grovescam.hpp

/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2015 Intel Corporation.
 *
 * Thanks to Seeed Studio for a working arduino sketch
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
#pragma once

#include <string>
#include <iostream>

#include <stdint.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <sys/time.h>
#include <sys/select.h>
#include <sys/types.h>
#include <sys/stat.h>

#include <mraa/uart.h>

#define GROVESCAM_DEFAULT_UART 0

#define GROVESCAM_DEFAULT_CAMERA_ADDR 0

namespace upm {
  class GROVESCAM {
  public:

    static const unsigned int MAX_PKT_LEN = 128;

    typedef enum {
      FORMAT_VGA                   = 7, // 640x480
      FORMAT_CIF                   = 5, // 352*288
      FORMAT_OCIF                  = 3  // ??? (maybe they meant QCIF?)
    } PIC_FORMATS_T;

    GROVESCAM(int uart, uint8_t camAddr=GROVESCAM_DEFAULT_CAMERA_ADDR);

    ~GROVESCAM();

    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() { return m_picTotalLen; };

  protected:
    int ttyFd() { return m_ttyFd; };

  private:
    mraa_uart_context m_uart;
    int m_ttyFd;

    uint8_t m_camAddr;
    int m_picTotalLen;
  };
}