| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame^] | 1 | /********************************************************************************
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| 2 | * Project : FIRST Motor Controller
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| 3 | * File Name : AxisCamera.h
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| 4 | * Contributors : ELF
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| 5 | * Creation Date : August 12, 2008
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| 6 | * Revision History : Source code & revision history maintained at sourceforge.WPI.edu
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| 7 | * File Description : Globally defined values for the FRC Camera API
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| 8 | *
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| 9 | * API: Because nivision.h uses C++ style comments, any file including this
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| 10 | * must be a .cpp instead of .c.
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| 11 | *
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| 12 | */
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| 13 | /*----------------------------------------------------------------------------*/
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| 14 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 15 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 16 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 17 | /*----------------------------------------------------------------------------*/
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| 18 |
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| 19 | #ifndef __AXISCAMERA_H__
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| 20 | #define __AXISCAMERA_H__
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| 21 |
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| 22 | #include "nivision.h"
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| 23 |
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| 24 | /** port for communicating with camera */
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| 25 | #define CAMERA_PORT 80
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| 26 | /** how old an image is before it's discarded */
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| 27 | #define CAMERA_IMAGE_STALE_TIME_SEC 2.0
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| 28 | /** time to wait for a new image in blocking call */
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| 29 | #define MAX_BLOCKING_TIME_SEC 0.5
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| 30 |
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| 31 | /* Enumerated Types */
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| 32 | /** @brief Counters for camera metrics */
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| 33 | enum FrcvCameraMetric {CAM_STARTS, CAM_STOPS,
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| 34 | CAM_NUM_IMAGE, CAM_BUFFERS_WRITTEN, CAM_BLOCKING_COUNT,
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| 35 |
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| 36 | CAM_SOCKET_OPEN, CAM_SOCKET_INIT_ATTEMPTS, CAM_BLOCKING_TIMEOUT,
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| 37 | CAM_GETIMAGE_SUCCESS, CAM_GETIMAGE_FAILURE,
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| 38 |
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| 39 | CAM_STALE_IMAGE, CAM_GETIMAGE_BEFORE_INIT, CAM_GETIMAGE_BEFORE_AVAILABLE,
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| 40 | CAM_READ_JPEG_FAILURE, CAM_PID_SIGNAL_ERR,
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| 41 |
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| 42 | CAM_BAD_IMAGE_SIZE, CAM_HEADER_ERROR};
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| 43 |
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| 44 | #define CAM_NUM_METRICS 17
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| 45 |
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| 46 | /** Private NI function needed to write to the VxWorks target */
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| 47 | IMAQ_FUNC int Priv_SetWriteFileAllowed(UINT32 enable);
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| 48 |
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| 49 | /**
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| 50 | @brief Possible image sizes that you can set on the camera.
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| 51 | */
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| 52 | enum ImageResolution { k640x480, k320x240, k160x120 };
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| 53 |
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| 54 | /**
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| 55 | @brief Possible rotation values that you can set on the camera.
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| 56 | */
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| 57 | enum ImageRotation { ROT_0 = 0, ROT_180 = 180 };
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| 58 |
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| 59 |
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| 60 |
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| 61 | int StartCameraTask();
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| 62 |
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| 63 | extern "C" {
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| 64 | /* Image Acquisition functions */
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| 65 | /* obtains an image from the camera server */
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| 66 | int GetImage(Image* cameraImage, double *timestamp);
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| 67 | int GetImageBlocking(Image* cameraImage, double *timestamp, double lastImageTimestamp);
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| 68 | /* obtains raw image string to send to PC */
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| 69 | int GetImageData(char** imageData, int* numBytes, double* currentImageTimestamp);
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| 70 | int GetImageDataBlocking(char** imageData, int* numBytes, double* timestamp, double lastImageTimestamp);
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| 71 |
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| 72 | /* start the camera server */
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| 73 | void StartImageAcquisition();
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| 74 | void StopImageAcquisition();
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| 75 | void StartImageSignal(int taskId);
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| 76 |
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| 77 | /* status & metrics */
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| 78 | int frcCameraInitialized();
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| 79 | int GetCameraMetric(FrcvCameraMetric metric);
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| 80 |
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| 81 | /* camera configuration */
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| 82 | int ConfigureCamera(char *configString);
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| 83 | int GetCameraSetting(char *configString, char *cameraResponse);
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| 84 | int GetImageSetting(char *configString, char *cameraResponse);
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| 85 |
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| 86 | /* camera task control */
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| 87 |
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| 88 | int StartCameraTask(int frames, int compression, ImageResolution resolution, ImageRotation rotation);
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| 89 | int StopCameraTask();
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| 90 | }
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| 91 | #endif
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| 92 |
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