name 'camera_base'

using_library "frame_helper"
using_library "opencv"
import_types_from "base"
import_types_from "frame_helper/Calibration.h"
import_types_from "frame_helper/FrameHelperTypes.h"
import_types_from "camera_interface/CamTypes.h"

task_context "Task" do
    needs_configuration
    
    ###########################################################
    ########################ports##############################
    ###########################################################

    output_port 'frame', ro_ptr('base::samples::frame::Frame')
    output_port('frame_raw', ro_ptr('base::samples::frame::Frame')).
        doc "unprocessed camera frame, disabled by default"

    ###########################################################
    ###################camera properties#######################
    ###########################################################

    property('camera_id', 'string','105984').
    	doc 'unique camerea id'
    property('camera_format', 'base/samples/frame/frame_mode_t', :MODE_BAYER).
    	doc 'output format of the camera --> not the output port! see below'
    property('width', 'int',1024).
    	doc 'width of the camera frame'
    property('height', 'int',768).
    	doc 'height of the camera frame'
    property('fps', 'int',20).
    	doc 'frames per second'
    property('grab_mode', 'camera/GrabMode', :Continuously).
    	doc 'grab mode (Stop, SingleFrame, MultiFrame, Continuously)'
    property('frame_buffer_size', 'int',10).
    	doc 'size of the frame buffer'
    property('clear_buffer_if_frame_drop', 'bool',false).
    	doc 'if the queue is empty because retrieve was called too rarely clear buffer'
    property('disable_frame_raw',"bool",true).
        doc('no data are written to frame_raw if set to true')
    property('log_interval_in_sec', 'int',5).
    	doc 'interval for logging a statistic about valid and invalid frames per second (0= logging of) -> it is saved as frame attrib StatFrameRate'

    property('region_x', 'int',0).
    	doc 'start of region readout, in pixels; left edge.'
    property('region_y', 'int',0).
    	doc 'start of region readout, in pixels; top edge.'
    property('trigger_mode', 'string','fixed').
    	doc 'trigger mode of the camera, allowed values: freerun, fixed, sync_in1, none'
    property('channel_data_depth', 'int',8).
        doc 'bit depth per channel'
    property('exposure', 'int',5000).
    	doc 'exposure value if exposure mode is not auto'
    property('exposure_mode', 'string','auto').
    	doc 'exposure mode (auto, manual, external, none)'
    property('gain_mode_auto', 'bool',true).
    	doc 'gain mode'
    property('gain', 'int',0).
    	doc 'gain value'
    property('gamma', 'bool',true).
        doc 'turns gamma on or off'
    property('acquisition_frame_count', 'int', 200).
        doc 'count of frames if grab mode is MultiFrame'
    property('binning_x', 'int',1).
    	doc 'horizontal binning. 1=no binning.'
    property('binning_y', 'int',1).
    	doc 'vertical binning. 1=no binning.'
    property('mode', 'string','Master').
    	doc 'opening mode (Master, Monitor, MasterMulticast)'
    property('synchronize_time_interval', 'int',0).
    	doc 'time interval in micro seconds which is used to synchronize camera time with system time. 0 == no synchronization'
    property('whitebalance_mode', 'string','auto').
    	doc 'whitebalance mode (auto, manual, auto_once, none)'
    property('whitebalance_blue', 'int',100).
    	doc 'Blue gain expressed as a percentage of the camera default setting.'
    property('whitebalance_red', 'int',100).
    	doc 'Red gain expressed as a percentage of the camera default setting.'
    property('whitebalance_auto_rate', 'int',100).
    	doc 'How fast the Auto white balance will update.'
    property('whitebalance_auto_threshold', 'int',5).
    	doc 'Sets a range of scene color changes in which the automatic whitebalance will not respond.'
    property('frame_start_trigger_event', 'string','none').
    	doc 'External trigger event, allowed values:  EdgeRising, EdgeFalling, EdgeAny, LevelHigh, LevelLow, none'
    property('package_size', 'int',0).
    	doc 'In Bytes. Size of image data packet. This size includes the GVSP, UDP, and IP headers. (0 == max possible)'
    property('sync_out1_mode','string', 'FrameTrigger').
    	doc 'sync out1 mode (GPO, AcquisitionTriggerReady, FrameTriggerReady, FrameTrigger, Exposing, FrameReadout, Acquiring, SyncIn1, SyncIn2, Strobe1)'
    property('sync_out2_mode','string', 'FrameTrigger').
    	doc 'sync out2 mode (GPO, AcquisitionTriggerReady, FrameTriggerReady, FrameTrigger, Exposing, FrameReadout, Acquiring, SyncIn1, SyncIn2, Strobe1)'

