FastJpegCamera.h

00001 #ifndef FAST_JPEG_CAMERA_H
00002 #define FAST_JPEG_CAMERA_H
00003 
00004 #include "JPEGCamera/JPEGCamera.h"
00005 
00006 #define FILENAME "/sd/pic%05d.jpg"
00007 
00008 #define min(x, y) ((x) < (y)) ? (x) : (y)
00009 
00010 class FastJpegCamera : public JPEGCamera {
00011     public:
00012         DigitalOut myled1; //show successful picture was taken 
00013         int baudrate;
00014         Serial pc;
00015         Serial& xbee;
00016 
00017         FastJpegCamera(PinName tx, PinName rx, Serial& xbee) : JPEGCamera(tx,rx), baudrate(38400), pc(USBTX, USBRX), myled1(LED1), xbee(xbee){
00018             this->baud115200();
00019         };
00020         
00021         void baud115200(){
00022             char buf[7] = {0x56, 0x00, 0x24, 0x03, 0x01, 0x0d, 0xa6};
00023             //char buf[5] = {0x56, 0x00, 0x34, 0x0d, 0xa6};
00024             //int ret = sendReceive(buf, sizeof buf, 5);
00025             for (int i = 0; i < sizeof buf; i++) putc(buf[i]);
00026             wait(0.5);
00027             this->baudrate = 115200;
00028             this->baud(this->baudrate);
00029             wait(4);
00030             //this->reset();
00031             receive(buf, 5, 500);
00032             pc.printf("%02x %02x %02x %02x %02x", buf[0], buf[1], buf[2], buf[3], buf[4]);
00033         };
00034 
00035         void baud57600(){
00036             char buf[7] = {0x56, 0x00, 0x24, 0x03, 0x01, 0x1c, 0x4c};
00037             int ret = sendReceive(buf, sizeof buf, 5);
00038             wait(0.5);
00039             this->reset();
00040             this->baudrate = 57600;
00041             this->baud(this->baudrate);
00042         };
00043 
00044 
00045         void baud38400(){
00046             char buf[7] = {0x56, 0x00, 0x24, 0x03, 0x01, 0x2a, 0xf2};
00047             //int ret = sendReceive(buf, sizeof buf, 5);
00048             for (int i = 0; i < sizeof buf; i++) putc(buf[i]);
00049             wait(0.5);
00050             //this->reset();
00051             this->baudrate = 38400;
00052             this->baud(this->baudrate);
00053             wait(4);
00054             //this->reset();
00055             receive(buf, 5, 500);
00056             pc.printf("%02x %02x %02x %02x %02x", buf[0], buf[1], buf[2], buf[3], buf[4]);
00057         };
00058         
00059         bool processPicture() {
00060             if (state == PROCESSING) {
00061                 if (address < imageSize) {
00062                     char data[1024];
00063                     int size = readData(data, min(sizeof(data), imageSize - address), address);
00064                     int ret = fwrite(data, size, 1, fp);
00065                     if (ret > 0)
00066                         address += size;
00067                     if (ret == 0 || address >= imageSize) {
00068                         stopPictures();
00069                         fclose(fp);
00070                         wait(0.1); // ????
00071                         state = ret > 0 ? READY : ERROR;
00072                     }//if
00073                     //for(int i=0; i<sizeof data; ++i){
00074                     //    xbee.putc(data[i]);
00075                     //    //pc.printf("%02x ",  data[i]);
00076                     //}//for
00077                 }//if
00078             }//if
00079             return state == PROCESSING || state == READY;
00080         }//processPicture
00081 
00082         void shoot(int i){
00083         
00084             if (!this->isReady()) {
00085                 pc.printf("show camera is not ready\n");
00086                 //myled4 = 1; //show camera is not ready
00087                 //wait(2.0);
00088                 //myled4 = 0;
00089                 return;
00090             }//if
00091         
00092             char filename[32];
00093             sprintf(filename, FILENAME, i);
00094             printf("Picture: %s ", filename);
00095             myled1 = 1;
00096             if (this->takePicture(filename)) {
00097                 while (this->isProcessing()) {
00098                     this->processPicture();
00099                 }//while
00100                 //myled1 = 1; //show successful picture was taken 
00101                 //wait(2.0);
00102                 //myled1 = 0;
00103             } else {
00104                 pc.printf("shot %s\n", filename);
00105                 //myled3 = 1; //show picture take failed
00106                 //wait(2.0);
00107                 //myled3 = 0;
00108             }//if
00109             this->stopPictures();
00110             myled1 = 0;
00111         };//shoot
00112 
00113 
00114 };//FastJpegCamera
00115 
00116 #endif