camera1394stereo: featuresstereo.h Source File

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00001 /* -*- mode: C++ -*- */
00002 /* $Id: features.h 30221 2010-06-10 16:03:43Z joq $ */
00003 
00004 /*********************************************************************
00005 * Software License Agreement (BSD License)
00006 *
00007 *  Copyright (c) 2010 Jack O'Quin
00008 *  All rights reserved.
00009 *
00010 *  Redistribution and use in source and binary forms, with or without
00011 *  modification, are permitted provided that the following conditions
00012 *  are met:
00013 *
00014 *   * Redistributions of source code must retain the above copyright
00015 *     notice, this list of conditions and the following disclaimer.
00016 *   * Redistributions in binary form must reproduce the above
00017 *     copyright notice, this list of conditions and the following
00018 *     disclaimer in the documentation and/or other materials provided
00019 *     with the distribution.
00020 *   * Neither the name of the author nor other contributors may be
00021 *     used to endorse or promote products derived from this software
00022 *     without specific prior written permission.
00023 *
00024 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00025 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00026 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00027 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00028 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00029 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00030 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00031 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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00034 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00035 *  POSSIBILITY OF SUCH DAMAGE.
00036 *********************************************************************/
00037 
00038 #ifndef _FEATURES_H_
00039 #define _FEATURES_H_
00040 
00041 #include <dc1394/dc1394.h>
00042 
00043 #include "camera1394stereo/Camera1394StereoConfig.h"
00044 typedef camera1394stereo::Camera1394StereoConfig Config;
00045 
00060 class Features
00061 {
00062 public:
00063 
00064   Features(dc1394camera_t *camera);
00065   ~Features() {};
00066   bool initialize(Config *newconfig);
00067   void reconfigure(Config *newconfig);
00068 
00069 private:
00070   typedef int state_t;      
00071 
00072   void configure(dc1394feature_t feature, int *control,
00073                  double *value, double *value2=NULL);
00074   state_t getState(dc1394feature_info_t *finfo);
00075   void getValues(dc1394feature_info_t *finfo,
00076                  double *value, double *value2);
00077 
00086   inline bool hasMode(dc1394feature_info_t *finfo, dc1394feature_mode_t mode)
00087   {
00088     for (uint32_t i = 0; i < finfo->modes.num; ++i)
00089       {
00090         if (finfo->modes.modes[i] == mode)
00091           return true;
00092       }
00093     return false;
00094   }
00095 
00096   bool setMode(dc1394feature_info_t *finfo, dc1394feature_mode_t mode);
00097   void setOff(dc1394feature_info_t *finfo);
00098   void updateIfChanged(dc1394feature_t feature,
00099                        int old_control, int *control,
00100                        double old_value, double *value);
00101   void updateIfChanged(dc1394feature_t feature,
00102                        int old_control, int *control,
00103                        double old_value, double *value,
00104                        double old_value2, double *value2);
00105 
00106   dc1394camera_t *camera_;              
00107   dc1394featureset_t feature_set_;      
00108   Config oldconfig_;                    
00109 };
00110 
00111 #endif // _FEATURES_H_