| /* |
| * 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; |
| }; |
| } |
| |
| |