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#include "camera.h"
COMPONENT_INIT { }
// File descriptor is returned in the fd pointer
le_result_t openCameraFd (const char *path, int *fd, tty_Speed_t baud, int nBytes, int timeout) {
*fd = le_tty_Open(path, O_RDWR);
le_result_t baudRes = le_tty_SetBaudRate(*fd, baud);
le_result_t rawRes = le_tty_SetRaw(*fd, nBytes, timeout);
return baudRes == LE_OK && rawRes == LE_OK ? LE_OK : LE_FAULT;
}
// tty_ functions mostly lifted from here
// https://github.com/oskarirauta/VC0706/blob/master/include/wiringSerial.c
ssize_t tty_putByte (int fd, uint8_t byte) {
return write(fd, &byte, 1);
}
ssize_t tty_getByte (int fd, uint8_t *data) {
return read(fd, data, 1);
}
int tty_dataAvail (int fd, int *data) {
return ioctl(fd, FIONREAD, data);
}
void sendCommand (Camera *cam, uint8_t cmd, uint8_t args[], uint8_t nArgs) {
tty_putByte(cam->fd, VC0706_PREFIX);
tty_putByte(cam->fd, cam->serialNum);
tty_putByte(cam->fd, cmd);
for (int i = 0; i < nArgs; i++) {
tty_putByte(cam->fd, args[i]);
}
}
bool runCommand (Camera *cam, uint8_t cmd, uint8_t args[], uint8_t nArgs, uint8_t respLen, bool flushFlag) {
// flush out the buffer
if (flushFlag) {
readResponse(cam, 100, 10);
}
sendCommand(cam, cmd, args, nArgs);
if (readResponse(cam, respLen, 200) != respLen)
return false;
if (!verifyResponse(cam, cmd))
return false;
return true;
}
bool runCommandFlush (Camera *cam, uint8_t cmd, uint8_t args[], uint8_t nArgs, uint8_t respLen) {
return runCommand (cam, cmd, args, nArgs, respLen, true);
}
// Reads from the camera and returns how many bytes it read
uint8_t readResponse (Camera *cam, uint8_t nBytes, uint8_t timeout) {
uint8_t counter = 0;
cam->bufferLen = 0;
int avail;
uint8_t data;
while ((counter < timeout) && (cam->bufferLen < nBytes)) {
LE_DEBUG("counter: %d, timeout: %d, nBytes: %d, bufferLen: %d", counter, timeout, nBytes, cam->bufferLen);
// data is returned in avail pointer
tty_dataAvail(cam->fd, &avail);
// this case covers no data available
if (avail <= 0) {
usleep(1000);
counter++;
continue;
}
// this case is when we get data
counter = 0;
tty_getByte(cam->fd, &data);
cam->buff[cam->bufferLen++] = data;
}
return cam->bufferLen;
}
void printBuffer (Camera *cam) {
LE_DEBUG("Printing cam buffer");
for(int i = 0; i < NUM_ARRAY_MEMBERS(cam->buff); i++) {
LE_DEBUG("buff[%d]=%d", i, cam->buff[i]);
}
}
bool verifyResponse (Camera *cam, uint8_t cmd) {
// If any of these are not equal than
// the command failed
LE_DEBUG("buff[0] correct? %d", cam->buff[0] == VC0706_RESP_PREFIX);
LE_DEBUG("buff[1] correct? %d", cam->buff[1] == cam->serialNum);
LE_DEBUG("buff[2] correct? %d", cam->buff[2] == cmd);
LE_DEBUG("buff[3] correct? %d", cam->buff[3] == 0x0);
return
cam->buff[0] == VC0706_RESP_PREFIX &&
cam->buff[1] == cam->serialNum &&
cam->buff[2] == cmd &&
cam->buff[3] == 0x0;
}
bool cameraFrameBuffCtrl (Camera *cam, uint8_t cmd) {
uint8_t args[] = { 0x1, cmd };
return runCommandFlush(cam, VC0706_FBUF_CTRL, args, sizeof(args), 5);
}
bool takePicture (Camera *cam) {
cam->frameptr = 0;
return cameraFrameBuffCtrl(cam, VC0706_STOPCURRENTFRAME);
}
bool reset (Camera *cam) {
uint8_t args[] = { 0x0 };
return runCommandFlush(cam, VC0706_RESET, args, sizeof(args), 5);
}
bool TVon (Camera *cam) {
uint8_t args[] = { 0x1, 0x1 };
return runCommandFlush(cam, VC0706_TVOUT_CTRL, args, sizeof(args), 5);
}
bool TVOff (Camera *cam) {
uint8_t args[] = { 0x1, 0x0 };
return runCommandFlush(cam, VC0706_TVOUT_CTRL, args, sizeof(args), 5);
}
uint8_t* 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 };
LE_DEBUG("frameptr: %d", cam->frameptr);
if (!runCommand(cam, VC0706_READ_FBUF, args, sizeof(args), 5, false)) // don't flush
return NULL;
if (readResponse(cam, n + 5, CAM_DELAY) == 0)
return NULL;
