grovescam: Initial implementation

This module was developed on the Grove Serial Camera.  It connects to
the UART and runs at 115200 baud.  It was developed based on the Seeed
Studio Arduino sketch, as there appears to be no protocol
documentation available.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

examples/c++/CMakeLists.txt

@@ -121,6 +121,7 @@ add_executable (hm11-example hm11.cxx)
 add_executable (ht9170-example ht9170.cxx)
 add_executable (h3lis331dl-example h3lis331dl.cxx)
 add_executable (ad8232-example ad8232.cxx)
+add_executable (grovescam-example grovescam.cxx)
 
 include_directories (${PROJECT_SOURCE_DIR}/src/hmc5883l)
 include_directories (${PROJECT_SOURCE_DIR}/src/grove)
@@ -220,6 +221,7 @@ include_directories (${PROJECT_SOURCE_DIR}/src/hm11)
 include_directories (${PROJECT_SOURCE_DIR}/src/ht9170)
 include_directories (${PROJECT_SOURCE_DIR}/src/h3lis331dl)
 include_directories (${PROJECT_SOURCE_DIR}/src/ad8232)
+include_directories (${PROJECT_SOURCE_DIR}/src/grovescam)
 
 target_link_libraries (hmc5883l-example hmc5883l ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (groveled-example grove ${CMAKE_THREAD_LIBS_INIT})
@@ -342,3 +344,4 @@ target_link_libraries (hm11-example hm11 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (ht9170-example ht9170 ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (h3lis331dl-example h3lis331dl ${CMAKE_THREAD_LIBS_INIT})
 target_link_libraries (ad8232-example ad8232 ${CMAKE_THREAD_LIBS_INIT})
+target_link_libraries (grovescam-example grovescam ${CMAKE_THREAD_LIBS_INIT})

examples/c++/grovescam.cxx

@@ -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 "grovescam.h"
+
+using namespace std;
+using namespace upm;
+
+int main (int argc, char **argv)
+{
+//! [Interesting]
+
+  // Instantiate a Grove Serial Camera on UART 0
+  upm::GROVESCAM* camera = new upm::GROVESCAM(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;
+}

examples/javascript/grovescam.js

@@ -0,0 +1,72 @@
+/*jslint node:true, vars:true, bitwise:true, unparam:true */
+/*jshint unused:true */
+
+/*
+ * 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_grovescam');
+
+// Instantiate a Grove Serial Camera on UART 0
+var camera = new cameraObj.GROVESCAM(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);
+

examples/python/grovescam.py

@@ -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_grovescam as upmGrovescam
+
+# Instantiate a Grove Serial Camera on UART 0
+camera = upmGrovescam.GROVESCAM(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)

src/grovescam/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "grovescam")
+set (libdescription "upm grove serial camera module")
+set (module_src ${libname}.cxx)
+set (module_h ${libname}.h)
+upm_module_init()

