camera.h

/*
 * Copyright (C) 2009 Giacomo Spigler
 * 2013 - George Jordanov - improve in performance for HSV conversion and improvements
 * 2016 - Tolga Ceylan - ported to robot code with limited mmap only features.
 *
 * CopyPolicy: Released under the terms of the GNU GPL v3.0.
 */

#ifndef __CAMERA__H__
#define __CAMERA__H__

#include "common.h"

#include <stdint.h>
#include <string.h>

namespace robo {

class Camera
{
public:

    enum SettingType {
        SETTING_BRIGHTNESS,
        SETTING_CONTRAST,
        SETTING_SATURATION,
        SETTING_HUE,
        SETTING_HUE_AUTO,
        SETTING_SHARPNESS,
        SETTING_MAX
    };

    struct Buffer {
        void    *start;
        size_t  length;
    };

    struct Setting {
        const char *tag;
        int         vl_id;
        int         min;
        int         max;
        int         def;
        int         err;
    };

    int             m_width_h;
    int             m_height;
    unsigned char   *m_data;
    int             m_fd;
    const char      *m_name;

    Buffer          *m_buffers;
    Setting         m_settings[SETTING_MAX];

    Camera();
    ~Camera();

    int initialize(const char *name, int w, int h, int fps = 30);
    void shutdown();
    int update(uint64_t now);

    int toIplImage(unsigned char *buf, int width) const;
    int toGrayScaleIplImage(unsigned char *buf, int width) const;
    int toGrayScaleMat(unsigned char *buf, int channels, int cols) const;
    int toMat(unsigned char *buf, int channels, int cols) const;

    Setting getSetting(SettingType set_type) const;
    int setSetting(SettingType set_type, int v);

private:
    int start_capture();
    int init_mmap();
    int open_cam_device();
    int initialize_device(int fps);
    int capture();
    void initialize_setting(SettingType set_type);
};

} // namespace robo

#endif // __CAMERA__H__