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#ifndef CAMERA_H
#define CAMERA_H
#include "legato.h"
#include <termios.h>
#define VC0706_RESP_PREFIX 0x76
#define VC0706_PREFIX 0x56
#define VC0706_RESET 0x26
#define VC0706_GEN_VERSION 0x11
#define VC0706_SET_PORT 0x24
#define VC0706_READ_FBUF 0x32
#define VC0706_GET_FBUF_LEN 0x34
#define VC0706_FBUF_CTRL 0x36
#define VC0706_DOWNSIZE_CTRL 0x54
#define VC0706_DOWNSIZE_STATUS 0x55
#define VC0706_READ_DATA 0x30
#define VC0706_WRITE_DATA 0x31
#define VC0706_COMM_MOTION_CTRL 0x37
#define VC0706_COMM_MOTION_STATUS 0x38
#define VC0706_COMM_MOTION_DETECTED 0x39
#define VC0706_MOTION_CTRL 0x42
#define VC0706_MOTION_STATUS 0x43
#define VC0706_TVOUT_CTRL 0x44
#define VC0706_OSD_ADD_CHAR 0x45
#define VC0706_STOPCURRENTFRAME 0x0
#define VC0706_STOPNEXTFRAME 0x1
#define VC0706_RESUMEFRAME 0x3
#define VC0706_STEPFRAME 0x2
#define VC0706_640x480 0x00
#define VC0706_320x240 0x11
#define VC0706_160x120 0x22
#define VC0706_MOTIONCONTROL 0x0
#define VC0706_UARTMOTION 0x01
#define VC0706_ACTIVATEMOTION 0x01
#define VC0706_SET_ZOOM 0x52
#define VC0706_GET_ZOOM 0x53
#define CAM_BUFF_SIZE 200
#define CAM_BLOCK_SIZE 192
#define CAM_DELAY 10
#define CAM_SERIAL 0
#define CAM_BAUD_RATE 38400
#define TTY_TIMEOUT 5000
typedef struct {
char devPath[256];
int fd; // file descriptor for the serial port
uint8_t serialNum; // camera serial number
uint8_t buff[CAM_BUFF_SIZE]; // uint8_t array to store camera data
uint8_t bufferLen; // current length of data in buffer
uint16_t frameptr;
} Camera;
// File stream functions for reading photos
LE_SHARED bool cam_snapshotToFile(Camera* cam,
const char* path,
uint8_t imgSize,
char* imgPath);
bool cam_readImageToFile(Camera* cam, const char* path, char* imgPath);
bool cam_readImageBlocks(Camera* cam, FILE* filePtr);
uint8_t cam_getImageBlockSize(int jpgLen);
// Higher level commands
LE_SHARED bool cam_setPTZ(Camera* cam,
uint16_t wz,
uint16_t hz,
uint16_t pan,
uint16_t tilt);
LE_SHARED bool cam_getPTZ(Camera* cam,
uint16_t* w,
uint16_t* h,
uint16_t* wz,
uint16_t* hz,
uint16_t* pan,
uint16_t* tilt);
LE_SHARED bool cam_setCompression(Camera* cam, uint8_t c);
LE_SHARED uint8_t cam_getCompression(Camera* cam);
LE_SHARED bool cam_setMotionStatus(Camera* cam,
uint8_t x,
uint8_t d1,
uint8_t d2);
LE_SHARED bool cam_setMotionDetect(Camera* cam, bool flag);
LE_SHARED bool cam_motionDetected(Camera* cam);
LE_SHARED uint8_t cam_getMotionStatus(Camera* cam, uint8_t x);
LE_SHARED bool cam_getMotionDetect(Camera* cam);
LE_SHARED bool cam_setImageSize(Camera* cam, uint8_t x);
LE_SHARED uint8_t cam_getImageSize(Camera* cam);
LE_SHARED bool cam_setDownsize(Camera* cam, uint8_t newSize);
LE_SHARED uint8_t cam_getDownsize(Camera* cam);
LE_SHARED uint8_t cam_available(Camera* cam);
LE_SHARED char* cam_getVersion(Camera* cam);
LE_SHARED uint32_t cam_frameLength(Camera* cam);
LE_SHARED bool cam_resumeVideo(Camera* cam);
LE_SHARED uint8_t* cam_readPicture(Camera* cam, uint8_t n);
LE_SHARED bool cam_tvOff(Camera* cam);
LE_SHARED bool cam_tvOn(Camera* cam);
LE_SHARED bool cam_reset(Camera* cam);
LE_SHARED bool cam_takePicture(Camera* cam);
LE_SHARED bool cam_frameBuffCtrl(Camera* cam, uint8_t cmd);
// Low level camera commands
bool cam_runCommandFlush(Camera* cam,
uint8_t cmd,
uint8_t args[],
uint8_t nArgs,
uint8_t respLen);
bool cam_verifyResponse(Camera* cam, uint8_t cmd);
uint8_t cam_readResponse(Camera* cam, uint8_t nBytes, uint8_t timeout);
bool cam_runCommand(Camera* cam,
uint8_t cmd,
uint8_t args[],
uint8_t nArgs,
uint8_t respLen,
bool flushFlag);
void cam_sendCommand(Camera* cam, uint8_t cmd, uint8_t args[], uint8_t nArgs);
// Serial/file descriptor helpers
int fd_dataAvail(int fd, int* data);
ssize_t fd_getByte(int fd, uint8_t* data);
LE_SHARED int fd_closeCam(int fd);
LE_SHARED int fd_openCam(char* devPath);
int fd_openSerial(const char* device, int baud);
speed_t fd_convertBaud(int baud);
#endif
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