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SCAM: Added Serial camera without grove dependency

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Signed-off-by: Sisinty Sasmita Patra <sisinty.s.patra@intel.com>
This commit is contained in:
Sisinty Sasmita Patra 2016-09-13 17:22:17 -07:00 committed by Noel Eck
parent a9883bd1f2
commit b1918f61de
12 changed files with 1003 additions and 0 deletions
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1
examples/c++/CMakeLists.txt
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@ -203,6 +203,7 @@ add_example (ht9170)
add_example (h3lis331dl)
add_example (ad8232)
add_example (grovescam)
add_example (scam)
add_example (m24lr64e)
add_example (rgbringcoder)
add_example (hp20x)

77
examples/c++/scam.cxx Normal file
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@ -0,0 +1,77 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* 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.
*/
#include <unistd.h>
#include <iostream>
#include <signal.h>
#include <stdio.h>
#include "scam.hpp"
using namespace std;
using namespace upm;
int main (int argc, char **argv)
{
//! [Interesting]
// Instantiate a Serial Camera on UART 0
upm::SCAM* camera = new upm::SCAM(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;
}
//! [Interesting]
delete camera;
return 0;
}

1
examples/java/CMakeLists.txt
View File

@ -49,6 +49,7 @@ add_example(GroveQTouch at42qt1070)
add_example(RelaySample relay)
add_example(RotarySample rotary)
add_example(GROVESCAMSample grovescam)
add_example(SCAMSample scam)
add_example(SlideSample slide)
add_example(SpeakerSample speaker)
add_example(TemperatureSample temperature)

66
examples/java/SCAMSample.java Normal file
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@ -0,0 +1,66 @@
/*
* Author: Stefan Andritoiu <stefan.andritoiu@intel.com>
* Copyright (c) 2015 Intel Corporation.
*
* 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.
*/
//NOT TESTED!!!
public class SCAMSample {
public static void main(String[] args) throws InterruptedException {
// ! [Interesting]
// Instantiate a Serial Camera on UART 0
upm_scam.SCAM camera = new upm_scam.SCAM(0);
// make sure port is initialized properly. 115200 baud is the default.
if (!camera.setupTty()) {
System.err.println("Failed to setup tty port parameters");
System.exit(-1);
}
if (camera.init())
System.out.println("Initialized...");
else
System.out.println("Initialization failed");
if (camera.preCapture())
System.out.println("preCapture succeeded...");
else
System.out.println("preCapture failed.");
if (camera.doCapture())
System.out.println("doCapture succeeded...");
else
System.out.println("doCapture failed.");
if (camera.getImageSize() > 0) {
System.out.println("Storing image.jpg...");
if (camera.storeImage("image.jpg"))
System.out.println("storeImage succeeded...");
else
System.out.println("storeImage failed.");
}
// ! [Interesting]
}
}

69
examples/javascript/scam.js Normal file
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@ -0,0 +1,69 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* 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.
*/
var cameraObj = require('jsupm_scam');
// Instantiate a Serial Camera on UART 0
var camera = new cameraObj.SCAM(0);
// make sure port is initialized properly. 115200 baud is the default.
if (!camera.setupTty())
{
console.log("Failed to setup tty port parameters");
process.exit(1);
}
if (camera.init())
console.log("Initialized...");
else
console.log("init() failed");
if (camera.preCapture())
console.log("preCapture succeeded...");
else
console.log("preCapture failed.");
if (camera.doCapture())
console.log("doCapture succeeded...");
else
console.log("doCapture failed.");
console.log("Image size is " + camera.getImageSize() + " bytes");
if (camera.getImageSize() > 0)
{
console.log("Storing image.jpg...");
if (camera.storeImage("image.jpg"))
console.log("storeImage succeeded...");
else
console.log("storeImage failed.");
}
camera = null;
cameraObj.cleanUp();
cameraObj = null;
console.log("Exiting.");
process.exit(0);

