| /******************************************************************************** | |
| * Project : FIRST Motor Controller | |
| * File Name : AxisCamera.h | |
| * Contributors : ELF | |
| * Creation Date : August 12, 2008 | |
| * Revision History : Source code & revision history maintained at sourceforge.WPI.edu | |
| * File Description : Globally defined values for the FRC Camera API | |
| * | |
| * API: Because nivision.h uses C++ style comments, any file including this | |
| * must be a .cpp instead of .c. | |
| * | |
| */ | |
| /*----------------------------------------------------------------------------*/ | |
| /* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */ | |
| /*----------------------------------------------------------------------------*/ | |
| #ifndef __AXISCAMERA_H__ | |
| #define __AXISCAMERA_H__ | |
| #include "nivision.h" | |
| /** port for communicating with camera */ | |
| #define CAMERA_PORT 80 | |
| /** how old an image is before it's discarded */ | |
| #define CAMERA_IMAGE_STALE_TIME_SEC 2.0 | |
| /** time to wait for a new image in blocking call */ | |
| #define MAX_BLOCKING_TIME_SEC 0.5 | |
| /* Enumerated Types */ | |
| /** @brief Counters for camera metrics */ | |
| enum FrcvCameraMetric {CAM_STARTS, CAM_STOPS, | |
| CAM_NUM_IMAGE, CAM_BUFFERS_WRITTEN, CAM_BLOCKING_COUNT, | |
| CAM_SOCKET_OPEN, CAM_SOCKET_INIT_ATTEMPTS, CAM_BLOCKING_TIMEOUT, | |
| CAM_GETIMAGE_SUCCESS, CAM_GETIMAGE_FAILURE, | |
| CAM_STALE_IMAGE, CAM_GETIMAGE_BEFORE_INIT, CAM_GETIMAGE_BEFORE_AVAILABLE, | |
| CAM_READ_JPEG_FAILURE, CAM_PID_SIGNAL_ERR, | |
| CAM_BAD_IMAGE_SIZE, CAM_HEADER_ERROR}; | |
| #define CAM_NUM_METRICS 17 | |
| /** Private NI function needed to write to the VxWorks target */ | |
| IMAQ_FUNC int Priv_SetWriteFileAllowed(UINT32 enable); | |
| /** | |
| @brief Possible image sizes that you can set on the camera. | |
| */ | |
| enum ImageResolution { k640x480, k320x240, k160x120 }; | |
| /** | |
| @brief Possible rotation values that you can set on the camera. | |
| */ | |
| enum ImageRotation { ROT_0 = 0, ROT_180 = 180 }; | |
| int StartCameraTask(); | |
| extern "C" { | |
| /* Image Acquisition functions */ | |
| /* obtains an image from the camera server */ | |
| int GetImage(Image* cameraImage, double *timestamp); | |
| int GetImageBlocking(Image* cameraImage, double *timestamp, double lastImageTimestamp); | |
| /* obtains raw image string to send to PC */ | |
| int GetImageData(char** imageData, int* numBytes, double* currentImageTimestamp); | |
| int GetImageDataBlocking(char** imageData, int* numBytes, double* timestamp, double lastImageTimestamp); | |
| /* start the camera server */ | |
| void StartImageAcquisition(); | |
| void StopImageAcquisition(); | |
| void StartImageSignal(int taskId); | |
| /* status & metrics */ | |
| int frcCameraInitialized(); | |
| int GetCameraMetric(FrcvCameraMetric metric); | |
| /* camera configuration */ | |
| int ConfigureCamera(char *configString); | |
| int GetCameraSetting(char *configString, char *cameraResponse); | |
| int GetImageSetting(char *configString, char *cameraResponse); | |
| /* camera task control */ | |
| int StartCameraTask(int frames, int compression, ImageResolution resolution, ImageRotation rotation); | |
| int StopCameraTask(); | |
| } | |
| #endif | |