src/grovescam/grovescam.cxx

@@ -0,0 +1,475 @@
+/*
+ * 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 <errno.h>
+
+#include "grovescam.h"
+
+using namespace upm;
+using namespace std;
+
+static const int maxRetries = 100;
+
+GROVESCAM::GROVESCAM(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)) )
+    {
+      cerr << __FUNCTION__ << ": mraa_uart_init() failed" << endl;
+      return;
+    }
+
+  // This requires a recent MRAA (1/2015)
+  char *devPath = mraa_uart_get_dev_path(m_uart);
+
+  if (!devPath)
+    {
+      cerr << __FUNCTION__ << ": mraa_uart_get_dev_path() failed" << endl;
+      return;
+    }
+
+  // now open the tty
+  if ( (m_ttyFd = open(devPath, O_RDWR)) == -1)
+    {
+      cerr << __FUNCTION__ << ": open of " << devPath << " failed: " 
+           << strerror(errno) << endl;
+      return;
+    }
+}
+
+GROVESCAM::~GROVESCAM()
+{
+  if (m_ttyFd != -1)
+    close(m_ttyFd);
+}
+
+bool GROVESCAM::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 GROVESCAM::readData(uint8_t *buffer, size_t len)
+{
+  if (m_ttyFd == -1)
+    return(-1);
+
+  int rv = read(m_ttyFd, (char *)buffer, len);
+
+  if (rv < 0)
+    cerr << __FUNCTION__ << ": read failed: " << strerror(errno) << endl;
+
+  return rv;
+}
+
+int GROVESCAM::writeData(uint8_t *buffer, size_t 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)
+    {
+      cerr << __FUNCTION__ << ": write failed: " << strerror(errno) << endl;
+      return rv;
+    }
+
+  tcdrain(m_ttyFd);
+
+  return rv;
+}
+
+bool GROVESCAM::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)
+    {
+      cerr << __FUNCTION__ << ": tcsetattr failed: " << strerror(errno) << endl;
+      return false;
+    }
+
+  return true;
+}
+
+void GROVESCAM::drainInput()
+{
+  uint8_t ch;
+
+  while (dataAvailable(0))
+    readData(&ch, 1);
+}
+
+bool GROVESCAM::init()
+{
+  const unsigned int pktLen = 6;
+  uint8_t cmd[pktLen] = {0xaa, 0x0d|m_camAddr, 0x00, 0x00, 0x00, 0x00};
+  uint8_t resp[pktLen];
+  int retries = 0;
+
+  while (true)
+    {
+      if (retries++ > maxRetries)
+        {
+          cerr << __FUNCTION__ << ": retries exceeded" << endl;
+          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 GROVESCAM::preCapture(PIC_FORMATS_T fmt)
+{
+  const unsigned int pktLen = 6;
+  uint8_t cmd[pktLen] = { 0xaa, 0x01 | m_camAddr, 0x00, 0x07, 0x00, fmt };
+  uint8_t resp[pktLen];
+  int retries = 0;
+
+  while (true)
+    {
+      if (retries++ > maxRetries)
+        {
+          cerr << __FUNCTION__ << ": retries exceeded" << endl;
+          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 GROVESCAM::doCapture()
+{
+  const unsigned int pktLen = 6;
+  uint8_t cmd[pktLen] = { 0xaa, 0x06 | m_camAddr, 0x08, MAX_PKT_LEN & 0xff, 
+                          (MAX_PKT_LEN >> 8) & 0xff, 0};
+  uint8_t resp[pktLen];
+  int retries = 0;
+  
+  m_picTotalLen = 0;
+
+  while (true)
+    {
+      if (retries++ > maxRetries)
+        {
+          cerr << __FUNCTION__ << ": retries exceeded" << endl;
+          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)
+        {
+          cerr << __FUNCTION__ << ": retries exceeded" << endl;
+          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)
+        {
+          cerr << __FUNCTION__ << ": retries exceeded" << endl;
+          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 GROVESCAM::storeImage(char *fname)
+{
+  if (!fname)
+    {
+      cerr << __FUNCTION__ << "@" << __LINE__ 
+           << ": fname is NULL" << endl;
+      return false;
+    }
+
+  if (!m_picTotalLen)
+    {
+      cerr << __FUNCTION__ << "@" << __LINE__ 
+           << ": Picture length is zero, you need to capture first." << endl;
+
+      return false;
+    }
+
+  FILE *file = fopen(fname, "wb");
+
+  if (!file)
+    {
+      cerr << __FUNCTION__ << "@" << __LINE__ 
+           << ": fopen failed: " << strerror(errno) << endl;
+
+      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, 0x0e | m_camAddr, 0x00, 0x00, 0x00, 0x00 };
+  uint8_t pkt[MAX_PKT_LEN];
+  int retries = 0;
+  bool failed = false;
+  
+  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)
+            {
+              cerr << __FUNCTION__ << ": timeout, max retries exhausted." 
+                   << endl;
+              failed = true;
+              break;
+            }
+          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
+            {
+              cerr << __FUNCTION__ << ": cksum error, max retries exhausted." 
+                   << endl;
+              failed = true;
+              break;
+            }
+        }
+
+      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;
+
+  if (failed)
+    {
+      cerr << "Failed to download and store image." << endl;
+      return false;
+    }
+
+  return true;
+}