61
examples/python/scam.py Normal file
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@ -0,0 +1,61 @@
#!/usr/bin/python
#
# Author: Jon Trulson <jtrulson@ics.com>
# Copyright (c) 2015 Intel Corporation.
#
# 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.
import sys
import pyupm_scam as upmscam
# Instantiate a Serial Camera on UART 0
camera = upmscam.SCAM(0)
# make sure port is initialized properly. 115200 baud is the default.
if (not camera.setupTty()):
print "Failed to setup tty port parameters"
sys.exit(1)
if (camera.init()):
print "Initialized..."
else:
print "init() failed"
if (camera.preCapture()):
print "preCapture succeeded..."
else:
print "preCapture failed."
if (camera.doCapture()):
print "doCapture succeeded..."
else:
print "doCapture failed."
print "Image size is", camera.getImageSize(), "bytes"
if (camera.getImageSize() > 0):
print "Storing image.jpg..."
if (camera.storeImage("image.jpg")):
print "storeImage succeeded..."
else:
print "storeImage failed."
print "Exiting."
sys.exit(0)

5
src/scam/CMakeLists.txt Normal file
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@ -0,0 +1,5 @@
upm_mixed_module_init (NAME scam
DESCRIPTION "UPM scam sensor module"
CPP_HDR scam.hpp
CPP_SRC scam.cxx
REQUIRES mraa)

20
src/scam/javaupm_grovescam.i Normal file
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@ -0,0 +1,20 @@
%module javaupm_scam
%include "../upm.i"
%include "../java_buffer.i"
%{
#include "scam.hpp"
%}
%include "scam.hpp"
%pragma(java) jniclasscode=%{
static {
try {
System.loadLibrary("javaupm_scam");
} catch (UnsatisfiedLinkError e) {
System.err.println("Native code library failed to load. \n" + e);
System.exit(1);
}
}
%}

8
src/scam/jsupm_grovescam.i Normal file
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@ -0,0 +1,8 @@
%module jsupm_scam
%include "../upm.i"
%{
#include "scam.hpp"
%}
%include "scam.hpp"

11
src/scam/pyupm_grovescam.i Normal file
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@ -0,0 +1,11 @@
// Include doxygen-generated documentation
%include "pyupm_doxy2swig.i"
%module pyupm_scam
%include "../upm.i"
%feature("autodoc", "3");
%{
#include "scam.hpp"
%}
%include "scam.hpp"

