format7.h

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/* -*- mode: C++ -*- */
/* $Id$ */

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#ifndef _FORMAT7_H_
#define _FORMAT7_H_

#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>

#include <dc1394/dc1394.h>

#include "camera1394/Camera1394Config.h"
typedef camera1394::Camera1394Config Config;

/*** @brief Camera1394 Format7 class
 *
 *   Sets CameraInfo Format7 data from Config updates.  Tracks values
 *   and ranges, modifying configured values to those supported by the
 *   device.
 *
 */
class Format7
{
public:

  Format7():
    active_(false),
    coding_(DC1394_COLOR_CODING_MONO8),
    maxWidth_(0),
    maxHeight_(0),
    binning_x_(0),
    binning_y_(0),
    BayerPattern_((dc1394color_filter_t) DC1394_COLOR_FILTER_NUM)
  {};
  ~Format7() {};

  bool active(void)
  {
    return active_;
  }
  bool start(dc1394camera_t *camera, dc1394video_mode_t mode,
             Config &newconfig);
  void stop(void);
  void unpackData(sensor_msgs::Image &image, uint8_t *capture_buffer);
  bool checkCameraInfo(const sensor_msgs::CameraInfo &cinfo);
  void setOperationalParameters(sensor_msgs::CameraInfo &cinfo);

private:
  dc1394color_filter_t findBayerPattern(const char* bayer);

  bool active_;
  dc1394color_coding_t coding_;
  uint32_t maxWidth_;
  uint32_t maxHeight_;

  sensor_msgs::RegionOfInterest roi_;

  uint32_t binning_x_;
  uint32_t binning_y_;

  dc1394color_filter_t BayerPattern_;
};

#endif // _FORMAT7_H_