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00024 #ifndef __FIREVISION_CAMS_V4L2_H_
00025 #define __FIREVISION_CAMS_V4L2_H_
00026
00027 #include <cams/camera.h>
00028
00029 #include <linux/types.h>
00030 #include <linux/videodev2.h>
00031
00032 #include <cams/control/color.h>
00033 #include <cams/control/image.h>
00034
00035
00036 #define MMAP_NUM_BUFFERS 4;
00037
00038 namespace firevision {
00039 #if 0
00040 }
00041 #endif
00042
00043 class CameraArgumentParser;
00044 class V4L2CameraData;
00045
00046 class V4L2Camera:
00047 public Camera,
00048 public CameraControlColor,
00049 public CameraControlImage
00050 {
00051 friend class V4LCamera;
00052
00053 public:
00054 V4L2Camera(const char *device_name = "/dev/video0");
00055 V4L2Camera(const CameraArgumentParser *cap);
00056 virtual ~V4L2Camera();
00057
00058 virtual void open();
00059 virtual void start();
00060 virtual void stop();
00061 virtual void close();
00062 virtual void flush();
00063 virtual void capture();
00064 virtual void print_info();
00065 virtual bool ready();
00066
00067 virtual unsigned char *buffer();
00068 virtual unsigned int buffer_size();
00069 virtual void dispose_buffer();
00070
00071 virtual unsigned int pixel_width();
00072 virtual unsigned int pixel_height();
00073 virtual colorspace_t colorspace();
00074 virtual fawkes::Time * capture_time();
00075
00076 virtual void set_image_number(unsigned int n);
00077
00078 virtual bool auto_gain();
00079 virtual void set_auto_gain(bool enabled);
00080 virtual bool auto_white_balance();
00081 virtual void set_auto_white_balance(bool enabled);
00082 virtual bool auto_exposure();
00083 virtual void set_auto_exposure(bool enabled);
00084 virtual int red_balance();
00085 virtual void set_red_balance(int red_balance);
00086 virtual int blue_balance();
00087 virtual void set_blue_balance(int blue_balance);
00088 virtual int u_balance();
00089 virtual void set_u_balance(int u_balance);
00090 virtual int v_balance();
00091 virtual void set_v_balance(int v_balance);
00092 virtual unsigned int brightness();
00093 virtual void set_brightness(unsigned int brightness);
00094 virtual unsigned int contrast();
00095 virtual void set_contrast(unsigned int contrast);
00096 virtual unsigned int saturation();
00097 virtual void set_saturation(unsigned int saturation);
00098 virtual int hue();
00099 virtual void set_hue(int hue);
00100 virtual unsigned int exposure();
00101 virtual void set_exposure(unsigned int exposure);
00102 virtual unsigned int gain();
00103 virtual void set_gain(unsigned int gain);
00104
00105 virtual const char * format();
00106 virtual void set_format(const char *format);
00107 virtual unsigned int width();
00108 virtual unsigned int height();
00109 virtual void set_size(unsigned int width,
00110 unsigned int height);
00111 virtual bool horiz_mirror();
00112 virtual bool vert_mirror();
00113 virtual void set_horiz_mirror(bool enabled);
00114 virtual void set_vert_mirror(bool enabled);
00115 virtual unsigned int fps();
00116 virtual void set_fps(unsigned int fps);
00117 virtual unsigned int lens_x_corr();
00118 virtual unsigned int lens_y_corr();
00119 virtual void set_lens_x_corr(unsigned int x_corr);
00120 virtual void set_lens_y_corr(unsigned int y_corr);
00121
00122
00123 protected:
00124 V4L2Camera(const char *device_name, int dev);
00125 virtual void set_one_control(const char *ctrl, unsigned int id, int value);
00126 virtual int get_one_control(const char *ctrl, unsigned int id);
00127
00128 private:
00129 virtual void post_open();
00130 virtual void select_read_method();
00131 virtual void select_format();
00132 virtual void set_fps();
00133 virtual void set_controls();
00134 virtual void create_buffer();
00135 virtual void reset_cropping();
00136
00137 protected:
00138 char *_device_name;
00139
00140 private:
00141 enum ReadMethod
00142 {
00143 READ,
00144 MMAP,
00145 UPTR
00146 };
00147
00148 enum TriState
00149 {
00150 NOT_SET,
00151 TRUE,
00152 FALSE
00153 };
00154
00155 struct FrameBuffer
00156 {
00157 unsigned char *buffer;
00158 unsigned int size;
00159 };
00160
00161 struct ControlParameterInt
00162 {
00163 bool set;
00164 int value;
00165 };
00166
00167 int _dev;
00168
00169 V4L2CameraData *_data;
00170
00171 ReadMethod _read_method;
00172 bool _opened;
00173 bool _started;
00174 char _format[5];
00175 colorspace_t _colorspace;
00176
00177 unsigned int _width;
00178 unsigned int _height;
00179 unsigned int _bytes_per_line;
00180 FrameBuffer *_frame_buffers;
00181 unsigned int _buffers_length;
00182 int _current_buffer;
00183 fawkes::Time *_capture_time;
00184
00185 bool _switch_u_v;
00186 unsigned int _fps;
00187
00188 TriState _aec;
00189 TriState _awb;
00190 TriState _agc;
00191 TriState _h_flip;
00192 TriState _v_flip;
00193 ControlParameterInt _brightness;
00194 ControlParameterInt _contrast;
00195 ControlParameterInt _saturation;
00196 ControlParameterInt _hue;
00197 ControlParameterInt _red_balance;
00198 ControlParameterInt _blue_balance;
00199 ControlParameterInt _exposure;
00200 ControlParameterInt _gain;
00201 ControlParameterInt _lens_x;
00202 ControlParameterInt _lens_y;
00203
00204 bool _nao_hacks;
00205
00206 };
00207
00208 }
00209
00210 #endif //__FIREVISION_CAMS_V4L2_H_