epuckCamera.hpp

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/* Copyright 2008 Renato Florentino Garcia <fgar.renato@gmail.com>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2, as
 * published by the Free Software Foundation.
 *
 * 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, see <http://www.gnu.org/licenses/>.
 */

#ifndef EPUCK_CAMERA_HPP
#define EPUCK_CAMERA_HPP

#include "epuckInterface.hpp"
#include <stdexcept>
#include <string>

class EpuckCamera : public EpuckInterface
{
public:

  class camera_version_error : public std::logic_error
  {
  public:
    camera_version_error(int wrongVersion)
      :logic_error(make_what(wrongVersion)){}
  private:
    std::string make_what(int wrongVersion);
  };

  class window_out_of_range : public std::out_of_range
  {
  public:
    window_out_of_range(const std::string& whatArg)
      :out_of_range(whatArg){}
  };

  class window_length_error : public std::length_error
  {
  public:
    window_length_error(const std::string& whatArg)
      :length_error(whatArg){}
    window_length_error(int maxWidth, int maxHeight)
      :length_error(make_what(maxWidth, maxHeight)){}
  private:
    std::string make_what(int maxWidth, int maxHeight);
  };

  enum ColorModes
  {
    GREY_SCALE_MODE = 0, 
    RGB_565_MODE    = 1, 
    YUV_MODE        = 2  
  };

  EpuckCamera(const SerialPort* const serialPort, unsigned sensor_x1,
              unsigned sensor_y1, unsigned sensor_width,
              unsigned sensor_height, unsigned zoom_fact_width,
              unsigned zoom_fact_height, ColorModes color_mode) throw();

  ~EpuckCamera();

  void Initialize();

  std::string GetCameraVersion() const;

  void GetCameraData(unsigned &imageWidth, unsigned &imageHeight,
                     EpuckCamera::ColorModes &colorMode) const;

  void GetImage(unsigned char* const ptrImage);

private:

  static const unsigned PO3030K = 0x3030;
  static const unsigned PO6030K = 0x6030;

  unsigned sensor_x1;
  unsigned sensor_y1;
  unsigned sensor_width;
  unsigned sensor_height;
  unsigned zoom_fact_width;
  unsigned zoom_fact_height;
  ColorModes color_mode;

  enum{
    bpp_8,
    bpp_16
  }bpp;
  unsigned imageByteSize;

  unsigned imagePixelSize;
  unsigned rowPixelLength;
  unsigned columnPixelLength;

  unsigned epuckCameraVersion;

  unsigned char* tmpImage;
  bool tmpImageAllocated;

  // Check if the given camera parameters will be accepted by e-puck, and
  // throw exceptions otherwise.
  void checkCameraParameters() const;

  // Copy the tmpImage in ptrImage, rotating 90 degrees counterclockwise.
  template <typename T>
  void processTmpImage(T* ptrImage) const;

};

#endif /* EPUCK_CAMERA_HPP */