CameraSettings::Camera NAOCamera::setActiveCamera(CameraSettings::Camera newCamera)
{
// If no change required, do nothing.
if(m_settings.activeCamera == newCamera) return m_settings.activeCamera;
CameraSettings::Camera previous_camera = m_settings.activeCamera;
int i2cFd = open("/dev/i2c-0", O_RDWR);
ASSERT(i2cFd != -1);
VERIFY(ioctl(i2cFd, 0x703, 8) == 0);
VERIFY(i2c_smbus_read_byte_data(i2cFd, 170) >= 2); // at least Nao V3
unsigned char cmd[2] = {newCamera, 0};
VERIFY(i2c_smbus_write_block_data(i2cFd, 220, 1, cmd) != -1); // set camera
close(i2cFd);
#if DEBUG_NUCAMERA_VERBOSITY > 4
// Display debug message.
debug << "NAOCamera: Active camera changed: " << CameraSettings::cameraName(previous_camera);
debug << " --> " << CameraSettings::cameraName(newCamera) << endl;
#endif
int horzontal_flip, vertical_flip;
int cameraSettingsIndex;
switch(newCamera)
{
case CameraSettings::TOP_CAMERA:
horzontal_flip = 1;
vertical_flip = 1;
cameraSettingsIndex = 0;
break;
case CameraSettings::BOTTOM_CAMERA:
horzontal_flip = 0;
vertical_flip = 0;
cameraSettingsIndex = 1;
break;
default:
horzontal_flip = 0;
vertical_flip = 0;
cameraSettingsIndex = -1;
break;
}
if(cameraSettingsIndex != -1)
{
m_cameraSettings[!cameraSettingsIndex] = m_settings;
m_settings = m_cameraSettings[cameraSettingsIndex];
}
m_settings.activeCamera = newCamera;
VERIFY(applySetting(V4L2_CID_HFLIP, horzontal_flip));
VERIFY(applySetting(V4L2_CID_VFLIP, vertical_flip));
return m_settings.activeCamera;
}
/**
* @brief Constructor.
*/
SettingsWindow::SettingsWindow(QDialog *parent) : QDialog(parent)
{
m_app = qobject_cast<Application *>(qApp);
resize(400,300);
setWindowTitle("Settings");
m_mainLayout = new QVBoxLayout(this);
m_filesPathLayout = new QHBoxLayout;
m_filesPathMessage = new QLabel("");
m_filesPathLabel = new QLabel("Files path");
m_filesPathEdit = new QLineEdit;
m_filesPathEdit->setText(m_app->getFilesPath());
m_filesPathSearchButton = new QPushButton("Browse");
QObject::connect(m_filesPathSearchButton, SIGNAL(clicked()), this, SLOT(browseFilesPathDialog()));
m_knownPathList = new QListView;
m_knownPathList->setModel(m_app->getDatabaseManager()->getMoviesPathModel());
m_cancelButton = new QPushButton("Cancel");
QObject::connect(m_cancelButton, SIGNAL(clicked()), this, SLOT(close()));
m_submitButton = new QPushButton("Submit");
QObject::connect(m_submitButton, SIGNAL(clicked()), this, SLOT(applySetting()));
m_closeLayout = new QHBoxLayout;
m_mainLayout->addLayout(m_filesPathLayout);
m_mainLayout->addWidget(m_filesPathMessage);
m_mainLayout->addWidget(m_knownPathList);
m_mainLayout->addLayout(m_closeLayout);
m_closeLayout->addWidget(m_cancelButton);
m_closeLayout->addWidget(m_submitButton);
m_filesPathLayout->addWidget(m_filesPathLabel);
m_filesPathLayout->addWidget(m_filesPathEdit);
m_filesPathLayout->addWidget(m_filesPathSearchButton);
}
void app::applySettingString(string setting)
{
//Split on the ':' character
vector<string> args = split(setting,':');
int num_args = args.size();
if(num_args < 2) return;
