FrameGrabber.h

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#ifndef CARMA_ANTENNA_COMMON_FRAMEGRABBER_H
#define CARMA_ANTENNA_COMMON_FRAMEGRABBER_H

#include "carma/antenna/common/Image.h"
#include "carma/util/PthreadMutex.h"
#include "carma/services/Table.h"

#include <memory>
#include <string>
#include <vector>

namespace carma {
namespace antenna {
namespace common {
            
    class FrameGrabber
    {
        public:

            FrameGrabber( const std::string & fgdev,
                          int fginput,
                          bool emulate,
                          carma::services::Table* table=0);

            FrameGrabber( carma::services::Table* table);

            ~FrameGrabber();

            void setPixelDepth( short depth );

            void setBrightness( short b );

            void setContrast( short c );
    
            typedef enum {
                HI_RES,   
                MID_RES,  
                LO_RES,   
                RES_COUNT 
            } ResolutionType;

            void setResolution( ResolutionType resolution );
    
            ::std::pair<short, short> getResolution( ) const;

            static ::std::pair<short, short> getResolution(ResolutionType res);

            Image grabFrame( int numFrames = 1, std::vector<float>* data=0 ); 
             
            void setTestImage( const Image & image );

            void setDebug(carma::services::Table* table) {
              table_ = table;
            }

    public:

            carma::services::Table* table_;

            FrameGrabber( const FrameGrabber & ); // No copy
            FrameGrabber & operator=( const FrameGrabber & ); // No assignment
            
            void initializeCaptureBuffer();
            void createCaptureBuffer();
            void unmapCaptureBuffer();
               
            class FrameGrabberPimpl;            // Hide video interface
            ::std::auto_ptr<FrameGrabberPimpl> pimpl_;

            ::std::pair<short, short> resolution_; // Current resolution
            bool emulate_;

            //------------------------------------------------------------
            // Capture buffer info
            //------------------------------------------------------------

            void* imageBuffer_;                   // Where the image is held.

#ifdef V4L2
            std::vector<void*> captureBuffers_;
#endif

            unsigned bufLen_;
            unsigned bufOffset_;

            carma::util::PthreadMutex mutex_;      // Synchronize it all

            Image testImage_;

    }; // class FrameGrabber

} // namespace common 
} // namespace antenna
} // namespace carma
#endif // CARMA_FRAMEGRABBER_H