dc1394_control.h

This library provides functionality to control any camera that conforms to the 1394-Based Digital C

/*
 * 1394-Based Digital Camera Control Library
 * Copyright (C) 2000 SMART Technologies Inc.
 *
 * Written by Gord Peters <[e-mail]>
 * Additions by Chris Urmson <[e-mail]>
 * Additions by Damien Douxchamps <[e-mail]>
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */
#ifndef __DC1394_CAMERA_CONTROL_H__
#define __DC1394_CAMERA_CONTROL_H__

#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <sys/time.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <errno.h>
#include <stddef.h>
#include <stdio.h>
#include <stdlib.h>
#include <netinet/in.h>

#define uint_t   unsigned int
#define uint16_t unsigned short int
#define uint64_t unsigned long long int
#define uchar_t  unsigned char

#ifndef octlet_t
typedef u_int64_t octlet_t;
#endif
#ifndef quadlet_t
typedef u_int32_t quadlet_t;
#endif
#ifndef nodeid_t
typedef u_int16_t nodeid_t;
#endif


/* Note on the coding of libdc1394 versions:
   - LIBDC1394_VERSION represent the release number of the library,
     e.g. 2.0.0. It consists in 4 digits, 2 for each number in the version.
     Version 2.1 will thus appear as 0201. The last version number is not
     used because a ".1" increment (as opposed to ".0.1") is necessary if
     the API had significant changes justifying the use of this number.
   - LIBDC1394_VERSION_xxx are the version codes used by libtool and defined
     in configure.in. _MAJOR is for API changes (compat break), _REVISION is
     for backward compatible API changes (e.g. new functions) and _AGE is
     when the API does not change (only code changes). At least that's my
     wild guess.
   These numbers can be used to adapt the function calls to the library
   version installed on the machine. They appeared in 2.0 so that you
   may need to check their existance if your code must work with 1.x.
*/
#define LIBDC1394_VERSION            0200
#define LIBDC1394_VERSION_MAJOR        20
#define LIBDC1394_VERSION_REVISION      0
#define LIBDC1394_VERSION_AGE           0

/* Enumeration of iso data speeds */
typedef enum {
  DC1394_ISO_SPEED_100= 0,
  DC1394_ISO_SPEED_200,
  DC1394_ISO_SPEED_400,
  DC1394_ISO_SPEED_800,
  DC1394_ISO_SPEED_1600,
  DC1394_ISO_SPEED_3200
} dc1394speed_t;
#define DC1394_ISO_SPEED_MIN                   DC1394_ISO_SPEED_100
#define DC1394_ISO_SPEED_MAX                   DC1394_ISO_SPEED_3200
#define DC1394_ISO_SPEED_NUM                  (DC1394_ISO_SPEED_MAX - DC1394_ISO_SPEED_MIN + 1)

/* Enumeration of video framerates */
typedef enum {
  DC1394_FRAMERATE_1_875= 32,
  DC1394_FRAMERATE_3_75,
  DC1394_FRAMERATE_7_5,
  DC1394_FRAMERATE_15,
  DC1394_FRAMERATE_30,
  DC1394_FRAMERATE_60,
  DC1394_FRAMERATE_120,
  DC1394_FRAMERATE_240
} dc1394framerate_t;
#define DC1394_FRAMERATE_MIN               DC1394_FRAMERATE_1_875
#define DC1394_FRAMERATE_MAX               DC1394_FRAMERATE_240
#define DC1394_FRAMERATE_NUM              (DC1394_FRAMERATE_MAX - DC1394_FRAMERATE_MIN + 1)

