Home | History | Annotate | Download | only in grovescam 
      1 /*
      2  * Author: Jon Trulson <jtrulson (at) ics.com>
      3  * Copyright (c) 2015 Intel Corporation.
      4  *
      5  * Thanks to Seeed Studio for a working arduino sketch
      6  *
      7  * Permission is hereby granted, free of charge, to any person obtaining
      8  * a copy of this software and associated documentation files (the
      9  * "Software"), to deal in the Software without restriction, including
     10  * without limitation the rights to use, copy, modify, merge, publish,
     11  * distribute, sublicense, and/or sell copies of the Software, and to
     12  * permit persons to whom the Software is furnished to do so, subject to
     13  * the following conditions:
     14  *
     15  * The above copyright notice and this permission notice shall be
     16  * included in all copies or substantial portions of the Software.
     17  *
     18  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
     19  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
     20  * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
     21  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
     22  * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
     23  * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
     24  * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
     25  */
     26 #pragma once
     27 
     28 #include <string>
     29 #include <iostream>
     30 
     31 #include <stdint.h>
     32 #include <stdlib.h>
     33 #include <unistd.h>
     34 #include <string.h>
     35 #include <fcntl.h>
     36 #include <errno.h>
     37 #include <termios.h>
     38 #include <sys/time.h>
     39 #include <sys/select.h>
     40 #include <sys/types.h>
     41 #include <sys/stat.h>
     42 
     43 #include <mraa/uart.h>
     44 
     45 #define GROVESCAM_DEFAULT_UART 0
     46 
     47 #define GROVESCAM_DEFAULT_CAMERA_ADDR 0
     48 
     49 namespace upm {
     50     /**
     51      * @brief Grove Serial Camera library
     52      * @defgroup grovescam libupm-grovescam
     53      * @ingroup seeed uart other
     54      */
     55 
     56     /**
     57      * @library grovescam
     58      * @sensor grovescam
     59      * @comname Grove Serial Camera
     60      * @type other
     61      * @man seeed
     62      * @con uart
     63      * @web http://www.seeedstudio.com/wiki/Grove_-_Serial_Camera_Kit
     64      *
     65      * @brief API for the Grove Serial Camera
     66      *
     67      * The driver was tested with the Grove Serial Camera. There is
     68      * no protocol documentation currently available, so this module
     69      * was developed based completely on the Seeed Studio* Arduino*
     70      * sketch.
     71      *
     72      * It is connected via a UART at 115,200 baud.
     73      *
     74      * @image html grovescam.jpg
     75      * @snippet grovescam.cxx Interesting
     76      */
     77 
     78   class GROVESCAM {
     79   public:
     80 
     81     static const unsigned int MAX_PKT_LEN = 128;
     82 
     83     typedef enum {
     84       FORMAT_VGA                   = 7, // 640x480
     85       FORMAT_CIF                   = 5, // 352288
     86       FORMAT_OCIF                  = 3  // ??? (maybe they meant QCIF?)
     87     } PIC_FORMATS_T;
     88 
     89     /**
     90      * Grove Serial Camera constructor
     91      *
     92      * @param uart Default UART to use (0 or 1)
     93      * @param camAddr 3-bit address identifier of the camera; default is 0
     94      */
     95     GROVESCAM(int uart, uint8_t camAddr=GROVESCAM_DEFAULT_CAMERA_ADDR);
     96 
     97     /**
     98      * GROVESCAM destructor
     99      */
    100     ~GROVESCAM();
    101 
    102     /**
    103      * Checks to see if there is data available for reading
    104      *
    105      * @param millis Number of milliseconds to wait; 0 means no waiting.
    106      * @return True if there is data available for reading
    107      */
    108     bool dataAvailable(unsigned int millis);
    109 
    110     /**
    111      * Reads any available data into a user-supplied buffer. Note: the
    112      * call blocks until data is available to be read. Use
    113      * dataAvailable() to determine whether there is data available
    114      * beforehand, to avoid blocking.
    115      *
    116      * @param buffer Buffer to hold the data read
    117      * @param len Length of the buffer
    118      * @return Number of bytes read
    119      */
    120     int readData(uint8_t *buffer, int len);
    121 
    122     /**
    123      * Writes the data in the buffer to the device
    124      *
    125      * @param buffer Buffer to hold the data read
    126      * @param len Length of the buffer
    127      * @return Number of bytes written
    128      */
    129     int writeData(uint8_t *buffer, int len);
    130 
    131     /**
    132      * Sets up proper tty I/O modes and the baud rate. For this device, the default
    133      * baud rate is 9,600 (B9600).
    134      *
    135      * @param baud Desired baud rate
    136      * @return True if successful
    137      */
    138     bool setupTty(speed_t baud=B115200);
    139 
    140     /**
    141      * Reads serial input and discards until no more characters are available
    142      *
    143      */
    144     void drainInput();
    145 
    146     /**
    147      * Initializes the camera
    148      *
    149      */
    150     bool init();
    151 
    152     /**
    153      * Tells the camera to prepare for a capture
    154      *
    155      * @param fmt One of the PIC_FORMATS_T values
    156      */
    157     bool preCapture(PIC_FORMATS_T fmt=FORMAT_VGA);
    158 
    159     /**
    160      * Starts the capture
    161      *
    162      * @return True if successful
    163      */
    164     bool doCapture();
    165 
    166     /**
    167      * Stores the captured image in a file
    168      *
    169      * @param fname Name of the file to write
    170      * @return True if successful
    171      */
    172     bool storeImage(const char *fname);
    173 
    174     /**
    175      * Returns the picture length. Note: this is only valid after
    176      * doCapture() has run successfully.
    177      *
    178      * @return Image length
    179      */
    180     int getImageSize() { return m_picTotalLen; };
    181 
    182   protected:
    183     int ttyFd() { return m_ttyFd; };
    184 
    185   private:
    186     mraa_uart_context m_uart;
    187     int m_ttyFd;
    188 
    189     uint8_t m_camAddr;
    190     int m_picTotalLen;
    191   };
    192 }
    193 
    194 
    195