CameraDriverPtGrey.h

Go to the documentation of this file.

//-*-c++-*-
#ifndef INCLUDED_CameraDriverPtGrey_h_
#define INCLUDED_CameraDriverPtGrey_h_

#include "local/DeviceDriver.h"
#include "local/DataSource.h"
#include "Shared/get_time.h"
#include "IPC/CallbackThread.h"

#include <FlyCapture2.h>

//! description of CameraDriverPtGrey
class CameraDriverPtGrey : public virtual DeviceDriver, public virtual plist::PrimitiveListener, public DataSource
{
public:
  explicit CameraDriverPtGrey(const std::string& name)
    : DeviceDriver(autoRegisterCameraDriverPtGrey,name), DataSource(),
      index(0),
      thread(&CameraDriverPtGrey::threadrun,*this), lock(),
      cam(), frameCount(0), timestamp(0)
  {
    addEntry("Index",index,"Index of camera in PGR BusManager (should be same as flycap)");
  }
  
  ~CameraDriverPtGrey() {
    index.removePrimitiveListener(this);
  }
  
  virtual std::string getClassName() const { return autoRegisterCameraDriverPtGrey; }
  
  virtual void getImageSources(std::map<std::string,DataSource*>& sources) {
    sources.clear(); sources.insert(std::make_pair("Camera",this));
  }
  
  virtual unsigned int nextTimestamp() { return get_time(); }
  virtual const std::string& nextName() { return instanceName; }
  
  virtual bool advance();
  virtual void registerSource();
  virtual void deregisterSource();
  
  //! watches #index, triggers a close() and re-open() if it changes
  virtual void plistValueChanged(const plist::PrimitiveBase& pl);
  
  plist::Primitive<unsigned int> index;
  
protected:
  void threadrun();
  CallbackThread thread;
  Thread::Lock lock; // buffer/img_size lock so we can't change resolution while reading

  void doFreeze();
  void doUnfreeze();

  void openCam();
  void closeCam();

  bool convertImage(FlyCapture2::Image & rawImage);

  FlyCapture2::Camera cam;

  unsigned int frameCount;
  unsigned int timestamp;

private:
  //! holds the class name, set via registration with the DeviceDriver registry
  static const std::string autoRegisterCameraDriverPtGrey;
};

/*! @file
* @brief 
* @author Ethan Tira-Thompson (ejt)
* @author Alex Grubb (agrubb1)
*/

#endif