path: root/camera.c

#include "camera.h"
#include "legato.h"
#include <termios.h>

COMPONENT_INIT { }

/**
 * Convert an integer baud rate to a speed_t
 */
speed_t fd_convertBaud (int baud) {
  speed_t b;
  switch (baud) {
    case     50: b =     B50; break;
    case     75: b =     B75; break;
    case    110: b =    B110; break;
    case    134: b =    B134; break;
    case    150: b =    B150; break;
    case    200: b =    B200; break;
    case    300: b =    B300; break;
    case    600: b =    B600; break;
    case   1200: b =   B1200; break;
    case   1800: b =   B1800; break;
    case   2400: b =   B2400; break;
    case   9600: b =   B9600; break;
    case  19200: b =  B19200; break;
    case  38400: b =  B38400; break;
    case  57600: b =  B57600; break;
    case 115200: b = B115200; break;
    case 230400: b = B230400; break;
    default:
      b = -2;
  }
  return b;
}

/**
 * Open a serial connection on device
 *
 * Lifted from here
 * https://github.com/WiringPi/WiringPi/blob/master/wiringPi/wiringSerial.c
 */
int fd_openSerial (const char *device, int baud) {
  struct termios options;
  speed_t binaryBaud = fd_convertBaud(baud);
  int status, fd;
  if ((fd = open(device, O_RDWR | O_NOCTTY | O_NDELAY | O_NONBLOCK)) == -1)
    return -1 ;
  fcntl(fd, F_SETFL, O_RDWR);
  tcgetattr(fd, &options);
  cfmakeraw(&options);
  cfsetispeed(&options, binaryBaud);
  cfsetospeed(&options, binaryBaud);

  options.c_cflag |= (CLOCAL | CREAD);
  options.c_cflag &= ~PARENB;
  options.c_cflag &= ~CSTOPB;
  options.c_cflag &= ~CSIZE;
  options.c_cflag |= CS8;
  options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
  options.c_oflag &= ~OPOST;

  options.c_cc[VMIN]  = 0;
  options.c_cc[VTIME] = 100;	// Ten seconds (100 deciseconds)

  tcsetattr(fd, TCSANOW | TCSAFLUSH, &options);

  ioctl(fd, TIOCMGET, &status);

  status |= TIOCM_DTR;
  status |= TIOCM_RTS;

  ioctl(fd, TIOCMSET, &status);
  usleep(10000);	// 10mS
  return fd;
}

/**
 * Open a serial connection to the camera
 */
int fd_openCam () {
  return fd_openSerial(TTY_PATH, CAM_BAUD_RATE);
}

/**
 * Close the serial connection to the camera
 */
int fd_closeCam (int fd) {
  return close(fd);
}

/**
 * Read a byte from fd into data
 */
ssize_t fd_getByte (int fd, uint8_t *data) {
  return read(fd, data, 1);
}

/**
 * Check how many bytes are available
 * on the serial connection described by fd
 */
int fd_dataAvail (int fd, int *data) {
  return ioctl(fd, FIONREAD, data);
}

/**
 * Send a command sequence to cam
 * Should not be called directly (use cam_runCommand)
 */
void cam_sendCommand (Camera *cam, uint8_t cmd, uint8_t args[], uint8_t nArgs) {
  int start = 3;
  int end = nArgs + start;
  uint8_t *toWrite = malloc(end);
  *toWrite = VC0706_PREFIX;
  *(toWrite + 1) = cam->serialNum;
  *(toWrite + 2) = cmd;
  for (int i = start; i < end; i++) {
    *(toWrite + i) = args[i - start];
  };
  write(cam->fd, toWrite, end);
  free(toWrite);
}

/**
 * Run a command described by cmd and args on cam
 */
bool cam_runCommand (Camera *cam, uint8_t cmd, uint8_t args[], uint8_t nArgs, uint8_t respLen, bool flushFlag) {
  if (flushFlag) {
    cam_readResponse(cam, 100, 10);
  }
  cam_sendCommand(cam, cmd, args, nArgs);
  if (cam_readResponse(cam, respLen, 200) != respLen)
    return false;
  if (!cam_verifyResponse(cam, cmd))
    return false;
  return true;
}

