Vision/AxisCamera.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_H__
#define __AXIS_CAMERA_H__

#include <taskLib.h>
#include <vxWorks.h> 
#include <sockLib.h> 
#include <inetLib.h>

#include "Vision/AxisCameraParams.h"
#if JAVA_CAMERA_LIB != 1
#include "Vision/ColorImage.h"
#include "Vision/HSLImage.h"
#endif
#include "nivision.h"
#include <set>
#include "Task.h"

class PCVideoServer;

class AxisCamera : public AxisCameraParams
{
private:
        explicit AxisCamera(const char *cameraIP);
public:
        virtual ~AxisCamera();
        static AxisCamera& GetInstance(const char *cameraIP = NULL);
        static void DeleteInstance();

        bool IsFreshImage();
        SEM_ID GetNewImageSem();

        int GetImage(Image *imaqImage);
#if JAVA_CAMERA_LIB != 1
        int GetImage(ColorImage *image);
        HSLImage *GetImage();
#endif

        int CopyJPEG(char **destImage, int &destImageSize, int &destImageBufferSize);

private:
        static int s_ImageStreamTaskFunction(AxisCamera *thisPtr);
        int ImageStreamTaskFunction();

        int ReadImagesFromCamera();
        void UpdatePublicImageFromCamera(char *imgBuffer, int imgSize);

        virtual void RestartCameraTask();

        static AxisCamera *_instance;
        int m_cameraSocket;
        typedef std::set<SEM_ID> SemSet_t;
        SemSet_t m_newImageSemSet;

        char* m_protectedImageBuffer;
        int m_protectedImageBufferLength;
        int m_protectedImageSize;
        SEM_ID m_protectedImageSem;
        bool m_freshImage;

        Task m_imageStreamTask;

        PCVideoServer *m_videoServer;
};

#if JAVA_CAMERA_LIB == 1
#ifdef __cplusplus
extern "C" {
#endif
        void AxisCameraStart(const char *IPAddress);
        int AxisCameraGetImage(Image *image);
        void AxisCameraDeleteInstance();
        int AxisCameraFreshImage();

        // Mid-stream gets & writes
        void AxisCameraWriteBrightness(int brightness);
        int AxisCameraGetBrightness();
        void AxisCameraWriteWhiteBalance(AxisCameraParams::WhiteBalance_t whiteBalance);
        AxisCameraParams::WhiteBalance_t AxisCameraGetWhiteBalance();
        void AxisCameraWriteColorLevel(int colorLevel);
        int AxisCameraGetColorLevel();
        void AxisCameraWriteExposureControl(AxisCameraParams::Exposure_t exposure);
        AxisCameraParams::Exposure_t AxisCameraGetExposureControl();
        void AxisCameraWriteExposurePriority(int exposurePriority);
        int AxisCameraGetExposurePriority();
        void AxisCameraWriteMaxFPS(int maxFPS);
        int AxisCameraGetMaxFPS();

        // New-Stream gets & writes
        void AxisCameraWriteResolution(AxisCameraParams::Resolution_t resolution);
        AxisCameraParams::Resolution_t AxisCameraGetResolution();
        void AxisCameraWriteCompression(int compression);
        int AxisCameraGetCompression();
        void AxisCameraWriteRotation(AxisCameraParams::Rotation_t rotation);
        AxisCameraParams::Rotation_t AxisCameraGetRotation();
#ifdef __cplusplus
}
#endif
#endif // JAVA_CAMERA_LIB == 1

#endif