aravis change

.gitignore

@@ -4,4 +4,6 @@
 .devcontainer/
 /build/
 /images/
-/venv/
+/venv/
+/external/
+

README.md

@@ -57,5 +57,5 @@ pip install -r requirements.txt
 ```
 
 ## Authors
-
+  
 * **Richard Han** - [@rrhan0](https://github.com/rrhan0)

src/AravisCamera.cpp

@@ -0,0 +1,92 @@
+
+//constructor 
+AravisCamera::AravisCamera(){
+    std::cout<<"connecting to camera\n";
+    // checking for cameras
+    arvcamera = arv_camera_new(NULL, &error);
+    if (ARV_IS_CAMERA(arvCamera) == 0){
+        throw std::runtime_error("No camera connected");
+        //error if no cameras found
+    }
+    set_default();
+    //set_epoch();
+    // apparently this is unecessary because we can get timestamp for each buffer
+}
+
+//destructor
+AravisCamera::~AravisCamera(){
+    std::cout<<"Cleaning up\n";
+    g_clear_object (&arvCamera);
+}
+
+//setting pixel format
+void set_pixelformat(const std::string &pixelformat){
+    const char* cstr = pixelformat.c_str();
+    arv_camera_set_pixel_format_from_string (arvCamera,cstr,error);
+}
+
+//setting exposure time
+void set_exposuretime(float exposuretime){
+    arv_camera_set_exposure_time(arvCamera, exposuretime, error);
+}
+
+//setting gain
+void set_gain(float gain) {
+    std::cout << "Setting gain to " << gain << "\n";
+    arv_camera_set_gain(arvCamera, gain, error);
+}
+
+// start stream
+// ? Not sure about number of buffers
+
+void start_stream (){
+    std::cout << "Starting stream\n";
+    stream = arv_camera_create_stream(arvCamera, NULL, NULL, error);
+    if (stream == NULL){
+        throw std::runtime_error("No stream");
+    }
+    arv_camera_start_acquisition(arvCamera, error);
+}
+
+
+//end acquisition and exit stream
+
+
+void stop_steam(){
+    std::cout << "stopping stream\n";
+    arv_camera_stop_acquisiton(arvCamera,error);
+    g_clear_object (&stream);
+    g_clear_object (&arvBuffer);
+}
+
+
+//getting an image
+void get_image (){
+    arvBuffer = arv_camera_acquisition(arvCamera, 0, error);
+    if (arvBuffer != NULL){
+        //double width = arv_buffer_get_image_width(buffer);
+        timeStamp = arv_buffer_get_timestamp(arvBuffer); // not sure if this one is better than the next line
+        timeStamp = arv_buffer_get_system_timestamp(arvBuffer);
+    }
+
+    //store buffer to file commands here..?
+    //store timestamp as well?
+    g_clear_object (&arvBuffer);
+    g_clear_object(&timeStamp);
+}
+
+void set_epoch(){
+
+    //is this still necessary if we can find timestamp of buffer?
+}
+
+//setting default values to camera 
+void set_default(){
+
+    //const char* string is the name of the node based on GenIcam standard naming
+    arv_gc_set_default_node_data (genicam, "ExposureTime");
+    arv_gc_set_default_node_data (genicam, "PixelFormat");
+    arv_gc_set_default_node_data (genicam, "Gain");
+
+}
+

src/AravisCamera.hpp

@@ -0,0 +1,80 @@
+#ifndef SRC_ARAVISCAMERA_HPP_
+#define SRC_ARAVISCAMERA_HPP_
+
+//#include "ArenaApi.h"
+#include "ICamera.hpp"
+
+class AravisCamera : public ICamera {
+ private:
+  int64_t timeStamp;           /**< Epoch time for timestamping. */
+  //need to find member variables
+  ArvCamera* arvCamera;
+  GError *error = NULL;
+  ArvSteam *stream;
+  ArvBuffer *arvBuffer;
+  ArvGc *genicam;
+  // bool _trigger_state = false; /**< Trigger state flag. */
+ public:
+  AravisCamera();   // Constructor
+  ~AravisCamera();  // Destructor
+  /**
+   * @brief Sets the pixel format for the camera.
+   * @param pixelformat A string specifying the pixel format.
+   */
+
+  void set_pixelformat(const std::string &pixelformat);
+  /**
+   * @brief Turns off auto expsure and sets the exposure time for the camera.
+   * @param exposuretime A float of range [359.328, 151839.528] specifying the
+   * exposure time in microseconds.
+   */
+  void set_exposuretime(float exposuretime);
+
+  /**
+   * @brief Sets the gain for the camera.
+   * @param gain A float of range [0.0, 27.045771199653988] specifying the gain
+   * value. Default gain in 0.0
+   */
+  void set_gain(float gain);
+
+  // /**
+  //  * @brief Enables or disables the manual trigger mode for the camera.
+  //  * @param trigger_on A boolean where true enables and false disables it.
+  //  */
+  // void set_trigger(bool trigger_on);
+
+  /**
+   * @brief Starts the image stream from the camera.
+   * @param num_buffers An integer specifying the number of buffers to use.
+   * Default is 10.
+   * Not sure about the parameters...
+   */
+  void start_stream();
+
+  /**
+   * @brief Stops the image stream from the camera.
+   */
+  void stop_stream();
+
+  /**
+   * @brief Retrieves an image from the camera.
+   * @param timestamp A pointer to a 64-bit integer to store the image
+   * timestamp.
+   * @return A boolean indicating success (true) or failure (false).
+   */
+  std::unique_ptr<ImageData> get_image();
+
+ private:
+  /**
+   * @brief Sets default configurations for the camera.
+   */
+  void set_default();
+
+  /**
+   * @brief Sets the epoch time.
+   * Is this still necessary if we can get the timestamp for an image?
+   */
+  void set_epoch();
+};
+
+#endif  // SRC_ARENACAMERA_HPP_