#include <AxisCamera.h>

Inheritance diagram for AxisCamera:

Collaboration diagram for AxisCamera:

Public Member Functions
virtual	~AxisCamera ()

bool	IsFreshImage ()

SEM_ID	GetNewImageSem ()

int	GetImage (Image *imaqImage)

int	GetImage (ColorImage *image)

HSLImage *	GetImage ()

int	CopyJPEG (char **destImage, int &destImageSize, int &destImageBufferSize)

Public Member Functions inherited from AxisCameraParams
void	WriteBrightness (int)

int	GetBrightness ()

void	WriteWhiteBalance (WhiteBalance_t whiteBalance)

WhiteBalance_t	GetWhiteBalance ()

void	WriteColorLevel (int)

int	GetColorLevel ()

void	WriteExposureControl (Exposure_t)

Exposure_t	GetExposureControl ()

void	WriteExposurePriority (int)

int	GetExposurePriority ()

void	WriteMaxFPS (int)

int	GetMaxFPS ()

void	WriteResolution (Resolution_t)

Resolution_t	GetResolution ()

void	WriteCompression (int)

int	GetCompression ()

void	WriteRotation (Rotation_t)

Rotation_t	GetRotation ()

Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.

virtual const Error &	GetError () const

virtual void	SetErrnoError (const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...

virtual void	SetImaqError (int success, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...

virtual void	SetError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	SetWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	CloneError (ErrorBase *rhs) const

virtual void	ClearError () const
	Clear the current error information associated with this sensor.

virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error. More...

Static Public Member Functions
static AxisCamera &	GetInstance (const char *cameraIP=NULL)

static void	DeleteInstance ()

Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber)

static void	SetGlobalWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber)

static Error &	GetGlobalError ()

Additional Inherited Members
Public Types inherited from AxisCameraParams
enum	Exposure_t { kExposure_Automatic, kExposure_Hold, kExposure_FlickerFree50Hz, kExposure_FlickerFree60Hz }

enum	WhiteBalance_t { kWhiteBalance_Automatic, kWhiteBalance_Hold, kWhiteBalance_FixedOutdoor1, kWhiteBalance_FixedOutdoor2, kWhiteBalance_FixedIndoor, kWhiteBalance_FixedFlourescent1, kWhiteBalance_FixedFlourescent2 }

enum	Resolution_t { kResolution_640x480, kResolution_640x360, kResolution_320x240, kResolution_160x120 }

enum	Rotation_t { kRotation_0, kRotation_180 }

typedef enum AxisCameraParams::Exposure_t	Exposure

typedef enum AxisCameraParams::WhiteBalance_t	WhiteBalance

typedef enum AxisCameraParams::Resolution_t	Resolution

typedef enum AxisCameraParams::Rotation_t	Rotation

Protected Types inherited from AxisCameraParams
typedef std::vector < IntCameraParameter * >	ParameterVector_t

Protected Member Functions inherited from AxisCameraParams
	AxisCameraParams (const char *ipAddress)

virtual	~AxisCameraParams ()

int	CreateCameraSocket (const char *requestString)

int	ParamTaskFunction ()

int	UpdateCamParam (const char *param)

int	ReadCamParams ()

Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

Static Protected Member Functions inherited from AxisCameraParams
static int	s_ParamTaskFunction (AxisCameraParams *thisPtr)

Protected Attributes inherited from AxisCameraParams
Task	m_paramTask

uint32_t	m_ipAddress

SEM_ID	m_paramChangedSem

SEM_ID	m_socketPossessionSem

IntCameraParameter *	m_brightnessParam

IntCameraParameter *	m_compressionParam

IntCameraParameter *	m_exposurePriorityParam

IntCameraParameter *	m_colorLevelParam

IntCameraParameter *	m_maxFPSParam

EnumCameraParameter *	m_rotationParam

EnumCameraParameter *	m_resolutionParam

EnumCameraParameter *	m_exposureControlParam

EnumCameraParameter *	m_whiteBalanceParam

ParameterVector_t	m_parameters

Protected Attributes inherited from ErrorBase
Error	m_error

Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY \| SEM_DELETE_SAFE \| SEM_INVERSION_SAFE)

static Error	_globalError

Detailed Description

AxisCamera class. This class handles everything about the Axis 206 FRC Camera. It starts up 2 tasks each using a different connection to the camera:

image reading task that reads images repeatedly from the camera
parameter handler task in the base class that monitors for changes to parameters and updates the camera

Definition at line 34 of file AxisCamera.h.

Constructor & Destructor Documentation

AxisCamera::~AxisCamera ( )

virtual

Destructor

Definition at line 51 of file AxisCamera.cpp.

Member Function Documentation

int AxisCamera::CopyJPEG	(	char **	destImage,
		int &	destImageSize,
		int &	destImageBufferSize
	)

Copy an image into an existing buffer. This copies an image into an existing buffer rather than creating a new image in memory. That way a new image is only allocated when the image being copied is larger than the destination. This method is called by the PCVideoServer class.

Parameters

imageData	The destination image.
numBytes	The size of the destination image.

Returns: 0 if failed (no source image or no memory), 1 if success.

Definition at line 172 of file AxisCamera.cpp.

void AxisCamera::DeleteInstance ( )

static

Called by Java to delete the camera... how thoughtful

Definition at line 90 of file AxisCamera.cpp.

int AxisCamera::GetImage ( Image * imaqImage )

Get an image from the camera and store it in the provided image.

Parameters

image The imaq image to store the result in. This must be an HSL or RGB image This function is called by Java.

Returns: 1 upon success, zero on a failure

Definition at line 126 of file AxisCamera.cpp.

int AxisCamera::GetImage ( ColorImage * image )

Get an image from the camera and store it in the provided image.

Parameters

image The image to store the result in. This must be an HSL or RGB image

Returns: 1 upon success, zero on a failure

Definition at line 143 of file AxisCamera.cpp.

HSLImage * AxisCamera::GetImage ( )

Instantiate a new image object and fill it with the latest image from the camera.

The returned pointer is owned by the caller and is their responsibility to delete.

Returns: a pointer to an HSLImage object

Definition at line 154 of file AxisCamera.cpp.

AxisCamera & AxisCamera::GetInstance ( const char * cameraIP = NULL )

static

Get a pointer to the AxisCamera object, if the object does not exist, create it To use the camera on port 2 of a cRIO-FRC, pass "192.168.0.90" to the first GetInstance call.

Returns: reference to AxisCamera object

Definition at line 75 of file AxisCamera.cpp.

SEM_ID AxisCamera::GetNewImageSem ( )

Get the semaphore to be used to synchronize image access with camera acquisition

Call semTake on the returned semaphore to block until a new image is acquired.

The semaphore is owned by the AxisCamera class and will be deleted when the class is destroyed.

Returns: A semaphore to notify when new image is received

Definition at line 113 of file AxisCamera.cpp.

bool AxisCamera::IsFreshImage ( )

Return true if the latest image from the camera has not been retrieved by calling GetImage() yet.

Returns: true if the image has not been retrieved yet.

Definition at line 100 of file AxisCamera.cpp.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation