bool V4Linux2Camera::getCameraSettingAuto(int mode) {
if (!hasCameraSetting(mode)) return false;
//v4l2_ext_control v4l2_ctrl[2];
//v4l2_control v4l2_ctrl;
//memset(&v4l2_ctrl, 0, sizeof (v4l2_ctrl));
switch (mode) {
case GAIN: return getCameraSetting(AUTO_GAIN);
case EXPOSURE:
v4l2_auto_ctrl[0].id = V4L2_CID_EXPOSURE_AUTO;
v4l2_auto_ctrl[1].id = V4L2_CID_EXPOSURE_AUTO_PRIORITY;
break;
case WHITE: return getCameraSetting(AUTO_WHITE);
case COLOR_HUE: return getCameraSetting(AUTO_HUE);
default: return false;
}
if ((xioctl(dev_handle, VIDIOC_G_EXT_CTRLS, &v4l2_auto_ctrl)) < 0) {
printf("Unable to get AUTO mode: %s\n" , strerror(errno));
return false;
}
if (mode==EXPOSURE) {
//printf("get auto mode: %d %d\n",v4l2_auto_ctrl[0].value,v4l2_auto_ctrl[1].value);
return (v4l2_auto_ctrl[1].value<1);
} else return false;
}
void CameraEngine::drawGUI(SDL_Surface *display) {
if(!settingsDialog) return;
unsigned char* disp = (unsigned char*)(display->pixels);
int settingValue = getCameraSetting(currentCameraSetting);
int maxValue = getMaxCameraSetting(currentCameraSetting);
int minValue = getMinCameraSetting(currentCameraSetting);
int valueRange = maxValue - minValue;
const char *settingText = NULL;
switch (currentCameraSetting) {
case BRIGHTNESS: settingText = "Brightness"; break;
case GAIN: settingText = "Gain"; break;
case SHUTTER: settingText = "Shutter"; break;
case EXPOSURE: settingText = "Exposure"; break;
case SHARPNESS: settingText = "Sharpness"; break;
case FOCUS: settingText = "Focus"; break;
case GAMMA: settingText = "Gamma"; break;
}
int x_offset=width/2-128;
int y_offset=height-100;
char displayText[256];
sprintf(displayText,"%s %d",settingText,settingValue);
FontTool::drawText(x_offset+128-(FontTool::getTextWidth(displayText)/2),y_offset-FontTool::getFontHeight(),displayText,display);
// draw the border
for (int i=x_offset;i<(x_offset+256);i++) {
int pixel=(width*y_offset+i)*3+1;
disp[pixel]=255;
pixel=(width*(y_offset+25)+i)*3+1;
disp[pixel]=255;
}
for (int i=y_offset;i<(y_offset+25);i++) {
int pixel=(width*i+x_offset)*3+1;
disp[pixel]=255;
pixel=(width*i+x_offset+256)*3+1;
disp[pixel]=255;
}
// draw the bar
int xpos = (int)(254*(((float)settingValue-(float)minValue)/(float)valueRange));
for (int i=x_offset+2;i<=(x_offset+xpos);i++) {
for (int j=y_offset+2;j<=(y_offset+23);j++) {
int pixel=(width*j+i)*3+1;
disp[pixel]=255;
}
}
}
void CameraEngine::control(int key) {
if(!settingsDialog) return;
int value,min,max,step = 0;
switch(key) {
case SDLK_LEFT:
value = getCameraSetting(currentCameraSetting);
min = getMinCameraSetting(currentCameraSetting);
max = getMaxCameraSetting(currentCameraSetting);
step = getCameraSettingStep(currentCameraSetting);
if (step==1) step = (int)((float)max/256.0f);
if (step<1) step=1;
value -= step;
if (value<min) value=min;
setCameraSetting(currentCameraSetting,value);
break;
case SDLK_RIGHT:
value = getCameraSetting(currentCameraSetting);
min = getMinCameraSetting(currentCameraSetting);
max = getMaxCameraSetting(currentCameraSetting);
step = getCameraSettingStep(currentCameraSetting);
if (step==1) step = (int)((float)max/256.0f);
if (step<1) step=1;
value += step;
if (value>max) value=max;
setCameraSetting(currentCameraSetting,value);
break;
case SDLK_UP:
currentCameraSetting--;
if(currentCameraSetting<0) currentCameraSetting=GAMMA;
break;
case SDLK_DOWN:
currentCameraSetting++;
if(currentCameraSetting>GAMMA) currentCameraSetting=0;
break;
}
}
void CameraEngine::updateSettings() {
