cam_iface.h

/* cam_iface.h -- Camera Interface to present generic interface to any driver

Copyright (c) 2004-2009, California Institute of Technology. All
rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are
met:

    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.

    * Redistributions in binary form must reproduce the above
      copyright notice, this list of conditions and the following
      disclaimer in the documentation and/or other materials provided
      with the distribution.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

*/

#ifndef CAM_IFACE_H
#define CAM_IFACE_H

#define CAM_IFACE_API_VERSION "20120806"

#ifdef _WIN32
#include <windows.h>
#include <process.h> // for intptr_t

#ifndef _INTPTR_T_DEFINED
typedef int             intptr_t;
#  define _INTPTR_T_DEFINED
#endif

#else
#include <unistd.h>
#endif

#ifdef _MSC_VER
typedef unsigned __int64 u_int64_t;
typedef __int64 int64_t;
#else
#include <stdint.h>
#endif


#if defined (_WIN32)
# if defined(cam_iface_EXPORTS)
#  define CAM_IFACE_API __declspec(dllexport)
# else
#  define CAM_IFACE_API __declspec(dllimport)
# endif /* EXPORTS */
#else
# define CAM_IFACE_API extern
#endif /* _WIN32 */


#ifdef __cplusplus
extern "C" {
#endif

#ifndef CAMWIRE_H
/* This will be the same across backends, even though it is defined
   natively by camwire. */

/* Limits for Camwire_id: */
#define CAMWIRE_ID_MAX_CHARS    100

typedef struct
{
    char vendor[CAMWIRE_ID_MAX_CHARS+1];
    char model[CAMWIRE_ID_MAX_CHARS+1];
    char chip[CAMWIRE_ID_MAX_CHARS+1];
}
Camwire_id;

/* Type for a unique camera identifier comprising null-terminated vendor
   name, model name, and chip number strings, such as used by
   camwire_get_identifier() below. */
#endif /* CAMWIRE_H */

CAM_IFACE_API const char *cam_iface_get_driver_name(void);

CAM_IFACE_API void cam_iface_clear_error(void);
CAM_IFACE_API int cam_iface_have_error(void);
CAM_IFACE_API const char * cam_iface_get_error_string(void);

#define CAM_IFACE_FRAME_DATA_MISSING_ERROR -392073
#define CAM_IFACE_FRAME_TIMEOUT -392074
#define CAM_IFACE_FRAME_DATA_LOST_ERROR -392075
#define CAM_IFACE_HARDWARE_FEATURE_NOT_AVAILABLE -392076
#define CAM_IFACE_OTHER_ERROR -392077
#define CAM_IFACE_FRAME_INTERRUPTED_SYSCALL -392078
#define CAM_IFACE_SELECT_RETURNED_BUT_NO_FRAME_AVAILABLE -392079
#define CAM_IFACE_FRAME_DATA_CORRUPT_ERROR -392080
#define CAM_IFACE_BUFFER_OVERFLOW_ERROR -392081
#define CAM_IFACE_CAMERA_NOT_AVAILABLE_ERROR -392082
#define CAM_IFACE_GENERIC_ERROR -1

CAM_IFACE_API const char* cam_iface_get_api_version(void);
CAM_IFACE_API void cam_iface_startup(void); /* call cam_iface_startup_with_version_check() */
CAM_IFACE_API void cam_iface_shutdown(void);

#define cam_iface_startup_with_version_check() {                        \
  if (strcmp(CAM_IFACE_API_VERSION,cam_iface_get_api_version())) {      \
    fprintf(stderr,"cam_iface error: code uses API version %s, ",CAM_IFACE_API_VERSION); \
    fprintf(stderr,"but library implements %s. Exiting.\n",cam_iface_get_api_version()); \
    exit(1);                                                            \
  }                                                                     \
  cam_iface_startup();                                                  \
}

CAM_IFACE_API int cam_iface_get_num_cameras(void);
CAM_IFACE_API void cam_iface_get_camera_info(int device_number, Camwire_id *out_camid);

typedef struct CameraPropertyInfo CameraPropertyInfo;
struct CameraPropertyInfo {
  const char* name; /* name of property, e.g. "brightness" or "shutter" or "gain" */
  int is_present;   /* set to nonzero if property is available on camera */

  long min_value;
  long max_value;
  int has_auto_mode;
  int has_manual_mode;

  int is_scaled_quantity; /* set to nonzero if the following values are used */

  /* the following values are not used if is_scaled_quantity is zero. */
  const char* scaled_unit_name; /* e.g. "msec" */
  double scale_offset; /* Value ("val") sent to cam_iface will always be long, */
  double scale_gain;   /* but the display value will be val*scale_gain+scale_offset */

