firewire.h

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/* This file is part of the Pangolin Project.
 * http://github.com/stevenlovegrove/Pangolin
 *
 * Copyright (c) 2011 Steven Lovegrove
 *
 * Permission is hereby granted, free of charge, to any person
 * obtaining a copy of this software and associated documentation
 * files (the "Software"), to deal in the Software without
 * restriction, including without limitation the rights to use,
 * copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the
 * Software is furnished to do so, subject to the following
 * conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
 * OTHER DEALINGS IN THE SOFTWARE.
 */

#ifndef PANGOLIN_FIREWIRE_H
#define PANGOLIN_FIREWIRE_H

#include <pangolin/pangolin.h>
#include <pangolin/video.h>

#include <dc1394/dc1394.h>

#ifndef _WIN32
#include <unistd.h>
#endif



namespace pangolin
{

std::string Dc1394ColorCodingToString(dc1394color_coding_t coding);

dc1394color_coding_t Dc1394ColorCodingFromString(std::string coding);

void Dc1394ModeDetails(dc1394video_mode_t mode, unsigned& w, unsigned& h, std::string& format );

class FirewireFrame
{
    friend class FirewireVideo;
public:
    bool isValid()
    {
        return frame;
    }
    unsigned char* Image()
    {
        return frame ? frame->image : 0;
    }
    unsigned Width() const
    {
        return frame ? frame->size[0] : 0;
    }
    unsigned Height() const
    {
        return frame ? frame->size[1] : 0;
    }

protected:
    FirewireFrame(dc1394video_frame_t* frame) : frame(frame) {}
    dc1394video_frame_t *frame;
};

struct Guid
{
    Guid(uint64_t guid):guid(guid) {}
    uint64_t guid;
};

class FirewireVideo : public VideoInterface
{
public:
    const static int MAX_FR = -1;
    const static int EXT_TRIG = -1;

    FirewireVideo(
        unsigned deviceid = 0,
        dc1394video_mode_t video_mode = DC1394_VIDEO_MODE_640x480_RGB8,
        dc1394framerate_t framerate = DC1394_FRAMERATE_30,
        dc1394speed_t iso_speed = DC1394_ISO_SPEED_400,
        int dma_buffers = 10
    );

    FirewireVideo(
        Guid guid,
        dc1394video_mode_t video_mode = DC1394_VIDEO_MODE_640x480_RGB8,
        dc1394framerate_t framerate = DC1394_FRAMERATE_30,
        dc1394speed_t iso_speed = DC1394_ISO_SPEED_400,
        int dma_buffers = 10
    );

    FirewireVideo(
        Guid guid,
        dc1394video_mode_t video_mode,
        int framerate,
        uint32_t width, uint32_t height,
        uint32_t left, uint32_t top,
        dc1394speed_t iso_speed,
        int dma_buffers, bool reset_at_boot=false
    );

    FirewireVideo(
        unsigned deviceid,
        dc1394video_mode_t video_mode,
        int framerate,
        uint32_t width, uint32_t height,
        uint32_t left, uint32_t top,
        dc1394speed_t iso_speed,
        int dma_buffers, bool reset_at_boot=false
    );

    ~FirewireVideo();

    unsigned Width() const
    {
        return width;
    }

    unsigned Height() const
    {
        return height;
    }

    size_t SizeBytes() const;

    std::string PixFormat() const;

    void Start();

    void Stop();

    bool GrabNext( unsigned char* image, bool wait = true );

    bool GrabNewest( unsigned char* image, bool wait = true );

    FirewireFrame GetNext(bool wait = true);

    FirewireFrame GetNewest(bool wait = true);

    void PutFrame(FirewireFrame& frame);

    float GetShutterTime() const;

    void SetShutterTime(float val);

    void SetAutoShutterTime();

    float GetGain() const;

    void SetGain(float val);

    void SetAutoGain();

    float GetGamma() const;

    void SetShutterTimeQuant(int shutter);

    void SetInternalTrigger();

    void SetExternalTrigger(
        dc1394trigger_mode_t mode=DC1394_TRIGGER_MODE_0,
        dc1394trigger_polarity_t polarity=DC1394_TRIGGER_ACTIVE_HIGH,
        dc1394trigger_source_t source=DC1394_TRIGGER_SOURCE_0
    );

protected:

    void init_camera(
        uint64_t guid, int dma_frames,
        dc1394speed_t iso_speed,
        dc1394video_mode_t video_mode,
        dc1394framerate_t framerate
    );

    void init_format7_camera(
        uint64_t guid, int dma_frames,
        dc1394speed_t iso_speed,
        dc1394video_mode_t video_mode,
        int framerate,
        uint32_t width, uint32_t height,
        uint32_t left, uint32_t top, bool reset_at_boot
    );

    static int nearest_value(int value, int step, int min, int max);
    static double bus_period_from_iso_speed(dc1394speed_t iso_speed);

    bool running;
    dc1394camera_t *camera;
    unsigned width, height, top, left;
    //dc1394featureset_t features;
    dc1394_t * d;
    dc1394camera_list_t * list;
    mutable dc1394error_t err;

};

}

#endif // PANGOLIN_FIREWIRE_H