diff options
Diffstat (limited to 'ipecamera')
| -rw-r--r-- | ipecamera/CMakeLists.txt | 8 | ||||
| -rw-r--r-- | ipecamera/data.c | 270 | ||||
| -rw-r--r-- | ipecamera/data.h | 6 | ||||
| -rw-r--r-- | ipecamera/events.c | 121 | ||||
| -rw-r--r-- | ipecamera/events.h | 5 | ||||
| -rw-r--r-- | ipecamera/image.c | 971 | ||||
| -rw-r--r-- | ipecamera/ipecamera.c | 597 | ||||
| -rw-r--r-- | ipecamera/ipecamera.h | 9 | ||||
| -rw-r--r-- | ipecamera/model.c | 4 | ||||
| -rw-r--r-- | ipecamera/model.h | 4 | ||||
| -rw-r--r-- | ipecamera/private.h | 121 | ||||
| -rw-r--r-- | ipecamera/public.h (renamed from ipecamera/image.h) | 18 | ||||
| -rw-r--r-- | ipecamera/reader.c | 170 | ||||
| -rw-r--r-- | ipecamera/reader.h | 6 |
14 files changed, 1322 insertions, 988 deletions
diff --git a/ipecamera/CMakeLists.txt b/ipecamera/CMakeLists.txt new file mode 100644 index 0000000..029993c --- /dev/null +++ b/ipecamera/CMakeLists.txt @@ -0,0 +1,8 @@ +include_directories( + ${CMAKE_SOURCE_DIR} +) + +set(HEADERS ${HEADERS} ipecamera.h model.h reader.h events.h data.h public.h private.h) + +add_library(ipecamera STATIC ipecamera.c model.c reader.c events.c data.c) + diff --git a/ipecamera/data.c b/ipecamera/data.c new file mode 100644 index 0000000..5de6617 --- /dev/null +++ b/ipecamera/data.c @@ -0,0 +1,270 @@ +#define _IPECAMERA_IMAGE_C +#define _BSD_SOURCE +#define _GNU_SOURCE + +#include <stdio.h> +#include <stdlib.h> +#include <unistd.h> +#include <string.h> +#include <sys/time.h> +#include <pthread.h> +#include <assert.h> + +#include <ufodecode.h> + +#include "../tools.h" +#include "../error.h" + +#include "pcilib.h" +#include "private.h" +#include "data.h" + +// DS: Currently, on event_id overflow we are assuming the buffer is lost +static int ipecamera_resolve_event_id(ipecamera_t *ctx, pcilib_event_id_t evid) { + pcilib_event_id_t diff; + + if (evid > ctx->event_id) { + diff = (((pcilib_event_id_t)-1) - ctx->event_id) + evid; + if (diff >= ctx->buffer_size) return -1; + } else { + diff = ctx->event_id - evid; + if (diff >= ctx->buffer_size) return -1; + } + + // DS: Request buffer_size to be power of 2 and replace to shifts (just recompute in set_buffer_size) + return (evid - 1) % ctx->buffer_size; +} + +inline static int ipecamera_decode_frame(ipecamera_t *ctx, pcilib_event_id_t event_id) { + int err = 0; + uint32_t tmp; + uint16_t *pixels; + + int buf_ptr = ipecamera_resolve_event_id(ctx, event_id); + if (buf_ptr < 0) return PCILIB_ERROR_TIMEOUT; + + if (ctx->frame[buf_ptr].event.image_ready) return 0; + + if (ctx->frame[buf_ptr].event.info.flags&PCILIB_EVENT_INFO_FLAG_BROKEN) { + ctx->frame[buf_ptr].event.image_broken = 1; + err = PCILIB_ERROR_INVALID_DATA; + goto ready; + } + + + pixels = ctx->image + buf_ptr * ctx->image_size; + memset(ctx->cmask + ctx->buffer_pos * ctx->dim.height, 0, ctx->dim.height * sizeof(ipecamera_change_mask_t)); + err = ufo_decoder_decode_frame(ctx->ipedec, ctx->buffer + buf_ptr * ctx->padded_size, ctx->raw_size, pixels, &tmp, &tmp, ctx->cmask + ctx->buffer_pos * ctx->dim.height); + if (err) { + ctx->frame[buf_ptr].event.image_broken = 1; + err = PCILIB_ERROR_FAILED; + goto ready; + } + + ctx->frame[buf_ptr].event.image_broken = 0; + +ready: + ctx->frame[buf_ptr].event.image_ready = 1; + + if (ipecamera_resolve_event_id(ctx, event_id) < 0) { + ctx->frame[buf_ptr].event.image_ready = 0; + return PCILIB_ERROR_TIMEOUT; + } + + return err; +} + +static int ipecamera_get_next_buffer_to_process(ipecamera_t *ctx, pcilib_event_id_t *evid) { + int res; + + if (ctx->preproc_id == ctx->event_id) return -1; + + if (ctx->preproc) + pthread_mutex_lock(&ctx->preproc_mutex); + + if (ctx->preproc_id == ctx->event_id) { + if (ctx->preproc) + pthread_mutex_unlock(&ctx->preproc_mutex); + return -1; + } + + if ((ctx->event_id - ctx->preproc_id) > (ctx->buffer_size - IPECAMERA_RESERVE_BUFFERS)) ctx->preproc_id = ctx->event_id - (ctx->buffer_size - 1) - IPECAMERA_RESERVE_BUFFERS - 1; + + res = ctx->preproc_id%ctx->buffer_size; + + if (pthread_rwlock_trywrlock(&ctx->frame[res].mutex)) { + pthread_mutex_unlock(&ctx->preproc_mutex); + return -1; + } + + *evid = ++ctx->preproc_id; + + if (ctx->preproc) + pthread_mutex_unlock(&ctx->preproc_mutex); + + return res; +} + + +void *ipecamera_preproc_thread(void *user) { + int buf_ptr; + pcilib_event_id_t evid; + + ipecamera_preprocessor_t *preproc = (ipecamera_preprocessor_t*)user; + ipecamera_t *ctx = preproc->ipecamera; + + while (ctx->run_preprocessors) { + buf_ptr = ipecamera_get_next_buffer_to_process(ctx, &evid); + if (buf_ptr < 0) { + usleep(IPECAMERA_NOFRAME_PREPROC_SLEEP); + continue; + } + + ipecamera_decode_frame(ctx, evid); + + pthread_rwlock_unlock(&ctx->frame[buf_ptr].mutex); + } + + return NULL; +} + +static int ipecamera_get_frame(ipecamera_t *ctx, pcilib_event_id_t event_id) { + int err; + int buf_ptr = (event_id - 1) % ctx->buffer_size; + + if (!ctx->preproc) { + pthread_rwlock_rdlock(&ctx->frame[buf_ptr].mutex); + + err = ipecamera_decode_frame(ctx, event_id); + + if (err) { + pthread_rwlock_unlock(&ctx->frame[buf_ptr].mutex); + return err; + } + + return 0; + } + + + while (!ctx->frame[buf_ptr].event.image_ready) { + usleep(IPECAMERA_NOFRAME_PREPROC_SLEEP); + + buf_ptr = ipecamera_resolve_event_id(ctx, event_id); + if (buf_ptr < 0) return PCILIB_ERROR_OVERWRITTEN; + } + + pthread_rwlock_rdlock(&ctx->frame[buf_ptr].mutex); + + buf_ptr = ipecamera_resolve_event_id(ctx, event_id); + if ((buf_ptr < 0)||(!ctx->frame[buf_ptr].event.image_ready)) { + pthread_rwlock_unlock(&ctx->frame[buf_ptr].mutex); + return PCILIB_ERROR_OVERWRITTEN; + } + + return 0; +} + + +/* + We will lock the data for non-raw data to prevent ocasional overwritting. The + raw data will be overwritten by the reader thread anyway and we can't do + anything to prevent it for performance reasons. +*/ +int ipecamera_get(pcilib_context_t *vctx, pcilib_event_id_t event_id, pcilib_event_data_type_t data_type, size_t arg_size, void *arg, size_t *size, void **ret) { + int err; + int buf_ptr; + size_t raw_size; + ipecamera_t *ctx = (ipecamera_t*)vctx; + + void *data = *ret; + + if (!ctx) { + pcilib_error("IPECamera imaging is not initialized"); + return PCILIB_ERROR_NOTINITIALIZED; + } + + buf_ptr = ipecamera_resolve_event_id(ctx, event_id); + if (buf_ptr < 0) return PCILIB_ERROR_OVERWRITTEN; + + switch ((ipecamera_data_type_t)data_type) { + case IPECAMERA_RAW_DATA: + raw_size = ctx->frame[buf_ptr].event.raw_size; + if (data) { + if ((!size)||(*size < raw_size)) return PCILIB_ERROR_TOOBIG; + memcpy(data, ctx->buffer + buf_ptr * ctx->padded_size, raw_size); + if (ipecamera_resolve_event_id(ctx, event_id) < 0) return PCILIB_ERROR_OVERWRITTEN; + *size = raw_size; + return 0; + } + if (size) *size = raw_size; + *ret = ctx->buffer + buf_ptr * ctx->padded_size; + return 0; + case IPECAMERA_IMAGE_DATA: + err = ipecamera_get_frame(ctx, event_id); + if (err) return err; + + if (data) { + if ((!size)||(*size < ctx->image_size * sizeof(ipecamera_pixel_t))) return PCILIB_ERROR_TOOBIG; + memcpy(data, ctx->image + buf_ptr * ctx->image_size, ctx->image_size * sizeof(ipecamera_pixel_t)); + pthread_rwlock_unlock(&ctx->frame[buf_ptr].mutex); + *size = ctx->image_size * sizeof(ipecamera_pixel_t); + return 0; + } + + if (size) *size = ctx->image_size * sizeof(ipecamera_pixel_t); + *ret = ctx->image + buf_ptr * ctx->image_size; + return 0; + case IPECAMERA_CHANGE_MASK: + err = ipecamera_get_frame(ctx, event_id); + if (err) return err; + + if (data) { + if ((!size)||(*size < ctx->dim.height * sizeof(ipecamera_change_mask_t))) return PCILIB_ERROR_TOOBIG; + memcpy(data, ctx->image + buf_ptr * ctx->dim.height, ctx->dim.height * sizeof(ipecamera_change_mask_t)); + pthread_rwlock_unlock(&ctx->frame[buf_ptr].mutex); + *size = ctx->dim.height * sizeof(ipecamera_change_mask_t); + return 0; + } + + if (size) *size = ctx->dim.height * sizeof(ipecamera_change_mask_t); + *ret = ctx->cmask + buf_ptr * ctx->dim.height; + return 0; + case IPECAMERA_DIMENSIONS: + if (size) *size = sizeof(ipecamera_image_dimensions_t); + ret = (void*)&ctx->dim; + return 0; + case IPECAMERA_IMAGE_REGION: + case IPECAMERA_PACKED_IMAGE: + // Shall we return complete image or only changed parts? + case IPECAMERA_PACKED_LINE: + case IPECAMERA_PACKED_PAYLOAD: + pcilib_error("Support for data type (%li) is not implemented yet", data_type); + return PCILIB_ERROR_NOTSUPPORTED; + default: + pcilib_error("Unknown data type (%li) is requested", data_type); + return PCILIB_ERROR_INVALID_REQUEST; + } +} + + +/* + We will unlock non-raw data and check if the raw data is not overwritten yet +*/ +int ipecamera_return(pcilib_context_t *vctx, pcilib_event_id_t event_id, pcilib_event_data_type_t data_type, void *data) { + ipecamera_t *ctx = (ipecamera_t*)vctx; + + if (!ctx) { + pcilib_error("IPECamera imaging is not initialized"); + return PCILIB_ERROR_NOTINITIALIZED; + + } + + if ((ipecamera_data_type_t)data_type == IPECAMERA_RAW_DATA) { + if (ipecamera_resolve_event_id(ctx, event_id) < 0) return PCILIB_ERROR_OVERWRITTEN; + } else { + int buf_ptr = (event_id - 1) % ctx->buffer_size; + pthread_rwlock_unlock(&ctx->frame[buf_ptr].mutex); + } + + return 0; +} diff --git a/ipecamera/data.h b/ipecamera/data.h new file mode 100644 index 0000000..846cb78 --- /dev/null +++ b/ipecamera/data.h @@ -0,0 +1,6 @@ +#ifndef _IPECAMERA_DATA_H +#define _IPECAMERA_DATA_H + +void *ipecamera_preproc_thread(void *user); + +#endif /* _IPECAMERA_DATA_H */ diff --git a/ipecamera/events.c b/ipecamera/events.c new file mode 100644 index 0000000..58d2971 --- /dev/null +++ b/ipecamera/events.c @@ -0,0 +1,121 @@ +#define _IPECAMERA_IMAGE_C +#define _BSD_SOURCE +#define _GNU_SOURCE + +#include <stdio.h> +#include <stdlib.h> +#include <unistd.h> +#include <string.h> +#include <sys/time.h> +#include <pthread.h> +#include <assert.h> + +#include <ufodecode.h> + +#include "../tools.h" +#include "../error.h" + +#include "pcilib.h" +#include "public.h" +#include "private.h" +#include "events.h" + +int ipecamera_stream(pcilib_context_t *vctx, pcilib_event_callback_t callback, void *user) { + int err = 0; + int do_stop = 0; + + ipecamera_event_info_t info; + ipecamera_t *ctx = (ipecamera_t*)vctx; + + if (!ctx) { + pcilib_error("IPECamera imaging is not initialized"); + return PCILIB_ERROR_NOTINITIALIZED; + } + + ctx->streaming = 1; + ctx->run_streamer = 1; + + if (!ctx->started) { + err = ipecamera_start(vctx, PCILIB_EVENTS_ALL, PCILIB_EVENT_FLAGS_DEFAULT); + if (err) { + ctx->streaming = 0; + return err; + } + + do_stop = 1; + } + + // This loop iterates while the generation + while ((ctx->run_streamer)||(ctx->reported_id != ctx->event_id)) { + while (ctx->reported_id != ctx->event_id) { + if ((ctx->event_id - ctx->reported_id) > (ctx->buffer_size - IPECAMERA_RESERVE_BUFFERS)) ctx->reported_id = ctx->event_id - (ctx->buffer_size - 1) - IPECAMERA_RESERVE_BUFFERS; + else ++ctx->reported_id; + + memcpy(&info, ctx->frame + ((ctx->reported_id-1)%ctx->buffer_size), sizeof(ipecamera_event_info_t)); + + if ((ctx->event_id - ctx->reported_id) < ctx->buffer_size) { + err = callback(ctx->reported_id, (pcilib_event_info_t*)&info, user); + if (err <= 0) { + if (err < 0) err = -err; + break; + } + } + } + usleep(IPECAMERA_NOFRAME_SLEEP); + } + + ctx->streaming = 0; + + if (do_stop) { + ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); + } + + + return err; +} + +int ipecamera_next_event(pcilib_context_t *vctx, pcilib_timeout_t timeout, pcilib_event_id_t *evid, size_t info_size, pcilib_event_info_t *info) { + struct timeval tv; + ipecamera_t *ctx = (ipecamera_t*)vctx; + + if (!ctx) { + pcilib_error("IPECamera imaging is not initialized"); + return PCILIB_ERROR_NOTINITIALIZED; + } + + if (!ctx->started) { + pcilib_error("IPECamera is not in grabbing mode"); + return PCILIB_ERROR_INVALID_REQUEST; + } + + if (ctx->reported_id == ctx->event_id) { + if (timeout) { + pcilib_calc_deadline(&tv, timeout); + + while ((pcilib_calc_time_to_deadline(&tv) > 0)&&(ctx->reported_id == ctx->event_id)) + usleep(IPECAMERA_NOFRAME_SLEEP); + } + + if (ctx->reported_id == ctx->event_id) return PCILIB_ERROR_TIMEOUT; + } + +retry: + if ((ctx->event_id - ctx->reported_id) > (ctx->buffer_size - IPECAMERA_RESERVE_BUFFERS)) ctx->reported_id = ctx->event_id - (ctx->buffer_size - 1) - IPECAMERA_RESERVE_BUFFERS; + else ++ctx->reported_id; + + if (evid) *evid = ctx->reported_id; + + if (info) { + if (info_size >= sizeof(ipecamera_event_info_t)) + memcpy(info, ctx->frame + ((ctx->reported_id-1)%ctx->buffer_size), sizeof(ipecamera_event_info_t)); + else if (info_size >= sizeof(pcilib_event_info_t)) + memcpy(info, ctx->frame + ((ctx->reported_id-1)%ctx->buffer_size), sizeof(pcilib_event_info_t)); + else + return PCILIB_ERROR_INVALID_ARGUMENT; + } + + if ((ctx->event_id - ctx->reported_id) >= ctx->buffer_size) goto retry; + + return 0; +} + diff --git a/ipecamera/events.h b/ipecamera/events.h new file mode 100644 index 0000000..5268c81 --- /dev/null +++ b/ipecamera/events.h @@ -0,0 +1,5 @@ +#ifndef _IPECAMERA_EVENTS_H +#define _IPECAMERA_EVENTS_H + + +#endif /* _IPECAMERA_EVENTS_H */ diff --git a/ipecamera/image.c b/ipecamera/image.c