CameraAravis.hpp

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#ifndef _CAMERA_ARAVIS_CAMERAARAVIS_HPP_
#define _CAMERA_ARAVIS_CAMERAARAVIS_HPP_

#include <iostream>
#include <string>
#include <camera_interface/CamInterface.h>
#include <arv.h>
#include <stdlib.h>

#include <camera_interface/BrightnessIndicator.h>
#include <camera_interface/ExposureController.h>
#include <boost/shared_ptr.hpp>


#include <semaphore.h>


namespace camera
{
    class CameraAravis : public CamInterface
    {
        public: 
            CameraAravis();
            ~CameraAravis();
            bool grab(const GrabMode mode = SingleFrame, const int buffer_len=1);
            void openCamera(std::string camera_name, unsigned packet_size = 1500);
            static void resetCamera(const std::string& camera_name);
            void resetTimestamp();
            ArvPixelFormat getBayerFormat ();
            bool retrieveFrame(base::samples::frame::Frame &frame,const int timeout=1000);
            bool isFrameAvailable();
            bool setCallbackFcn(void (*pcallback_function)(const void* p),void *p);
            bool setErrorCallbackFcn(void (*pcallback_function)(const void* p),void *p);
            bool isAttribAvail(const int_attrib::CamAttrib attrib);
            bool isAttribAvail(const double_attrib::CamAttrib attrib);
            bool isAttribAvail(const str_attrib::CamAttrib attrib);
            bool isAttribAvail(const enum_attrib::CamAttrib attrib);
            bool close();
            std::string doDiagnose();
            bool setAttrib(const int_attrib::CamAttrib attrib,const int value);
            int getAttrib(const int_attrib::CamAttrib attrib);
            bool setAttrib(const enum_attrib::CamAttrib attrib);
            bool setAttrib(const double_attrib::CamAttrib attrib,const double value);
            bool isAttribSet(const enum_attrib::CamAttrib attrib);
            bool setFrameSettings(const base::samples::frame::frame_size_t size, 
                                  const base::samples::frame::frame_mode_t mode,
                                  const uint8_t color_depth,
                                  const bool resize_frames);

        private:
            std::string getBufferStatusString(ArvBufferStatus status);
            void printBufferStatus();
            void startCapture();
            void stopCapture();
            void prepareBuffer(const size_t bufferLen);
            base::samples::frame::frame_mode_t convertArvToFrameMode(ArvPixelFormat format);

            friend void aravisCameraCallback(ArvStream *stream, CameraAravis *driver);
            friend void controlLostCallback (CameraAravis *driver);

        private:
            std::string path;
            ArvCamera *camera;
            ArvStream *stream;
            int current_frame;
            int buffer_counter;
            void (*callbackFcn)(const void* p);
            void (*errorCallbackFcn)(const void* p);
            void *callbackData;
            void *errorCallbackData;
            pthread_mutex_t buffer_counter_lock;
            base::Time start_time;

            std::vector<base::samples::frame::Frame> camera_buffer;

            unsigned long callback_handler;
            unsigned long error_callback_handler;
    };

} 

#endif