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pub mod c;
use std::mem::MaybeUninit;
pub struct Camera {
ptr: c::CameraInstance,
}
pub struct Buffer {
ptr: *mut c::Buffer,
}
pub use c::CameraInterface;
pub use c::Format;
pub use c::Fract;
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
#[repr(u32)]
pub enum Encoding {
I420 = c::IMAGE_ENCODING_I420,
Jpeg = c::IMAGE_ENCODING_JPEG,
RawBayer = c::IMAGE_ENCODING_RAW_BAYER,
Bmp = c::IMAGE_ENCODING_BMP,
Png = c::IMAGE_ENCODING_PNG,
}
impl Camera {
pub fn init(interface: Option<CameraInterface>) -> Result<Self, ()> {
let mut ptr: c::CameraInstance = std::ptr::null_mut();
let r = if let Some(interface) = interface {
unsafe { c::arducam_init_camera2(&mut ptr, interface) }
} else {
unsafe { c::arducam_init_camera(&mut ptr) }
};
if r == 0 {
Ok(Self { ptr })
} else {
Err(())
}
}
pub fn set_resolution(&mut self, mut width: i32, mut height: i32) -> Result<(i32, i32), ()> {
unsafe {
to_result(c::arducam_set_resolution(self.ptr, &mut width, &mut height))?;
Ok((width, height))
}
}
pub fn set_mode(&mut self, mode: i32) -> Result<(), ()> {
unsafe { to_result(c::arducam_set_mode(self.ptr, mode)) }
}
pub fn get_format(&mut self) -> Result<Format, ()> {
unsafe {
let mut format = MaybeUninit::uninit();
to_result(c::arducam_get_format(self.ptr, format.as_mut_ptr()))?;
Ok(format.assume_init())
}
}
pub fn capture(
&mut self,
timeout: i32,
encoding: Encoding,
quality: i32,
) -> Result<Buffer, ()> {
unsafe {
let mut format = c::ImageFormat {
encoding: encoding as u32,
quality,
};
let buffer = c::arducam_capture(self.ptr, &mut format, timeout);
if buffer.is_null() {
return Err(());
}
Ok(Buffer::from_raw_pointer(buffer))
}
}
pub fn reset_control(&mut self, ctrl_id: i32) -> Result<(), ()> {
unsafe { to_result(c::arducam_reset_control(self.ptr, ctrl_id)) }
}
pub fn set_control(&mut self, ctrl_id: i32, value: i32) -> Result<(), ()> {
unsafe { to_result(c::arducam_set_control(self.ptr, ctrl_id, value)) }
}
pub fn get_control(&mut self, ctrl_id: i32) -> Result<i32, ()> {
unsafe {
let mut value = 0;
to_result(c::arducam_get_control(self.ptr, ctrl_id, &mut value))?;
Ok(value)
}
}
pub fn arducam_software_auto_exposure(&mut self, enable: bool) -> Result<(), ()> {
unsafe { to_result(c::arducam_software_auto_exposure(self.ptr, enable as i32)) }
}
pub fn arducam_software_auto_white_balance(&mut self, enable: bool) -> Result<(), ()> {
unsafe {
to_result(c::arducam_software_auto_white_balance(
self.ptr,
enable as i32,
))
}
}
pub fn raw_pointer(&self) -> c::CameraInstance {
self.ptr
}
}
impl Drop for Camera {
fn drop(&mut self) {
unsafe { to_result(c::arducam_close_camera(self.ptr)).unwrap() };
}
}
impl Buffer {
pub fn data(&self) -> &[u8] {
unsafe {
std::slice::from_raw_parts(self.raw_buffer().data, self.raw_buffer().length as usize)
}
}
pub fn timestamp(&self) -> Option<i64> {
match self.raw_buffer().pts {
c::TIME_UNKNOWN => None,
t => Some(t),
}
}
pub fn raw_buffer(&self) -> &c::Buffer {
unsafe { &*self.ptr }
}
pub unsafe fn raw_buffer_mut(&mut self) -> &mut c::Buffer {
&mut *self.ptr
}
pub fn raw_pointer(&self) -> *mut c::Buffer {
self.ptr
}
pub unsafe fn from_raw_pointer(ptr: *mut c::Buffer) -> Self {
Self { ptr }
}
}
impl Drop for Buffer {
fn drop(&mut self) {
unsafe { c::arducam_release_buffer(self.ptr) };
}
}
fn to_result(r: i32) -> Result<(), ()> {
if r == 0 {
Ok(())
} else {
Err(())
}
}