private_impl.h

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/**********************************************************
 Software developed by AVA ( Ava Group of the University of Cordoba, ava  at uco dot es)
 Main author Rafael Munoz Salinas (rmsalinas at uco dot es)
 This software is released under BSD license as expressed below
-------------------------------------------------------------------
Copyright (c) 2013, AVA ( Ava Group University of Cordoba, ava  at uco dot es)
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   must display the following acknowledgement:
 
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#ifndef _Private_RaspiCam_IMPL_H
#define _Private_RaspiCam_IMPL_H
#include "mmal/mmal.h"
//#include "mmal_connection.h"
#include <mutex>
#include <string>
#include "raspicam/raspicamtypes.h"
#include "raspicam/private_types.h"
#include "raspicam/threadcondition.h"
 
namespace raspicam
{
    namespace _private
    {
 
        class Private_Impl
        {
            struct PORT_USERDATA
            {
                PORT_USERDATA() {
                    wantToGrab=false;
                    pstate=0;
                }
                void waitForFrame() {
                    //_mutex.lock();
                    std::unique_lock<std::mutex> lck ( _mutex );
 
                    wantToGrab=true;
//                    _mutex.unlock();
//                    Thcond.Wait();
                       Thcond.Wait(lck); //this will unlock the mutex and wait atomically
                };
 
 
 
                RASPIVID_STATE *pstate;            
                 std::mutex _mutex;
                ThreadCondition Thcond;
                bool wantToGrab;
                membuf<unsigned char> _buffData;
            };
 
            public:
 
            Private_Impl();
            ~Private_Impl();
            bool open ( bool StartCapture=true );
            bool isOpened() const
            {
                return _isOpened;
            }
            bool startCapture();
            bool isCapturing() const{return _isCapturing;}
            bool grab();
            void retrieve ( unsigned char *data,RASPICAM_FORMAT type=RASPICAM_FORMAT_IGNORE );
            unsigned char *getImageBufferData() const;
            size_t getImageBufferSize() const;
 
            void release();
 
            //sets capture format. Can not be changed once camera is opened
            void setFormat ( RASPICAM_FORMAT fmt );
            void setWidth ( unsigned int width ) ;
            void setHeight ( unsigned int height );
            void setCaptureSize ( unsigned int width, unsigned int height );
            void setBrightness ( unsigned int brightness );
            void setRotation ( int rotation );
            void setISO ( int iso );
            void setSharpness ( int sharpness );
            void setContrast ( int contrast );
            void setSaturation ( int saturation );
            void setExposure ( RASPICAM_EXPOSURE exposure );
            void setVideoStabilization ( bool v );
            void setExposureCompensation ( int val ); //-10,10
            void setAWB ( RASPICAM_AWB awb );
            void setAWB_RB ( float red,float blue );//ranges [0,1]
            void  setFrameRate ( unsigned int frame_rate ) ;
 
            void setImageEffect ( RASPICAM_IMAGE_EFFECT imageEffect );
            void setMetering ( RASPICAM_METERING metering );
            void setHorizontalFlip ( bool hFlip );
            void setVerticalFlip ( bool vFlip );
            void setShutterSpeed ( unsigned int shutter ); //currently not  supported
 
            RASPICAM_FORMAT  getFormat() const {return State.captureFtm;}
            //Accessors
            unsigned int getWidth() const
            {
                return State.width;
            }
            unsigned int getHeight() const
            {
                return State.height;
            }
            unsigned int getBrightness() const
            {
                return State.brightness;
            }
            unsigned int getRotation() const
            {
                return State.rotation;
            }
            int getISO() const
            {
                return State.ISO;
            }
            int getSharpness() const
            {
                return State.sharpness;
            }
            int getContrast() const
            {
                return State.contrast;
            }
            int getSaturation() const
            {
                return State.saturation;
            }
            int getShutterSpeed() const
            {
                return State.shutterSpeed;
            }
            unsigned int getFrameRate() const
            {
             return State.framerate;
            }
            RASPICAM_EXPOSURE getExposure() const
            {
                return State.rpc_exposureMode;
            }
            RASPICAM_AWB getAWB() const
            {
                return State.rpc_awbMode;
            }
 
            float getAWBG_red(){return State.awbg_red;}
 
            float getAWBG_blue(){return State.awbg_blue;}
 
            RASPICAM_IMAGE_EFFECT getImageEffect() const
            {
                return State.rpc_imageEffect;
            }
            RASPICAM_METERING getMetering() const
            {
                return State.rpc_exposureMeterMode;
            }
            bool isHorizontallyFlipped() const
            {
                return State.hflip;
            }
            bool isVerticallyFlipped() const
            {
                return State.vflip;
            }
 
 
            //Returns an id of the camera. We assume the camera id is the one of the raspberry
            //the id is obtained using raspberry serial number obtained in /proc/cpuinfo
            std::string getId() const;
 
            size_t getImageTypeSize ( RASPICAM_FORMAT type ) const;
 
            private:
            static void video_buffer_callback ( MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer );
            void setDefaultStateParams();
            MMAL_COMPONENT_T *create_camera_component ( RASPIVID_STATE *state );
            void destroy_camera_component ( RASPIVID_STATE *state );
 
 
            //Commit
            void commitParameters( );
            void commitBrightness();
            void commitRotation() ;
            void commitISO() ;
            void commitSharpness();
            void commitContrast();
            void commitSaturation();
            void commitExposure();
            void commitAWB();
            void commitImageEffect();
            void commitMetering();
            void commitFlips();
            void commitExposureCompensation();
            void commitVideoStabilization();
            void commitShutterSpeed();
            void commitAWB_RB();
 
            MMAL_PARAM_EXPOSUREMODE_T convertExposure ( RASPICAM_EXPOSURE exposure ) ;
            MMAL_PARAM_AWBMODE_T  convertAWB ( RASPICAM_AWB awb ) ;
            MMAL_PARAM_IMAGEFX_T convertImageEffect ( RASPICAM_IMAGE_EFFECT imageEffect ) ;
            MMAL_PARAM_EXPOSUREMETERINGMODE_T convertMetering ( RASPICAM_METERING metering ) ;
            int convertFormat ( RASPICAM_FORMAT fmt ) ;
 
 
            //Color conversion
            void convertBGR2RGB(unsigned char *  in_bgr,unsigned char *  out_rgb,int size);
            float VIDEO_FRAME_RATE_NUM;
            RASPIVID_STATE State;
            MMAL_STATUS_T status;
            MMAL_PORT_T *camera_video_port;//,*camera_still_port
            PORT_USERDATA callback_data;
            bool _isOpened;
            bool _isCapturing;
            MMAL_ES_FORMAT_T *format=nullptr;
 
 
        };
    };
};
 
#endif