mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
122 lines
3.3 KiB
C++
122 lines
3.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "ErrorBase.h"
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#include "nivision.h"
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#include "NIIMAQdx.h"
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#include "HAL/cpp/priority_mutex.h"
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#include <string>
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typedef enum whiteBalance_enum {
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kFixedIndoor = 3000,
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kFixedOutdoor1 = 4000,
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kFixedOutdoor2 = 5000,
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kFixedFluorescent1 = 5100,
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kFixedFlourescent2 = 5200
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} whiteBalance;
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class USBCamera : public ErrorBase {
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private:
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static constexpr char const *ATTR_WB_MODE =
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"CameraAttributes::WhiteBalance::Mode";
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static constexpr char const *ATTR_WB_VALUE =
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"CameraAttributes::WhiteBalance::Value";
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static constexpr char const *ATTR_EX_MODE =
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"CameraAttributes::Exposure::Mode";
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static constexpr char const *ATTR_EX_VALUE =
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"CameraAttributes::Exposure::Value";
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static constexpr char const *ATTR_BR_MODE =
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"CameraAttributes::Brightness::Mode";
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static constexpr char const *ATTR_BR_VALUE =
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"CameraAttributes::Brightness::Value";
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// Constants for the manual and auto types
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static constexpr char const* AUTO = "Auto";
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static constexpr char const* MANUAL = "Manual";
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protected:
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IMAQdxSession m_id = 0;
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std::string m_name;
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bool m_useJpeg;
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bool m_active = false;
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bool m_open = false;
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priority_recursive_mutex m_mutex;
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unsigned int m_width = 320;
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unsigned int m_height = 240;
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double m_fps = 30;
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std::string m_whiteBalance = AUTO;
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unsigned int m_whiteBalanceValue = 0;
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bool m_whiteBalanceValuePresent = false;
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std::string m_exposure = MANUAL;
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unsigned int m_exposureValue = 50;
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bool m_exposureValuePresent = false;
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unsigned int m_brightness = 80;
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bool m_needSettingsUpdate = true;
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unsigned int GetJpegSize(void *buffer, unsigned int buffSize);
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public:
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static constexpr char const *kDefaultCameraName = "cam0";
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USBCamera(std::string name, bool useJpeg);
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void OpenCamera();
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void CloseCamera();
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void StartCapture();
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void StopCapture();
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void SetFPS(double fps);
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void SetSize(unsigned int width, unsigned int height);
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void UpdateSettings();
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/**
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* Set the brightness, as a percentage (0-100).
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*/
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void SetBrightness(unsigned int brightness);
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/**
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* Get the brightness, as a percentage (0-100).
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*/
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unsigned int GetBrightness();
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/**
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* Set the white balance to auto
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*/
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void SetWhiteBalanceAuto();
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/**
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* Set the white balance to hold current
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*/
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void SetWhiteBalanceHoldCurrent();
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/**
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* Set the white balance to manual, with specified color temperature
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*/
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void SetWhiteBalanceManual(unsigned int wbValue);
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/**
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* Set the exposure to auto exposure
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*/
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void SetExposureAuto();
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/**
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* Set the exposure to hold current
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*/
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void SetExposureHoldCurrent();
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/**
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* Set the exposure to manual, with a given percentage (0-100)
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*/
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void SetExposureManual(unsigned int expValue);
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void GetImage(Image *image);
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unsigned int GetImageData(void *buffer, unsigned int bufferSize);
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};
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