  long original_value;

  int available;        /* true if feature is available */
  int readout_capable;  /* true if feature is capable of readout */
  int on_off_capable;   /* true if feature is capable of on/off */

  int absolute_capable; /* true if capable of setting absolute values */
  int absolute_control_mode; /* true if in absolute control mode */
  double absolute_min_value;
  double absolute_max_value;
};

typedef enum CameraPixelCoding
{
  CAM_IFACE_UNKNOWN=0,
  CAM_IFACE_MONO8, /* pure monochrome (no Bayer) */
  CAM_IFACE_YUV411,
  CAM_IFACE_YUV422,
  CAM_IFACE_YUV444,
  CAM_IFACE_RGB8,
  CAM_IFACE_MONO16,
  CAM_IFACE_RGB16,
  CAM_IFACE_MONO16S,
  CAM_IFACE_RGB16S,
  CAM_IFACE_RAW8,
  CAM_IFACE_RAW16,
  CAM_IFACE_ARGB8,
  CAM_IFACE_MONO8_BAYER_BGGR, /* BGGR Bayer coding */
  CAM_IFACE_MONO8_BAYER_RGGB, /* RGGB Bayer coding */
  CAM_IFACE_MONO8_BAYER_GRBG, /* GRBG Bayer coding */
  CAM_IFACE_MONO8_BAYER_GBRG  /* GBRG Bayer coding */
}
CameraPixelCoding;

/* Get the number of video modes possible (e.g. 640x480 x MONO8 or 1600x1200xYUV422) */
CAM_IFACE_API void cam_iface_get_num_modes(int device_number, int *num_modes);

/* Describe the video mode possible (returns string "640x480xMONO8") */
CAM_IFACE_API void cam_iface_get_mode_string(int device_number,
                                             int mode_number,
                                             char* mode_string, /* output parameter */
                                             int mode_string_maxlen);


/*
 The CamContext object has a virtual method table. For all function
 calls except the constructor, call the CamContext_function_name()
 version. In other words, don't call the derived class's
 implementation directly.

 For a simplified version or what the design pattern is, see
 http://flinflon.brandonu.ca/dueck/1997/62285/virtualc.html
*/

struct CamContext; /* forward declaration */

/* constructor that mallocs memory: */
typedef struct CamContext* (*cam_iface_constructor_func_t)(int,int,int,const char*);

CAM_IFACE_API
cam_iface_constructor_func_t cam_iface_get_constructor_func(int device_number);

/* keep functable in sync across backends */
typedef struct {
  /* constructor that mallocs memory: */
  cam_iface_constructor_func_t construct;
  /* destructor that frees memory: */
  void (*destruct)(struct CamContext*);

  /* constructor on already malloced memory: */
  void (*CamContext)(struct CamContext*,int,int,int,const char*);
  /* destructor on externally malloced memory: */
  void (*close)(struct CamContext*);

  void (*start_camera)(struct CamContext*);
  void (*stop_camera)(struct CamContext*);
  void (*get_num_camera_properties)(struct CamContext*,int*);
  void (*get_camera_property_info)(struct CamContext*,
                                   int,
                                   CameraPropertyInfo*);
  void (*get_camera_property)(struct CamContext*,int,long*,int*);
  void (*set_camera_property)(struct CamContext*,int,long,int);
  void (*grab_next_frame_blocking)(struct CamContext*,
                                   unsigned char*,
                                   float);
  void (*grab_next_frame_blocking_with_stride)(struct CamContext*,
                                               unsigned char*,
                                               intptr_t,
                                               float);
  void (*point_next_frame_blocking)(struct CamContext*,unsigned char**,float);
  void (*unpoint_frame)(struct CamContext*);
  void (*get_last_timestamp)(struct CamContext*,double*);
  void (*get_last_framenumber)(struct CamContext*,unsigned long*);
  void (*get_num_trigger_modes)(struct CamContext*,int*);
  void (*get_trigger_mode_string)(struct CamContext*,int,char*,int);
  void (*get_trigger_mode_number)(struct CamContext*,int*);
  void (*set_trigger_mode_number)(struct CamContext*,int);
  void (*get_frame_roi)(struct CamContext*,int*,int*,int*,int*);
  void (*set_frame_roi)(struct CamContext*,int,int,int,int);
  void (*get_max_frame_size)(struct CamContext*,int*,int*);
  void (*get_buffer_size)(struct CamContext*,int*);
  void (*get_framerate)(struct CamContext*,float*);
  void (*set_framerate)(struct CamContext*,float);
  void (*get_num_framebuffers)(struct CamContext*,int*);
  void (*set_num_framebuffers)(struct CamContext*,int);

