/********************************************************************
** Image Component Library (ICL) **
** **
** Copyright (C) 2006-2012 CITEC, University of Bielefeld **
** Neuroinformatics Group **
** Website: www.iclcv.org and **
** http://opensource.cit-ec.de/projects/icl **
** **
** File : include/ICLIO/MyrmexGrabber.h **
** Module : ICLIO **
** Authors: Carsten Schuermann, Christof Elbrechter **
** **
** **
** Commercial License **
** ICL can be used commercially, please refer to our website **
** www.iclcv.org for more details. **
** **
** GNU General Public License Usage **
** Alternatively, this file may be used under the terms of the **
** GNU General Public License version 3.0 as published by the **
** Free Software Foundation and appearing in the file LICENSE.GPL **
** included in the packaging of this file. Please review the **
** following information to ensure the GNU General Public License **
** version 3.0 requirements will be met: **
** http://www.gnu.org/copyleft/gpl.html. **
** **
** The development of this software was supported by the **
** Excellence Cluster EXC 277 Cognitive Interaction Technology. **
** The Excellence Cluster EXC 277 is a grant of the Deutsche **
** Forschungsgemeinschaft (DFG) in the context of the German **
** Excellence Initiative. **
** **
*********************************************************************/
#ifndef ICL_MYRMEX_GRABBER_H
#define ICL_MYRMEX_GRABBER_H
#include <ICLIO/GrabberHandle.h>
namespace icl{
/// Grabber implementation for the Modular Myrmex Taticle Device
/** TODO reference for the device ... */
class MyrmexGrabberImpl : public Grabber {
/// Internal data Handling
struct Data;
/// Internally used data structure
Data *m_data;
public:
/// Possible Viewpoint orientations
enum Viewpoint{
VIEW_W=0,
VIEW_3=1,
VIEW_M=2,
VIEW_E=3
};
/// creates a null Grabber
MyrmexGrabberImpl();
/// creates and initializes a MyrmexGrabber instance
/** @param device index references to the "/dev/videoX" device
@param viewpoint view orientation to the module array (controls rotation)
@param compression threshold for compression:
- i=0: no compression
- i=1: compression with auto-threshold
- i>1: compression with threshold i
@param speedDevider devider for acquisition speed 80MHz/i = spi ACD clock, i=2..255
*/
MyrmexGrabberImpl(int deviceIdx, Viewpoint viewpoint=VIEW_W, int compression=0, int speedDevider=6) throw (ICLException);
/// Destructor
~MyrmexGrabberImpl();
/// initializes a null-Myrmex Grabber-instance
/** This function can only be called once. It must not be called when images were already grabbed */
void init(int deviceIdx, Viewpoint viewpoint=VIEW_W, int compression=0, int speedDevider=6) throw (ICLException);
/// grabs the next image
virtual const ImgBase* acquireImage();
/// returns the current output image size
Size getSize() const;
/// returns the USB-Device video image size
Size getSizeDevice() const;
/// ??