deleted file mode 100644 index e60bbf2..0000000 --- a/ipecamera/image.c +++ /dev/null @@ -1,971 +0,0 @@ -#define _IPECAMERA_IMAGE_C -#define _BSD_SOURCE - -#include <stdio.h> -#include <stdlib.h> -#include <unistd.h> -#include <string.h> -#include <sys/time.h> -#include <pthread.h> -#include <assert.h> - -#include <ufodecode.h> - -#include "../tools.h" -#include "../error.h" - -#include "pcilib.h" - -#include "model.h" -#include "event.h" -#include "image.h" - -#include "dma/nwl_dma.h" - -#ifdef IPECAMERA_DEBUG -#include "dma/nwl.h" -#endif /* IPECAMERA_DEBUG */ - - -#define IPECAMERA_BUG_EXTRA_DATA -#define IPECAMERA_BUG_MULTIFRAME_PACKETS -#define IPECAMERA_BUG_INCOMPLETE_PACKETS - -#define IPECAMERA_DEFAULT_BUFFER_SIZE 64 //**< should be power of 2 */ -#define IPECAMERA_RESERVE_BUFFERS 2 //**< Return Frame is Lost error, if requested frame will be overwritten after specified number of frames -#define IPECAMERA_SLEEP_TIME 250000 //**< Michele thinks 250 should be enough, but reset failing in this case */ -#define IPECAMERA_NEXT_FRAME_DELAY 1000 //**< Michele requires 30000 to sync between End Of Readout and next Frame Req */ -#define IPECAMERA_WAIT_FRAME_RCVD_TIME 0 //**< by Uros ,wait 6 ms */ -#define IPECAMERA_NOFRAME_SLEEP 100 - -#define IPECAMERA_MAX_LINES 1088 -#define IPECAMERA_EXPECTED_STATUS 0x08409FFFF -#define IPECAMERA_END_OF_SEQUENCE 0x1F001001 - -#define IPECAMERA_MAX_CHANNELS 16 -#define IPECAMERA_PIXELS_PER_CHANNEL 128 -#define IPECAMERA_WIDTH (IPECAMERA_MAX_CHANNELS * IPECAMERA_PIXELS_PER_CHANNEL) - -/* -#define IPECAMERA_HEIGHT 1088 -#if IPECAMERA_HEIGHT < IPECAMERA_MAX_LINES -# undef IPECAMERA_MAX_LINES -# define IPECAMERA_MAX_LINES IPECAMERA_HEIGHT -#endif -*/ - -//#define IPECAMERA_MEMORY - -#define IPECAMERA_FRAME_REQUEST 0x1E9 -#define IPECAMERA_READOUT_FLAG 0x200 -#define IPECAMERA_READOUT 0x3E1 -#define IPECAMERA_IDLE 0x1E1 -#define IPECAMERA_START_INTERNAL_STIMULI 0x1F1 - - -typedef uint32_t ipecamera_payload_t; - -typedef struct { - pcilib_event_id_t evid; - struct timeval timestamp; -} ipecamera_autostop_t; - -struct ipecamera_s { - pcilib_context_t event; - ufo_decoder ipedec; - - char *data; - ipecamera_pixel_t *image; - size_t size; - - pcilib_event_callback_t cb; - void *cb_user; - - pcilib_event_id_t event_id; - pcilib_event_id_t reported_id; - - pcilib_dma_engine_t rdma, wdma; - - pcilib_register_t packet_len_reg; - pcilib_register_t control_reg, status_reg; - pcilib_register_t start_reg, end_reg; - pcilib_register_t n_lines_reg; - uint16_t line_reg; - pcilib_register_t exposure_reg; - pcilib_register_t flip_reg; - - int started; /**< Camera is in grabbing mode (start function is called) */ - int streaming; /**< Camera is in streaming mode (we are within stream call) */ - int parse_data; /**< Indicates if some processing of the data is required, otherwise only rawdata_callback will be called */ - - int run_reader; /**< Instructs the reader thread to stop processing */ - int run_streamer; /**< Indicates request to stop streaming events and can be set by reader_thread upon exit or by user request */ - ipecamera_autostop_t autostop; - - struct timeval autostop_time; - - size_t buffer_size; /**< How many images to store */ - size_t buffer_pos; /**< Current image offset in the buffer, due to synchronization reasons should not be used outside of reader_thread */ - size_t cur_size; /**< Already written part of data in bytes */ - size_t raw_size; /**< Size of raw data in bytes */ - size_t full_size; /**< Size of raw data including the padding */ - size_t padded_size; /**< Size of buffer for raw data, including the padding for performance */ - - size_t image_size; /**< Size of a single image in bytes */ - - int width, height; - - -// void *raw_buffer; - void *buffer; - ipecamera_change_mask_t *cmask; - ipecamera_event_info_t *frame_info; - - - ipecamera_image_dimensions_t dim; - - pthread_t rthread; -}; - - -#define FIND_REG(var, bank, name) \ - ctx->var = pcilib_find_register(pcilib, bank, name); \ - if (ctx->var == PCILIB_REGISTER_INVALID) { \ - err = PCILIB_ERROR_NOTFOUND; \ - pcilib_error("Unable to find a %s register", name); \ - } - - -#define GET_REG(reg, var) \ - if (!err) { \ - err = pcilib_read_register_by_id(pcilib, ctx->reg, &var); \ - if (err) { \ - pcilib_error("Error reading %s register", ipecamera_registers[ctx->reg].name); \ - } \ - } - -#define SET_REG(reg, val) \ - if (!err) { \ - err = pcilib_write_register_by_id(pcilib, ctx->reg, val); \ - if (err) { \ - pcilib_error("Error writting %s register", ipecamera_registers[ctx->reg].name); \ - } \ - } - -#define CHECK_REG(reg, check) \ - if (!err) { \ - err = pcilib_read_register_by_id(pcilib, ctx->reg, &value); \ - if (err) { \ - pcilib_error("Error reading %s register", ipecamera_registers[ctx->reg].name); \ - } \ - if (!