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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/Tools/cameras_gimbals/xacti-config/CX-GBXXXCtrl.cpp
Views: 1799
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// =============================================================================

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/**

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 * @file CX-GBXXXCtrl.cpp

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 * @brief CX-GBXXX用コントロールクラス ヘッダ

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 * @copyright (c) 2022 Xacti Corporation

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 */

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// =============================================================================

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#include "CX-GBXXXCtrl.h"

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#include <libusb-1.0/libusb.h>

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#include <libuvc/libuvc.h>

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#include <assert.h>

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// -----------------------------------------------------------------------------

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/*!

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 * @brief CX_GBXXXCtrlコンストラクタ

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 */

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// -----------------------------------------------------------------------------

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CX_GBXXXCtrl::CX_GBXXXCtrl()

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    : m_ctx(NULL), m_dev(NULL), m_devh(NULL)

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{

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    uvc_error_t res = uvc_init(&m_ctx, NULL);

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    if (res < 0)

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    {

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        uvc_perror(res, "uvc_init");

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        assert(res == 0);

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    }

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}

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// -----------------------------------------------------------------------------

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/*!

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 * @brief CX_GBXXXCtrlデストラクタ

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 */

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// -----------------------------------------------------------------------------

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CX_GBXXXCtrl::~CX_GBXXXCtrl()

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{

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    uvc_exit(m_ctx);

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}

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// -----------------------------------------------------------------------------

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/*!

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 * @brief カメラオープン

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 *

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 * @param [in] callback  カメラシリアル番号(NULL: Don't Care)

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 *

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 * @return オープン成功可否

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 */

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// -----------------------------------------------------------------------------

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bool CX_GBXXXCtrl::Open(const char *serial)

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{

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    uvc_error_t res;

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    if ((res = uvc_find_device(

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             m_ctx, &m_dev,

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             0x296b, 0, serial)) < 0)

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    {

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        uvc_perror(res, "uvc_find_device"); // CX-GBXXX未接続

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        return false;

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    }

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    if ((res = uvc_open(m_dev, &m_devh)) < 0)

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    {

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        uvc_perror(res, "uvc_open");

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        return false;

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    }

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    return true;

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}

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// -----------------------------------------------------------------------------

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/*!

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 * @brief カメラクローズ

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 */

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// -----------------------------------------------------------------------------

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void CX_GBXXXCtrl::Close()

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{

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    if (m_devh)

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    {

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        uvc_close(m_devh);

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    }

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    if (m_dev)

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    {

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        uvc_unref_device(m_dev);

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    }

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}

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// -----------------------------------------------------------------------------

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/*!

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 * @brief カメラ情報設定

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 *

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 * @param [in] unit_id      ユニットID

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 * @param [in] cotrol_id    コントロールID

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 * @param [in] data         データバッファ

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 * @param [in] length       データサイズ（バイト）

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 *

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 * @return 成功可否

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 */

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// -----------------------------------------------------------------------------

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bool CX_GBXXXCtrl::SetCameraCtrl(uint8_t unit_id, uint8_t cotrol_id, void *data, int length)

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{

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    if (!m_devh)

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    {

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        uvc_perror(UVC_ERROR_INVALID_DEVICE, "SetCameraCtrl");

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        return false;

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    }

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    if (uvc_set_ctrl(m_devh, unit_id, cotrol_id, data, length) != length)

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    {

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        uvc_perror(UVC_ERROR_OTHER, "SetCameraCtrl");

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        return false;

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    }

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    return true;

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}

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// -----------------------------------------------------------------------------

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/*!

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 * @brief カメラ情報取得

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 *

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 * @param [in] unit_id      ユニットID

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 * @param [in] cotrol_id    コントロールID

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 * @param [out] data        データバッファ

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 * @param [in] length       データサイズ（バイト）

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 *

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 * @return 成功可否

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 */

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// -----------------------------------------------------------------------------

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bool CX_GBXXXCtrl::GetCameraCtrl(uint8_t unit_id, uint8_t cotrol_id, void *data, int length)

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{

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    if (!m_devh)

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    {

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        uvc_perror(UVC_ERROR_INVALID_DEVICE, "GetCameraCtrl");

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        return false;

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    }

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    if (uvc_get_ctrl(m_devh, unit_id, cotrol_id, data, length, UVC_GET_CUR) != length)

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    {

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        uvc_perror(UVC_ERROR_OTHER, "GetCameraCtrl");

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        return false;

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    }

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    return true;

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}

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