applySetting(args[0],args[1]);
}
void RPiCamera::forceApplySettings(const CameraSettings& newset)
{
#if DEBUG_NUCAMERA_VERBOSITY > 1
//Copying the new Paramters into m_settings
debug << "p_exposureAuto" << newset.p_exposureAuto.get() << endl;
debug << "p_autoWhiteBalance" << newset.p_autoWhiteBalance.get() << endl;
debug << "p_whiteBalanceTemperature" << newset.p_whiteBalanceTemperature.get() << endl;
debug << "p_exposureAutoPriority" << newset.p_exposureAutoPriority.get() << endl;
debug << "p_brightness" << newset.p_brightness.get() << endl;
debug << "p_contrast" << newset.p_contrast.get() << endl;
debug << "p_saturation" << newset.p_saturation.get() << endl;
debug << "p_gain" << newset.p_gain.get() << endl;
debug << "p_exposureAbsolute" << newset.p_exposureAbsolute.get() << endl;
debug << "p_powerLineFrequency" << newset.p_powerLineFrequency.get() << endl;
debug << "p_sharpness" << newset.p_sharpness.get() << endl;
#endif
//Copying the new Paramters into m_settings
m_settings = newset;
// Auto Controls
applySetting(V4L2_CID_EXPOSURE_AUTO, (m_settings.p_exposureAuto.get()));
applySetting(V4L2_CID_AUTO_WHITE_BALANCE, (m_settings.p_autoWhiteBalance.get()));
applySetting(V4L2_CID_WHITE_BALANCE_TEMPERATURE, (m_settings.p_whiteBalanceTemperature.get()));
applySetting(V4L2_CID_EXPOSURE_AUTO_PRIORITY, (m_settings.p_exposureAutoPriority.get()));
//Other controls
applySetting(V4L2_CID_BRIGHTNESS, (m_settings.p_brightness.get()));
applySetting(V4L2_CID_CONTRAST, (m_settings.p_contrast.get()));
applySetting(V4L2_CID_SATURATION, (m_settings.p_saturation.get()));
applySetting(V4L2_CID_GAIN, (m_settings.p_gain.get()));
applySetting(V4L2_CID_EXPOSURE_ABSOLUTE, (m_settings.p_exposureAbsolute.get()));
applySetting(V4L2_CID_POWER_LINE_FREQUENCY, (m_settings.p_powerLineFrequency.get()));
applySetting(V4L2_CID_SHARPNESS, (m_settings.p_sharpness.get()));
//COPIES INTO OLD FORMAT:
m_settings.copyParams();
}
void RPiCamera::applySettings(const CameraSettings& newset)
{
// AutoSettings
if(newset.p_exposureAuto.get() != m_settings.p_exposureAuto.get())
{
m_settings.p_exposureAuto.set(newset.p_exposureAuto.get());
applySetting(V4L2_CID_EXPOSURE_AUTO, (m_settings.p_exposureAuto.get()));
}
if(newset.p_autoWhiteBalance.get() != m_settings.p_autoWhiteBalance.get())
{
m_settings.p_autoWhiteBalance.set(newset.p_autoWhiteBalance.get());
applySetting(V4L2_CID_AUTO_WHITE_BALANCE, (m_settings.p_autoWhiteBalance.get()));
}
if(newset.p_whiteBalanceTemperature.get() != m_settings.p_whiteBalanceTemperature.get())
{
m_settings.p_whiteBalanceTemperature.set(newset.p_whiteBalanceTemperature.get());
applySetting(V4L2_CID_WHITE_BALANCE_TEMPERATURE, (m_settings.p_whiteBalanceTemperature.get()));
}
if(newset.p_exposureAutoPriority.get() != m_settings.p_exposureAutoPriority.get())
{
m_settings.p_exposureAutoPriority.set(newset.p_exposureAutoPriority.get());
applySetting(V4L2_CID_EXPOSURE_AUTO_PRIORITY, (m_settings.p_exposureAutoPriority.get()));
}
//Other controls
if(newset.p_brightness.get() != m_settings.p_brightness.get())
