camera1394.cc

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  }
  else if (0==strcmp(str,"1024x768_mono"))
  {
    this->mode = MODE_1024x768_MONO;
    this->format = FORMAT_SVGA_NONCOMPRESSED_1;
    this->frameSize = 1024 * 768 * 1;
  }
  else if (0==strcmp(str,"1024x768_yuv422"))
  {
    this->mode = MODE_1024x768_YUV422;
    this->format = FORMAT_SVGA_NONCOMPRESSED_1;
    this->frameSize = 512 * 384 * 3;
  }
  else if (0==strcmp(str,"1280x960_mono"))
  {
    this->mode = MODE_1280x960_MONO;
    this->format = FORMAT_SVGA_NONCOMPRESSED_2;
    this->frameSize = 1280 * 960 * 1;
  }
  else if (0==strcmp(str,"1280x960_yuv422"))
  {
    this->mode = MODE_1280x960_YUV422;
    this->format = FORMAT_SVGA_NONCOMPRESSED_2;
    this->frameSize = 640 * 480 * 3;
  }
#if LIBDC1394_VERSION == 0200
  else if (0==strcmp(str,"FORMAT7_MODE0"))
  {
    this->mode = MODE_FORMAT7_0;
    this->format = FORMAT_7;
    this->frameSize = 0;
  }
#endif
  else
  {
    PLAYER_ERROR1("unknown video mode [%s]", str);
    this->SetError(-1);
    return;
  }

  // Many cameras such as the Pt Grey Dragonfly and Bumblebee devices
  // don't do onchip colour conversion. Various Bayer colour encoding 
  // patterns and decoding methods exist. They are now presented to the 
  // user as config file options.
  // check Bayer colour decoding option
  str =  cf->ReadString(section, "bayer", "NONE");
  this->DoBayerConversion = false;
  if (strcmp(str,"NONE"))
       {
	    if (!strcmp(str,"BGGR"))
		 {
		      this->DoBayerConversion = true;
		      this->BayerPattern = BAYER_PATTERN_BGGR;
		 }
	    else if (!strcmp(str,"GRBG"))
		 {
		      this->DoBayerConversion = true;
		      this->BayerPattern = BAYER_PATTERN_GRBG;
		 }
	    else if (!strcmp(str,"RGGB"))
		 {
		      this->DoBayerConversion = true;
		      this->BayerPattern = BAYER_PATTERN_RGGB;
		 }
	    else if (!strcmp(str,"GBRG"))
		 {
		      this->DoBayerConversion = true;
		      this->BayerPattern = BAYER_PATTERN_GBRG;
		 }
	    else
		 {
		      PLAYER_ERROR1("unknown bayer pattern [%s]", str);
		      this->SetError(-1);
		      return;
		 }
       }
  // Set default Bayer decoding method
  if (this->DoBayerConversion)
       this->BayerMethod = BAYER_DECODING_DOWNSAMPLE;
  else
       this->BayerMethod = NO_BAYER_DECODING;
  // Check for user selected method
  str =  cf->ReadString(section, "method", "NONE");
  if (strcmp(str,"NONE"))
       {
	    if (!this->DoBayerConversion)
		 {
		      PLAYER_ERROR1("bayer method [%s] specified without enabling bayer conversion", str);
		      this->SetError(-1);
		      return;
		 }
	    if (!strcmp(str,"DownSample"))
		 {
		      this->BayerMethod = BAYER_DECODING_DOWNSAMPLE;
		 }
	    else if (!strcmp(str,"Nearest"))
		 {
		      this->BayerMethod = BAYER_DECODING_NEAREST;
		 }
	    else if (!strcmp(str,"Edge"))
		 {
		      this->BayerMethod = BAYER_DECODING_EDGE_SENSE;
		 }
	    else
		 {
		      PLAYER_ERROR1("unknown bayer method [%s]", str);
		      this->SetError(-1);
		      return;
		 }
       }