cam->frameptr += n;
return &(cam->buff[0]);
}
bool resumeVideo (Camera *cam) {
return cameraFrameBuffCtrl(cam, VC0706_RESUMEFRAME);
}
uint32_t frameLength (Camera *cam) {
uint8_t args[] = { 0x01, 0x00 };
if (!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;
}
char* getVersion (Camera *cam) {
uint8_t args[] = { 0x01 };
sendCommand(cam, VC0706_GEN_VERSION, args, sizeof(args));
if (!readResponse(cam, CAM_BUFF_SIZE, 200)) {
LE_DEBUG("Failed to get version, returning empty string");
return 0;
}
cam->buff[cam->bufferLen] = 0;
return (char*)&(cam->buff[0]);
}
uint8_t available (Camera *cam) {
return cam->bufferLen;
}
uint8_t getDownsize (Camera *cam) {
uint8_t args[] = { 0x0 };
if (!runCommandFlush(cam, VC0706_DOWNSIZE_STATUS, args, sizeof(args), 6))
return -1;
return cam->buff[5];
}
bool setDownsize (Camera *cam, uint8_t newSize) {
uint8_t args[] = { 0x01, newSize };
return runCommandFlush(cam, VC0706_DOWNSIZE_CTRL, args, sizeof(args), 5);
}
uint8_t getImageSize (Camera *cam) {
uint8_t args[] = { 0x4, 0x4, 0x1, 0x00, 0x19 };
if (!runCommandFlush(cam, VC0706_READ_DATA, args, sizeof(args), 6))
return -1;
return cam->buff[5];
}
bool setImageSize (Camera *cam, uint8_t x) {
uint8_t args[] = { 0x05, 0x04, 0x01, 0x00, 0x19, x };
return runCommandFlush(cam, VC0706_WRITE_DATA, args, sizeof(args), 5);
}
bool getMotionDetect (Camera *cam) {
uint8_t args[] = { 0x0 };
if (!runCommandFlush(cam, VC0706_COMM_MOTION_STATUS, args, sizeof(args), 6))
return false;
return cam->buff[5];
}
uint8_t getMotionStatus(Camera *cam, uint8_t x) {
uint8_t args[] = { 0x01, x };
return runCommandFlush(cam, VC0706_MOTION_STATUS, args, sizeof(args), 5);
}
bool motionDetected (Camera *cam) {
if (readResponse(cam, 4, 200) != 4)
return false;
if (!verifyResponse(cam, VC0706_COMM_MOTION_DETECTED))
return false;
return true;
}
bool setMotionDetect (Camera *cam, bool flag) {
if (!setMotionStatus(cam, VC0706_MOTIONCONTROL, VC0706_UARTMOTION, VC0706_ACTIVATEMOTION))
return false;
uint8_t args[] = { 0x1, flag };
return runCommandFlush(cam, VC0706_MOTION_STATUS, args, sizeof(args), 5);
}
bool setMotionStatus (Camera *cam, uint8_t x, uint8_t d1, uint8_t d2) {
uint8_t args[] = { 0x03, x, d1, d2 };
return runCommandFlush(cam, VC0706_MOTION_CTRL, args, sizeof(args), 5);
}
uint8_t getCompression (Camera *cam) {
uint8_t args[] = { 0x4, 0x1, 0x1, 0x12, 0x04 };
runCommandFlush(cam, VC0706_READ_DATA, args, sizeof(args), 6);
return cam->buff[5];
}
bool setCompression (Camera *cam, uint8_t c) {
uint8_t args[] = { 0x5, 0x1, 0x1, 0x12, 0x04, c };
return runCommandFlush(cam, VC0706_WRITE_DATA, args, sizeof(args), 5);
}
bool 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 (!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;
}
bool 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 !runCommandFlush(cam, VC0706_SET_ZOOM, args, sizeof(args), 5);
}
bool snapshotToFile (Camera *cam, char *path, uint8_t imgSize) {
setImageSize(cam, imgSize);
LE_INFO("Taking photo...");
bool success = true;
bool photoTaken = takePicture(cam);
if (photoTaken) {
LE_INFO("Photo taken");
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("Got valid file pointer");
int jpgLen = frameLength(cam);
while (jpgLen > 0) {
uint8_t *buff;
uint8_t bytesToRead = CAM_BLOCK_SIZE < jpgLen ? CAM_BLOCK_SIZE : jpgLen;
LE_DEBUG("jpgLen: %d, bytesToRead: %d", jpgLen, bytesToRead);
buff = readPicture(cam, bytesToRead);
if (buff == NULL) {
LE_ERROR("Failed to read image data");
success = false;
break;
}
fwrite(buff, sizeof(*buff), bytesToRead, filePtr);
jpgLen -= bytesToRead;
}
fclose(filePtr);
return success;
}
else {
LE_ERROR("Invalid file pointer for %s", writePath);
return false;
}
}
else {
LE_ERROR("Failed to take photo");
return false;
}
}
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