This repository has been archived on 2020-09-21. You can view files and clone it, but cannot push or open issues or pull requests.
FRC2016-old/DriveBase/wpilib/cpp/current/include/USBCamera.h
2016-01-28 11:33:19 -05:00

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);
};