{
m_settings.p_brightness.set(newset.p_brightness.get());
applySetting(V4L2_CID_BRIGHTNESS, (m_settings.p_brightness.get()));
}
if(newset.p_contrast.get() != m_settings.p_contrast.get())
{
m_settings.p_contrast.set(newset.p_contrast.get());
applySetting(V4L2_CID_CONTRAST, (m_settings.p_contrast.get()));
}
if(newset.p_saturation.get() != m_settings.p_saturation.get())
{
m_settings.p_saturation.set(newset.p_saturation.get());
applySetting(V4L2_CID_SATURATION, (m_settings.p_saturation.get()));
}
if(newset.p_gain.get() != m_settings.p_gain.get())
{
m_settings.p_gain.set(newset.p_gain.get());
applySetting(V4L2_CID_GAIN, (m_settings.p_gain.get()));
}
if(newset.p_exposureAbsolute.get() != m_settings.p_exposureAbsolute.get())
{
m_settings.p_exposureAbsolute.set(newset.p_exposureAbsolute.get());
applySetting(V4L2_CID_EXPOSURE_ABSOLUTE, (m_settings.p_exposureAbsolute.get()));
}
if(newset.p_powerLineFrequency.get() != m_settings.p_powerLineFrequency.get())
{
m_settings.p_powerLineFrequency.set(newset.p_powerLineFrequency.get());
applySetting(V4L2_CID_POWER_LINE_FREQUENCY, (m_settings.p_powerLineFrequency.get()));
}
if(newset.p_sharpness.get() != m_settings.p_sharpness.get())
{
m_settings.p_sharpness.set(newset.p_sharpness.get());
applySetting(V4L2_CID_SHARPNESS, (m_settings.p_sharpness.get()));
}
//COPIES INTO OLD FORMAT:
m_settings.copyParams();
}
void NAOCamera::forceApplySettings(const CameraSettings& newset)
{
//Copying the new Paramters into the m_settings, but saving the old active camera
m_settings.p_autoExposure.set(newset.p_autoExposure.get());
m_settings.p_autoWhiteBalance.set(newset.p_autoWhiteBalance.get());
m_settings.p_autoGain.set(newset.p_autoGain.get());
m_settings.p_brightness.set(newset.p_brightness.get());
m_settings.p_contrast.set(newset.p_contrast.get());
m_settings.p_saturation.set(newset.p_saturation.get());
m_settings.p_hue.set(newset.p_hue.get());
m_settings.p_redChroma.set(newset.p_redChroma.get());
m_settings.p_blueChroma.set(newset.p_blueChroma.get());
m_settings.p_gain.set(newset.p_gain.get());
m_settings.p_exposure.set(newset.p_exposure.get());
// Auto Controls
applySetting(V4L2_CID_AUTOEXPOSURE, (m_settings.p_autoExposure.get()));
applySetting(V4L2_CID_AUTO_WHITE_BALANCE, (m_settings.p_autoWhiteBalance.get()));
applySetting(V4L2_CID_AUTOGAIN, (m_settings.p_autoGain.get()));
applySetting(V4L2_CID_BRIGHTNESS, (m_settings.p_brightness.get()));
applySetting(V4L2_CID_CONTRAST, (m_settings.p_contrast.get()));
applySetting(V4L2_CID_SATURATION, (m_settings.p_saturation.get()));
applySetting(V4L2_CID_HUE, (m_settings.p_hue.get()));
applySetting(V4L2_CID_RED_BALANCE, (m_settings.p_redChroma.get()));
applySetting(V4L2_CID_BLUE_BALANCE, (m_settings.p_blueChroma.get()));
applySetting(V4L2_CID_GAIN, (m_settings.p_gain.get()));
applySetting(V4L2_CID_EXPOSURE, (m_settings.p_exposure.get()));
//COPIES INTO OLD FORMAT:
m_settings.copyParams();
}
void NAOCamera::applySettings(const CameraSettings& newset)
{
// Auto Controls
