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.
123 lines
3.3 KiB
C++
123 lines
3.3 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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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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