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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 26e4e5289bfe3b1691be9c14bedfb70bdcd6dc56 / . / wpilibc / Athena / include / Vision / AxisCamera.h
blob: b315938dc297b068b64dedd621b8dcf893a0d62d [file] [log] [blame]
Brian Silverman26e4e522015-12-17 01:56:40 -0500[diff] [blame^]1/*----------------------------------------------------------------------------*/
2/* Copyright (c) FIRST 2014. All Rights Reserved. */
3/* Open Source Software - may be modified and shared by FRC teams. The code */
4/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
5/*----------------------------------------------------------------------------*/
6
7#pragma once
8
9#include <thread>
10#include <string>
11#include "HAL/cpp/priority_mutex.h"
12
13#include "ErrorBase.h"
14#include "Vision/ColorImage.h"
15#include "Vision/HSLImage.h"
16#include "nivision.h"
17
18/**
19 * Axis M1011 network camera
20 */
21class AxisCamera : public ErrorBase {
22 public:
23 enum WhiteBalance {
24 kWhiteBalance_Automatic,
25 kWhiteBalance_Hold,
26 kWhiteBalance_FixedOutdoor1,
27 kWhiteBalance_FixedOutdoor2,
28 kWhiteBalance_FixedIndoor,
29 kWhiteBalance_FixedFluorescent1,
30 kWhiteBalance_FixedFluorescent2
31 };
32
33 enum ExposureControl {
34 kExposureControl_Automatic,
35 kExposureControl_Hold,
36 kExposureControl_FlickerFree50Hz,
37 kExposureControl_FlickerFree60Hz
38 };
39
40 enum Resolution {
41 kResolution_640x480,
42 kResolution_480x360,
43 kResolution_320x240,
44 kResolution_240x180,
45 kResolution_176x144,
46 kResolution_160x120,
47 };
48
49 enum Rotation { kRotation_0, kRotation_180 };
50
51 explicit AxisCamera(std::string const &cameraHost);
52 virtual ~AxisCamera();
53
54 AxisCamera(const AxisCamera&) = delete;
55 AxisCamera& operator=(const AxisCamera&) = delete;
56
57 bool IsFreshImage() const;
58
59 int GetImage(Image *image);
60 int GetImage(ColorImage *image);
61 HSLImage *GetImage();
62 int CopyJPEG(char **destImage, unsigned int &destImageSize,
63 unsigned int &destImageBufferSize);
64
65 void WriteBrightness(int brightness);
66 int GetBrightness();
67
68 void WriteWhiteBalance(WhiteBalance whiteBalance);
69 WhiteBalance GetWhiteBalance();
70
71 void WriteColorLevel(int colorLevel);
72 int GetColorLevel();
73
74 void WriteExposureControl(ExposureControl exposureControl);
75 ExposureControl GetExposureControl();
76
77 void WriteExposurePriority(int exposurePriority);
78 int GetExposurePriority();
79
80 void WriteMaxFPS(int maxFPS);
81 int GetMaxFPS();
82
83 void WriteResolution(Resolution resolution);
84 Resolution GetResolution();
85
86 void WriteCompression(int compression);
87 int GetCompression();
88
89 void WriteRotation(Rotation rotation);
90 Rotation GetRotation();
91
92 private:
93 std::thread m_captureThread;
94 std::string m_cameraHost;
95 int m_cameraSocket = -1;
96 priority_mutex m_captureMutex;
97
98 priority_mutex m_imageDataMutex;
99 std::vector<uint8_t> m_imageData;
100 bool m_freshImage = false;
101
102 int m_brightness = 50;
103 WhiteBalance m_whiteBalance = kWhiteBalance_Automatic;
104 int m_colorLevel = 50;
105 ExposureControl m_exposureControl = kExposureControl_Automatic;
106 int m_exposurePriority = 50;
107 int m_maxFPS = 0;
108 Resolution m_resolution = kResolution_640x480;
109 int m_compression = 50;
110 Rotation m_rotation = kRotation_0;
111 bool m_parametersDirty = true;
112 bool m_streamDirty = true;
113 priority_mutex m_parametersMutex;
114
115 bool m_done = false;
116
117 void Capture();
118 void ReadImagesFromCamera();
119 bool WriteParameters();
120
121 int CreateCameraSocket(std::string const &requestString, bool setError);
122};