if(newset.p_autoExposure.get() != m_settings.p_autoExposure.get())
{
m_settings.p_autoExposure.set(newset.p_autoExposure.get());
applySetting(V4L2_CID_AUTOEXPOSURE, (m_settings.p_autoExposure.get()));
}
if(newset.p_autoWhiteBalance.get() != m_settings.p_autoWhiteBalance.get())
{
m_settings.p_autoWhiteBalance.set(newset.p_autoWhiteBalance.get());
applySetting(V4L2_CID_AUTO_WHITE_BALANCE, (m_settings.p_autoExposure.get()));
}
if(newset.p_autoGain.get() != m_settings.p_autoGain.get())
{
m_settings.p_autoGain.set(newset.p_autoGain.get());
applySetting(V4L2_CID_AUTOGAIN, (m_settings.p_autoGain.get()));
}
if(newset.p_brightness.get() != m_settings.p_brightness.get())
{
m_settings.p_brightness.set(newset.p_brightness.get());
applySetting(V4L2_CID_BRIGHTNESS, (m_settings.p_brightness.get()));
}
if(newset.p_contrast.get() != m_settings.p_contrast.get())
{
m_settings.p_contrast.set(newset.p_contrast.get());
applySetting(V4L2_CID_CONTRAST, (m_settings.p_contrast.get()));
}
if(newset.p_saturation.get() != m_settings.p_saturation.get())
{
m_settings.p_saturation.set(newset.p_saturation.get());
applySetting(V4L2_CID_SATURATION, (m_settings.p_saturation.get()));
}
if(newset.p_hue.get() != m_settings.p_hue.get())
{
m_settings.p_hue.set(newset.p_hue.get());
applySetting(V4L2_CID_HUE, (m_settings.p_hue.get()));
}
if(newset.p_redChroma.get() != m_settings.p_redChroma.get())
{
m_settings.p_redChroma.set(newset.p_redChroma.get());
applySetting(V4L2_CID_RED_BALANCE, (m_settings.p_redChroma.get()));
}
if(newset.p_blueChroma.get() != m_settings.p_blueChroma.get())
{
m_settings.p_blueChroma.set(newset.p_blueChroma.get());
applySetting(V4L2_CID_BLUE_BALANCE, (m_settings.p_blueChroma.get()));
}
if(newset.p_gain.get() != m_settings.p_gain.get())
{
m_settings.p_gain.set(newset.p_gain.get());
applySetting(V4L2_CID_GAIN, (m_settings.p_gain.get()));
}
if(newset.p_exposure.get() != m_settings.p_exposure.get())
{
m_settings.p_exposure.set(newset.p_exposure.get());
applySetting(V4L2_CID_EXPOSURE, (m_settings.p_exposure.get()));
}
//COPIES INTO OLD FORMAT:
m_settings.copyParams();
}
void NAOCamera::forceApplySettings(const CameraSettings& newset)
{
// Auto Controls
applySetting(V4L2_CID_AUTOEXPOSURE, (m_settings.autoExposure = newset.autoExposure));
applySetting(V4L2_CID_AUTO_WHITE_BALANCE, (m_settings.autoWhiteBalance = newset.autoWhiteBalance));
applySetting(V4L2_CID_AUTOGAIN, (m_settings.autoGain = newset.autoGain));
applySetting(V4L2_CID_BRIGHTNESS, (m_settings.brightness = newset.brightness));
applySetting(V4L2_CID_CONTRAST, (m_settings.contrast = newset.contrast));
applySetting(V4L2_CID_SATURATION, (m_settings.saturation = newset.saturation));
applySetting(V4L2_CID_HUE, (m_settings.hue = newset.hue));
applySetting(V4L2_CID_RED_BALANCE, (m_settings.redChroma = newset.redChroma));
applySetting(V4L2_CID_BLUE_BALANCE, (m_settings.blueChroma = newset.blueChroma));
applySetting(V4L2_CID_GAIN, (m_settings.gain = newset.gain));
applySetting(V4L2_CID_EXPOSURE, (m_settings.exposure = newset.exposure));
}
