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ConstantRoboticsConstantRobotics
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Encoding and decodiong methods changed
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‎CMakeLists.txt

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################################################################################
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SET(${PARENT}_VSOURCE ON CACHE BOOL "" ${REWRITE_FORCE})
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SET(${PARENT}_VSOURCE_TEST ON CACHE BOOL "" ${REWRITE_FORCE})
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SET(${PARENT}_VSOURCE_EXAMPLE ON CACHE BOOL "" ${REWRITE_FORCE})
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if (${PARENT}_VSOURCE_TEST)
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add_subdirectory(test)
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endif()
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if (${PARENT}_VSOURCE_EXAMPLE)
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add_subdirectory(example)
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endif()

‎README.md

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‎README.pdf

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‎VSource_interface_C++_library_v1.5.0.pdf

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‎_static/vsource_logo.png

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‎_static/vsource_web_logo.png

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‎example/CMakeLists.txt

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cmake_minimum_required(VERSION 3.13)
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###############################################################################
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## LIBRARY-PROJECT
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## name and version
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###############################################################################
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project(CustomVSource VERSION 1.0.0 LANGUAGES CXX)
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###############################################################################
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## SETTINGS
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## basic project settings before use
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###############################################################################
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set(CMAKE_INCLUDE_CURRENT_DIR ON)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# Enabling export of all symbols to create a dynamic library
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set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# creating output directory architecture in accordance with GNU guidelines
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set(BINARY_DIR "${CMAKE_BINARY_DIR}")
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${BINARY_DIR}/bin")
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${BINARY_DIR}/lib")
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file (GLOB_RECURSE IN_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.h.in)
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configure_file(${IN_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}Version.h)
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###############################################################################
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## TARGET
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## create target and add include path
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###############################################################################
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# create glob files for *.h, *.cpp, *.hpp
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file (GLOB_RECURSE H_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.h)
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file (GLOB_RECURSE CPP_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
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file (GLOB_RECURSE HPP_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.hpp)
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# concatenate the results (glob files) to variable
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set (SOURCES ${CPP_FILES} ${H_FILES})
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# create lib from src
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if (NOT TARGET ${PROJECT_NAME})
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add_library(${PROJECT_NAME} STATIC ${SOURCES})
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endif()
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target_include_directories(${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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###############################################################################
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## LINK LIBRARIES
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## linking all dependencies
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###############################################################################
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target_link_libraries(${PROJECT_NAME} VSource)
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‎example/CustomVSource.cpp