src/grovescam/grovescam.h

@@ -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 GROVESCAM_DEFAULT_UART 0
+
+#define GROVESCAM_DEFAULT_CAMERA_ADDR 0
+
+namespace upm {
+    /**
+     * @brief UPM library for the Grove Serial Camera
+     * @defgroup grovescam libupm-grovescam
+     * @ingroup seeed serial 
+     */
+
+    /**
+     * @library grovescam
+     * @sensor grovescam
+     * @comname Grove Serial Camera
+     * @category other
+     * @manufacturer seeed
+     * @connection uart
+     * @web http://www.seeedstudio.com/wiki/Grove_-_Serial_Camera_Kit
+     *
+     * @brief C++ API for the Grove Serial Camera
+     *
+     * The driver was tested with the Grove 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 115200 baud.
+     *
+     * @snippet grovescam.cxx Interesting
+     */
+
+  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 module constructor
+     *
+     * @param uart default uart to use (0 or 1)
+     * @param camAddr the 3-bit address identifier of the camera, default 0
+     */
+    GROVESCAM(int uart, uint8_t camAddr=GROVESCAM_DEFAULT_CAMERA_ADDR);
+
+    /**
+     * GROVESCAM module Destructor
+     */
+    ~GROVESCAM();
+
+    /**
+     * check to see if there is data available for reading
+     *
+     * @param millis number of milliseconds to wait, 0 means no wait.
+     * @return true if there is data available to be read
+     */
+    bool dataAvailable(unsigned int millis);
+
+    /**
+     * read any available data into a user-supplied buffer.  Note, the
+     * call will block until data is available to be read.  Use
+     * dataAvailable() to determine whether there is data available
+     * beforehand, to avoid blocking.
+     *
+     * @param buffer the buffer to hold the data read
+     * @param len the length of the buffer
+     * @return the number of bytes read
+     */
+    int readData(uint8_t *buffer, size_t len);
+
+    /**
+     * write the data in buffer to the device
+     *
+     * @param buffer the buffer to hold the data read
+     * @param len the length of the buffer
+     * @return the number of bytes written
+     */
+    int writeData(uint8_t *buffer, size_t len);
+
+    /**
+     * setup the proper tty i/o modes and the baudrate.  The default
+     * baud rate is 9600 (B9600) for this device.
+     *
+     * @param baud the desired baud rate.  
+     * @return true if successful
+     */
+    bool setupTty(speed_t baud=B115200);
+
+    /**
+     * read serial input and discard until no more characters are available
+     *
+     */
+    void drainInput();
+
+    /**
+     * initialize the camera
+     *
+     */
+    bool init();
+
+    /**
+     * tell camera to prepare for a capture
+     *
+     * @param fmt one of the PIC_FORMATS_T values
+     */
+    bool preCapture(PIC_FORMATS_T fmt=FORMAT_VGA);
+
+    /**
+     * start the capture
+     *
+     * @return true if successful
+     */
+    bool doCapture();
+
+    /**
+     * store the captured image in a file
+     *
+     * @param fname the name of the file to write
+     * @return true if successful
+     */
+    bool storeImage(char *fname);
+
+    /**
+     * return the picture length.  Note, this is only valid after
+     * doCapture() has run successfully.
+     *
+     * @return the image length
+     */
+    int getImageSize() { return m_picTotalLen; };
+
+  protected:
+    int ttyFd() { return m_ttyFd; };
+    int setTtyFd(int fd) { m_ttyFd = fd; };
+
+  private:
+    mraa_uart_context m_uart;
+    int m_ttyFd;
+
+    uint8_t m_camAddr;
+    int m_picTotalLen;
+  };
+}
+
+

src/grovescam/jsupm_grovescam.i

@@ -0,0 +1,8 @@
+%module jsupm_grovescam
+%include "../upm.i"
+
+%{
+    #include "grovescam.h"
+%}
+
+%include "grovescam.h"

src/grovescam/pyupm_grovescam.i

@@ -0,0 +1,9 @@
+%module pyupm_grovescam
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+%{
+    #include "grovescam.h"
+%}
+%include "grovescam.h"