  // Allow the user to set useful camera setting options
  // brightness, exposure, redBalance, blueBalance, shutter and gain
  // Parse camera settings - default is to leave them alone. 
  str =  cf->ReadString(section, "brightness", "NONE");
  if (strcmp(str,"NONE"))
       if (!strcmp(str,"auto"))
	    {
		 this->setBrightness=true;
		 this->autoBrightness=true;
	    }
       else
	    {
		 this->setBrightness=true;
		 this->autoBrightness=false;
		 this->brightness = atoi(str);		 
	    }
  str =  cf->ReadString(section, "exposure", "NONE");
  if (strcmp(str,"NONE"))
       if (!strcmp(str,"auto"))
	    {
		 this->setExposure=true;
		 this->autoExposure=true;
	    }
       else
	    {
		 this->setExposure=true;
		 this->autoExposure=false;
		 this->exposure = atoi(str);		 
	    }
  str =  cf->ReadString(section, "shutter", "NONE");
  if (strcmp(str,"NONE"))
       if (!strcmp(str,"auto"))
	    {
		 this->setShutter=true;
		 this->autoShutter=true;
	    }
       else
	    {
		 this->setShutter=true;
		 this->autoShutter=false;
		 this->shutter = atoi(str);		 
	    }
  str =  cf->ReadString(section, "gain", "NONE");
  if (strcmp(str,"NONE"))
       if (!strcmp(str,"auto"))
	    {
		 this->setGain=true;
		 this->autoGain=true;
	    }
       else
	    {
		 this->setGain=true;
		 this->autoGain=false;
		 this->gain = atoi(str);		 
	    }
  str =  cf->ReadString(section, "whitebalance", "NONE");
  if (strcmp(str,"NONE"))
       if(sscanf(str,"%u %u",&this->blueBalance,&this->redBalance)==2)
	    this->setWhiteBalance=true;
       else
	    PLAYER_ERROR1("didn't understand white balance values [%s]", str);

  // Force into raw mode
  this->forceRaw = cf->ReadInt(section, "force_raw", 0);
 
  // Save frames?
  this->save = cf->ReadInt(section, "save", 0);

  // Number of DMA buffers?
  this->num_dma_buffers = cf->ReadInt(section, "dma_buffers", NUM_DMA_BUFFERS);

  
  return;
}

////////////////////////////////////////////////////////////////////////////////
// Safe Cleanup
void Camera1394::SafeCleanup()
{
  delete resized;
  resized = NULL;

#if LIBDC1394_VERSION == 0200
  if (this->camera)
  {
    dc1394_cleanup_iso_channels_and_bandwidth(camera);
    switch (this->method)
    {
    case methodRaw:
      //dc1394_release_camera(this->camera);
      break;
    case methodVideo:
      //dc1394_dma_unlisten(this->camera);
      //dc1394_dma_release_camera(this->camera);
      break;
    }
    dc1394_free_camera(this->camera);
  }
  this->camera = NULL;
#else
  if (this->handle)
  {
    switch (this->method)
    {
    case methodRaw:
      dc1394_release_camera(this->handle, &this->camera);
      break;
    case methodVideo:
      dc1394_dma_unlisten(this->handle, &this->camera);
      dc1394_dma_release_camera(this->handle, &this->camera);
      break;
    }
    dc1394_destroy_handle(this->handle);
  }
  this->handle = NULL;
#endif
}

////////////////////////////////////////////////////////////////////////////////
// Set up the device (called by server thread).
int Camera1394::Setup()
{
#if LIBDC1394_VERSION == 0200
  dc1394speed_t speed;
#else
  unsigned int channel, speed;
#endif

  // Create a handle for the given port (port will be zero on most
  // machines)
#if LIBDC1394_VERSION == 0200
  // First we try to find a camera
  int err;
  dc1394camera_t **dccameras=NULL;
  unsigned int camnum=0;	
  if ((err=dc1394_find_cameras(&dccameras,&camnum)) != DC1394_SUCCESS)
  {
    PLAYER_ERROR1("Could not get Camera List: %d\n", err);	
    return -1;
  }
  if (camnum <=0)
    return -1;

