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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* Thanks to Seeed Studio for a working arduino sketch
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include <string>
#include <iostream>
#include <stdint.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <sys/time.h>
#include <sys/select.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <mraa/uart.h>
#define GROVESCAM_DEFAULT_UART 0
#define GROVESCAM_DEFAULT_CAMERA_ADDR 0
namespace upm {
/**
* @brief Grove Serial Camera library
* @defgroup grovescam libupm-grovescam
* @ingroup seeed uart other
*/
/**
* @library grovescam
* @sensor grovescam
* @comname Grove Serial Camera
* @type other
* @man seeed
* @con uart
* @web http://www.seeedstudio.com/wiki/Grove_-_Serial_Camera_Kit
*
* @brief API for the Grove Serial Camera
*
* The driver was tested with the Grove Serial Camera. There is
* no protocol documentation currently available, so this module
* was developed based completely on the Seeed Studio* Arduino*
* sketch.
*
* It is connected via a UART at 115,200 baud.
*
* @image html grovescam.jpg
* @snippet grovescam.cxx Interesting
*/
class GROVESCAM {
public:
static const unsigned int MAX_PKT_LEN = 128;
typedef enum {
FORMAT_VGA = 7, // 640x480
FORMAT_CIF = 5, // 352×288
FORMAT_OCIF = 3 // ??? (maybe they meant QCIF?)
} PIC_FORMATS_T;
/**
* Grove Serial Camera constructor
*
* @param uart Default UART to use (0 or 1)
* @param camAddr 3-bit address identifier of the camera; default is 0
*/
GROVESCAM(int uart, uint8_t camAddr=GROVESCAM_DEFAULT_CAMERA_ADDR);
/**
* GROVESCAM destructor
*/
~GROVESCAM();
/**
* Checks to see if there is data available for reading
*
* @param millis Number of milliseconds to wait; 0 means no waiting.
* @return True if there is data available for reading
*/
bool dataAvailable(unsigned int millis);
/**
* Reads any available data into a user-supplied buffer. Note: the
* call blocks until data is available to be read. Use
* dataAvailable() to determine whether there is data available
* beforehand, to avoid blocking.
*
* @param buffer Buffer to hold the data read
* @param len Length of the buffer
* @return Number of bytes read
*/
int readData(uint8_t *buffer, int len);
/**
* Writes the data in the buffer to the device
*
* @param buffer Buffer to hold the data read
* @param len Length of the buffer
* @return Number of bytes written
*/
int writeData(uint8_t *buffer, int len);
/**
* Sets up proper tty I/O modes and the baud rate. For this device, the default
* baud rate is 9,600 (B9600).
*
* @param baud Desired baud rate
* @return True if successful
*/
bool setupTty(speed_t baud=B115200);
/**
* Reads serial input and discards until no more characters are available
*
*/
void drainInput();
/**
* Initializes the camera
*
*/
bool init();
/**
* Tells the camera to prepare for a capture
*
* @param fmt One of the PIC_FORMATS_T values
*/
bool preCapture(PIC_FORMATS_T fmt=FORMAT_VGA);
/**
* Starts the capture
*
* @return True if successful
*/
bool doCapture();
/**
* Stores the captured image in a file
*
* @param fname Name of the file to write
* @return True if successful
*/
bool storeImage(const char *fname);
/**
* Returns the picture length. Note: this is only valid after
* doCapture() has run successfully.
*
* @return Image length
*/
int getImageSize() { return m_picTotalLen; };
protected:
int ttyFd() { return m_ttyFd; };
private:
mraa_uart_context m_uart;
int m_ttyFd;
uint8_t m_camAddr;
int m_picTotalLen;
};
}
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