    #########################################################
    #################output properties#######################
    #########################################################

    property("undistort","bool",false).
        doc 'true => undistort the image before it is writen to the output port'

    property("calibration_parameters","frame_helper/CameraCalibration").
        doc 'parameter for undistort'

    property("output_format", "/base/samples/frame/frame_mode_t", :MODE_UNDEFINED).
       doc "The camera_format is converted into this format before it is written to the output port "
           "Set it to MODE_UNDEFINED if you want to disable the conversion and the camera_format shall be used"

    property("resize_algorithm","/frame_helper/ResizeAlgorithm",:INTER_LINEAR).
        doc "resize algorithm which is used to scale the frame before it is written to the output port. "
            "allowed values are INTER_LINEAR, INTER_NEAREST, INTER_AREA, INTER_CUBIC, INTER_LANCZOS4, BAYER_RESIZE"

    property("scale_x", "double", 1).
       doc "scale factor for the x direction which is used to scale the image before it is written to the output_port. "

    property("scale_y", "double" ,1).
       doc "scale factor for the y direction which is used to scale the image before it is written to the output_port. "

    property("offset_x",   "int", 0).
       doc "the offset to be used on the left margin in case of scaling"

    property("offset_y",   "int", 0).
       doc "the offset to be used on the left margin in case of scaling"

    ###########################################################
    ##########################states###########################
    ###########################################################

    error_states :NO_CAMERA,:CONFIGURE_ERROR, :CANNOT_START_GRABBING, :UNKOWN_PARAMETER, :UNSUPPORTED_PARAMETER,:PROCESSING_ERROR
    fatal_states :NO_CAMERA_INTERFACE

    ###########################################################
    ###########methods to configure the camera#################
    ###########################################################

    operation('setDoubleAttrib').
      returns('bool').
      argument('type', '/camera/double_attrib/CamAttrib', 'type').
      argument('value', 'double', 'value')
    operation('setEnumAttrib').
      returns('bool').
      argument('type', '/camera/enum_attrib/CamAttrib', 'type')
    operation('setIntAttrib').
      returns('bool').
      argument('type', '/camera/int_attrib/CamAttrib', 'type').
      argument('value', 'int', 'value')
    operation('setStringAttrib').
      returns('bool').
      argument('type', '/camera/str_attrib/CamAttrib', 'type').
      argument('value', 'string', 'value')
    operation('getDoubleAttrib').
      returns('double').
      argument('type', '/camera/double_attrib/CamAttrib', 'type')
    operation('isEnumAttribSet').
      returns('bool').
      argument('type', '/camera/enum_attrib/CamAttrib', 'type')
    operation('getIntAttrib').
      returns('int').
      argument('type', '/camera/int_attrib/CamAttrib', 'type')
    operation('getStringAttrib').
      returns('string').
      argument('type', '/camera/str_attrib/CamAttrib', 'type')
    operation('getIntRangeMin').
      returns('int').
      argument('type', '/camera/int_attrib/CamAttrib', 'type')
    operation('getIntRangeMax').
      returns('int').
      argument('type', '/camera/int_attrib/CamAttrib', 'type')
    operation('getDoubleRangeMin').
      returns('double').
      argument('type', '/camera/double_attrib/CamAttrib', 'type')
    operation('getDoubleRangeMax').
      returns('double').
      argument('type', '/camera/double_attrib/CamAttrib', 'type')
end