Fawkes API  Fawkes Development Version
nao.h
00001 
00002 /***************************************************************************
00003  *  nao.h - V4L2 camera with Nao specific extensions
00004  *
00005  *  Created: Sun Feb 01 13:56:23 2009
00006  *  Copyright  2008 Tobias Kellner
00007  *             2009 Tim Niemueller [www.niemueller.de]
00008  *
00009  ****************************************************************************/
00010 
00011 /*  This program is free software; you can redistribute it and/or modify
00012  *  it under the terms of the GNU General Public License as published by
00013  *  the Free Software Foundation; either version 2 of the License, or
00014  *  (at your option) any later version. A runtime exception applies to
00015  *  this software (see LICENSE.GPL_WRE file mentioned below for details).
00016  *
00017  *  This program is distributed in the hope that it will be useful,
00018  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00019  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00020  *  GNU Library General Public License for more details.
00021  *
00022  *  Read the full text in the LICENSE.GPL_WRE file in the doc directory.
00023  */
00024 
00025 #ifndef __FIREVISION_CAMS_NAO_H_
00026 #define __FIREVISION_CAMS_NAO_H_
00027 
00028 #include <cams/v4l2.h>
00029 
00030 #include <cams/control/source.h>
00031 
00032 #include <core/exceptions/software.h>
00033 #include <unistd.h>
00034 
00035 #define DSPIC_I2C_ADDR 0x8
00036 #define DSPIC_SWITCH_REG 220
00037 #define I2C_SLAVE 0x0703
00038 
00039 namespace firevision {
00040 #if 0 /* just to make Emacs auto-indent happy */
00041 }
00042 #endif
00043 
00044 class CameraArgumentParser;
00045 
00046 class NaoCamera :
00047   public V4L2Camera,
00048   public CameraControlSource
00049 {
00050  public:
00051   NaoCamera(const CameraArgumentParser *cap);
00052   virtual ~NaoCamera();
00053 
00054   virtual unsigned char source();
00055   virtual void          set_source(unsigned char source);
00056   virtual bool          auto_exposure();
00057   virtual void          set_auto_exposure(bool enabled);
00058 
00059  private:
00060   static int open_dev(const char *i2c);
00061   static void close_dev(int dev, const char *error = 0);
00062   static int get_open_cam_id(int dev);
00063   static void switch_to_cam_id(int dev, int cam_id);
00064   static void init_cam(const char *cam);
00065 
00066  private:
00067   char *__i2c_device_name; ///< I2C device file descriptor
00068   int   __cam_id;          ///< ID of the Camera to be used
00069   bool  __can_switch_cam;  ///< Needs to be Nao V3 for camera switching
00070 };
00071 
00072 } // end namespace firevision
00073 
00074 #endif //__FIREVISION_CAMS_V4L2_H_
00075