wmr_camera.h

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// Copyright 2021 Jan Schmidt <jan@centricular.com>
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Interface to read WMR cameras
 * @author Jan Schmidt <jan@centricular.com>
 * @ingroup drv_wmr
 */
 
#pragma once
 
#include "util/u_debug.h"
#include "util/u_logging.h"
#include "xrt/xrt_config_have.h"
#include "xrt/xrt_frame.h"
#include "xrt/xrt_prober.h"
 
#include "wmr_config.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
struct wmr_camera;
 
struct wmr_camera_open_config
{
        struct xrt_prober_device *dev_holo;
        struct wmr_camera_config **tcam_confs; //!< Pointers to tracking cameras. Will be copied.
        struct xrt_frame_sink **tcam_sinks;    //!< Sinks for tracking cameras
        int tcam_count;                        //!< Tracking camera count
        int slam_cam_count;                    //!< Number of tracking cameras to use for SLAM
        enum u_logging_level log_level;
};
 
#ifdef XRT_HAVE_LIBUSB
struct wmr_camera *
wmr_camera_open(struct wmr_camera_open_config *config);
void
wmr_camera_free(struct wmr_camera *cam);
 
/*!
 * Starts the cameras.
 */
bool
wmr_camera_start(struct wmr_camera *cam);
bool
wmr_camera_stop(struct wmr_camera *cam);
 
/*!
 * Set manual exposure and gain values
 *
 * @param cam Camera container
 * @param camera_id Which camera to affect
 * @param exposure Time the shutter is open, observed values 60-6000.
 * @param gain Amplification of the analog signal, observed values: 16-255.
 */
int
wmr_camera_set_exposure_gain(struct wmr_camera *cam, uint8_t camera_id, uint16_t exposure, uint8_t gain);
 
#else
 
/* Stubs to disable camera functions without libusb */
static inline struct wmr_camera *
wmr_camera_open(struct wmr_camera_open_config *config)
{
        (void)config;
        return NULL;
}
static inline void
wmr_camera_free(struct wmr_camera *cam)
{
        (void)cam;
}
static inline bool
wmr_camera_start(struct wmr_camera *cam)
{
        (void)cam;
        return false;
}
static inline bool
wmr_camera_stop(struct wmr_camera *cam)
{
        (void)cam;
        return false;
}
static inline int
wmr_camera_set_exposure_gain(struct wmr_camera *cam, uint8_t camera_id, uint16_t exposure, uint8_t gain)
{
        (void)cam;
        (void)camera_id;
        (void)exposure;
        (void)gain;
        return -1;
}
 
#endif
 
#ifdef __cplusplus
}
#endif