CanonDriver.h

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#ifndef CANON_DRIVER_H
#define CANON_DRIVER_H

#include <vector>
#include "../libSock/Socket.h"
#include "Datagram.h"

#include "CommManager.h"
#include "VideoManager.h"

class CanonDriver
{
    public :
        const static unsigned int CONTROL_PORT = 65311;
        const static unsigned int VIDEO_PORT = 65310;
    protected :

        bool connected;
        unsigned int verbose;
        CommManager cm;
        VideoManager vm;
        char * host;

        bool sendRequestAndWait(unsigned char id, unsigned short status, 
                Datagram & dgm,unsigned char * data=NULL, 
                unsigned int datasize=0);
        bool sendAndWait(unsigned char id, unsigned short status, 
                unsigned char * data=NULL, unsigned int datasize=0);
        bool sendAndWait33(unsigned char id, unsigned short status, 
                unsigned char * data=NULL, unsigned int datasize=0);
        bool interpreteDatagram33(const Datagram & dgm);
        double cpan,ctilt,czoom;

    public :
        CanonDriver(const char * initseq_filename,
                const char * hostname);
        ~CanonDriver();

        bool connect();
        bool disconnect();
        bool requestCurrentPos();
        void getCurrentPos(double * pan, double * tilt, double * zoom);

        bool moveTo(double pan, double tilt, double zoom);
        bool panTo(double pan);
        bool tiltTo(double to);
        bool zoomTo(double zoom);

        bool center();
        typedef enum {
            None=0, Right=1, Left=2, Up=4, UpRight=5, 
            UpLeft=6, Down=8, DownRight=9, DownLeft=10
        } Direction;
        bool startMoving(Direction dir);
        bool stop();

        bool startDeZooming();
        bool startZooming();
        bool stopZooming();

        // speed in 0x221 - 0x884 (degree/sec)
        bool setPanSpeed(unsigned short speed);
        // speed in 0x198 - 0x663 (degree/sec)
        bool setTiltSpeed(unsigned short speed);
        // speed in 1 - 7 (used in the win app)
        bool setZoomSpeed(unsigned short speed);
        bool getSpeeds(unsigned short * pan, unsigned short * tilt,
                unsigned short * zoom);

        bool setMaxSpeed();
        bool setMinSpeed();

        typedef enum {FMAuto=0, FMAutoDomes=3, FMInfinity=2, FMManual=1} FocusMode;
        typedef enum {FMUndef=0, FMManualFar=1, FMManualNear=2} ManualFocusMode;
        bool setFocusMode(FocusMode fm, ManualFocusMode mfm=FMUndef);
        bool getFocusMode(FocusMode * fm, ManualFocusMode * mfm);

        typedef enum {AXPundef=0,AXPmode1=0x120,AXPmode2=0x1b0,AXPmode3=0x240,AXPmode4=0x2d0} AutoExposureMode;
        bool getAutoExposure(bool * autoexp, AutoExposureMode * aem);
        bool setAutoExposure(AutoExposureMode aem = AXPundef);
        bool setManualExposure();
        /***
         * aperture in 0x00 - 0x0F
         * inv_shutter in 0x01 - 0xfa (1/1 sec to 1/250 sec)
         * gain in 0x01 - 0x100
         * **/
        bool setExposureParameters(unsigned int aperture, 
                unsigned int inv_shutter, unsigned int gain);
        bool getExposureParameters(unsigned int * aperture, 
                unsigned int * inv_shutter, unsigned int * gain);

        bool setDigitalZoom(unsigned char zoom);
        unsigned char getDigitalZoom();

        bool setNightMode(bool activated=true);
        bool getNightMode();
        bool setInfraRed(bool activated=true);
        bool getInfraRed();

        // TODO : test other modes
        bool setImageSize(unsigned int width, unsigned int height);
        bool getImageSize(unsigned int  *width, unsigned int *height);

        bool startVideoReception(unsigned char * dst, 
                VideoManager::SignalF f, void * farg=NULL);
        bool startVideoReception(VideoManager::SignalF f,
                void * farg=NULL);
        void setVideoOutputColorSpace(JpegReader::ColorSpace cspace);
        bool pauseVideoReception();
        bool resumeVideoReception();
        bool setVideoReceptionPauseStatus(bool pause);
        bool getVideoReceptionPauseStatus();
        bool getVideoRecordingStatus() const;
        void setVideoRecordingMode(bool mode);
        bool stopVideoReception();              
        void setRecordingDestination(const char * dirname);
        void startVideoRecording();             
        void stopVideoRecording();              
        void setMaxFrameRate();
        void setFrameRate(double fps);
        double getRequiredFrameRate();
        double getObservedFrameRate();

        void setVerboseLevel(unsigned int v) {
            verbose = v;
            printf("Verbose level set to %d\n",verbose);
        }

        bool sendDatagram(const std::vector<unsigned char> & dgm);

};

#endif // CANON_DRIVER_H