| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef __AXIS_CAMERA_H__
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| 8 | #define __AXIS_CAMERA_H__
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| 9 |
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| 10 | #include <taskLib.h>
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| 11 | #include <vxWorks.h>
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| 12 | #include <sockLib.h>
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| 13 | #include <inetLib.h>
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| 14 |
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| 15 | #include "Vision/AxisCameraParams.h"
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| 16 | #if JAVA_CAMERA_LIB != 1
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| 17 | #include "Vision/ColorImage.h"
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| 18 | #include "Vision/HSLImage.h"
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| 19 | #endif
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| 20 | #include "nivision.h"
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| 21 | #include <set>
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| 22 | #include "Task.h"
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| 23 |
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| 24 | class PCVideoServer;
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| 25 |
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| 26 | /**
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| 27 | * AxisCamera class.
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| 28 | * This class handles everything about the Axis 206 FRC Camera.
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| 29 | * It starts up 2 tasks each using a different connection to the camera:
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| 30 | * - image reading task that reads images repeatedly from the camera
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| 31 | * - parameter handler task in the base class that monitors for changes to
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| 32 | * parameters and updates the camera
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| 33 | */
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| 34 | class AxisCamera : public AxisCameraParams
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| 35 | {
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| 36 | private:
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| 37 | explicit AxisCamera(const char *cameraIP);
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| 38 | public:
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| 39 | virtual ~AxisCamera();
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| 40 | static AxisCamera& GetInstance(const char *cameraIP = NULL);
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| 41 | static void DeleteInstance();
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| 42 |
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| 43 | bool IsFreshImage();
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| 44 | SEM_ID GetNewImageSem();
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| 45 |
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| 46 | int GetImage(Image *imaqImage);
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| 47 | #if JAVA_CAMERA_LIB != 1
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| 48 | int GetImage(ColorImage *image);
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| 49 | HSLImage *GetImage();
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| 50 | #endif
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| 51 |
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| 52 | int CopyJPEG(char **destImage, int &destImageSize, int &destImageBufferSize);
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| 53 |
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| 54 | private:
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| 55 | static int s_ImageStreamTaskFunction(AxisCamera *thisPtr);
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| 56 | int ImageStreamTaskFunction();
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| 57 |
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| 58 | int ReadImagesFromCamera();
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| 59 | void UpdatePublicImageFromCamera(char *imgBuffer, int imgSize);
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| 60 |
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| 61 | virtual void RestartCameraTask();
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| 62 |
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| 63 | static AxisCamera *_instance;
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| 64 | int m_cameraSocket;
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| 65 | typedef std::set<SEM_ID> SemSet_t;
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| 66 | SemSet_t m_newImageSemSet;
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| 67 |
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| 68 | char* m_protectedImageBuffer;
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| 69 | int m_protectedImageBufferLength;
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| 70 | int m_protectedImageSize;
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| 71 | SEM_ID m_protectedImageSem;
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| 72 | bool m_freshImage;
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| 73 |
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| 74 | Task m_imageStreamTask;
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| 75 |
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| 76 | PCVideoServer *m_videoServer;
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| 77 | };
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| 78 |
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| 79 | #if JAVA_CAMERA_LIB == 1
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| 80 | #ifdef __cplusplus
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| 81 | extern "C" {
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| 82 | #endif
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| 83 | void AxisCameraStart(const char *IPAddress);
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| 84 | int AxisCameraGetImage(Image *image);
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| 85 | void AxisCameraDeleteInstance();
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| 86 | int AxisCameraFreshImage();
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| 87 |
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| 88 | // Mid-stream gets & writes
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| 89 | void AxisCameraWriteBrightness(int brightness);
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| 90 | int AxisCameraGetBrightness();
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| 91 | void AxisCameraWriteWhiteBalance(AxisCameraParams::WhiteBalance_t whiteBalance);
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| 92 | AxisCameraParams::WhiteBalance_t AxisCameraGetWhiteBalance();
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| 93 | void AxisCameraWriteColorLevel(int colorLevel);
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| 94 | int AxisCameraGetColorLevel();
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| 95 | void AxisCameraWriteExposureControl(AxisCameraParams::Exposure_t exposure);
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| 96 | AxisCameraParams::Exposure_t AxisCameraGetExposureControl();
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| 97 | void AxisCameraWriteExposurePriority(int exposurePriority);
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| 98 | int AxisCameraGetExposurePriority();
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| 99 | void AxisCameraWriteMaxFPS(int maxFPS);
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| 100 | int AxisCameraGetMaxFPS();
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| 101 |
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| 102 | // New-Stream gets & writes
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| 103 | void AxisCameraWriteResolution(AxisCameraParams::Resolution_t resolution);
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| 104 | AxisCameraParams::Resolution_t AxisCameraGetResolution();
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| 105 | void AxisCameraWriteCompression(int compression);
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| 106 | int AxisCameraGetCompression();
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| 107 | void AxisCameraWriteRotation(AxisCameraParams::Rotation_t rotation);
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| 108 | AxisCameraParams::Rotation_t AxisCameraGetRotation();
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| 109 | #ifdef __cplusplus
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| 110 | }
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| 111 | #endif
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| 112 | #endif // JAVA_CAMERA_LIB == 1
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| 113 |
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| 114 | #endif
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