(check)) { \ - pcilib_error("Unexpected value (%li) of register %s", value, ipecamera_registers[ctx->reg].name); \ - err = PCILIB_ERROR_INVALID_DATA; \ - } \ - } - -#define CHECK_VALUE(value, val) \ - if ((!err)&&(value != val)) { \ - pcilib_error("Unexpected value (0x%x) in data stream (0x%x is expected)", value, val); \ - err = PCILIB_ERROR_INVALID_DATA; \ - } - -#define CHECK_FLAG(flag, check, ...) \ - if ((!err)&&(!(check))) { \ - pcilib_error("Unexpected value (0x%x) of " flag, __VA_ARGS__); \ - err = PCILIB_ERROR_INVALID_DATA; \ - } - - -pcilib_context_t *ipecamera_init(pcilib_t *pcilib) { - int err = 0; - - ipecamera_t *ctx = malloc(sizeof(ipecamera_t)); - - if (ctx) { - memset(ctx, 0, sizeof(ipecamera_t)); - - ctx->buffer_size = IPECAMERA_DEFAULT_BUFFER_SIZE; - ctx->dim.bpp = sizeof(ipecamera_pixel_t) * 8; - - // We need DMA engine initialized to resolve DMA registers -// FIND_REG(packet_len_reg, "fpga", "xrawdata_packet_length"); - - FIND_REG(status_reg, "fpga", "status"); - FIND_REG(control_reg, "fpga", "control"); - FIND_REG(start_reg, "fpga", "start_address"); - FIND_REG(end_reg, "fpga", "end_address"); - - FIND_REG(n_lines_reg, "cmosis", "number_lines"); - FIND_REG(line_reg, "cmosis", "start1"); - FIND_REG(exposure_reg, "cmosis", "exp_time"); - FIND_REG(flip_reg, "cmosis", "image_flipping"); - - ctx->rdma = PCILIB_DMA_ENGINE_INVALID; - ctx->wdma = PCILIB_DMA_ENGINE_INVALID; - - if (err) { - free(ctx); - return NULL; - } - } - - return (pcilib_context_t*)ctx; -} - -void ipecamera_free(pcilib_context_t *vctx) { - if (vctx) { - ipecamera_t *ctx = (ipecamera_t*)vctx; - ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); - free(ctx); - } -} - -pcilib_dma_context_t *ipecamera_init_dma(pcilib_context_t *vctx) { - ipecamera_t *ctx = (ipecamera_t*)vctx; - - pcilib_model_description_t *model_info = pcilib_get_model_description(vctx->pcilib); - if ((!model_info->dma_api)||(!model_info->dma_api->init)) { - pcilib_error("The DMA engine is not configured in model"); - return NULL; - } - - -#ifdef IPECAMERA_DMA_R3 - return model_info->dma_api->init(vctx->pcilib, PCILIB_NWL_MODIFICATION_IPECAMERA, NULL); -#else - return model_info->dma_api->init(vctx->pcilib, PCILIB_DMA_MODIFICATION_DEFAULT, NULL); -#endif -} - - -int ipecamera_set_buffer_size(ipecamera_t *ctx, int size) { - if (ctx->started) { - pcilib_error("Can't change buffer size while grabbing"); - return PCILIB_ERROR_INVALID_REQUEST; - } - - if (size < 2) { - pcilib_error("The buffer size is too small"); - return PCILIB_ERROR_INVALID_REQUEST; - } - - if (((size^(size-1)) < size) < size) { - pcilib_error("The buffer size is not power of 2"); - } - - ctx->buffer_size = size; - - return 0; -} - -int ipecamera_reset(pcilib_context_t *vctx) { - int err = 0; - ipecamera_t *ctx = (ipecamera_t*)vctx; - pcilib_t *pcilib = vctx->pcilib; - - pcilib_register_t control, status; - pcilib_register_value_t value; - - if (!ctx) { - pcilib_error("IPECamera imaging is not initialized"); - return PCILIB_ERROR_NOTINITIALIZED; - } - - pcilib = vctx->pcilib; - control = ctx->control_reg; - status = ctx->status_reg; - - // Set Reset bit to CMOSIS - err = pcilib_write_register_by_id(pcilib, control, 0x1e4); - if (err) { - pcilib_error("Error setting FPGA reset bit"); - return err; - } - usleep(IPECAMERA_SLEEP_TIME); - - // Remove Reset bit to CMOSIS - err = pcilib_write_register_by_id(pcilib, control, 0x1e1); - if (err) { - pcilib_error("Error reseting FPGA reset bit"); - return err; - } - usleep(IPECAMERA_SLEEP_TIME); - - // Special settings for CMOSIS v.2 - value = 01; err = pcilib_write_register_space(pcilib, "cmosis", 115, 1, &value); - if (err) { - pcilib_error("Error setting CMOSIS configuration"); - return err; - } - usleep(IPECAMERA_SLEEP_TIME); - - value = 07; err = pcilib_write_register_space(pcilib, "cmosis", 82, 1, &value); - if (err) { - pcilib_error("Error setting CMOSIS configuration"); - return err; - } - usleep(IPECAMERA_SLEEP_TIME); - - // Set