featuresstereo.h

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/* -*- mode: C++ -*- */
/* $Id: features.h 30221 2010-06-10 16:03:43Z joq $ */

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#ifndef _FEATURES_H_
#define _FEATURES_H_

#include <dc1394/dc1394.h>
#include "trigger.h"
#include "camera1394stereo/Camera1394StereoConfig.h"
typedef camera1394stereo::Camera1394StereoConfig Config;

class Features
{
public:

  Features(dc1394camera_t *camera);
  ~Features() {};
  bool initialize(Config *newconfig);
  void reconfigure(Config *newconfig);

  inline bool isTriggerPowered()
  {
         return trigger_->isPowered();
  }

private:
  typedef int state_t;      

  void configure(dc1394feature_t feature, int *control,
                 double *value, double *value2=NULL);
  state_t getState(dc1394feature_info_t *finfo);
  void getValues(dc1394feature_info_t *finfo,
                 double *value, double *value2);

  inline bool hasMode(dc1394feature_info_t *finfo, dc1394feature_mode_t mode)
  {
    for (uint32_t i = 0; i < finfo->modes.num; ++i)
      {
        if (finfo->modes.modes[i] == mode)
          return true;
      }
    return false;
  }

  inline bool hasTrigger(void)
  {
    return DC1394_TRUE == feature_set_.feature[DC1394_FEATURE_TRIGGER
                                               - DC1394_FEATURE_MIN].available;
  }

  // pointer to subordinate trigger class
  boost::shared_ptr<Trigger> trigger_;

  bool setMode(dc1394feature_info_t *finfo, dc1394feature_mode_t mode);
  void setOff(dc1394feature_info_t *finfo);
  void updateIfChanged(dc1394feature_t feature,
                       int old_control, int *control,
                       double old_value, double *value);
  void updateIfChanged(dc1394feature_t feature,
                       int old_control, int *control,
                       double old_value, double *value,
                       double old_value2, double *value2);

  dc1394camera_t *camera_;              
  dc1394featureset_t feature_set_;      
  Config oldconfig_;                    
};

#endif // _FEATURES_H_