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#include "CustomVSource.h"
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#include "CustomVSourceVersion.h"
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cr::video::CustomVSource::CustomVSource()
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{
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// Reset open flag.
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m_params.isOpen = false;
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// Init default output frame.
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m_outputFrame = Frame(1280, 720, Fourcc::BGR24);
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}
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cr::video::CustomVSource::~CustomVSource()
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{
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}
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std::string cr::video::CustomVSource::getVersion()
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{
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return CUSTOM_VSOURCE_VERSION;
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}
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bool cr::video::CustomVSource::openVSource(std::string& initString)
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{
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// Copy init string.
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m_params.source = initString;
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// Set open flag.
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m_params.isOpen = true;
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return true;
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}
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bool cr::video::CustomVSource::initVSource(VSourceParams& params)
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{
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// Copy params.
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m_params = params;
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// Set open flag.
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m_params.isOpen = true;
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return true;
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}
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bool cr::video::CustomVSource::isVSourceOpen()
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{
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return m_params.isOpen;
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}
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void cr::video::CustomVSource::closeVSource()
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{
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// Reset open flag.
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m_params.isOpen = false;
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}
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bool cr::video::CustomVSource::getFrame(Frame& frame, int32_t timeoutMsec)
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{
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// Copy frame.
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frame = m_outputFrame;
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return true;
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}
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bool cr::video::CustomVSource::setParam(VSourceParam id, float value)
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{
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// Check param ID.
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switch (id)
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{
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case cr::video::VSourceParam::LOG_LEVEL:
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{
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m_params.logLevel = (int)value;
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return true;
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}
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case cr::video::VSourceParam::WIDTH:
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{
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m_params.width = (int)value;
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return true;
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}
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case cr::video::VSourceParam::HEIGHT:
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{
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m_params.height = (int)value;
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return true;
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}
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case cr::video::VSourceParam::GAIN_MODE:
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{
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m_params.gainMode = (int)value;
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return true;
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}
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case cr::video::VSourceParam::GAIN:
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{
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m_params.gain = (int)value;
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return true;
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}
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case cr::video::VSourceParam::EXPOSURE_MODE:
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{
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m_params.exposureMode = (int)value;
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return true;
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}
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case cr::video::VSourceParam::EXPOSURE:
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{
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m_params.exposure = (int)value;
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return true;
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}
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case cr::video::VSourceParam::FOCUS_MODE:
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{
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m_params.focusMode = (int)value;
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return true;
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}
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case cr::video::VSourceParam::FOCUS_POS:
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{
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m_params.focusPos = (int)value;
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return true;
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}
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case cr::video::VSourceParam::CYCLE_TIME_MKS:
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{
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// Read only param.
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return false;
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}
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case cr::video::VSourceParam::FPS:
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{
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m_params.fps = value;
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return true;
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}
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case cr::video::VSourceParam::IS_OPEN:
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{
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// Read only param.
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return false;
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}
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case cr::video::VSourceParam::CUSTOM_1:
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{
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m_params.custom1 = value;
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return true;
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}
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case cr::video::VSourceParam::CUSTOM_2:
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{
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m_params.custom2 = value;
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return true;
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}
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case cr::video::VSourceParam::CUSTOM_3:
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{
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m_params.custom3 = value;
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return true;
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}
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default:
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{
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return false;
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}
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}
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return false;
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}
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float cr::video::CustomVSource::getParam(VSourceParam id)
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{
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// Check param ID.
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switch (id)
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{
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case cr::video::VSourceParam::LOG_LEVEL:
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{
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return (float)m_params.logLevel;
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}
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case cr::video::VSourceParam::WIDTH:
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{
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return (float)m_params.width;
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}
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case cr::video::VSourceParam::HEIGHT:
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{
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return (float)m_params.height;
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}
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case cr::video::VSourceParam::GAIN_MODE:
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{
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return (float)m_params.gainMode;
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}
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case cr::video::VSourceParam::GAIN:
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{
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return (float)m_params.gain;
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}
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case cr::video::VSourceParam::EXPOSURE_MODE:
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{
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return (float)m_params.exposureMode;
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}
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case cr::video::VSourceParam::EXPOSURE:
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{
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return (float)m_params.exposure;
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}
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case cr::video::VSourceParam::FOCUS_MODE:
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{
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return (float)m_params.focusMode;
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}
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case cr::video::VSourceParam::FOCUS_POS:
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{
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return (float)m_params.focusPos;
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}
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case cr::video::VSourceParam::CYCLE_TIME_MKS:
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{
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return (float)m_params.cycleTimeMks;
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}
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case cr::video::VSourceParam::FPS:
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{
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return m_params.fps;
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}
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case cr::video::VSourceParam::IS_OPEN:
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{
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return m_params.isOpen ? 1.0f : 0.0f;
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}
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case cr::video::VSourceParam::CUSTOM_1:
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{
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return m_params.custom1;
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}
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case cr::video::VSourceParam::CUSTOM_2:
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{
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return m_params.custom2;
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}
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case cr::video::VSourceParam::CUSTOM_3:
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{
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return m_params.custom3;
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}
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default:
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{
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return -1.0f;
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}
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}
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return -1.0f;
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}
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cr::video::VSourceParams cr::video::CustomVSource::getParams()
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{
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return m_params;
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}
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bool cr::video::CustomVSource::executeCommand(VSourceCommand id)
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{
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// Check command ID.
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switch (id)
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{
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case cr::video::VSourceCommand::RESTART:
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{
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return true;
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}
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default:
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{
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return false;
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}
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}
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return false;
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}
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bool cr::video::CustomVSource::decodeAndExecuteCommand(uint8_t* data, int size)
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{
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// Decode command.
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VSourceCommand commandId = VSourceCommand::RESTART;
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VSourceParam paramId = VSourceParam::CUSTOM_1;
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float value = 0.0f;
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switch (VSource::decodeCommand(data, size, paramId, commandId, value))
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{
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// COMMAND.
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case 0:
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// Executte command.
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return executeCommand(commandId);
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// SET_PARAM.
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case 1:
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{
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// Set param.
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return setParam(paramId, value);
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}
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default:
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{
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return false;
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}
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}
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return false;
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}
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