE];
 
    FlyCapture2::Image *m_pFrame,*m_pBayer;
    std::mutex m_AcqMutex;
    yarp::os::Stamp m_Stamp;
 
    int DC2Fly(int feature);
 
    inline unsigned int NormToValue(double& dVal,int feature);
    inline double ValueToNorm(unsigned int iVal,int feature);
 
    int maxFPS(FlyCapture2::Mode mode,FlyCapture2::PixelFormat pixelFormat);
    double bytesPerPixel(FlyCapture2::PixelFormat pixelFormat);
 
    bool manage(FlyCapture2::Error& error)
    {
        if (error.GetType()!=FlyCapture2::PGRERROR_OK)
        {
            yError("%s\n",error.GetDescription());
            if (pToUnlock)
            {
                pToUnlock->post();
            }
            return true;
        }
 
        return false;
    }
 
    int checkInt(yarp::os::Searchable& config,const char* key)
    {
        if (config.check(key))
        {
            return config.find(key).asInt32();
        }
 
        return 0;
    }
 
    double checkDouble(yarp::os::Searchable& config,const char* key)
    {
        if (config.check(key))
        {
            return config.find(key).asFloat64();
        }
 
        return -1.0;
    }
 
 
public:
 
    // feature functions
 
    // 00
    virtual bool hasFeatureDC1394(int feature);
 
    // 01
    virtual bool setFeatureDC1394(int feature,double value);
 
    // 02
    virtual double getFeatureDC1394(int feature);
 
    // 03
    virtual bool hasOnOffDC1394(int feature);
 
    // 04
    virtual bool setActiveDC1394(int feature, bool onoff);
 
    // 05
    virtual bool getActiveDC1394(int feature);
 
    // 06
    virtual bool hasManualDC1394(int feature);
 
    // 07
    virtual bool hasAutoDC1394(int feature);
 
    // 08
    virtual bool hasOnePushDC1394(int feature);
 
    // 09
    virtual bool setModeDC1394(int feature, bool auto_onoff);
 
    // 10
    virtual bool getModeDC1394(int feature);
 
    // 11
    virtual bool setOnePushDC1394(int feature);
 
    // 23
    virtual bool setWhiteBalanceDC1394(double b, double r);
 
    // 24
    virtual bool getWhiteBalanceDC1394(double &b, double &r);
 
    // end features functions
 
    // 12
    virtual unsigned int getVideoModeMaskDC1394();
 
    // 13
    virtual bool setVideoModeDC1394(int video_mode);
 
    // 14
    virtual unsigned int getVideoModeDC1394();
 
    // 15
    virtual unsigned int getFPSMaskDC1394();
 
    // 16
    virtual unsigned int getFPSDC1394();
 
    // 17
    virtual bool setFPSDC1394(int fps);
 
    // 18
    virtual unsigned int getISOSpeedDC1394();
 
    // 19
    virtual bool setISOSpeedDC1394(int speed);
 
    // 20
    virtual unsigned int getColorCodingMaskDC1394(unsigned int video_mode);
    virtual unsigned int getActualColorCodingMaskDC1394();
 
    // 21
    virtual unsigned int getColorCodingDC1394();
 
    // 22
    virtual bool setColorCodingDC1394(int coding);
 
    // 25
    virtual bool getFormat7MaxWindowDC1394(unsigned int &xdim,unsigned int &ydim,unsigned int &xstep,unsigned int &ystep,unsigned int &xoffstep,unsigned int &yoffstep);
 
    // 26
    virtual bool setFormat7WindowDC1394(unsigned int xdim,unsigned int ydim,int x0,int y0);
 
    // 27
    virtual bool getFormat7WindowDC1394(unsigned int &xdim,unsigned int &ydim,int &x0,int &y0);
 
    // 28
    virtual bool setOperationModeDC1394(bool b1394b);
 
    // 29
    virtual bool getOperationModeDC1394();
 
    // 30
    virtual bool setTransmissionDC1394(bool bTxON);
 
    // 31
    virtual bool getTransmissionDC1394();
 
    // 32 setBayer
    // 33 getBayer
 
    // 34
    virtual bool setBroadcastDC1394(bool onoff);
 
    // 35
    virtual bool setDefaultsDC1394();
 
    // 36
    virtual bool setResetDC1394();
 
    // 37
    virtual bool setPowerDC1394(bool onoff);
 
    // 38
    virtual bool setCaptureDC1394(bool bON);
 
    // 39
    virtual unsigned int getBytesPerPacketDC1394();
 
    // 40
    virtual bool setBytesPerPacketDC1394(unsigned int bpp);
 
    // base class implementation
 
    // SET
 
    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);
 
    // GET
 
    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();
};
 
#endif