wge100_camera: wge100_camera: wge100lib.h Source File

00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2009, 2010 Willow Garage, Inc.
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
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00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
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00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 
00035 #ifndef _WGE100LIB_H_
00036 #define _WGE100LIB_H_
00037 #include <stdint.h>
00038 #include "list.h"
00039 #include "ipcam_packet.h"
00040 
00041 #ifdef __cplusplus
00042 extern "C" {
00043 #endif
00044 
00045 
00046 /*
00047  * Firmware version number
00048  */
00049 #define WGE100LIB_VERSION_MAJOR 0x01
00050 #define WGE100LIB_VERSION_MINOR 0x05
00051 #define WGE100LIB_VERSION ((WGE100LIB_VERSION_MAJOR <<8) | WGE100LIB_VERSION_MINOR )
00052 
00053 
00054 /*
00055  * Trigger Modes
00056  */
00057 
00058 #define TRIG_STATE_INTERNAL 0
00059 #define TRIG_STATE_EXTERNAL 1
00060 #define TRIG_STATE_ALTERNATE 4
00061 #define TRIG_STATE_RISING 2 
00062 
00063 /*
00064  * The wge100FrameInfo structure is returned to the frame handler
00065  */  
00066 typedef struct
00067 {
00068   size_t width;
00069   size_t height;
00070 
00071   uint32_t frame_number;
00072 
00073   size_t lastMissingLine;
00074   size_t missingLines;
00075   int shortFrame;
00076 
00077   uint8_t *frameData;
00078   PacketEOF *eofInfo;
00079 
00080   struct timeval startTime;
00081 } wge100FrameInfo;
00082 
00083 
00084 
00085 int wge100LibVersion( void );
00086 
00087 int wge100FindByUrl(const char *url, IpCamList *camera, unsigned wait_us, const char **errmsg);
00088 int wge100Discover(const char *ifName, IpCamList *ipCamList, const char *ipAddress, unsigned wait_us);
00089 int wge100Configure( IpCamList *camInfo, const char *ipAddress, unsigned wait_us);
00090 int wge100StartVid( const IpCamList *camInfo, const uint8_t mac[6], const char *ipAddress, uint16_t port );
00091 int wge100StopVid( const IpCamList *camInfo );
00092 int wge100Reset( IpCamList *camInfo );
00093 int wge100ReconfigureFPGA( IpCamList *camInfo );
00094 int wge100GetTimer( const IpCamList *camInfo, uint64_t *time_us );
00095 int wge100ReliableFlashRead( const IpCamList *camInfo, uint32_t address, uint8_t *pageDataOut, int *retries );
00096 int wge100FlashRead( const IpCamList *camInfo, uint32_t address, uint8_t *pageDataOut );
00097 int wge100ReliableFlashWrite( const IpCamList *camInfo, uint32_t address, const uint8_t *pageDataIn, int *retries );
00098 int wge100FlashWrite( const IpCamList *camInfo, uint32_t address, const uint8_t *pageDataIn );
00099 int wge100ReliableSensorRead( const IpCamList *camInfo, uint8_t reg, uint16_t *data, int *retries );
00100 int wge100SensorRead( const IpCamList *camInfo, uint8_t reg, uint16_t *data );
00101 int wge100ReliableSensorWrite( const IpCamList *camInfo, uint8_t reg, uint16_t data, int *retries );
00102 int wge100SensorWrite( const IpCamList *camInfo, uint8_t reg, uint16_t data );
00103 int wge100ConfigureBoard( const IpCamList *camInfo, uint32_t serial, MACAddress *mac );
00104 int wge100TriggerControl( const IpCamList *camInfo, uint32_t triggerType );
00105 int wge100SensorSelect( const IpCamList *camInfo, uint8_t index, uint32_t reg );
00106 int wge100ImagerSetRes( const IpCamList *camInfo, uint16_t horizontal, uint16_t vertical );
00107 int wge100ImagerModeSelect( const IpCamList *camInfo, uint32_t mode );
00108 
00110 typedef int (*FrameHandler)(wge100FrameInfo *frame_info, void *userData);
00111 int wge100VidReceive( const char *ifName, uint16_t port, size_t height, size_t width, FrameHandler frameHandler, void *userData );
00112 int wge100VidReceiveAuto( IpCamList *camera, size_t height, size_t width, FrameHandler frameHandler, void *userData );
00113 
00114 #define CONFIG_PRODUCT_ID 6805018
00115 #define ERR_TIMEOUT 100
00116 #define ERR_CONFIG_ARPFAIL 200
00117 
00118 #ifdef __cplusplus
00119 }
00120 #endif
00121 
00122 #endif // _WGE100LIB_H_