} CamContext_functable;

typedef struct CamContext { /* These are READ ONLY. To change, call the appropriate CamContext_set function. */
  CamContext_functable *vmt;
  void *cam;                     /* opaque pointer to backend-dependent camera (e.g. CBcam) */
  void *backend_extras;          /* opaque pointer to backend-dependent additional camera data */
  CameraPixelCoding coding; /* CAM_IFACE_MONO8 etc. */
  int depth;           /* mean bits per pixel (e.g. 8 for MONO8, 12 for YUV411, 16 for YUV422) */
  int device_number;
} CamContext;

CAM_IFACE_API void delete_CamContext(CamContext*);
CAM_IFACE_API void CamContext_CamContext(CamContext *ccntxt,
                                         int device_number,int NumImageBuffers,
                                         int mode_number,const char *interface);
CAM_IFACE_API void CamContext_close(CamContext *ccntxt);

CAM_IFACE_API void CamContext_start_camera(CamContext *ccntxt);
CAM_IFACE_API void CamContext_stop_camera(CamContext *ccntxt);

CAM_IFACE_API void CamContext_get_num_camera_properties(CamContext *ccntxt,
                                                        int* num_properties); /* output parameter */

CAM_IFACE_API void CamContext_get_camera_property_info(CamContext *ccntxt,
                                                       int property_number,
                                                       CameraPropertyInfo *info);

CAM_IFACE_API void CamContext_get_camera_property(CamContext *ccntxt,
                                                  int property_number,
                                                  long* Value,
                                                  int* Auto);

CAM_IFACE_API void CamContext_set_camera_property(CamContext *ccntxt,
                                                  int property_number,
                                                  long Value,
                                                  int Auto);

/* copy the image data into a buffer passed in */
CAM_IFACE_API void CamContext_grab_next_frame_blocking(CamContext *ccntxt, unsigned char* out_bytes, float timeout);

/* copy the image data into a buffer passed in (with buffer stride information) */
CAM_IFACE_API void CamContext_grab_next_frame_blocking_with_stride(CamContext *ccntxt, unsigned char* out_bytes, intptr_t stride0, float timeout);

/* get a pointer to the image data */
CAM_IFACE_API void CamContext_point_next_frame_blocking(CamContext *ccntxt, unsigned char** buf_ptr, float timeout);
/* release point to the image data */
CAM_IFACE_API void CamContext_unpoint_frame(CamContext *ccntxt);

CAM_IFACE_API void CamContext_get_last_timestamp( CamContext *ccntxt,
                                           double* timestamp );
CAM_IFACE_API void CamContext_get_last_framenumber( CamContext *ccntxt,
                                                    unsigned long* framenumber );

CAM_IFACE_API void CamContext_get_num_trigger_modes( CamContext *ccntxt,
                                                     int *num_exposure_modes ); /* output parameter */
CAM_IFACE_API void CamContext_get_trigger_mode_string( CamContext *ccntxt,
                                                       int exposure_mode_number,
                                                       char* exposure_mode_string, /* output parameter */
                                                       int exposure_mode_string_maxlen);
CAM_IFACE_API void CamContext_get_trigger_mode_number( CamContext *ccntxt,
                                                       int *exposure_mode_number ); /* output parameter */
CAM_IFACE_API void CamContext_set_trigger_mode_number( CamContext *ccntxt,
                                                       int exposure_mode_number );

CAM_IFACE_API void CamContext_get_frame_roi( CamContext *ccntxt,
                                             int *left, int *top, int* width, int* height );
CAM_IFACE_API void CamContext_set_frame_roi( CamContext *ccntxt,
                                             int left, int top, int width, int height );

CAM_IFACE_API void CamContext_get_max_frame_size( CamContext *ccntxt,
                                                  int *width,
                                                  int *height );

CAM_IFACE_API void CamContext_get_buffer_size( CamContext *ccntxt,
                                               int *size);

CAM_IFACE_API void CamContext_get_framerate( CamContext *ccntxt,
                                             float *framerate );
CAM_IFACE_API void CamContext_set_framerate( CamContext *ccntxt,
                                             float framerate );

CAM_IFACE_API void CamContext_get_num_framebuffers( CamContext *ccntxt,
                                             int *num_framebuffers );

CAM_IFACE_API void CamContext_set_num_framebuffers( CamContext *ccntxt,
                                             int num_framebuffers );

#ifdef __cplusplus
}
#endif
#endif /* CAM_IFACE_H */