  // we just use the first one returned and then free the rest
  camera = dccameras[0];

  for (unsigned int i=1;i<camnum;i++)
    free(dccameras[i]);
  if (camnum>0)
	  free(dccameras);	
  dc1394_cleanup_iso_channels_and_bandwidth(camera);

  if (this->camera == NULL)
  {
    PLAYER_ERROR("Unable to acquire a dc1394 camera");
    this->SafeCleanup();
    return -1;
  }

#else
  this->handle = dc1394_create_handle(this->port);
  if (this->handle == NULL)
  {
    PLAYER_ERROR("Unable to acquire a dc1394 handle");
    this->SafeCleanup();
    return -1;
  }

  this->camera.node = this->node;
  this->camera.port = this->port;
#endif

  // apply user config file provided camera settings
  if (this->setBrightness)
  {
#if LIBDC1394_VERSION == 0200
    if (DC1394_SUCCESS != dc1394_feature_set_mode(this->camera, FEATURE_BRIGHTNESS,this->autoBrightness ? DC1394_FEATURE_MODE_AUTO : DC1394_FEATURE_MODE_MANUAL))
#else
    if (DC1394_SUCCESS != dc1394_auto_on_off(this->handle, this->camera.node,FEATURE_BRIGHTNESS,this->autoBrightness))
#endif
    {
      PLAYER_ERROR("Unable to set Brightness mode");
      this->SafeCleanup();
      return -1;
    }
    if (!this->autoBrightness)
    {
#if LIBDC1394_VERSION == 0200
      if (DC1394_SUCCESS != dc1394_feature_set_value(this->camera, FEATURE_BRIGHTNESS,this->brightness))
#else
      if (DC1394_SUCCESS != dc1394_set_brightness(this->handle, this->camera.node,this->brightness))
#endif
      {
        PLAYER_ERROR("Unable to set Brightness value");
        this->SafeCleanup();
        return -1;
      }
    }
  }
  if (this->setExposure)
  {
#if LIBDC1394_VERSION == 0200
    if (DC1394_SUCCESS != dc1394_feature_set_mode(this->camera, FEATURE_EXPOSURE,this->autoExposure ? DC1394_FEATURE_MODE_AUTO : DC1394_FEATURE_MODE_MANUAL))
#else
    if (DC1394_SUCCESS != dc1394_auto_on_off(this->handle, this->camera.node,FEATURE_EXPOSURE,this->autoExposure))
#endif
    {
      PLAYER_ERROR("Unable to set Exposure mode");
		  this->SafeCleanup();
		  return -1;
    }
    if (!this->autoExposure)
    {
#if LIBDC1394_VERSION == 0200
      if (DC1394_SUCCESS != dc1394_feature_set_value(this->camera, FEATURE_EXPOSURE,this->exposure))
#else
      if (DC1394_SUCCESS != dc1394_set_exposure(this->handle, this->camera.node,this->exposure))
#endif
      {
		    PLAYER_ERROR("Unable to set Exposure value");
		    this->SafeCleanup();
		    return -1;
		  }
    }
  }
  if (this->setShutter)
  {
#if LIBDC1394_VERSION == 0200
    if (DC1394_SUCCESS != dc1394_feature_set_mode(this->camera, FEATURE_SHUTTER,this->autoShutter ? DC1394_FEATURE_MODE_AUTO : DC1394_FEATURE_MODE_MANUAL))
#else
    if (DC1394_SUCCESS != dc1394_auto_on_off(this->handle, this->camera.node,FEATURE_SHUTTER,this->autoShutter))
#endif
    {
		  PLAYER_ERROR("Unable to set Shutter mode");
		  this->SafeCleanup();
		  return -1;
		}
	  if (!this->autoShutter)
    {
#if LIBDC1394_VERSION == 0200
      if (DC1394_SUCCESS != dc1394_feature_set_value(this->camera, FEATURE_SHUTTER,this->shutter))
#else
      if (DC1394_SUCCESS != dc1394_set_shutter(this->handle, this->camera.node,this->shutter))
#endif
      {
		    PLAYER_ERROR("Unable to set Shutter value");
		    this->SafeCleanup();
		    return -1;
		  }
    }
  }
  if (this->setGain)
  {
#if LIBDC1394_VERSION == 0200
    if (DC1394_SUCCESS != dc1394_feature_set_mode(this->camera, FEATURE_GAIN,this->autoGain ? DC1394_FEATURE_MODE_AUTO : DC1394_FEATURE_MODE_MANUAL))
#else
    if (DC1394_SUCCESS != dc1394_auto_on_off(this->handle, this->camera.node,FEATURE_GAIN,this->autoGain))
#endif
    {
		  PLAYER_ERROR("Unable to set Gain mode");
		  this->SafeCleanup();
		  return -1;
		}
	  if (!this->autoShutter)
    {
#if LIBDC1394_VERSION == 0200
      if (DC1394_SUCCESS != dc1394_feature_set_value(this->camera, FEATURE_GAIN,this->gain))
#else
		  if (DC1394_SUCCESS != dc1394_set_gain(this->handle, this->camera.node,this->gain))
#endif
      {
		    PLAYER_ERROR("Unable to Gain value");
		    this->SafeCleanup();
		    return -1;
		  }
    }
  }
  if (this->setWhiteBalance)
  {
#if LIBDC1394_VERSION == 0200
    if (DC1394_SUCCESS != dc1394_feature_whitebalance_set_value(this->camera,this->blueBalance,this->redBalance))
#else
    if (DC1394_SUCCESS != dc1394_set_white_balance(this->handle, this->camera.node,this->blueBalance,this->redBalance))
#endif
		{
		  PLAYER_ERROR("Unable to set White Balance");
		  this->SafeCleanup();
		  return -1;
		}
  }