/**
 * Flush buffer before running command
 */
bool cam_runCommandFlush (Camera *cam, uint8_t cmd, uint8_t args[], uint8_t nArgs, uint8_t respLen) {
  return cam_runCommand(cam, cmd, args, nArgs, respLen, true);
}

/**
 * Read a response from cam
 */
uint8_t cam_readResponse (Camera *cam, uint8_t nBytes, uint8_t timeout) {
  uint8_t counter = 0;
  cam->bufferLen = 0;
  int avail = 0;
  uint8_t data;
  while ((counter < timeout) && (cam->bufferLen < nBytes)) {
    // available data is returned in avail pointer
    bool availSuccess = fd_dataAvail(cam->fd, &avail) == 0;
    // this case covers no data available
    // or when fd_dataAvail fails
    if (avail <= 0 || !availSuccess) {
      usleep(1000);
      counter++;
      continue;
    }
    // this case is when we get data
    counter = 0;
    ssize_t bytesRead = fd_getByte(cam->fd, &data);
    if (bytesRead > 0) cam->buff[cam->bufferLen++] = data;
  }
  return cam->bufferLen;
}

/**
 * Verify that a given response is valid
 */
bool cam_verifyResponse (Camera *cam, uint8_t cmd) {
  // If any of these are not equal than
  // the command failed
  return
    cam->buff[0] == VC0706_RESP_PREFIX &&
    cam->buff[1] == cam->serialNum &&
    cam->buff[2] == cmd &&
    cam->buff[3] == 0x0;
}

/**
 * Helper for commands related
 * to controlling the frame buffer
 */
bool cam_frameBuffCtrl (Camera *cam, uint8_t cmd) {
  uint8_t args[] = { 0x1, cmd };
  return cam_runCommandFlush(cam, VC0706_FBUF_CTRL, args, sizeof(args), 5);
}

/**
 * Stop the frame to take a photo
 */
bool cam_takePicture (Camera *cam) {
  cam->frameptr = 0;
  return cam_frameBuffCtrl(cam, VC0706_STOPCURRENTFRAME);
}

/**
 * Reset cam
 */
bool cam_reset (Camera *cam) {
  uint8_t args[] = { 0x0 };
  bool runRes = cam_runCommandFlush(cam, VC0706_RESET, args, sizeof(args), 5);
  sleep(2); // wait for camera to come back online
  return runRes;
}

/**
 * Enable the analog TV out
 */
bool cam_tvOn (Camera *cam) {
  uint8_t args[] = { 0x1, 0x1 };
  return cam_runCommandFlush(cam, VC0706_TVOUT_CTRL, args, sizeof(args), 5);
}

/**
 * Disable the analog TV out
 */
bool cam_tvOff (Camera *cam) {
  uint8_t args[] = { 0x1, 0x0 };
  return cam_runCommandFlush(cam, VC0706_TVOUT_CTRL, args, sizeof(args), 5);
}

/**
 * Request a block of size n data from cam
 */
uint8_t* cam_readPicture (Camera *cam, uint8_t n) {
  uint8_t args[] = { 0x0C, 0x0, 0x0A,
    0, 0, cam->frameptr >> 8, cam->frameptr & 0xFF,
    0, 0, 0, n,
    CAM_DELAY >> 8, CAM_DELAY & 0xFF };
  if (!cam_runCommand(cam, VC0706_READ_FBUF, args, sizeof(args), 5, false)) // don't flush
    return NULL;
  if (cam_readResponse(cam, n + 5, CAM_DELAY) == 0)
    return NULL;
  cam->frameptr += n;

  return &(cam->buff[0]);
}

/**
 * Resume frame capture
 */
bool cam_resumeVideo (Camera *cam) {
  return cam_frameBuffCtrl(cam, VC0706_RESUMEFRAME);
}