int brightness = getCameraSetting(BRIGHTNESS);
if (brightness==getMinCameraSetting(BRIGHTNESS)) config.brightness=SETTING_MIN;
if (brightness==getMaxCameraSetting(BRIGHTNESS)) config.brightness=SETTING_MAX;
if (brightness==getDefaultCameraSetting(BRIGHTNESS)) config.brightness=SETTING_DEFAULT;
//printf("brightness %d\n",brightness);
int contrast = getCameraSetting(CONTRAST);
if (contrast==getMinCameraSetting(CONTRAST)) config.contrast=SETTING_MIN;
if (contrast==getMaxCameraSetting(CONTRAST)) config.contrast=SETTING_MAX;
if (contrast==getDefaultCameraSetting(CONTRAST)) config.contrast=SETTING_DEFAULT;
//printf("contrast %d\n",contrast);
int gain = getCameraSetting(GAIN);
if (gain==getMinCameraSetting(GAIN)) config.gain=SETTING_MIN;
if (gain==getMaxCameraSetting(GAIN)) config.gain=SETTING_MAX;
if (gain==getDefaultCameraSetting(GAIN)) config.gain=SETTING_DEFAULT;
//printf("gain %d\n",gain);
int exposure = getCameraSetting(EXPOSURE);
if (exposure==getMinCameraSetting(EXPOSURE)) config.exposure=SETTING_MIN;
if (exposure==getMaxCameraSetting(EXPOSURE)) config.exposure=SETTING_MAX;
if (getCameraSettingAuto(EXPOSURE)==true) config.exposure=SETTING_AUTO;
if (exposure==getDefaultCameraSetting(EXPOSURE)) config.exposure=SETTING_DEFAULT;
//printf("exposure %d\n",exposure);
int sharpness = getCameraSetting(SHARPNESS);
if (sharpness==getMinCameraSetting(SHARPNESS)) config.sharpness=SETTING_MIN;
if (sharpness==getMaxCameraSetting(SHARPNESS)) config.sharpness=SETTING_MAX;
if (sharpness==getDefaultCameraSetting(SHARPNESS)) config.sharpness=SETTING_DEFAULT;
//printf("sharpness %d\n",sharpness);
int focus = getCameraSetting(FOCUS);
if (focus==getMinCameraSetting(FOCUS)) config.focus=SETTING_MIN;
if (focus==getMaxCameraSetting(FOCUS)) config.focus=SETTING_MAX;
if (focus==getDefaultCameraSetting(FOCUS)) config.focus=SETTING_DEFAULT;
//printf("focus %d\n",focus);
int gamma = getCameraSetting(GAMMA);
if (gamma==getMinCameraSetting(GAMMA)) config.gamma=SETTING_MIN;
if (gamma==getMaxCameraSetting(GAMMA)) config.gamma=SETTING_MAX;
if (gamma==getDefaultCameraSetting(GAMMA)) config.gamma=SETTING_DEFAULT;
if (getCameraSettingAuto(GAMMA)==true) config.gamma=SETTING_AUTO;
//printf("gamma %d\n",gamma);
}
bool videoInputCamera::setCameraSetting(int mode, int setting) {
int current_setting = getCameraSetting(mode);
if (setting==current_setting) return true;
long flags = VideoProcAmp_Flags_Manual;
switch (mode) {
case BRIGHTNESS: setVideoSettingValue(VideoProcAmp_Brightness, setting, flags); break;
case CONTRAST: setVideoSettingValue(VideoProcAmp_Contrast, setting, flags); break;
case GAIN: setVideoSettingValue(VideoProcAmp_Gain, setting, flags); break;
case EXPOSURE: setVideoControlValue(CameraControl_Exposure, setting, flags); break;
case SHARPNESS: setVideoSettingValue(VideoProcAmp_Sharpness, setting, flags); break;
case FOCUS: setVideoControlValue(CameraControl_Focus, setting, flags); break;
case GAMMA: setVideoSettingValue(VideoProcAmp_Gamma, setting, flags); break;
case WHITE: setVideoSettingValue(VideoProcAmp_WhiteBalance, setting, flags); break;
case BACKLIGHT: setVideoSettingValue(VideoProcAmp_BacklightCompensation, setting, flags); break;
case SATURATION: setVideoSettingValue(VideoProcAmp_Saturation, setting, flags); break;
case COLOR_HUE: setVideoSettingValue(VideoProcAmp_Hue, setting, flags); break;
default: return false;
}
return true;
}
void cameraSettingsWidget::createConnections() //!< Connect all of the child widgets.