  // Collects the available features for the camera described by node and
  // stores them in features.
#if LIBDC1394_VERSION == 0200
  if (DC1394_SUCCESS != dc1394_get_camera_feature_set(camera, &this->features))
#else
  if (DC1394_SUCCESS != dc1394_get_camera_feature_set(this->handle, this->camera.node, 
                                                      &this->features))
#endif
  {
    PLAYER_ERROR("Unable to get feature set");
    this->SafeCleanup();
    return -1;
  }

  // TODO: need to indicate what formats the camera supports somewhere
  // Remove; leave?
  dc1394_print_feature_set(&this->features);

#if LIBDC1394_VERSION == 0200
  // if format 7 requested check that it is supported
  if (FORMAT_7==this->format && DC1394_SUCCESS!=dc1394_format7_get_modeset(camera, &modeset))
  {
    bool HasMode7 = false;
    for (unsigned int i=0;i<DC1394_VIDEO_MODE_FORMAT7_NUM;i++) 
    {
      if (modeset.mode[i].present!=0) 
      {
        HasMode7 = true;
        break;	
      }
    }
    if (!HasMode7)
    {
      PLAYER_ERROR("Could not set Format 7");
      this->SafeCleanup();
      return -1;
    }
  }
#endif

  // Get the ISO channel and speed of the video
#if LIBDC1394_VERSION == 0200
  if (DC1394_SUCCESS != dc1394_video_get_iso_speed(this->camera, &speed))
#else
  if (DC1394_SUCCESS != dc1394_get_iso_channel_and_speed(this->handle, this->camera.node, 
                                                         &channel, &speed))
#endif
  {
    PLAYER_ERROR("Unable to get iso data; is the camera plugged in?");
    this->SafeCleanup();
    return -1;
  }


#if DC1394_DMA_SETUP_CAPTURE_ARGS == 11
  // Set camera to use DMA, improves performance.
  if (!this->forceRaw &&
      dc1394_dma_setup_capture(this->handle, this->camera.node, channel,
                               this->format, this->mode, speed,
                               this->frameRate, this->num_dma_buffers, 1, NULL,
                               &this->camera) == DC1394_SUCCESS)
#elif DC1394_DMA_SETUP_CAPTURE_ARGS == 12
  // Set camera to use DMA, improves performance.