/**
 * Get the length of the frame
 * currently on cam
 */
uint32_t cam_frameLength (Camera *cam) {
  uint8_t args[] = { 0x01, 0x00 };
  if (!cam_runCommandFlush(cam, VC0706_GET_FBUF_LEN, args, sizeof(args), 9))
    return 0;

  uint32_t len;
  len = cam->buff[5];
  len <<= 8;
  len |= cam->buff[6];
  len <<= 8;
  len |= cam->buff[7];
  len <<= 8;
  len |= cam->buff[8];

  return len;
}

/**
 * Get the version from cam
 */
char* cam_getVersion (Camera *cam) {
  uint8_t args[] = { 0x00 };
  cam_sendCommand(cam, VC0706_GEN_VERSION, args, sizeof(args));
  if (!cam_readResponse(cam, CAM_BUFF_SIZE, 200))
    return NULL;
  cam->buff[cam->bufferLen] = 0;
  return (char*)&(cam->buff[5]);
}

/**
 * Get the length of cam's buffer
 */
uint8_t cam_available (Camera *cam) {
  return cam->bufferLen;
}

/**
 * Get cam's current downsize
 */
uint8_t cam_getDownsize (Camera *cam) {
  uint8_t args[] = { 0x0 };
  if (!cam_runCommandFlush(cam, VC0706_DOWNSIZE_STATUS, args, sizeof(args), 6))
    return -1;
  return cam->buff[5];
}

/**
 * Set cam's downsize
 */
bool cam_setDownsize (Camera *cam, uint8_t newSize) {
  uint8_t args[] = { 0x01, newSize };
  return cam_runCommandFlush(cam, VC0706_DOWNSIZE_CTRL, args, sizeof(args), 5);
}

/**
 * Get cam's current image size
 */
uint8_t cam_getImageSize (Camera *cam) {
  uint8_t args[] = { 0x4, 0x4, 0x1, 0x00, 0x19 };
  if (!cam_runCommandFlush(cam, VC0706_READ_DATA, args, sizeof(args), 6))
    return -1;
  return cam->buff[5];
}

/**
 * Set cam's image size to x
 */
bool cam_setImageSize (Camera *cam, uint8_t x) {
  uint8_t args[] = { 0x05, 0x04, 0x01, 0x00, 0x19, x };
  return cam_runCommandFlush(cam, VC0706_WRITE_DATA, args, sizeof(args), 5);
}

bool cam_getMotionDetect (Camera *cam) {
  uint8_t args[] = { 0x0 };
  if (!cam_runCommandFlush(cam, VC0706_COMM_MOTION_STATUS, args, sizeof(args), 6))
    return false;
  return cam->buff[5];
}

uint8_t cam_getMotionStatus (Camera *cam, uint8_t x) {
  uint8_t args[] = { 0x01, x };
  return cam_runCommandFlush(cam, VC0706_MOTION_STATUS, args, sizeof(args), 5);
}

/**
 * Return true if cam detected motion
 */
bool cam_motionDetected (Camera *cam) {
  if (cam_readResponse(cam, 4, 200) != 4)
    return false;
  if (!cam_verifyResponse(cam, VC0706_COMM_MOTION_DETECTED))
    return false;
  return true;
}

/**
 * Enable/disable motion detection on cam
 */
bool cam_setMotionDetect (Camera *cam, bool flag) {
  if (!cam_setMotionStatus(cam, VC0706_MOTIONCONTROL, VC0706_UARTMOTION, VC0706_ACTIVATEMOTION))
    return false;
  uint8_t args[] = { 0x1, flag };
  return cam_runCommandFlush(cam, VC0706_MOTION_STATUS, args, sizeof(args), 5);
}

bool cam_setMotionStatus (Camera *cam, uint8_t x, uint8_t d1, uint8_t d2) {
  uint8_t args[] = { 0x03, x, d1, d2 };
  return cam_runCommandFlush(cam, VC0706_MOTION_CTRL, args, sizeof(args), 5);
}

/**
 * Get cam's current level of compression
 */
uint8_t cam_getCompression (Camera *cam) {
  uint8_t args[] = { 0x4, 0x1, 0x1, 0x12, 0x04 };
  cam_runCommandFlush(cam, VC0706_READ_DATA, args, sizeof(args), 6);
  return cam->buff[5];
}

/**
 * Set cam's level of compression to c
 */
bool cam_setCompression (Camera *cam, uint8_t c) {
  uint8_t args[] = { 0x5, 0x1, 0x1, 0x12, 0x04, c };
  return cam_runCommandFlush(cam, VC0706_WRITE_DATA, args, sizeof(args), 5);
}