{
// Setup Shift Gain signals
connect(shiftGainSlider,SIGNAL(valueChanged(int)),shiftGainSpinBox,SLOT(setValue(int)));
connect(shiftGainSpinBox,SIGNAL(valueChanged(int)),shiftGainSlider,SLOT(setValue(int)));
connect(shiftGainSlider,SIGNAL(valueChanged(int)),this,SLOT(cameraSettingsChanged()));
// Setup Shift Exposure signals
connect(shiftExposureSlider,SIGNAL(valueChanged(int)),shiftExposureSpinBox,SLOT(setValue(int)));
connect(shiftExposureSpinBox,SIGNAL(valueChanged(int)),shiftExposureSlider,SLOT(setValue(int)));
connect(shiftExposureSlider,SIGNAL(valueChanged(int)),this,SLOT(cameraSettingsChanged()));
// Setup Shift BlueChroma signals
connect(shiftBlueChromaSlider,SIGNAL(valueChanged(int)),shiftBlueChromaSpinBox,SLOT(setValue(int)));
connect(shiftBlueChromaSpinBox,SIGNAL(valueChanged(int)),shiftBlueChromaSlider,SLOT(setValue(int)));
connect(shiftBlueChromaSlider,SIGNAL(valueChanged(int)),this,SLOT(cameraSettingsChanged()));
// Setup Shift RedChroma signals
connect(shiftRedChromaSlider,SIGNAL(valueChanged(int)),shiftRedChromaSpinBox,SLOT(setValue(int)));
connect(shiftRedChromaSpinBox,SIGNAL(valueChanged(int)),shiftRedChromaSlider,SLOT(setValue(int)));
connect(shiftRedChromaSlider,SIGNAL(valueChanged(int)),this,SLOT(cameraSettingsChanged()));
// Setup Shift Brightness signals
connect(shiftBrightnessSlider,SIGNAL(valueChanged(int)),shiftBrightnessSpinBox,SLOT(setValue(int)));
connect(shiftBrightnessSpinBox,SIGNAL(valueChanged(int)),shiftBrightnessSlider,SLOT(setValue(int)));
connect(shiftBrightnessSlider,SIGNAL(valueChanged(int)),this,SLOT(cameraSettingsChanged()));
// Setup Shift Saturation signals
connect(shiftSaturationSlider,SIGNAL(valueChanged(int)),shiftSaturationSpinBox,SLOT(setValue(int)));
connect(shiftSaturationSpinBox,SIGNAL(valueChanged(int)),shiftSaturationSlider,SLOT(setValue(int)));
connect(shiftSaturationSlider,SIGNAL(valueChanged(int)),this,SLOT(cameraSettingsChanged()));
// Setup Shift Contrast signals.
connect(shiftContrastSlider,SIGNAL(valueChanged(int)),shiftContrastSpinBox,SLOT(setValue(int)));
connect(shiftContrastSpinBox,SIGNAL(valueChanged(int)),shiftContrastSlider,SLOT(setValue(int)));
connect(shiftContrastSlider,SIGNAL(valueChanged(int)),this,SLOT(cameraSettingsChanged()));
// Setup Shift Hue signals
connect(shiftHueSlider,SIGNAL(valueChanged(int)),shiftHueSpinBox,SLOT(setValue(int)));
connect(shiftHueSpinBox,SIGNAL(valueChanged(int)),shiftHueSlider,SLOT(setValue(int)));
connect(shiftHueSlider,SIGNAL(valueChanged(int)),this,SLOT(cameraSettingsChanged()));
// Setup Auto:
//QCheckBox* TopCameraSelected;
//QCheckBox* BottomCameraSelected;
connect(AutoGainSelected,SIGNAL(clicked()),this,SLOT(cameraSettingsChanged()));
connect(AutoWhiteBalanceSelected,SIGNAL(clicked()),this,SLOT(cameraSettingsChanged()));
connect(AutoExposureSelected,SIGNAL(clicked()),this,SLOT(cameraSettingsChanged()));
connect(TopCameraSelected,SIGNAL(clicked()),BottomCameraSelected,SLOT(toggle()));
connect(BottomCameraSelected,SIGNAL(clicked()),TopCameraSelected,SLOT(toggle()));
connect(TopCameraSelected,SIGNAL(clicked()),this,SLOT(cameraSettingsChanged()));
connect(BottomCameraSelected,SIGNAL(clicked()),this,SLOT(cameraSettingsChanged()));
connect(nameLineEdit, SIGNAL(textChanged(QString)),this,SLOT(updateRobotName(QString)));
connect(getCameraSettingsButton,SIGNAL(pressed()),this,SLOT(getCameraSetting()));
connect(streamCameraSettingsButton,SIGNAL(pressed()),this,SLOT(streamCameraSetting()));
connect(stopStreamCameraSettingsButton,SIGNAL(pressed()),this,SLOT(stopStreamCameraSetting()));
connect(&readPacketTimer,SIGNAL(timeout()),this,SLOT(readPendingData()));
connect(&timer,SIGNAL(timeout()),this,SLOT(sendSettingsToRobot()));
connect(StartSavingImagesButton, SIGNAL(pressed()),this,SLOT(sendStartSavingImagesJob()));
connect(StopSavingImagesButton, SIGNAL(pressed()),this,SLOT(sendStopSavingImagesJob()));
}
