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features: switch to only using integer parameters #45

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60 changes: 30 additions & 30 deletions cfg/Camera1394.cfg
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Original file line number Diff line number Diff line change
Expand Up @@ -191,69 +191,69 @@ controls = gen.enum([gen.const("Off", int_t, 0, "Use fixed value"),
gen.add("auto_brightness", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Brightness control state.", 1, 0, 4, edit_method = controls)

gen.add("brightness", double_t, SensorLevels.RECONFIGURE_RUNNING,
"Black level offset.", 0., 0., 4095.)
gen.add("brightness", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Black level offset.", 0, 0, 4095)

gen.add("auto_exposure", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Combined Gain, Iris & Shutter control.",
1, 0, 4, edit_method = controls)

gen.add("exposure", double_t, SensorLevels.RECONFIGURE_RUNNING,
"Auto exposure value (like contrast).", 0., -10., 4095.)
gen.add("exposure", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Auto exposure value (like contrast).", 0, 0, 4095)

gen.add("auto_focus", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Focus control state.", 1, 0, 4, edit_method= controls)

gen.add("focus", double_t, SensorLevels.RECONFIGURE_RUNNING,
"Focus control.", 0., 0., 4095.)
gen.add("focus", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Focus control.", 0, 0, 4095)

gen.add("auto_gain", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Gain control state.", 1, 0, 4, edit_method = controls)

gen.add("gain", double_t, SensorLevels.RECONFIGURE_RUNNING,
"Relative circuit gain.", 0., -10., 4095)
gen.add("gain", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Relative circuit gain.", 0, 0, 4095)

gen.add("auto_gamma", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Gamma control state.", 1, 0, 4, edit_method = controls)

gen.add("gamma", double_t, SensorLevels.RECONFIGURE_RUNNING,
"Gamma expansion exponent.", 2.2, 0., 10.)
gen.add("gamma", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Gamma expansion exponent.", 0, 0, 4095)

gen.add("auto_hue", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Hue control state.", 1, 0, 4, edit_method = controls)

gen.add("hue", double_t, SensorLevels.RECONFIGURE_RUNNING,
"Color phase.", 0., 0., 4095.)
gen.add("hue", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Color phase.", 0, 0, 4095)

gen.add("auto_iris", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Iris control state.", 1, 0, 4, edit_method = controls)

gen.add("iris", double_t, SensorLevels.RECONFIGURE_RUNNING,
"Iris control.", 8., 0., 4095.)
gen.add("iris", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Iris control.", 0, 0, 4095)

gen.add("auto_pan", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Pan control state.", 1, 0, 4, edit_method = controls)

gen.add("pan", double_t, SensorLevels.RECONFIGURE_RUNNING,
"Pan control.", 0., 0., 4095.)
gen.add("pan", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Pan control.", 0, 0, 4095)

gen.add("auto_saturation", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Saturation control state.", 1, 0, 4, edit_method = controls)

gen.add("saturation", double_t, SensorLevels.RECONFIGURE_RUNNING,
"Color saturation.", 1., 0., 4095.)
gen.add("saturation", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Color saturation.", 0, 0, 4095)

gen.add("auto_sharpness", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Sharpness control state.", 1, 0, 4, edit_method = controls)

gen.add("sharpness", double_t, SensorLevels.RECONFIGURE_RUNNING,
"Image sharpness.", 1., 0., 4095.)
gen.add("sharpness", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Image sharpness.", 1, 0, 4095)

gen.add("auto_shutter", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Shutter control state.", 1, 0, 4, edit_method = controls)

gen.add("shutter", double_t, SensorLevels.RECONFIGURE_RUNNING,
"Shutter speed.", 1., 0., 4095.)
gen.add("shutter", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Shutter speed.", 0, 0, 4095)

gen.add("external_trigger", bool_t, SensorLevels.RECONFIGURE_RUNNING,
"External trigger power state", False)
Expand Down Expand Up @@ -299,25 +299,25 @@ gen.add("trigger_polarity", str_t, SensorLevels.RECONFIGURE_RUNNING,
gen.add("auto_trigger", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Trigger control state.", 1, 0, 4, edit_method = controls)

gen.add("trigger", double_t, SensorLevels.RECONFIGURE_RUNNING,
"Trigger parameter N", 0., 0., 4095.)
gen.add("trigger", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Trigger parameter N", 0, 0, 4095)

gen.add("auto_white_balance", int_t, SensorLevels.RECONFIGURE_RUNNING,
"White balance control state.", 1, 0, 4, edit_method = controls)

gen.add("white_balance_BU", double_t, SensorLevels.RECONFIGURE_RUNNING,
gen.add("white_balance_BU", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Blue or U component of white balance.",
0., 0., 4095.)
0, 0, 4095)

gen.add("white_balance_RV", double_t, SensorLevels.RECONFIGURE_RUNNING,
gen.add("white_balance_RV", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Red or V component of white balance.",
0., 0., 4095.)
0, 0, 4095)

gen.add("auto_zoom", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Zoom control state.", 1, 0, 4, edit_method = controls)

gen.add("zoom", double_t, SensorLevels.RECONFIGURE_RUNNING,
"Zoom control.", 0., 0., 4095.)
gen.add("zoom", int_t, SensorLevels.RECONFIGURE_RUNNING,
"Zoom control.", 0, 0, 4095)

