hardwareSensorCameraFirewire.hpp

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#ifndef HARDWARE_SENSOR_CAMERA_FIREWIRE_HPP_
#define HARDWARE_SENSOR_CAMERA_FIREWIRE_HPP_

#include <jafarConfig.h>

#ifdef HAVE_VIAM
#include <viam/viamlib.h>
#endif

#include "rtslam/hardwareSensorCamera.hpp"
#include "rtslam/rawImage.hpp"


namespace jafar {
namespace rtslam {
namespace hardware {

class HardwareSensorCameraFirewire: public HardwareSensorCamera
{
  private:
#ifdef HAVE_VIAM
    viam_bank_t bank;
    viam_handle_t handle;
    
    double transmit_date, first_image_timestamp, first_image_arrival;

    struct ViamFormat
    {
      viam_hwmode_t hwmode;
      std::list<viam_filterformat_t> filters; // filters to get gray8 in the end
    };
#endif

    virtual void preloadTask(void);
  
#ifdef HAVE_VIAM
    cv::Size viamSize_to_size(viam_hwsize_t hwsize);
    double viamFreq_to_freq(viam_hwfps_t hwfreq);
    
    viam_hwsize_t size_to_viamSize(cv::Size size);
    viam_hwfps_t freq_to_viamFreq(double freq);
    void format_to_viamFormat(cv::Size size, int format, viam_hwcrop_t crop, double freq, int trigger, ViamFormat & viam_format);
    viam_hwtrigger_t trigger_to_viamTrigger(int trigger);
#endif
    void setDataTransmit(bool val);

    void init(Mode mode, std::string dump_path, cv::Size imgSize);
#ifdef HAVE_VIAM
    void init(const std::string &camera_id, ViamFormat &viam_format, double shutter, Mode mode, std::string calib_file, std::string dump_path);
#endif
  public:
    
#ifdef HAVE_VIAM

    HardwareSensorCameraFirewire(kernel::VariableCondition<int> *condition, int bufferSize, const std::string &camera_id,
      cv::Size size, int format, viam_hwcrop_t crop, double freq, int trigger, double shutter, Mode mode, int cam_id,
      std::string calib_file = "", std::string dump_path = ".", kernel::LoggerTask *loggerTask = NULL);
#endif

    HardwareSensorCameraFirewire(kernel::VariableCondition<int> *condition, int cam_id, cv::Size imgSize, std::string dump_path = ".");
    
    ~HardwareSensorCameraFirewire();

    void assessFirstImage(double originTrigger = -1);
    virtual void start();
    virtual void showInfos()
    {
      double period, delay;
      getTimingInfos(period, delay);
      std::cout << "Firewire: arrival_delay " << delay*1000 << " milliseconds." << std::endl;
    }

};

typedef boost::shared_ptr<HardwareSensorCameraFirewire> hardware_sensor_firewire_ptr_t;

}}}

#endif