uvc.h

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/***************************************************************************
 *   Copyright (C) 2012 by Markus Bader                                    *
 *   markus.bader@tuwien.ac.at                                             *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 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 General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
 ***************************************************************************/


#ifndef V4R_CAM_H
#define V4R_CAM_H

#include <boost/thread/thread.hpp>
#include <boost/interprocess/sync/interprocess_mutex.hpp>

#include <string>
#include <vector>
#include <sys/time.h>

#define V4L2_CID_BASE_EXTCTR                            0x009A0900
#define V4L2_CID_BASE_LOGITECH                          V4L2_CID_BASE_EXTCTR

struct vdIn;
struct v4l2_queryctrl;
struct v4l2_control;

class V4RCam
{
public:
    static const int OK = 0;
    static const int ERROR = 1;
    static const int NA = 0;
    static const int LOAD = 1;
    static const int SAVE = 2;
    typedef int FD;
    typedef boost::shared_ptr<v4l2_control> v4l2_controlPtr;  
    
    class ControlEntry
    {
    public:
        ControlEntry(int id); 
        ~ControlEntry(); 
        bool valid; 
        std::string varName; 
        v4l2_queryctrl *queryctrl; 
        int currentValue;    
        int targetValue;     
        std::stringstream info_msg;  
        std::stringstream error_msg; 
        std::string getQueryCtrlInfo() const; 
        bool hasValidType() const;  
        std::string pullErrorMsg();  
        std::string pullInfoMsg() ;  
        bool hasErrorMsg() const; 
        bool hasInfoMsg() const; 
    };
    typedef boost::shared_ptr<ControlEntry> ControlEntryPtr;  
    V4RCam(); 
    ~V4RCam(); 

    bool grab(); 
    ControlEntryPtr getControlEntry(std::string varName);
protected:
    vdIn *pVideoIn_; 
    std::string videoDevice_; 
    std::string aviFilename_; 
    int format_; 
    int grabmethod_; 
    int width_; 
    int height_; 
    float fps_; 
    timeval timeLastFrame_; 
    double durationLastFrame_; 
    boost::interprocess::interprocess_mutex mutexImage_; 
    std::vector<ControlEntryPtr > controlEntries_;  

public:
    FD initCamera(const std::string &videoDevice = "");


    int v4lgetInfo(ControlEntryPtr entry);
    int v4lget(ControlEntryPtr entry);

    int  v4lset(ControlEntryPtr entry);
    int  v4lupdate(ControlEntryPtr entry);

    bool isBlackListed(int control);

    const std::vector<ControlEntryPtr > &detectControlEnties();
    int save_controls(const std::string &filename);

    int load_controls(const std::string &filename);


    static char removeNonAlNum(char in);
    std::string pullErrorMsg() ;
    std::string pullInfoMsg() ;
    bool hasErrorMsg() const;
    bool hasInfoMsg() const;
protected:
    std::stringstream info_msg_;
    std::stringstream error_msg_;
};

#endif // V4R_CAM_H