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#ifndef video4linux_hh
#define video4linux_hh
// video4linux.hh
// robert - programme du robot 2005. {{{
//
// Copyright (C) 2005 Nicolas Schodet
//
// Robot APB Team/Efrei 2005.
//        Web: http://assos.efrei.fr/robot/
//      Email: robot AT efrei DOT fr
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
// 
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//
// }}}
#include "image/image_reader.hh"

/// Classe d'acc�s � Video4Linux. C'est un ImageReader.
class Video4Linux : public ImageReader
{
  private:
    int fd_;
    int width_, height_;
    unsigned bufSize_;
    Image::PixelFormat pixelFormat_;
    bool rgb_;
    int brightness_, contrast_;
    unsigned bpp_;
  public:
    /// Constructeur.
    Video4Linux (const char *dev, Image::PixelFormat pixelFormat,
		 int brightness = 58000);
    /// Destructeur.
    ~Video4Linux (void);
    /// R�cup�re les param�tres de l'image.
    void getParam (int &width, int &height,
		   Image::PixelFormat &pixelFormat) 
      { width = width_; height = height_; pixelFormat = pixelFormat_; }
    /// Lit une image, lance une exception en cas d'erreur.
    void read (uint8_t *buf, unsigned size);
    /// Calibre la cam�ra.
    void calibrate (void);
    /// Attend qu'une image soit disponible, retourne true si oui.
    bool wait (int timeout = -1);
  protected:
    /// Ouvre le p�riph�rique.
    void open (const char *dev);
    /// Ferme le p�riph�rique.
    void close (void);
};

#endif // video4linux_hh