camera/CameraDriver.h

/****************************************************************************/
/* Copyright (c) 2008 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : CameraDriver.h                                                */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 05/01/2008                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/****************************************************************************/

#ifndef _Camera_H
#define _Camera_H
#include "SerialDeviceExt.h"
#include "PeriodicTask.h"
//#include "PolledSerialDriver.h"
#include "CameraIF.h"
#include "CameraLog.h"
#include "CameraOutput.h"
#include "NavigationIF.h"
#include "XPort.h"
#include "Bicam.h"

class Camera : public PeriodicTask {

  friend class CameraLog;

public:

  Camera(SerialDeviceExt *device, Boolean test=False);
  ~Camera();

  // Initialize device. Returned DeviceIF::Status
  // will be propagated to subscribers in other tasks.
  void initialize();
  void readData();

  // Read a fixed-length record - use the default:

  // Process device data record. Returned DeviceIF::Status
  // will be propagated to subscribers in other tasks.
  // [input] record: Record from device
  // [input] nRecordBytes: Bytes in record


protected:
  SerialDeviceExt *_device;
  CameraLog *_log;
  CameraOutput *_output;
  NavigationIF *_navigationIF;
  NavigationIF::Position _position;
  NavigationIF::Attitude _attitude;
  XPort xport;
  BicamGPS camGPS;
  BicamTrigger camTrigger;

private:
  long _nPhotos;
  long _photoCntr;
  long _nSamplePeriods;
  long _samplePeriodCntr;
  double _distance;
  Boolean _first;
  double _dmg;
  double _dmgIncr;
  double _xLast;
  double _yLast;
  Boolean _running;
  Boolean _test;
};

#endif

---