mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
124 lines
3.2 KiB
C++
124 lines
3.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. 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 <string>
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#include <thread>
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#include "ErrorBase.h"
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#include "HAL/cpp/priority_mutex.h"
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#include "Vision/ColorImage.h"
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#include "Vision/HSLImage.h"
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#include "nivision.h"
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/**
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* Axis M1011 network camera
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*/
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class AxisCamera : public ErrorBase {
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public:
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enum WhiteBalance {
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kWhiteBalance_Automatic,
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kWhiteBalance_Hold,
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kWhiteBalance_FixedOutdoor1,
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kWhiteBalance_FixedOutdoor2,
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kWhiteBalance_FixedIndoor,
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kWhiteBalance_FixedFluorescent1,
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kWhiteBalance_FixedFluorescent2
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};
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enum ExposureControl {
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kExposureControl_Automatic,
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kExposureControl_Hold,
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kExposureControl_FlickerFree50Hz,
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kExposureControl_FlickerFree60Hz
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};
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enum Resolution {
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kResolution_640x480,
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kResolution_480x360,
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kResolution_320x240,
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kResolution_240x180,
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kResolution_176x144,
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kResolution_160x120,
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};
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enum Rotation { kRotation_0, kRotation_180 };
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explicit AxisCamera(std::string const& cameraHost);
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virtual ~AxisCamera();
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AxisCamera(const AxisCamera&) = delete;
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AxisCamera& operator=(const AxisCamera&) = delete;
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bool IsFreshImage() const;
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int GetImage(Image* image);
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int GetImage(ColorImage* image);
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HSLImage* GetImage();
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int CopyJPEG(char** destImage, unsigned int& destImageSize,
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unsigned int& destImageBufferSize);
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void WriteBrightness(int brightness);
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int GetBrightness();
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void WriteWhiteBalance(WhiteBalance whiteBalance);
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WhiteBalance GetWhiteBalance();
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void WriteColorLevel(int colorLevel);
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int GetColorLevel();
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void WriteExposureControl(ExposureControl exposureControl);
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ExposureControl GetExposureControl();
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void WriteExposurePriority(int exposurePriority);
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int GetExposurePriority();
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void WriteMaxFPS(int maxFPS);
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int GetMaxFPS();
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void WriteResolution(Resolution resolution);
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Resolution GetResolution();
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void WriteCompression(int compression);
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int GetCompression();
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void WriteRotation(Rotation rotation);
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Rotation GetRotation();
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private:
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std::thread m_captureThread;
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std::string m_cameraHost;
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int m_cameraSocket = -1;
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priority_mutex m_captureMutex;
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priority_mutex m_imageDataMutex;
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std::vector<uint8_t> m_imageData;
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bool m_freshImage = false;
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int m_brightness = 50;
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WhiteBalance m_whiteBalance = kWhiteBalance_Automatic;
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int m_colorLevel = 50;
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ExposureControl m_exposureControl = kExposureControl_Automatic;
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int m_exposurePriority = 50;
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int m_maxFPS = 0;
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Resolution m_resolution = kResolution_640x480;
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int m_compression = 50;
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Rotation m_rotation = kRotation_0;
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bool m_parametersDirty = true;
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bool m_streamDirty = true;
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priority_mutex m_parametersMutex;
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bool m_done = false;
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void Capture();
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void ReadImagesFromCamera();
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bool WriteParameters();
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int CreateCameraSocket(std::string const& requestString, bool setError);
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};
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