490
src/scam/scam.cxx Normal file
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@ -0,0 +1,490 @@
/*
* 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.
*/
#include <iostream>
#include <string>
#include <stdexcept>
#include <errno.h>
#include "scam.hpp"
using namespace upm;
using namespace std;
static const int maxRetries = 100;
SCAM::SCAM(int uart, uint8_t camAddr)
{
m_ttyFd = -1;
// save our shifted camera address, we'll need it a lot
m_camAddr = (camAddr << 5);
m_picTotalLen = 0;
if ( !(m_uart = mraa_uart_init(uart)) )
{
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_uart_init() failed");
return;
}
// This requires a recent MRAA (1/2015)
const char *devPath = mraa_uart_get_dev_path(m_uart);
if (!devPath)
{
throw std::runtime_error(std::string(__FUNCTION__) +
": mraa_uart_get_dev_path() failed");
return;
}
// now open the tty
if ( (m_ttyFd = open(devPath, O_RDWR)) == -1)
{
throw std::runtime_error(std::string(__FUNCTION__) +
": open of " +
string(devPath) + " failed:" +
string(strerror(errno)));
return;
}
}
SCAM::~SCAM()
{
if (m_ttyFd != -1)
close(m_ttyFd);
}
bool SCAM::dataAvailable(unsigned int millis)
{
if (m_ttyFd == -1)
return false;
struct timeval timeout;
if (millis == 0)
{
// no waiting
timeout.tv_sec = 0;
timeout.tv_usec = 0;
}
else
{
timeout.tv_sec = millis / 1000;
timeout.tv_usec = (millis % 1000) * 1000;
}
int nfds;
fd_set readfds;
FD_ZERO(&readfds);
FD_SET(m_ttyFd, &readfds);
if (select(m_ttyFd + 1, &readfds, NULL, NULL, &timeout) > 0)
return true; // data is ready
else
return false;
}
int SCAM::readData(uint8_t *buffer, int len)
{
if (m_ttyFd == -1)
return(-1);
int rv = read(m_ttyFd, (char *)buffer, len);
if (rv < 0)
{
throw std::runtime_error(std::string(__FUNCTION__) +
": read() failed: " +
string(strerror(errno)));
return rv;
}
return rv;
}
int SCAM::writeData(uint8_t *buffer, int len)
{
if (m_ttyFd == -1)
return(-1);
// first, flush any pending but unread input
tcflush(m_ttyFd, TCIFLUSH);
int rv = write(m_ttyFd, (char *)buffer, len);
if (rv < 0)
{
throw std::runtime_error(std::string(__FUNCTION__) +
": write() failed: " +
string(strerror(errno)));
return rv;
}
tcdrain(m_ttyFd);
return rv;
}
bool SCAM::setupTty(speed_t baud)
{
if (m_ttyFd == -1)
return(false);
struct termios termio;
// get current modes
tcgetattr(m_ttyFd, &termio);
// setup for a 'raw' mode. 81N, no echo or special character
// handling, such as flow control.
cfmakeraw(&termio);
// set our baud rates
cfsetispeed(&termio, baud);
cfsetospeed(&termio, baud);
// make it so
if (tcsetattr(m_ttyFd, TCSAFLUSH, &termio) < 0)
{
throw std::runtime_error(std::string(__FUNCTION__) +
": tcsetattr() failed: " +
string(strerror(errno)));
return false;
}
return true;
}
void SCAM::drainInput()
{
uint8_t ch;
while (dataAvailable(0))
readData(&ch, 1);
}
bool SCAM::init()
{
const unsigned int pktLen = 6;
uint8_t cmd[pktLen] = {0xaa, static_cast<uint8_t>(0x0d|m_camAddr), 0x00,
0x00, 0x00, 0x00};
uint8_t resp[pktLen];
int retries = 0;
while (true)
{
if (retries++ > maxRetries)
{
throw std::runtime_error(std::string(__FUNCTION__) +
": maximum retries exceeded");
return false;
}
writeData(cmd, pktLen);
if (!dataAvailable(500))
continue;
if (readData(resp, pktLen) != pktLen)
continue;
if (resp[0] == 0xaa
&& resp[1] == (0x0e | m_camAddr)
&& resp[2] == 0x0d
&& resp[4] == 0
&& resp[5] == 0)
{
if (readData(resp, pktLen) != pktLen)
continue;
else
{
if (resp[0] == 0xaa
&& resp[1] == (0x0d | m_camAddr)
&& resp[2] == 0
&& resp[3] == 0
&& resp[4] == 0
&& resp[5] == 0)
break;
}
}
}
cmd[1] = 0x0e | m_camAddr;
cmd[2] = 0x0d;
writeData(cmd, pktLen);
return true;
}
bool SCAM::preCapture(PIC_FORMATS_T fmt)
{
const unsigned int pktLen = 6;
uint8_t cmd[pktLen] = { 0xaa, static_cast<uint8_t>(0x01 | m_camAddr), 0x00,
0x07, 0x00, static_cast<uint8_t>(fmt) };
uint8_t resp[pktLen];
