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94 lines
2.8 KiB
C++
94 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <stdint.h>
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#include <unistd.h>
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#define VIDEO_DEVICE_IMAGE_WIDTH 320
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#define VIDEO_DEVICE_IMAGE_HEIGHT 240
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struct frame_data {
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uint32_t timestamp;
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uint32_t seq;
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uint32_t bytes;
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uint32_t index;
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void *data;
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};
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struct buffer {
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void *start;
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size_t length;
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};
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class VideoDevice
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{
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public:
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VideoDevice(char const *dev_name, uint32_t n_buffers) :
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_fd(-1), _dev_name(dev_name), _n_buffers(n_buffers), _buffers(nullptr) {}
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~VideoDevice() = default;
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/// Start the device
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int start();
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/// Stop the device
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int stop();
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/// Print various infos
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int print_info();
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/// Non-blocking call to fetch an image. Returns 0 if the images was read, -1 on error
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/// and 1 no new image is ready.
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int get_frame(struct frame_data &frame);
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/// Return a frame when the data is not needed any more.
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int put_frame(struct frame_data &frame);
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private:
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int _fd;
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const char *_dev_name;
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uint32_t _n_buffers;
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struct buffer *_buffers;
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int open_device();
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int close_device();
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int init_device();
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int init_buffers();
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int init_crop();
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int init_format();
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int start_capturing();
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int stop_capturing();
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};
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