/**
 * Get cam's current PTZ values
 * All values returned in pointers
 */
bool cam_getPTZ(Camera *cam, uint16_t *w, uint16_t *h, uint16_t *wz, uint16_t *hz, uint16_t *pan, uint16_t *tilt) {
  uint8_t args[] = { 0x0 };

  if (!cam_runCommandFlush(cam, VC0706_GET_ZOOM, args, sizeof(args), 16))
    return false;
  *w = cam->buff[5];
  *w <<= 8;
  *w |= cam->buff[6];

  *h = cam->buff[7];
  *h <<= 8;
  *h |= cam->buff[8];

  *wz = cam->buff[9];
  *wz <<= 8;
  *wz |= cam->buff[10];

  *hz = cam->buff[11];
  *hz <<= 8;
  *hz |= cam->buff[12];

  *pan = cam->buff[13];
  *pan <<= 8;
  *pan |= cam->buff[14];

  *tilt = cam->buff[15];
  *tilt <<= 8;
  *tilt |= cam->buff[16];

  return true;
}

/**
 * Set cam's PTZ settings
 */
bool cam_setPTZ (Camera *cam, uint16_t wz, uint16_t hz, uint16_t pan, uint16_t tilt) {
  uint8_t args[] = {
    0x08, wz >> 8, wz,
    hz >> 8, wz,
    pan >> 8, pan,
    tilt >> 8, tilt
  };
  return !cam_runCommandFlush(cam, VC0706_SET_ZOOM, args, sizeof(args), 5);
}

/**
 * Return how much data should be requested
 * from cam based on jpgLen
 */
uint8_t cam_getImageBlockSize (int jpgLen) {
  return CAM_BLOCK_SIZE < jpgLen ? CAM_BLOCK_SIZE : jpgLen;
}

/**
 * Read the entire frame buffer from cam
 * into filePtr
 */
bool cam_readImageBlocks (Camera *cam, FILE *filePtr) {
  int jpgLen = cam_frameLength(cam);
  int imgSize = jpgLen;
  bool success = true;
  int nWrites = 0;
  while (jpgLen > 0) {
    uint8_t bytesToRead = cam_getImageBlockSize(jpgLen);
    uint8_t *buff = cam_readPicture(cam, bytesToRead);
    if (buff == NULL) {
      LE_ERROR("Failed to read image data");
      success = false;
      break;
    }
    fwrite(buff, sizeof(*buff), bytesToRead, filePtr);
    if (++nWrites % 10 == 0) {
      double percentComplete = (double)cam->bufferLen * 100.0 / (double)imgSize;
      LE_INFO("Image write %f%% complete (%d bytes of %d bytes)",percentComplete, cam->bufferLen, imgSize);
    }
    jpgLen -= bytesToRead;
  }
  return success;
}

/**
 * Read the image from cam into a file
 * described by path
 */
bool cam_readImageToFile (Camera *cam, char *path) {
  bool success = false;
  char writePath[100];
  // e.g /mnt/sd/<timestamp>.jpg
  sprintf(writePath, "%s/%d.jpg", path, (int)time(0));
  LE_INFO("Opening file pointer for path %s", writePath);
  FILE *filePtr = fopen(writePath, "w");
  if (filePtr != NULL) {
    LE_INFO("File pointer valid");
    success = cam_readImageBlocks(cam, filePtr);
    if (success) LE_INFO("Successfully wrote image to %s", writePath);
    else LE_INFO("Failed to write photo data to %s", writePath);
  }
  else {
    LE_ERROR("Invalid file pointer for %s", writePath);
  }
  fclose(filePtr);
  return success;
}

/**
 * Take a photo on cam and write it to a file
 * described by path
 */
bool cam_snapshotToFile (Camera *cam, char *path, uint8_t imgSize) {
  cam_setImageSize(cam, imgSize);
  LE_INFO("Taking photo...");
  bool photoTaken = cam_takePicture(cam);
  if (photoTaken) {
    LE_INFO("Photo taken");
    return cam_readImageToFile(cam, path);
  }
  else {
    LE_ERROR("Failed to take photo");
    return false;
  }
}