int retries = 0;
while (true)
{
if (retries++ > maxRetries)
{
throw std::runtime_error(std::string(__FUNCTION__) +
": maximum retries exceeded");
return false;
}
drainInput();
writeData(cmd, pktLen);
if (!dataAvailable(100))
continue;
if (readData(resp, pktLen) != pktLen)
continue;
if (resp[0] == 0xaa
&& resp[1] == (0x0e | m_camAddr)
&& resp[2] == 0x01
&& resp[4] == 0
&& resp[5] == 0) break;
}
return true;
}
bool SCAM::doCapture()
{
const unsigned int pktLen = 6;
uint8_t cmd[pktLen] = { 0xaa, static_cast<uint8_t>(0x06 | m_camAddr), 0x08,
static_cast<uint8_t>(MAX_PKT_LEN & 0xff),
static_cast<uint8_t>((MAX_PKT_LEN >> 8)) & 0xff, 0};
uint8_t resp[pktLen];
int retries = 0;
m_picTotalLen = 0;
while (true)
{
if (retries++ > maxRetries)
{
throw std::runtime_error(std::string(__FUNCTION__) +
": maximum retries exceeded");
return false;
}
drainInput();
writeData(cmd, pktLen);
usleep(100000);
if (!dataAvailable(100))
continue;
if (readData(resp, pktLen) != pktLen)
continue;
if (resp[0] == 0xaa
&& resp[1] == (0x0e | m_camAddr)
&& resp[2] == 0x06
&& resp[4] == 0
&& resp[5] == 0)
break;
}
cmd[1] = 0x05 | m_camAddr;
cmd[2] = 0;
cmd[3] = 0;
cmd[4] = 0;
cmd[5] = 0;
retries = 0;
while (true)
{
if (retries++ > maxRetries)
{
throw std::runtime_error(std::string(__FUNCTION__) +
": maximum retries exceeded");
return false;
}
drainInput();
writeData(cmd, pktLen);
if (readData(resp, pktLen) != pktLen)
continue;
if (resp[0] == 0xaa
&& resp[1] == (0x0e | m_camAddr)
&& resp[2] == 0x05
&& resp[4] == 0
&& resp[5] == 0)
break;
}
cmd[1] = 0x04 | m_camAddr;
cmd[2] = 0x01;
retries = 0;
while (true)
{
if (retries++ > maxRetries)
{
throw std::runtime_error(std::string(__FUNCTION__) +
": maximum retries exceeded");
return false;
}
drainInput();
writeData(cmd, 6);
if (readData(resp, pktLen) != pktLen)
continue;
if (resp[0] == 0xaa
&& resp[1] == (0x0e | m_camAddr)
&& resp[2] == 0x04
&& resp[4] == 0
&& resp[5] == 0)
{
if (!dataAvailable(1000))
continue;
if (readData(resp, pktLen) != pktLen)
continue;
if (resp[0] == 0xaa
&& resp[1] == (0x0a | m_camAddr)
&& resp[2] == 0x01)
{
m_picTotalLen = (resp[3]) | (resp[4] << 8) | (resp[5] << 16);
break;
}
}
}
return true;
}
bool SCAM::storeImage(const char *fname)
{
if (!fname)
{
throw std::invalid_argument(std::string(__FUNCTION__) +
": filename is NULL");
return false;
}
if (!m_picTotalLen)
{
throw std::runtime_error(std::string(__FUNCTION__) +
": Picture length is zero, you need to capture first.");
return false;
}
FILE *file = fopen(fname, "wb");
if (!file)
{
throw std::runtime_error(std::string(__FUNCTION__) +
": fopen() failed: " +
string(strerror(errno)));
return false;
}
/// let the games begin...
const unsigned int pktLen = 6;
unsigned int pktCnt = (m_picTotalLen) / (MAX_PKT_LEN - 6);
if ((m_picTotalLen % (MAX_PKT_LEN-6)) != 0)
pktCnt += 1;
uint8_t cmd[pktLen] = { 0xaa, static_cast<uint8_t>(0x0e | m_camAddr), 0x00,
0x00, 0x00, 0x00 };
uint8_t pkt[MAX_PKT_LEN];
int retries = 0;
for (unsigned int i = 0; i < pktCnt; i++)
{
cmd[4] = i & 0xff;
cmd[5] = (i >> 8) & 0xff;
retries = 0;
retry:
usleep(10000);
drainInput();
writeData(cmd, pktLen);
if (!dataAvailable(1000))
{
if (retries++ > maxRetries)
{
throw std::runtime_error(std::string(__FUNCTION__) +
": timeout, maximum retries exceeded");
return false;
}
goto retry;
}
uint16_t cnt = readData(pkt, MAX_PKT_LEN);
unsigned char sum = 0;
for (int y = 0; y < cnt - 2; y++)
{
sum += pkt[y];
}
if (sum != pkt[cnt-2])
{
if (retries++ <= maxRetries)
goto retry;
else
{
throw std::runtime_error(std::string(__FUNCTION__) +
": cksum error, maximum retries exceeded");
return false;
}
}
fwrite((const uint8_t *)&pkt[4], cnt - 6, 1, file);
}
cmd[4] = 0xf0;
cmd[5] = 0xf0;
writeData(cmd, pktLen);
fclose(file);
// reset the pic length to 0 for another run.
m_picTotalLen = 0;
return true;
}

