123 lines
3.3 KiB
C
123 lines
3.3 KiB
C
|
/*----------------------------------------------------------------------------*/
|
||
|
|
/* Copyright (c) FIRST 2014-2016. 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 the root directory of */
|
||
|
|
/* the project. */
|
||
|
|
/*----------------------------------------------------------------------------*/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include "ErrorBase.h"
|
||
|
|
#include "nivision.h"
|
||
|
|
#include "NIIMAQdx.h"
|
||
|
|
#include "HAL/cpp/priority_mutex.h"
|
||
|
|
|
||
|
|
#include <string>
|
||
|
|
|
||
|
|
typedef enum whiteBalance_enum {
|
||
|
|
kFixedIndoor = 3000,
|
||
|
|
kFixedOutdoor1 = 4000,
|
||
|
|
kFixedOutdoor2 = 5000,
|
||
|
|
kFixedFluorescent1 = 5100,
|
||
|
|
kFixedFlourescent2 = 5200
|
||
|
|
} whiteBalance;
|
||
|
|
|
||
|
|
class USBCamera : public ErrorBase {
|
||
|
|
private:
|
||
|
|
static constexpr char const *ATTR_WB_MODE =
|
||
|
|
"CameraAttributes::WhiteBalance::Mode";
|
||
|
|
static constexpr char const *ATTR_WB_VALUE =
|
||
|
|
"CameraAttributes::WhiteBalance::Value";
|
||
|
|
static constexpr char const *ATTR_EX_MODE =
|
||
|
|
"CameraAttributes::Exposure::Mode";
|
||
|
|
static constexpr char const *ATTR_EX_VALUE =
|
||
|
|
"CameraAttributes::Exposure::Value";
|
||
|
|
static constexpr char const *ATTR_BR_MODE =
|
||
|
|
"CameraAttributes::Brightness::Mode";
|
||
|
|
static constexpr char const *ATTR_BR_VALUE =
|
||
|
|
"CameraAttributes::Brightness::Value";
|
||
|
|
|
||
|
|
// Constants for the manual and auto types
|
||
|
|
static constexpr char const* AUTO = "Auto";
|
||
|
|
static constexpr char const* MANUAL = "Manual";
|
||
|
|
|
||
|
|
protected:
|
||
|
|
IMAQdxSession m_id = 0;
|
||
|
|
std::string m_name;
|
||
|
|
bool m_useJpeg;
|
||
|
|
bool m_active = false;
|
||
|
|
bool m_open = false;
|
||
|
|
|
||
|
|
priority_recursive_mutex m_mutex;
|
||
|
|
|
||
|
|
unsigned int m_width = 320;
|
||
|
|
unsigned int m_height = 240;
|
||
|
|
double m_fps = 30;
|
||
|
|
std::string m_whiteBalance = AUTO;
|
||
|
|
unsigned int m_whiteBalanceValue = 0;
|
||
|
|
bool m_whiteBalanceValuePresent = false;
|
||
|
|
std::string m_exposure = MANUAL;
|
||
|
|
unsigned int m_exposureValue = 50;
|
||
|
|
bool m_exposureValuePresent = false;
|
||
|
|
unsigned int m_brightness = 80;
|
||
|
|
bool m_needSettingsUpdate = true;
|
||
|
|
|
||
|
|
unsigned int GetJpegSize(void *buffer, unsigned int buffSize);
|
||
|
|
|
||
|
|
public:
|
||
|
|
static constexpr char const *kDefaultCameraName = "cam0";
|
||
|
|
|
||
|
|
USBCamera(std::string name, bool useJpeg);
|
||
|
|
|
||
|
|
void OpenCamera();
|
||
|
|
void CloseCamera();
|
||
|
|
void StartCapture();
|
||
|
|
void StopCapture();
|
||
|
|
void SetFPS(double fps);
|
||
|
|
void SetSize(unsigned int width, unsigned int height);
|
||
|
|
|
||
|
|
void UpdateSettings();
|
||
|
|
/**
|
||
|
|
* Set the brightness, as a percentage (0-100).
|
||
|
|
*/
|
||
|
|
void SetBrightness(unsigned int brightness);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Get the brightness, as a percentage (0-100).
|
||
|
|
*/
|
||
|
|
unsigned int GetBrightness();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Set the white balance to auto
|
||
|
|
*/
|
||
|
|
void SetWhiteBalanceAuto();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Set the white balance to hold current
|
||
|
|
*/
|
||
|
|
void SetWhiteBalanceHoldCurrent();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Set the white balance to manual, with specified color temperature
|
||
|
|
*/
|
||
|
|
void SetWhiteBalanceManual(unsigned int wbValue);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Set the exposure to auto exposure
|
||
|
|
*/
|
||
|
|
void SetExposureAuto();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Set the exposure to hold current
|
||
|
|
*/
|
||
|
|
void SetExposureHoldCurrent();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Set the exposure to manual, with a given percentage (0-100)
|
||
|
|
*/
|
||
|
|
void SetExposureManual(unsigned int expValue);
|
||
|
|
|
||
|
|
void GetImage(Image *image);
|
||
|
|
unsigned int GetImageData(void *buffer, unsigned int bufferSize);
|
||
|
|
};
|