mirror of
https://github.com/wpilibsuite/allwpilib
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123 lines
3.2 KiB
C++
123 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 "ErrorBase.h"
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#include "HAL/cpp/priority_mutex.h"
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#include "NIIMAQdx.h"
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#include "nivision.h"
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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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int m_width = 320;
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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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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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int m_exposureValue = 50;
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bool m_exposureValuePresent = false;
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int m_brightness = 80;
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bool m_needSettingsUpdate = true;
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int GetJpegSize(void* buffer, 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(int width, 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(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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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(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(int expValue);
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void GetImage(Image* image);
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int GetImageData(void* buffer, int bufferSize);
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};
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