194
src/scam/scam.hpp Normal file
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@ -0,0 +1,194 @@
/*
* 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 SCAM_DEFAULT_UART 0
#define SCAM_DEFAULT_CAMERA_ADDR 0
namespace upm {
/**
* @brief Serial Camera library
* @defgroup scam libupm-scam
* @ingroup seeed uart other
*/
/**
* @library scam
* @sensor scam
* @comname Serial Camera
* @type other
* @man seeed
* @con uart
* @web http://www.seeedstudio.com/wiki/Grove_-_Serial_Camera_Kit
*
* @brief API for the Serial Camera
*
* 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.
*
* @image html scam.jpg
* @snippet scam.cxx Interesting
*/
class SCAM {
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;
/**
* Serial Camera constructor
*
* @param uart Default UART to use (0 or 1)
* @param camAddr 3-bit address identifier of the camera; default is 0
*/
SCAM(int uart, uint8_t camAddr=SCAM_DEFAULT_CAMERA_ADDR);
/**
* SCAM destructor
*/
~SCAM();
/**
* Checks to see if there is data available for reading
*
* @param millis Number of milliseconds to wait; 0 means no waiting.
* @return True if there is data available for reading
*/
bool dataAvailable(unsigned int millis);
/**
* 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.
*
* @param buffer Buffer to hold the data read
* @param len Length of the buffer
* @return Number of bytes read
*/
int readData(uint8_t *buffer, int len);
/**
* Writes the data in the buffer to the device
*
* @param buffer Buffer to hold the data read
* @param len Length of the buffer
* @return Number of bytes written
*/
int writeData(uint8_t *buffer, int len);
/**
* Sets up proper tty I/O modes and the baud rate. For this device, the default
* baud rate is 9,600 (B9600).
*
* @param baud Desired baud rate
* @return True if successful
*/
bool setupTty(speed_t baud=B115200);
/**
* Reads serial input and discards until no more characters are available
*
*/
void drainInput();
/**
* Initializes the camera
*
*/
bool init();
/**
* Tells the camera to prepare for a capture
*
* @param fmt One of the PIC_FORMATS_T values
*/
bool preCapture(PIC_FORMATS_T fmt=FORMAT_VGA);
/**
* Starts the capture
*
* @return True if successful
*/
bool doCapture();
/**
* Stores the captured image in a file
*
* @param fname Name of the file to write
* @return True if successful
*/
bool storeImage(const char *fname);
/**
* Returns the picture length. Note: this is only valid after
* doCapture() has run successfully.
*
* @return Image length
*/
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;
};
}