IFrameGrabberControls.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_DEV_IFRAMEGRABBERCONTROLS_H
#define YARP_DEV_IFRAMEGRABBERCONTROLS_H
 
#include <yarp/dev/api.h>
 
#include <string>
 
 
typedef enum {
    BUS_UNKNOWN = 0,
    BUS_FIREWIRE,
    BUS_USB
} BusType;
 
typedef enum {
    MODE_UNKNOWN = 0,
    MODE_MANUAL,
    MODE_AUTO
} FeatureMode;
 
typedef struct {
    BusType busType;
    std::string deviceDescription;
} CameraDescriptor;
 
typedef enum {
    YARP_FEATURE_INVALID=-1,
    YARP_FEATURE_BRIGHTNESS=0,
    YARP_FEATURE_EXPOSURE,
    YARP_FEATURE_SHARPNESS,
    YARP_FEATURE_WHITE_BALANCE,
    YARP_FEATURE_HUE,
    YARP_FEATURE_SATURATION,
    YARP_FEATURE_GAMMA,
    YARP_FEATURE_SHUTTER,
    YARP_FEATURE_GAIN,
    YARP_FEATURE_IRIS,
    YARP_FEATURE_FOCUS,
    YARP_FEATURE_TEMPERATURE,
    YARP_FEATURE_TRIGGER,
    YARP_FEATURE_TRIGGER_DELAY,
    YARP_FEATURE_WHITE_SHADING,
    YARP_FEATURE_FRAME_RATE,
    YARP_FEATURE_ZOOM,
    YARP_FEATURE_PAN,
    YARP_FEATURE_TILT,
    YARP_FEATURE_OPTICAL_FILTER,
    YARP_FEATURE_CAPTURE_SIZE,
    YARP_FEATURE_CAPTURE_QUALITY,
    YARP_FEATURE_MIRROR,
    YARP_FEATURE_NUMBER_OF          // this has to be the last one
} cameraFeature_id_t;
 
namespace yarp {
namespace dev {
 
class YARP_dev_API IFrameGrabberControls
{
public:
    virtual ~IFrameGrabberControls();
 
#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
// set
    YARP_DEPRECATED_MSG("Use setFeature(YARP_FEATURE_BRIGHTNESS, v) instead")
    virtual bool setBrightness(double v) { return false; }
    YARP_DEPRECATED_MSG("Use setFeature(YARP_FEATURE_EXPOSURE, v) instead")
    virtual bool setExposure(double v) { return false; }
    YARP_DEPRECATED_MSG("Use setFeature(YARP_FEATURE_SHARPNESS, v) instead")
    virtual bool setSharpness(double v) { return false; }
    YARP_DEPRECATED_MSG("Use setFeature(YARP_FEATURE_WHITE_BALANCE, blue, red) instead")
    virtual bool setWhiteBalance(double blue, double red) { return false; }
    YARP_DEPRECATED_MSG("Use setFeature(YARP_FEATURE_HUE, v) instead")
    virtual bool setHue(double v) { return false; }
    YARP_DEPRECATED_MSG("Use setFeature(YARP_FEATURE_SATURATION, v) instead")
    virtual bool setSaturation(double v) { return false; }
    YARP_DEPRECATED_MSG("Use setFeature(YARP_FEATURE_GAMMA, v) instead")
    virtual bool setGamma(double v) { return false; }
    YARP_DEPRECATED_MSG("Use setFeature(YARP_FEATURE_SHUTTER, v) instead")
    virtual bool setShutter(double v) { return false; }
    YARP_DEPRECATED_MSG("Use setFeature(YARP_FEATURE_GAIN, v) instead")
    virtual bool setGain(double v) { return false; }
    YARP_DEPRECATED_MSG("Use setFeature(YARP_FEATURE_IRIS, v) instead")
    virtual bool setIris(double v) { return false; }
 
// get
    YARP_DEPRECATED_MSG("Use getFeature(YARP_FEATURE_BRIGHTNESS, v) instead")
    virtual double getBrightness() { return -1.0; }
    YARP_DEPRECATED_MSG("Use getFeature(YARP_FEATURE_EXPOSURE, v) instead")
    virtual double getExposure() { return -1.0; }
    YARP_DEPRECATED_MSG("Use getFeature(YARP_FEATURE_SHARPNESS, v) instead")
    virtual double getSharpness() { return -1.0; }
    YARP_DEPRECATED_MSG("Use getFeature(YARP_FEATURE_WHITE_BALANCE, blue, red) instead")
    virtual bool getWhiteBalance(double &blue, double &red) { return false; }
    YARP_DEPRECATED_MSG("Use getFeature(YARP_FEATURE_HUE, v) instead")
    virtual double getHue() { return -1.0; }
    YARP_DEPRECATED_MSG("Use getFeature(YARP_FEATURE_SATURATION, v) instead")
    virtual double getSaturation() { return -1.0; }
    YARP_DEPRECATED_MSG("Use getFeature(YARP_FEATURE_GAMMA, v) instead")
    virtual double getGamma() { return -1.0; }
    YARP_DEPRECATED_MSG("Use getFeature(YARP_FEATURE_SHUTTER, v) instead")
    virtual double getShutter() { return -1.0; }
    YARP_DEPRECATED_MSG("Use getFeature(YARP_FEATURE_GAIN, v) instead")
    virtual double getGain() { return -1.0; }
    YARP_DEPRECATED_MSG("Use getFeature(YARP_FEATURE_IRIS, v) instead")
    virtual double getIris() { return -1.0; }
#endif
 
    std::string busType2String(BusType type)
    {
        switch (type) {
            case BUS_FIREWIRE:
                return "FireWire";
            break;
 
            case BUS_USB:
                return "USB";
            break;
 
            default:
                return "bus type undefined";
            break;
        }
    }
 
    inline FeatureMode toFeatureMode(bool _auto)
    {
        return _auto ? MODE_AUTO : MODE_MANUAL;
    }
    virtual bool getCameraDescription(CameraDescriptor *camera)=0;
 
    virtual bool hasFeature(int feature, bool *hasFeature)=0;
 
    virtual bool setFeature(int feature, double value)=0;
 
    virtual bool getFeature(int feature, double *value)=0;
 
    virtual bool setFeature(int feature, double value1, double value2)=0;
 
    virtual bool getFeature(int feature, double *value1, double *value2)=0;
 
    virtual bool hasOnOff(int feature, bool *HasOnOff)=0;
 
    virtual bool setActive(int feature, bool onoff)=0;
 
    virtual bool getActive(int feature, bool *isActive)=0;
 
    virtual bool hasAuto(int feature, bool *hasAuto)=0;
 
    virtual bool hasManual(int feature, bool *hasManual)=0;
 
    virtual bool hasOnePush(int feature, bool *hasOnePush)=0;
 
    virtual bool setMode(int feature, FeatureMode mode)=0;
 
    virtual bool getMode(int feature, FeatureMode *mode)=0;
 
    virtual bool setOnePush(int feature)=0;
};
 
} // namespace dev
} // namespace yarp
 
#endif // YARP_DEV_IFRAMEGRABBERCONTROLS_H