PACKAGE='camera1394'
exit(gen.generate(PACKAGE, "Camera1394", "Camera1394"))
61 changes: 7 additions & 54 deletions src/nodes/features.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -278,7 +278,7 @@ void Features::reconfigure(Config *newconfig)
* represent all possible option values accurately.
*/
void Features::configure(dc1394feature_t feature, int *control,
double *value, double *value2)
int *value, int *value2)
{
// device-relevant information for this feature
dc1394feature_info_t *finfo =
Expand Down Expand Up @@ -314,37 +314,7 @@ void Features::configure(dc1394feature_t feature, int *control,
break;
}

// TODO: break this into some internal methods
if (finfo->absolute_capable && finfo->abs_control)
{
// supports reading and setting float value
float fmin, fmax;
if (DC1394_SUCCESS ==
dc1394_feature_get_absolute_boundaries(camera_, feature,
&fmin, &fmax))
{
// clamp *value between minimum and maximum
if (*value < fmin)
*value = (double) fmin;
else if (*value > fmax)
*value = (double) fmax;
}
else
{
ROS_WARN_STREAM("failed to get feature "
<< featureName(feature) << " boundaries ");
}

// @todo handle absolute White Balance values
float fval = *value;
if (DC1394_SUCCESS !=
dc1394_feature_set_absolute_value(camera_, feature, fval))
{
ROS_WARN_STREAM("failed to set feature "
<< featureName(feature) << " to " << fval);
}
}
else // no float representation
// no float representation
{
// round requested value to nearest integer
*value = rint(*value);
Expand Down Expand Up @@ -479,7 +449,7 @@ Features::state_t Features::getState(dc1394feature_info_t *finfo)
* for white balance. Otherwise NULL.
*/
void Features::getValues(dc1394feature_info_t *finfo,
double *value, double *value2)
int *value, int *value2)
{
dc1394feature_t feature = finfo->id;
dc1394error_t rc;
Expand All @@ -494,13 +464,6 @@ void Features::getValues(dc1394feature_info_t *finfo,
if (feature == DC1394_FEATURE_WHITE_BALANCE)
{
// handle White Balance separately, it has two components
if (finfo->absolute_capable && finfo->abs_control)
{
// supports reading and setting float value
// @todo get absolute White Balance values
rc = DC1394_FUNCTION_NOT_SUPPORTED;
}
else
{
// get integer White Balance values
uint32_t bu_val;
Expand Down Expand Up @@ -528,17 +491,7 @@ void Features::getValues(dc1394feature_info_t *finfo,
else
{
// other features only have one component
if (finfo->absolute_capable && finfo->abs_control)
{
// supports reading and setting float value
float fval;
rc = dc1394_feature_get_absolute_value(camera_, feature, &fval);
if (DC1394_SUCCESS == rc)
{
*value = fval; // convert to double
}
}
else // no float representation
// no float representation
{
uint32_t ival;
rc = dc1394_feature_get_value(camera_, feature, &ival);
Expand Down Expand Up @@ -641,7 +594,7 @@ void Features::setPower(dc1394feature_info_t *finfo, dc1394switch_t on_off)
*/
void Features::updateIfChanged(dc1394feature_t feature,
int old_control, int *control,
double old_value, double *value)
int old_value, int *value)
{
if ((old_control != *control) || (old_value != *value))
{
Expand All @@ -668,8 +621,8 @@ void Features::updateIfChanged(dc1394feature_t feature,
*/
void Features::updateIfChanged(dc1394feature_t feature,
int old_control, int *control,
double old_value, double *value,
double old_value2, double *value2)
int old_value, int *value,
int old_value2, int *value2)
{
if ((old_control != *control)
|| (old_value != *value)
Expand Down
10 changes: 5 additions & 5 deletions src/nodes/features.h
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Original file line number Diff line number Diff line change
Expand Up @@ -76,10 +76,10 @@ class Features
typedef int state_t; ///< camera1394::Camera1394_* state values

void configure(dc1394feature_t feature, int *control,
double *value, double *value2=NULL);
int *value, int *value2=NULL);
state_t getState(dc1394feature_info_t *finfo);
void getValues(dc1394feature_info_t *finfo,
double *value, double *value2);
int *value, int *value2);

/** Does this camera feature support a given mode?
*
Expand Down Expand Up @@ -117,11 +117,11 @@ class Features
void setPower(dc1394feature_info_t *finfo, dc1394switch_t on_off);
void updateIfChanged(dc1394feature_t feature,
int old_control, int *control,
double old_value, double *value);
int old_value, int *value);
void updateIfChanged(dc1394feature_t feature,
int old_control, int *control,
double old_value, double *value,
double old_value2, double *value2);
int old_value, int *value,
int old_value2, int *value2);

dc1394camera_t *camera_; ///< current camera
dc1394featureset_t feature_set_; ///< that camera's feature set
Expand Down