summaryrefslogtreecommitdiff
path: root/2003/i/buzz/src/camera/camera.cc
blob: 5bc69209b68b4125151c6b4fc1a150c7758e6a44 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
// camera.cc
// buzz - Programme du robot Efrei Robotique I1-I2 2003
// Copyright (C) 2003 Nicolas Schodet
//
#include "camera.h"
#include "erreur/erreur.h"
#include "kernel/pbus.h"
#include "config/config.h"

#include <fcntl.h>
#include <unistd.h>
#include <iostream>	// Debug.
#include <iomanip>	//
#include <fstream>

#define CAM_FILE "/dev/robotcam"

// Constructeur.
Camera::Camera ()
{
    // Taille par d�faut.
    m_w = 352; m_h = 288; m_d = 1;
    m_cut = 0;
    // Ouvre le p�riph�rique.
    m_fd = open (CAM_FILE, O_RDONLY);
    if (m_fd == -1)
	throw ErreurFatale ("Impossible d'ouvrir le p�riph�rique de la"
			    " camera.\n");
    // Param�tre la camera.
    sccb_io param;
    Config rc ("rc/camera");
    int addr, data;
    while (!rc.eof ())
      {
	if (rc.isId ("width"))
	  {
	    rc.getId ();
	    m_w = rc.getNum ();
	    cout << "camera width " << m_w << endl;
	  }
	else if (rc.isId ("height"))
	  {
	    rc.getId ();
	    m_h = rc.getNum ();
	    cout << "camera height " << m_h << endl;
	  }
	else if (rc.isId ("depth"))
	  {
	    rc.getId ();
	    m_d = rc.getNum ();
	    cout << "camera depth " << m_d << endl;
	  }
	else if (rc.isId ("cut"))
	  {
	    rc.getId ();
	    m_cut = rc.getNum ();
	    cout << "camera cut " << m_cut << endl;
	  }
	else if (rc.isId ("setup"))
	  {
	    rc.getId ();
	    addr = rc.getNum ();
	    data = rc.getNum ();
	    param.addr = addr; param.data = data;
	    cout << "camera sccbwrite 0x" << hex << addr << " 0x" << data <<
		endl;
	    ioctl (m_fd, CAM_SCCBWRITE, &param);
	  }
	else
	    rc.noId ();
      }
    // Affiche les param�tres.
    cout << hex << "camera sccbdump";
    for (addr = 0; addr < 0x50; ++addr)
      {
	if (!(addr % 16)) cout << endl;
	param.addr = addr;
	ioctl (m_fd, CAM_SCCBREAD, &param);
	data = param.data;
	cout << setw (2) << setfill ('0') << data << ' ';

      }
    cout << endl << dec;
    // Param�tre la taille de frame.
    int hcount = m_w * m_d;
    ioctl (m_fd, CAM_SETHCOUNT, &hcount);
    m_frameSize = m_w * m_h * m_d + m_cut;
    ioctl (m_fd, CAM_SETFRAMESIZE, &m_frameSize);
}

// Destructeur.
Camera::~Camera ()
{
    // Ferme le p�riph�rique de camera.
    close (m_fd);
}

// Lit une image.
int
Camera::read (unsigned char *image) const
{
    int r;
    // Lit les donn�es sur la camera.
    if (m_cut)
	r = ::read (m_fd, image, m_cut);
    if (!m_cut || r)
	r = ::read (m_fd, image, m_frameSize - m_cut);
    cout << "camera read " << r << endl;
    return r;
}

// Lit une image en RGB.
int
Camera::readRGB (unsigned char *rgb) const
{
    int ret;
    // Alloue de la m�moire.
    unsigned char *image = new unsigned char[m_frameSize];
    // Lit les donn�es sur la camera.
    ret = ::read (m_fd, image, m_frameSize);
    cout << "camera read " << ret << endl;
    if (!ret) return 0;
    // Positions de d�buts.
    unsigned char *r, *g, *b;
    r = image + m_cut + 2;
    g = image + m_cut + 1;
    b = image + m_cut;
    // D�code les couleurs.
    for (int i = 0; i < m_w * m_h; ++i)
      {
	*rgb++ = *r;
	r += 4;
	*rgb++ = *g;
	g += 4;
	*rgb++ = *b;
	b += 4;
      }
    return ret - m_cut;
}