ueye_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 _ueye_camera_driver_h_
#define _ueye_camera_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <iri_ueye_camera/UeyeCameraConfig.h>

//include ueye_camera_driver main library
#include <ueye_camera.h>
#include <ueye_exceptions.h>

class UeyeCameraDriver : public iri_base_driver::IriBaseDriver
{
  private:
    // private attributes and methods

  public:

    CUeye_Camera ueye_cam_; 

    int cameraid_;       
    int img_width_;      
    int img_height_;     
    int img_left_;    
    int img_top_;     
    int fps_;            
    int param_mode_;     
    string file_str_;    
    int pixel_clock_;    
    double exposure_;    
    bool mirror_updown_; 
    bool mirror_leftright_; 
    int img_data_size_;  
    string frame_id_;    
    XmlRpc::XmlRpcValue double_list_; 

    typedef iri_ueye_camera::UeyeCameraConfig Config;

    Config config_;

    UeyeCameraDriver(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 ueye_camera_driver interface methods to retrieve and set
    // the driver parameters

    bool get_image(void);

    ~UeyeCameraDriver(void);
};

#endif