/* Enumeration of video modes */
typedef enum {
  DC1394_VIDEO_MODE_160x120_YUV444= 64,
  DC1394_VIDEO_MODE_320x240_YUV422,
  DC1394_VIDEO_MODE_640x480_YUV411,
  DC1394_VIDEO_MODE_640x480_YUV422,
  DC1394_VIDEO_MODE_640x480_RGB8,
  DC1394_VIDEO_MODE_640x480_MONO8,
  DC1394_VIDEO_MODE_640x480_MONO16,
  DC1394_VIDEO_MODE_800x600_YUV422,
  DC1394_VIDEO_MODE_800x600_RGB8,
  DC1394_VIDEO_MODE_800x600_MONO8,
  DC1394_VIDEO_MODE_1024x768_YUV422,
  DC1394_VIDEO_MODE_1024x768_RGB8,
  DC1394_VIDEO_MODE_1024x768_MONO8,
  DC1394_VIDEO_MODE_800x600_MONO16,
  DC1394_VIDEO_MODE_1024x768_MONO16,
  DC1394_VIDEO_MODE_1280x960_YUV422,
  DC1394_VIDEO_MODE_1280x960_RGB8,
  DC1394_VIDEO_MODE_1280x960_MONO8,
  DC1394_VIDEO_MODE_1600x1200_YUV422,
  DC1394_VIDEO_MODE_1600x1200_RGB8,
  DC1394_VIDEO_MODE_1600x1200_MONO8,
  DC1394_VIDEO_MODE_1280x960_MONO16,
  DC1394_VIDEO_MODE_1600x1200_MONO16,
  DC1394_VIDEO_MODE_EXIF,
  DC1394_VIDEO_MODE_FORMAT7_0,
  DC1394_VIDEO_MODE_FORMAT7_1,
  DC1394_VIDEO_MODE_FORMAT7_2,
  DC1394_VIDEO_MODE_FORMAT7_3,
  DC1394_VIDEO_MODE_FORMAT7_4,
  DC1394_VIDEO_MODE_FORMAT7_5,
  DC1394_VIDEO_MODE_FORMAT7_6,
  DC1394_VIDEO_MODE_FORMAT7_7
} dc1394video_mode_t;
#define DC1394_VIDEO_MODE_MIN	    DC1394_VIDEO_MODE_160x120_YUV444
#define DC1394_VIDEO_MODE_MAX       DC1394_VIDEO_MODE_FORMAT7_7
#define DC1394_VIDEO_MODE_NUM      (DC1394_VIDEO_MODE_MAX - DC1394_VIDEO_MODE_MIN + 1)

// Special min/max are defined for Format_7
#define DC1394_VIDEO_MODE_FORMAT7_MIN       DC1394_VIDEO_MODE_FORMAT7_0
#define DC1394_VIDEO_MODE_FORMAT7_MAX       DC1394_VIDEO_MODE_FORMAT7_7
#define DC1394_VIDEO_MODE_FORMAT7_NUM      (DC1394_VIDEO_MODE_FORMAT7_MAX - DC1394_VIDEO_MODE_FORMAT7_MIN + 1)

/* Enumeration of colour modings */
typedef enum {
  DC1394_COLOR_CODING_MONO8= 320,
  DC1394_COLOR_CODING_YUV411,
  DC1394_COLOR_CODING_YUV422,
  DC1394_COLOR_CODING_YUV444,
  DC1394_COLOR_CODING_RGB8,
  DC1394_COLOR_CODING_MONO16,
  DC1394_COLOR_CODING_RGB16,
  DC1394_COLOR_CODING_MONO16S,
  DC1394_COLOR_CODING_RGB16S,
  DC1394_COLOR_CODING_RAW8,
  DC1394_COLOR_CODING_RAW16
} dc1394color_coding_t;
#define DC1394_COLOR_CODING_MIN     DC1394_COLOR_CODING_MONO8
#define DC1394_COLOR_CODING_MAX     DC1394_COLOR_CODING_RAW16
#define DC1394_COLOR_CODING_NUM    (DC1394_COLOR_CODING_MAX - DC1394_COLOR_CODING_MIN + 1)

/* Enumeration of trigger modes */
typedef enum {
  DC1394_TRIGGER_MODE_0= 352,
  DC1394_TRIGGER_MODE_1,
  DC1394_TRIGGER_MODE_2,
  DC1394_TRIGGER_MODE_3,
  DC1394_TRIGGER_MODE_4,
  DC1394_TRIGGER_MODE_5,
  DC1394_TRIGGER_MODE_14,
  DC1394_TRIGGER_MODE_15
} dc1394trigger_mode_t;
#define DC1394_TRIGGER_MODE_MIN     DC1394_TRIGGER_MODE_0
#define DC1394_TRIGGER_MODE_MAX     DC1394_TRIGGER_MODE_15
#define DC1394_TRIGGER_MODE_NUM    (DC1394_TRIGGER_MODE_MAX - DC1394_TRIGGER_MODE_MIN + 1)

