ladybug2_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 _ladybug2_driver_h_
#define _ladybug2_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <iri_ladybug2/Ladybug2Config.h>

//include ladybug2_driver main library
#include "ladybug.h"
#include "firewireserver.h"
#include <camera_common.h>

enum
{
  FRONT=0,
  FRONT_RIGHT=1,
  REAR_RIGHT=2,
  REAR_LEFT=3,
  FRONT_LEFT=4,
  TOP=5
};

#define NUM_CAM 6


class Ladybug2Driver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods
    CLadyBug *camera;
    CFirewireServer *server;
    // reconfigure attributes
    uint64_t camera_id;
    // default_configuration
    TCameraConfig default_conf;
    // current configuration
    TCameraConfig current_conf;
    // default_configuration
    TCameraConfig desired_conf;
    // calibration file
    std::vector<std::string> calibration_files;
    // frame identifier
    std::vector<std::string> frame_ids;
  protected:
    void change_config(TCameraConfig *new_conf);
  public:
    typedef iri_ladybug2::Ladybug2Config Config;

    Config config_;

    Ladybug2Driver(void);

    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 ladybug2_driver interface methods to retrieve and set
    // the driver parameters
    void get_current_config(TCameraConfig *current_conf);
    void get_images(char **front,char **front_right,char **rear_right, char **rear_left,char **front_left,char **top);
    std::string get_new_frame_event(void);
    void get_calibration_files(std::vector<std::string> &calibration_files);
    void get_frame_ids(std::vector<std::string> &frame_ids);

    ~Ladybug2Driver(void);
};

#endif