SCAM Class Reference

API for the Serial Camera. More...

Detailed Description

• ID: scam
• Name: Serial Camera
• Other Names: Grove Serial Camera
• Category: other
• Manufacturer: seeed
• Connection: uart
• Link: http://www.seeedstudio.com/wiki/Grove_-_Serial_Camera_Kit

The driver was tested with the Serial Camera. There is no protocol documentation currently available, so this module was developed based completely on the Seeed Studio* Arduino* sketch.

It is connected via a UART at 115,200 baud.

    // Instantiate a Serial Camera on UART 0
    upm::SCAM camera(0);

    // make sure port is initialized properly.  115200 baud is the default.
    if (!camera.setupTty()) {
        cerr << "Failed to setup tty port parameters" << endl;
        return 1;
    }

    if (camera.init())
        cout << "Initialized..." << endl;
    else
        cout << "init() failed" << endl;

    if (camera.preCapture())
        cout << "preCapture succeeded..." << endl;
    else
        cout << "preCapture failed." << endl;

    if (camera.doCapture())
        cout << "doCapture succeeded..." << endl;
    else
        cout << "doCapture failed." << endl;

    cout << "Image size is " << camera.getImageSize() << " bytes" << endl;

    if (camera.getImageSize() > 0) {
        cout << "Storing image.jpg..." << endl;
        if (camera.storeImage("image.jpg"))
            cout << "storeImage succeeded..." << endl;
        else
            cout << "storeImage failed." << endl;
    }

Public Types
enum	PIC_FORMATS_T { FORMAT_VGA = 7, FORMAT_CIF = 5, FORMAT_OCIF = 3 }

Public Member Functions
	SCAM (int uart, uint8_t camAddr=SCAM_DEFAULT_CAMERA_ADDR)
	~SCAM ()
bool	dataAvailable (unsigned int millis)
int	readData (uint8_t *buffer, int len)
int	writeData (uint8_t *buffer, int len)
bool	setupTty (speed_t baud=B115200)
void	drainInput ()
bool	init ()
bool	preCapture (PIC_FORMATS_T fmt=FORMAT_VGA)
bool	doCapture ()
bool	storeImage (const char *fname)
int	getImageSize ()

Static Public Attributes
static const unsigned int	MAX_PKT_LEN = 128

Protected Member Functions
int	ttyFd ()

Constructor & Destructor Documentation

SCAM	(	int	uart,
		uint8_t	camAddr = SCAM_DEFAULT_CAMERA_ADDR
	)

Serial Camera constructor

Parameters

uart	Default UART to use (0 or 1)
camAddr	3-bit address identifier of the camera; default is 0

~SCAM

(

)

SCAM destructor

Member Function Documentation

bool dataAvailable

(

unsigned int

millis

)

Checks to see if there is data available for reading

Parameters

millis

Number of milliseconds to wait; 0 means no waiting.

Returns

True if there is data available for reading

int readData	(	uint8_t *	buffer,
		int	len
	)

Reads any available data into a user-supplied buffer. Note: the call blocks until data is available to be read. Use dataAvailable() to determine whether there is data available beforehand, to avoid blocking.

Parameters

buffer	Buffer to hold the data read
len	Length of the buffer

Returns

Number of bytes read

int writeData	(	uint8_t *	buffer,
		int	len
	)

Writes the data in the buffer to the device

Parameters

buffer	Buffer to hold the data read
len	Length of the buffer

Returns

Number of bytes written

bool setupTty

(

speed_t

baud = B115200

)

Sets up proper tty I/O modes and the baud rate. For this device, the default baud rate is 9,600 (B9600).

Parameters

baud	Desired baud rate

Returns

True if successful

void drainInput

(

)

Reads serial input and discards until no more characters are available

bool init

(

)

Initializes the camera

bool preCapture

(

PIC_FORMATS_T

fmt = FORMAT_VGA

)

Tells the camera to prepare for a capture

Parameters

fmt	One of the PIC_FORMATS_T values

bool doCapture

(

)

Starts the capture

Returns

True if successful

bool storeImage

(

const char *

fname

)

Stores the captured image in a file

Parameters

fname

Name of the file to write

Returns

True if successful

let the games begin...

int getImageSize ( )

inline

Returns the picture length. Note: this is only valid after doCapture() has run successfully.

Returns

Image length

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

• src/scam/scam.hpp
• src/scam/scam.cxx