Vision/AxisCameraParams.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef __AXIS_CAMERA_PARAMS_H__
#define __AXIS_CAMERA_PARAMS_H__

#include "EnumCameraParameter.h"
#include "ErrorBase.h"
#include "IntCameraParameter.h"
#include "Task.h"
#include <vector>

class AxisCameraParams : public ErrorBase
{
public:
        typedef enum Exposure_t {kExposure_Automatic, kExposure_Hold, kExposure_FlickerFree50Hz, kExposure_FlickerFree60Hz};
        typedef enum WhiteBalance_t {kWhiteBalance_Automatic, kWhiteBalance_Hold, kWhiteBalance_FixedOutdoor1, kWhiteBalance_FixedOutdoor2, kWhiteBalance_FixedIndoor, kWhiteBalance_FixedFlourescent1, kWhiteBalance_FixedFlourescent2};
        typedef enum Resolution_t {kResolution_640x480, kResolution_640x360, kResolution_320x240, kResolution_160x120};
        typedef enum Rotation_t {kRotation_0, kRotation_180};

protected:
        AxisCameraParams(const char* ipAddress);
        virtual ~AxisCameraParams();

public:
        // Mid-stream gets & writes
        void WriteBrightness(int);
        int GetBrightness();
        void WriteWhiteBalance(WhiteBalance_t whiteBalance);
        WhiteBalance_t GetWhiteBalance();
        void WriteColorLevel(int);
        int GetColorLevel();
        void WriteExposureControl(Exposure_t);
        Exposure_t GetExposureControl();
        void WriteExposurePriority(int);
        int GetExposurePriority();
        void WriteMaxFPS(int);
        int GetMaxFPS();

        // New-Stream gets & writes (i.e. require restart)
        void WriteResolution(Resolution_t);
        Resolution_t GetResolution();
        void WriteCompression(int);
        int GetCompression();
        void WriteRotation(Rotation_t);
        Rotation_t GetRotation();

protected:
        virtual void RestartCameraTask() = 0;
        int CreateCameraSocket(const char *requestString);

        static int s_ParamTaskFunction(AxisCameraParams* thisPtr);
        int ParamTaskFunction();

        int UpdateCamParam(const char *param);
        int ReadCamParams();

        Task m_paramTask;
        UINT32 m_ipAddress; // IPv4
        SEM_ID m_paramChangedSem;
        SEM_ID m_socketPossessionSem;

        //Camera Properties
        IntCameraParameter *m_brightnessParam;
        IntCameraParameter *m_compressionParam;
        IntCameraParameter *m_exposurePriorityParam;
        IntCameraParameter *m_colorLevelParam;
        IntCameraParameter *m_maxFPSParam;
        EnumCameraParameter *m_rotationParam;
        EnumCameraParameter *m_resolutionParam;
        EnumCameraParameter *m_exposureControlParam;
        EnumCameraParameter *m_whiteBalanceParam;

        // A vector to access all properties simply.
        typedef std::vector<IntCameraParameter*> ParameterVector_t;
        ParameterVector_t m_parameters;
};


#endif