///void setDiffmode(int d) throw (ICLException); //Turn on difference calculation mode
/// returns the number of inter-module connections
int getConnectionCount() const;
/// returns the connection position of central unit
char getAttachedPosition() const;
/// returns the current compression setting
/** reads compression setting from AVR32
(buggy, keep in mind that seeting has effect only once after powerup */
int getCompression() throw (ICLException);
/// returns the current speed value
/** to change again you have to restart myrmex */
int getSpeed() throw (ICLException);
/// returns list of available myrmex devices
static const std::vector<GrabberDeviceDescription> &getDeviceList(bool rescan);
/// sets a property value
virtual void setProperty(const std::string &property, const std::string &value);
/// returns a list of all supported properties
virtual std::vector<std::string> getPropertyList();
/// returns the type of a property (menu, range, command, info)
virtual std::string getType(const std::string &name);
/// returns information about given property
virtual std::string getInfo(const std::string &name);
/// returns the current value of a property
virtual std::string getValue(const std::string &name);
/// returns the volatileness of given property
virtual int isVolatile(const std::string &propertyName);
private:
/// utility function
void setCompression(unsigned int compression) throw (ICLException);
/// utility function
void setSpeedDevider(unsigned int speedDevider) throw (ICLException);
/// Utility method that grabs one frame into destination buffer
int grabFrame(short* inbuffer) throw (ICLException);
/// Utility method that reads the interconnection table from the central unit
std::vector<char> getConnections();
/// Utility method that creates the interconnection table
std::vector<char> createConversiontable(int width, int height,const std::vector<char> &connections,
char attached, Viewpoint viewpoint );
/// generate conversiontable to match real world layout + using our viewpoint
void parseConnections(const std::vector<char> &connections, char* dir, int* width, int* height);
/// internal initialization function
void initDevice(int device, Viewpoint viewpoint) throw (ICLException);
};
/// MyrmexGrabber frontend class (see MyrmexGrabberImpl for details)
struct MyrmexGrabber : public GrabberHandle<MyrmexGrabberImpl>{
static inline std::string create_id(int dev){
return std::string("myrmex-")+str(dev);
}
static inline const std::vector<GrabberDeviceDescription> &getDeviceList(bool rescan){
return MyrmexGrabberImpl::getDeviceList(rescan);
}
typedef MyrmexGrabberImpl::Viewpoint Viewpoint;
inline MyrmexGrabber(int deviceIdx, Viewpoint viewpoint=MyrmexGrabberImpl::VIEW_W, int compression=0, int speedDevider=6){
std::string id = create_id(deviceIdx);
if(isNew(id)){
initialize(new MyrmexGrabberImpl(deviceIdx,viewpoint,compression,speedDevider),id);
}else{
initialize(id);
}
}
/// empty constructor (initialize late using init())
/** @see PWCGrabberImpl for more details */
inline MyrmexGrabber(){}
inline bool init(int deviceIdx, Viewpoint viewpoint=MyrmexGrabberImpl::VIEW_W, int compression=0, int speedDevider=6){
std::string id = create_id(deviceIdx);
if(isNew(id)){
initialize(new MyrmexGrabberImpl,id);
Mutex::Locker l(m_instance->mutex);
try{
m_instance.get()->ptr->init(deviceIdx,viewpoint,compression,speedDevider);
return true;
}catch(...){
return false;
}
}else{
initialize(id);
// resetting the parameters
Mutex::Locker l(m_instance->mutex);
return true;
}
}
/// returns the current output image size
Size getSize() const {
if(isNull()){
throw ICLException("MyrmexGrabber: unable to get size form null devide");
}
return m_instance.get()->ptr->getSize();
}
/// returns the USB-Device video image size
Size getSizeDevice() const{
if(isNull()){
throw ICLException("MyrmexGrabber: unable to get device size form null devide");
}
return m_instance.get()->ptr->getSizeDevice();
}
/// returns the number of inter-module connections
int getConnectionCount() const{
if(isNull()){
throw ICLException("MyrmexGrabber: unable to get connection count form null devide");
}
return m_instance.get()->ptr->getConnectionCount();
}
/// returns the connection position of central unit
char getAttachedPosition() const{
if(isNull()){
throw ICLException("MyrmexGrabber: unable to get attached position form null devide");
}
return m_instance.get()->ptr->getAttachedPosition();
}
/// returns the current compression setting
/** reads compression setting from AVR32
(buggy, keep in mind that seeting has effect only once after powerup */
int getCompression() throw (ICLException){
if(isNull()){
throw ICLException("MyrmexGrabber: unable to get compression form null devide");
}
return m_instance.get()->ptr->getCompression();
}
/// returns the current speed value
/** to change again you have to restart myrmex */
int getSpeed() throw (ICLException){
if(isNull()){
throw ICLException("MyrmexGrabber: unable to get speed form null devide");
}
return m_instance.get()->ptr->getSpeed();
}
};
}
#endif