/* Enumeration of camera features */
typedef enum {
  DC1394_FEATURE_BRIGHTNESS= 416,
  DC1394_FEATURE_EXPOSURE,
  DC1394_FEATURE_SHARPNESS,
  DC1394_FEATURE_WHITE_BALANCE,
  DC1394_FEATURE_HUE,
  DC1394_FEATURE_SATURATION,
  DC1394_FEATURE_GAMMA,
  DC1394_FEATURE_SHUTTER,
  DC1394_FEATURE_GAIN,
  DC1394_FEATURE_IRIS,
  DC1394_FEATURE_FOCUS,
  DC1394_FEATURE_TEMPERATURE,
  DC1394_FEATURE_TRIGGER,
  DC1394_FEATURE_TRIGGER_DELAY,
  DC1394_FEATURE_WHITE_SHADING,
  DC1394_FEATURE_FRAME_RATE,
  /* 16 reserved features */
  DC1394_FEATURE_ZOOM,
  DC1394_FEATURE_PAN,
  DC1394_FEATURE_TILT,
  DC1394_FEATURE_OPTICAL_FILTER,
  /* 12 reserved features */
  DC1394_FEATURE_CAPTURE_SIZE,
  DC1394_FEATURE_CAPTURE_QUALITY
  /* 14 reserved features */
} dc1394feature_t;
#define DC1394_FEATURE_MIN           DC1394_FEATURE_BRIGHTNESS
#define DC1394_FEATURE_MAX           DC1394_FEATURE_CAPTURE_QUALITY
#define DC1394_FEATURE_NUM          (DC1394_FEATURE_MAX - DC1394_FEATURE_MIN + 1)

/* Operation modes */
typedef enum {
  DC1394_OPERATION_MODE_LEGACY = 480,
  DC1394_OPERATION_MODE_1394B
} dc1394operation_mode_t;

/* Format 7 sensor layouts*/
typedef enum {
  DC1394_COLOR_FILTER_RGGB = 512,
  DC1394_COLOR_FILTER_GBRG,
  DC1394_COLOR_FILTER_GRBG,
  DC1394_COLOR_FILTER_BGGR
} dc1394color_filter_t;
#define DC1394_COLOR_FILTER_MIN        DC1394_COLOR_FILTER_RGGB
#define DC1394_COLOR_FILTER_MAX        DC1394_COLOR_FILTER_BGGR
#define DC1394_COLOR_FILTER_NUM       (DC1394_COLOR_FILTER_MAX - DC1394_COLOR_FILTER_MIN + 1)

/* IIDC versions*/
typedef enum {
  DC1394_IIDC_VERSION_1_04 = 544,
  DC1394_IIDC_VERSION_1_20,
  DC1394_IIDC_VERSION_PTGREY,
  DC1394_IIDC_VERSION_1_30,
  DC1394_IIDC_VERSION_1_31,
  DC1394_IIDC_VERSION_1_32,
  DC1394_IIDC_VERSION_1_33,
  DC1394_IIDC_VERSION_1_34,
  DC1394_IIDC_VERSION_1_35,
  DC1394_IIDC_VERSION_1_36,
  DC1394_IIDC_VERSION_1_37,
  DC1394_IIDC_VERSION_1_38,
  DC1394_IIDC_VERSION_1_39
} dc1394iidc_version_t;
#define DC1394_IIDC_VERSION_MIN        DC1394_IIDC_VERSION_1_04
#define DC1394_IIDC_VERSION_MAX        DC1394_IIDC_VERSION_1_39
#define DC1394_IIDC_VERSION_NUM       (DC1394_IIDC_VERSION_MAX - DC1394_IIDC_VERSION_MIN + 1)

/* Enumeration of trigger sources */
typedef enum {
  DC1394_TRIGGER_SOURCE_0= 576,
  DC1394_TRIGGER_SOURCE_1,
  DC1394_TRIGGER_SOURCE_2,
  DC1394_TRIGGER_SOURCE_3,
} dc1394trigger_source_t;
#define DC1394_TRIGGER_SOURCE_MIN     DC1394_TRIGGER_SOURCE_0
#define DC1394_TRIGGER_SOURCE_MAX     DC1394_TRIGGER_SOURCE_3
#define DC1394_TRIGGER_SOURCE_NUM    (DC1394_TRIGGER_SOURCE_MAX - DC1394_TRIGGER_SOURCE_MIN + 1)

/* Maximum number of characters in vendor and model strings */
#define MAX_CHARS                      256

/* Return values for visible functions*/
typedef enum {
  DC1394_SUCCESS = 0,   /* Success is zero */
  DC1394_FAILURE,       /* Errors are positive numbers */
  DC1394_NO_FRAME = -2, /* Warnings or info are negative numbers */
  DC1394_NO_CAMERA = 3,
  DC1394_NOT_A_CAMERA,
  DC1394_FUNCTION_NOT_SUPPORTED,
  DC1394_CAMERA_NOT_INITIALIZED,
  DC1394_INVALID_FEATURE,
  DC1394_INVALID_VIDEO_FORMAT,
  DC1394_INVALID_VIDEO_MODE,