firewire_camera_driver.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _firewire_camera_driver_h_
#define _firewire_camera_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <iri_firewire_camera/FirewireCameraConfig.h>

//include firewire_camera_driver main library
#include "firewirecamera.h"
#include "firewireserver.h"
#include "camera_common.h"

class FirewireCameraDriver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods
    CFirewireCamera *camera;
    CFirewireServer *server;
    long int camera_id;
    int ISO_speed;
    // desired configuration
    TCameraConfig desired_conf;
    // current configuration
    TCameraConfig current_conf;
    // default_configuration
    TCameraConfig default_conf;
    // calibration file
    std::string calibration_file;
    // frame identifier
    std::string frame_id;
  protected:
    void change_config(TCameraConfig *new_conf);
    void dyn_rec_to_camera(iri_firewire_camera::FirewireCameraConfig &dyn_rec_config,TCameraConfig &camera_config);
    void camera_to_dyn_rec(TCameraConfig &camera_config,iri_firewire_camera::FirewireCameraConfig &dyn_rec_config);
    void set_white_balance(bool *enable, int *mode, int *u_b_value, int *v_r_value);
    void set_shutter(bool *enable, int *mode, int *value); 
    void set_gain(bool *enable, int *mode, int *value);
  public:
    typedef iri_firewire_camera::FirewireCameraConfig Config;

    Config config_;

    FirewireCameraDriver();

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all firewire_camera_driver interface methods to retrieve and set
    // the driver parameters
    void set_ISO_speed(int iso_speed); 
    void get_image(char **image_data);
    void set_config(TCameraConfig *new_conf); 
    void get_current_config(TCameraConfig *current_conf);
    void get_desired_config(TCameraConfig *desired_conf);
    void get_default_config(TCameraConfig *default_conf);
    std::string get_new_frame_event(void);
    std::string get_calibration_file(void);
    std::string get_frame_id(void);
    ~FirewireCameraDriver();
};

#endif