diff options
Diffstat (limited to 'src/uca-kiro-camera.h')
| -rw-r--r-- | src/uca-kiro-camera.h | 332 |
1 files changed, 325 insertions, 7 deletions
diff --git a/src/uca-kiro-camera.h b/src/uca-kiro-camera.h index b1b9d42..a84e574 100644 --- a/src/uca-kiro-camera.h +++ b/src/uca-kiro-camera.h @@ -19,7 +19,8 @@ #define __UCA_KIRO_CAMERA_H #include <glib-object.h> -#include "uca-camera.h" +#include "uca/uca-camera.h" +#include "kiro/kiro-messenger.h" G_BEGIN_DECLS @@ -35,11 +36,9 @@ G_BEGIN_DECLS GQuark uca_kiro_camera_error_quark(void); typedef enum { - UCA_KIRO_CAMERA_ERROR_MISSING_TANGO_ADDRESS = UCA_CAMERA_ERROR_END_OF_STREAM, - UCA_KIRO_CAMERA_ERROR_TANGO_CONNECTION_FAILED, - UCA_KIRO_CAMERA_ERROR_KIRO_CONNECTION_FAILED, - UCA_KIRO_CAMERA_ERROR_TANGO_EXCEPTION_OCCURED, - UCA_KIRO_CAMERA_ERROR_BAD_CAMERA_INTERFACE + UCA_KIRO_CAMERA_ERROR_MISSING_ADDRESS = UCA_CAMERA_ERROR_END_OF_STREAM, + UCA_KIRO_CAMERA_ERROR_ADDRESS_WRONG_FORMAT, + UCA_KIRO_CAMERA_ERROR_KIRO_CONNECTION_FAILED } UcaKiroCameraError; @@ -74,7 +73,326 @@ struct _UcaKiroCameraClass { G_END_DECLS -void uca_kiro_camera_clone_interface (const gchar* address, UcaKiroCamera *kiro_camera); +//HELPER FUNCTIONS AND CONSTRUCTS FOR SERVER AND CAMERA PLUGIN +typedef enum { + KIROCS_UPDATE, + KIROCS_INSTALL, + KIROCS_READY, + KIROCS_RPC, + KIROCS_EXIT +}KiroCsCommands; + +typedef struct { + guint32 id; + guint32 size; + gboolean scalar; + gchar type[2]; + gchar val[1]; +} PropUpdate; + +typedef struct { + guint32 str_len; + gchar str[1]; +}StrProp; + +typedef struct { + GType value_type; + guint32 name_len; + union PSpecs { + GParamSpecBoolean bool_spec; + GParamSpecChar char_spec; + GParamSpecInt int_spec; + GParamSpecUInt uint_spec; + GParamSpecLong long_spec; + GParamSpecULong ulong_spec; + GParamSpecInt64 int64_spec; + GParamSpecUInt64 uint64_spec; + GParamSpecFloat float_spec; + GParamSpecDouble double_spec; + StrProp str_spec; + } spec; + gchar name[1]; +} PropertyRequisition; + + +//Forward declaration of the trigger enums for type handling +GType uca_camera_trigger_source_get_type (void) G_GNUC_CONST; +#define UCA_TYPE_CAMERA_TRIGGER_SOURCE (uca_camera_trigger_source_get_type ()) +GType uca_camera_trigger_type_get_type (void) G_GNUC_CONST; +#define UCA_TYPE_CAMERA_TRIGGER_TYPE (uca_camera_trigger_type_get_type ()) + + +gchar +gtype_to_gvariant_class (GType type) +{ + gchar ret = '*'; + + switch (type) { + case G_TYPE_BOOLEAN: + ret = G_VARIANT_CLASS_BOOLEAN; + break; + case G_TYPE_CHAR: + ret = G_VARIANT_CLASS_BYTE; + break; + case G_TYPE_INT: + ret = G_VARIANT_CLASS_INT32; + break; + case G_TYPE_ENUM: + ret = G_VARIANT_CLASS_INT32; + break; + case G_TYPE_UINT: + ret = G_VARIANT_CLASS_UINT32; + break; + case G_TYPE_LONG: + ret = G_VARIANT_CLASS_INT64; + break; + case G_TYPE_ULONG: + ret = G_VARIANT_CLASS_UINT64; + break; + case G_TYPE_INT64: + ret = G_VARIANT_CLASS_INT64; + break; + case G_TYPE_UINT64: + ret = G_VARIANT_CLASS_UINT64; + break; + case G_TYPE_FLOAT: + ret = G_VARIANT_CLASS_DOUBLE; + break; + case G_TYPE_DOUBLE: + ret = G_VARIANT_CLASS_DOUBLE; + break; + default: + //ERROR + break; + } + + return ret; +} + + +#define GOBJECT_SET(OBJ, PROP, TYPE, DATA) { \ + g_object_set (OBJ, \ + PROP, *(TYPE *)DATA, \ + NULL); \ +} + +void +update_property_scalar (GObject *cam, const gchar *prop, GType type, gulong handler, gpointer data) +{ + g_debug ("Updating %s, with handler %lu", prop, handler); + + g_signal_handler_block (cam, handler); + + switch (type) { + case G_TYPE_BOOLEAN: + GOBJECT_SET (cam, prop, gboolean, data); + break; + case G_TYPE_CHAR: + GOBJECT_SET (cam, prop, gchar, data); + break; + case G_TYPE_INT: + GOBJECT_SET (cam, prop, gint, data); + break; + case G_TYPE_ENUM: + GOBJECT_SET (cam, prop, gint, data); + break; + case G_TYPE_UINT: + GOBJECT_SET (cam, prop, guint, data); + break; + case G_TYPE_LONG: + GOBJECT_SET (cam, prop, glong, data); + break; + case G_TYPE_ULONG: + GOBJECT_SET (cam, prop, gulong, data); + break; + case G_TYPE_INT64: + GOBJECT_SET (cam, prop, gint64, data); + break; + case G_TYPE_UINT64: + GOBJECT_SET (cam, prop, guint64, data); + break; + case G_TYPE_FLOAT: + GOBJECT_SET (cam, prop, gfloat, data); + break; + case G_TYPE_DOUBLE: + GOBJECT_SET (cam, prop, gdouble, data); + break; + default: + //TRIGGER_TYPE and TRIGGER_SOURCE are not statically typed and can + //not be used in a switch statement... + if (type == UCA_TYPE_CAMERA_TRIGGER_SOURCE) { + GOBJECT_SET (cam, prop, gint, data); + break; + } + + if (type == UCA_TYPE_CAMERA_TRIGGER_TYPE) { + GOBJECT_SET (cam, prop, gint, data); + break; + } + + g_critical ("Type %s not handled! (SET)", g_type_name (type)); + break; + } + + g_signal_handler_unblock (cam, handler); +} + + +#define GOBJECT_GET(OBJ, PROP, TYPE, GTYPE) { \ + TYPE tmp; \ + gchar *gvclass = g_malloc0 (2); \ + gvclass[0] = gtype_to_gvariant_class (GTYPE); \ + g_object_get (OBJ, \ + PROP, &tmp, \ + NULL); \ + ret = g_variant_new (gvclass, tmp); \ + g_free (gvclass); \ +} + +GVariant* +read_property_scalar (GObject *cam, const gchar *prop, GType type) +{ + GVariant *ret = NULL; + + switch (type) { + case G_TYPE_BOOLEAN: + GOBJECT_GET (cam, prop, gboolean, type); + break; + case G_TYPE_CHAR: + GOBJECT_GET (cam, prop, gchar, type); + break; + case G_TYPE_INT: + GOBJECT_GET (cam, prop, gint, type); + break; + case G_TYPE_ENUM: + GOBJECT_GET (cam, prop, gint, type); + break; + case G_TYPE_UINT: + GOBJECT_GET (cam, prop, guint, type); + break; + case G_TYPE_LONG: + GOBJECT_GET (cam, prop, glong, type); + break; + case G_TYPE_ULONG: + GOBJECT_GET (cam, prop, gulong, type); + break; + case G_TYPE_INT64: + GOBJECT_GET (cam, prop, gint64, type); + break; + case G_TYPE_UINT64: + GOBJECT_GET (cam, prop, guint64, type); + break; + case G_TYPE_FLOAT: + GOBJECT_GET (cam, prop, gfloat, type); + break; + case G_TYPE_DOUBLE: + GOBJECT_GET (cam, prop, gdouble, type); + break; + default: + //TRIGGER_TYPE and TRIGGER_SOURCE are not statically typed and can + //not be used in a switch statement... + if (type == UCA_TYPE_CAMERA_TRIGGER_SOURCE) { + GOBJECT_GET (cam, prop, gint, type); + break; + } + + if (type == UCA_TYPE_CAMERA_TRIGGER_TYPE) { + GOBJECT_GET (cam, prop, gint, type); + break; + } + + g_critical ("Type %s not handled! (GET)", g_type_name (type)); + break; + } + + return ret; +} + + + +#define GVALUE_TO_GVARIANT(VALUE, FUNC, TYPE, GTYPE) { \ + TYPE tmp; \ + gchar *gvclass = g_malloc0 (2); \ + gvclass[0] = gtype_to_gvariant_class (GTYPE); \ + tmp = FUNC (VALUE); \ + ret = g_variant_new (gvclass, tmp); \ + g_free (gvclass); \ +} + +GVariant* +variant_from_scalar (GValue *value) +{ + GVariant *ret = NULL; + + GType type = G_VALUE_TYPE (value); + + switch (type) { + case G_TYPE_BOOLEAN: + GVALUE_TO_GVARIANT (value, g_value_get_boolean, gboolean, type); + break; + case G_TYPE_CHAR: + GVALUE_TO_GVARIANT (value, g_value_get_char, gchar, type); + break; + case G_TYPE_INT: + GVALUE_TO_GVARIANT (value, g_value_get_int, gint, type); + break; + case G_TYPE_ENUM: + GVALUE_TO_GVARIANT (value, g_value_get_int, gint, type); + break; + case G_TYPE_UINT: + GVALUE_TO_GVARIANT (value, g_value_get_uint, guint, type); + break; + case G_TYPE_LONG: + GVALUE_TO_GVARIANT (value, g_value_get_long, glong, type); + break; + case G_TYPE_ULONG: + GVALUE_TO_GVARIANT (value, g_value_get_ulong, gulong, type); + break; + case G_TYPE_INT64: + GVALUE_TO_GVARIANT (value, g_value_get_int64, gint64, type); + break; + case G_TYPE_UINT64: + GVALUE_TO_GVARIANT (value, g_value_get_uint64, guint64, type); + break; + case G_TYPE_FLOAT: + GVALUE_TO_GVARIANT (value, g_value_get_float, gfloat, type); + break; + case G_TYPE_DOUBLE: + GVALUE_TO_GVARIANT (value, g_value_get_double, gdouble, type); + break; + default: + //TRIGGER_TYPE and TRIGGER_SOURCE are not statically typed and can + //not be used in a switch statement... + if (type == UCA_TYPE_CAMERA_TRIGGER_SOURCE) { + GVALUE_TO_GVARIANT (value, g_value_get_int, gint, type); + break; + } + + if (type == UCA_TYPE_CAMERA_TRIGGER_TYPE) { + GVALUE_TO_GVARIANT (value, g_value_get_int, gint, type); + break; + } + + g_critical ("Type %s not handled! (GET)", g_type_name (type)); + break; + } + + return ret; +} + +gint +property_id_from_name(const gchar* name) +{ + gint idx = 0; + gboolean found = FALSE; + for (;idx < N_BASE_PROPERTIES; ++idx) { + if (0 == g_strcmp0(name, uca_camera_props[idx])) { + found = TRUE; + break; + } + } + return found ? idx : -1; +} #endif |