default parameters - err = pcilib_write_register_by_id(pcilib, control, IPECAMERA_IDLE); - if (err) { - pcilib_error("Error bringing FPGA in default mode"); - return err; - } - - usleep(10000); - - - err = pcilib_read_register_by_id(pcilib, status, &value); - if (err) { - pcilib_error("Error reading status register"); - return err; - } - - if (value != IPECAMERA_EXPECTED_STATUS) { - pcilib_error("Unexpected value (%lx) of status register, expected %lx", value, IPECAMERA_EXPECTED_STATUS); - return PCILIB_ERROR_VERIFY; - } - - return 0; -} - -// DS: Currently, on event_id overflow we are assuming the buffer is lost -static int ipecamera_resolve_event_id(ipecamera_t *ctx, pcilib_event_id_t evid) { - pcilib_event_id_t diff; - - if (evid > ctx->event_id) { - diff = (((pcilib_event_id_t)-1) - ctx->event_id) + evid; - if (diff >= ctx->buffer_size) return -1; - } else { - diff = ctx->event_id - evid; - if (diff >= ctx->buffer_size) return -1; - } - - // DS: Request buffer_size to be power of 2 and replace to shifts (just recompute in set_buffer_size) - return (evid - 1) % ctx->buffer_size; -} - -static inline int ipecamera_new_frame(ipecamera_t *ctx) { - ctx->frame_info[ctx->buffer_pos].raw_size = ctx->cur_size; - - if (ctx->cur_size < ctx->raw_size) ctx->frame_info[ctx->buffer_pos].info.flags |= PCILIB_EVENT_INFO_FLAG_BROKEN; - - ctx->buffer_pos = (++ctx->event_id) % ctx->buffer_size; - ctx->cur_size = 0; - - ctx->frame_info[ctx->buffer_pos].info.type = PCILIB_EVENT0; - ctx->frame_info[ctx->buffer_pos].info.flags = 0; - ctx->frame_info[ctx->buffer_pos].image_ready = 0; - - if ((ctx->event_id == ctx->autostop.evid)&&(ctx->event_id)) { - ctx->run_reader = 0; - return 1; - } - - if (pcilib_check_deadline(&ctx->autostop.timestamp, PCILIB_DMA_TIMEOUT)) { - ctx->run_reader = 0; - return 1; - } - - return 0; -} - -static uint32_t frame_magic[6] = { 0x51111111, 0x52222222, 0x53333333, 0x54444444, 0x55555555, 0x56666666 }; - -static int ipecamera_data_callback(void *user, pcilib_dma_flags_t flags, size_t bufsize, void *buf) { - int eof = 0; - -#ifdef IPECAMERA_BUG_MULTIFRAME_PACKETS - size_t extra_data = 0; -#endif /* IPECAMERA_BUG_MULTIFRAME_PACKETS */ - - ipecamera_t *ctx = (ipecamera_t*)user; - - if (!ctx->cur_size) { -#if defined(IPECAMERA_BUG_INCOMPLETE_PACKETS)||defined(IPECAMERA_BUG_MULTIFRAME_PACKETS) - size_t startpos; - for (startpos = 0; (startpos + 8) < bufsize; startpos++) { - if (!memcmp(buf + startpos, frame_magic, sizeof(frame_magic))) break; - } - - if (startpos) { - buf += startpos; - bufsize -= startpos; - } -#endif /* IPECAMERA_BUG_INCOMPLETE_PACKETS */ - - if ((bufsize >= 8)&&(!memcmp(buf, frame_magic, sizeof(frame_magic)))) { -/* - // Not implemented in hardware yet - ctx->frame_info[ctx->buffer_pos].info.seqnum = ((uint32_t*)buf)[6] & 0xF0000000; - ctx->frame_info[ctx->buffer_pos].info.offset = ((uint32_t*)buf)[7] & 0xF0000000; -*/ - gettimeofday(&ctx->frame_info[ctx->buffer_pos].info.timestamp, NULL); - } else { -// pcilib_warning("Frame magic is not found, ignoring broken data..."); - return PCILIB_STREAMING_CONTINUE; - } - } - -#ifdef IPECAMERA_BUG_MULTIFRAME_PACKETS - if (ctx->cur_size + bufsize > ctx->raw_size) { - size_t need; - - for (need = ctx->raw_size - ctx->cur_size; need < bufsize; need += sizeof(uint32_t)) { - if (*(uint32_t*)(buf + need) == frame_magic[0]) break; - } - - if (need < bufsize) { - extra_data = bufsize - need; - //bufsize = need; - eof = 1; - } - - // just rip of padding - bufsize = ctx->raw_size - ctx->cur_size; - } -#endif /* IPECAMERA_BUG_MULTIFRAME_PACKETS */ - - if (ctx->parse_data) { - if (ctx->cur_size + bufsize > ctx->full_size) { - pcilib_error("Unexpected event data, we are expecting at maximum (%zu) bytes, but (%zu) already read", ctx->full_size, ctx->cur_size + bufsize); - return -PCILIB_ERROR_TOOBIG; - } - - memcpy(ctx->buffer + ctx->buffer_pos * ctx->padded_size + ctx->cur_size, buf, bufsize); - } - - ctx->cur_size += bufsize; -// printf("%i: %i %i\n", ctx->buffer_pos, ctx->cur_size, bufsize); - - if (ctx->cur_size >= ctx->full_size) eof = 1; - - if (ctx->event.params.rawdata.callback) { - ctx->event.params.rawdata.callback(ctx->event_id, (pcilib_event_info_t*)(ctx->frame_info + ctx->buffer_pos), (eof?PCILIB_EVENT_FLAG_EOF:PCILIB_EVENT_FLAGS_DEFAULT), bufsize, buf, ctx->event.params.rawdata.user); - } - - if (eof) { - if (ipecamera_new_frame(ctx)) { - return PCILIB_STREAMING_STOP; - } - -#ifdef IPECAMERA_BUG_MULTIFRAME_PACKETS - if (extra_data) { - return ipecamera_data_callback(user, flags, extra_data, buf + bufsize); - } -#endif /* IPECAMERA_BUG_MULTIFRAME_PACKETS */ - } - - return PCILIB_STREAMING_REQ_FRAGMENT; -} - -static void *ipecamera_reader_thread(void *user) { - int err; - ipecamera_t *ctx = (ipecamera_t*)user; - - while (ctx->run_reader) { - err = pcilib_stream_dma(ctx->event.pcilib, ctx->rdma, 0, 0, PCILIB_DMA_FLAG_MULTIPACKET, PCILIB_DMA_TIMEOUT, &ipecamera_data_callback, user); - if (err) { - if (err == PCILIB_ERROR_TIMEOUT) { - if (ctx->cur_size > ctx->raw_size) ipecamera_new_frame(ctx); -#ifdef IPECAMERA_BUG_INCOMPLETE_PACKETS - else if (ctx->cur_size > 0) ipecamera_new_frame(ctx); -#endif /* IPECAMERA_BUG_INCOMPLETE_PACKETS */ - if (pcilib_check_deadline(&ctx->autostop.timestamp, PCILIB_DMA_TIMEOUT)) { - ctx->run_reader = 0; - break; - } - usleep(IPECAMERA_NOFRAME_SLEEP); - } else pcilib_error("DMA error while reading IPECamera frames, error: %i", err); - } else printf("no error\n"); - - //usleep(1000); - } - - ctx->run_streamer = 0; - - if (ctx->cur_size) - pcilib_error("partialy read frame after stop signal, %zu bytes in the buffer", ctx->cur_size); - - return NULL; -} - -int ipecamera_start(pcilib_context_t *vctx, pcilib_event_t event_mask, pcilib_event_flags_t flags) { - int err = 0; - ipecamera_t *ctx = (ipecamera_t*)vctx; - pcilib_t *pcilib = vctx->pcilib; - pcilib_register_value_t value; - - const size_t chan_size = (2 + IPECAMERA_PIXELS_PER_CHANNEL / 3) * sizeof(ipecamera_payload_t); - const size_t line_size = (IPECAMERA_MAX_CHANNELS * chan_size); - const size_t header_size = 8 * sizeof(ipecamera_payload_t); - const size_t footer_size = 8 * sizeof(ipecamera_payload_t); - size_t raw_size; - size_t padded_blocks; - - pthread_attr_t attr; - struct sched_param sched; - - if (!ctx) { - pcilib_error("IPECamera imaging is not initialized"); - return PCILIB_ERROR_NOTINITIALIZED; - } - - if (ctx->started) { - pcilib_error("IPECamera grabbing is already started"); - return PCILIB_ERROR_INVALID_REQUEST; - } - - - // Allow readout and clean the FRAME_REQUEST mode if set for some reason - SET_REG(control_reg, IPECAMERA_IDLE|IPECAMERA_READOUT_FLAG); - usleep(IPECAMERA_SLEEP_TIME); - CHECK_REG(status_reg, IPECAMERA_EXPECTED_STATUS); - if (err) return err; - - - ctx->event_id = 0; - ctx->reported_id = 0; - ctx->buffer_pos = 0; - ctx->parse_data = (flags&PCILIB_EVENT_FLAG_RAW_DATA_ONLY)?0:1; - ctx->cur_size = 0; - - ctx->dim.width = IPECAMERA_WIDTH; - GET_REG(n_lines_reg, ctx->dim.height); - - raw_size = header_size + ctx->dim.height * line_size + footer_size; - padded_blocks = raw_size / IPECAMERA_DMA_PACKET_LENGTH + ((raw_size % IPECAMERA_DMA_PACKET_LENGTH)?1:0); - - ctx->image_size = ctx->dim.width * ctx->dim.height; - ctx->raw_size = raw_size; - ctx->full_size = padded_blocks * IPECAMERA_DMA_PACKET_LENGTH; - -#ifdef IPECAMERA_BUG_EXTRA_DATA - ctx->full_size += 8; - padded_blocks ++; -#endif /* IPECAMERA_BUG_EXTRA_DATA */ - - ctx->padded_size = padded_blocks * IPECAMERA_DMA_PACKET_LENGTH; - - ctx->buffer = malloc(ctx->padded_size * ctx->buffer_size); - if (!ctx->buffer) { - err = PCILIB_ERROR_MEMORY; - pcilib_error("Unable to allocate ring buffer (%lu bytes)", ctx->padded_size * ctx->buffer_size); - return err; - } - - ctx->image = (ipecamera_pixel_t*)malloc(ctx->image_size * ctx->buffer_size * sizeof(ipecamera_pixel_t)); - if (!ctx->image) { - err = PCILIB_ERROR_MEMORY; - pcilib_error("Unable to allocate image buffer (%lu bytes)", ctx->image_size * ctx->buffer_size * sizeof(ipecamera_pixel_t)); - return err; - } - - ctx->cmask = malloc(ctx->dim.height * ctx->buffer_size * sizeof(ipecamera_change_mask_t)); - if (!ctx->cmask) { - err = PCILIB_ERROR_MEMORY; - pcilib_error("Unable to allocate change-mask buffer"); - return err; - } - - ctx->frame_info = malloc(ctx->buffer_size * sizeof(ipecamera_event_info_t)); - if (!ctx->frame_info) { - err = PCILIB_ERROR_MEMORY; - pcilib_error("Unable to allocate frame-info buffer"); - return err; - } - - ctx->ipedec = ufo_decoder_new(ctx->dim.height, ctx->dim.width, NULL, 0); - if (!ctx->ipedec) { - pcilib_error("Unable to initialize IPECamera decoder library"); - return PCILIB_ERROR_FAILED; - } - - if (!err) { - ctx->rdma = pcilib_find_dma_by_addr(vctx->pcilib, PCILIB_DMA_FROM_DEVICE, IPECAMERA_DMA_ADDRESS); - if (ctx->rdma == PCILIB_DMA_ENGINE_INVALID) { - err = PCILIB_ERROR_NOTFOUND; - pcilib_error("The C2S channel of IPECamera DMA Engine (%u) is not found", IPECAMERA_DMA_ADDRESS); - } else { - err = pcilib_start_dma(vctx->pcilib, ctx->rdma, PCILIB_DMA_FLAGS_DEFAULT); - if (err) { - ctx->rdma = PCILIB_DMA_ENGINE_INVALID; - pcilib_error("Failed to initialize C2S channel of IPECamera DMA Engine (%u)", IPECAMERA_DMA_ADDRESS); - } - } - } - -/* - if (!err) { - ctx->wdma = pcilib_find_dma_by_addr(vctx->pcilib, PCILIB_DMA_TO_DEVICE, IPECAMERA_DMA_ADDRESS); - if (ctx->wdma == PCILIB_DMA_ENGINE_INVALID) { - err = PCILIB_ERROR_NOTFOUND; - pcilib_error("The S2C channel of IPECamera DMA Engine (%u) is not found", IPECAMERA_DMA_ADDRESS); - } else { - err = pcilib_start_dma(vctx->pcilib, ctx->wdma, PCILIB_DMA_FLAGS_DEFAULT); - if (err) { - ctx->wdma = PCILIB_DMA_ENGINE_INVALID; - pcilib_error("Failed to initialize S2C channel of IPECamera DMA Engine (%u)", IPECAMERA_DMA_ADDRESS); - } - } - } -*/ - -/* - SET_REG(packet_len_reg, IPECAMERA_DMA_PACKET_LENGTH); - if (err) return err; -*/ - - // Clean DMA - err = pcilib_skip_dma(vctx->pcilib, ctx->rdma); - if (err) { - pcilib_error("Can't start grabbing, device continuously writes unexpected data using DMA engine"); - return err; - } - - if (err) { - ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); - return err; - } - - if (vctx->params.autostop.duration) { - gettimeofday(&ctx->autostop.timestamp, NULL); - ctx->autostop.timestamp.tv_usec += vctx->params.autostop.duration % 1000000; - if (ctx->autostop.timestamp.tv_usec > 999999) { - ctx->autostop.timestamp.tv_sec += 1 + vctx->params.autostop.duration / 1000000; - ctx->autostop.timestamp.tv_usec -= 1000000; - } else { - ctx->autostop.timestamp.tv_sec += vctx->params.autostop.duration / 1000000; - } - } - - if (vctx->params.autostop.max_events) { - ctx->autostop.evid = vctx->params.autostop.max_events; - } - - ctx->started = 1; - ctx->run_reader = 1; - - pthread_attr_init(&attr); - - if (pthread_attr_setschedpolicy(&attr, SCHED_FIFO)) { - pcilib_warning("Can't schedule a real-time thread, you may consider running as root"); - } else { - sched.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1; // Let 1 priority for something really critcial - pthread_attr_setschedparam(&attr, &sched); - } - - if (pthread_create(&ctx->rthread, &attr, &ipecamera_reader_thread, (void*)ctx)) { - ctx->started = 0; - ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); - err = PCILIB_ERROR_THREAD; - } - - pthread_attr_destroy(&attr); - - return err; -} - - -int ipecamera_stop(pcilib_context_t *vctx, pcilib_event_flags_t flags) { - int err; - void *retcode; - ipecamera_t *ctx = (ipecamera_t*)vctx; - - if (!ctx) { - pcilib_error("IPECamera imaging is not initialized"); - return PCILIB_ERROR_NOTINITIALIZED; - } - - if (flags&PCILIB_EVENT_FLAG_STOP_ONLY) { - ctx->run_reader = 0; - return 0; - } - - if (ctx->started) { - ctx->run_reader = 0; - err = pthread_join(ctx->rthread, &retcode); - if (err) pcilib_error("Error joining the reader thread"); - } - - if (ctx->wdma != PCILIB_DMA_ENGINE_INVALID) { - pcilib_stop_dma(vctx->pcilib, ctx->wdma, PCILIB_DMA_FLAGS_DEFAULT); - ctx->wdma = PCILIB_DMA_ENGINE_INVALID; - } - - if (ctx->rdma != PCILIB_DMA_ENGINE_INVALID) { - pcilib_stop_dma(vctx->pcilib, ctx->rdma, PCILIB_DMA_FLAGS_DEFAULT); - ctx->rdma = PCILIB_DMA_ENGINE_INVALID; - } - - if (ctx->ipedec) { - ufo_decoder_free(ctx->ipedec); - ctx->ipedec = NULL; - } - - if (ctx->frame_info) { - free(ctx->frame_info); - ctx->frame_info = NULL; - } - - if (ctx->cmask) { - free(ctx->cmask); - ctx->cmask = NULL; - } - - if (ctx->image) { - free(ctx->image); - ctx->image = NULL; - } - - if (ctx->buffer) { - free(ctx->buffer); - ctx->buffer = NULL; - } - - - memset(&ctx->autostop, 0, sizeof(ipecamera_autostop_t)); - - ctx->event_id = 0; - ctx->reported_id = 0; - ctx->buffer_pos = 0; - ctx->started = 0; - - return 0; -} - - -int ipecamera_trigger(pcilib_context_t *vctx, pcilib_event_t event, size_t trigger_size, void *trigger_data) { - int err = 0; - pcilib_register_value_t value; - - ipecamera_t *ctx = (ipecamera_t*)vctx; - pcilib_t *pcilib = vctx->pcilib; - - if (!ctx) { - pcilib_error("IPECamera imaging is not initialized"); - return PCILIB_ERROR_NOTINITIALIZED; - } - - if (!ctx->started) { - pcilib_error("Can't trigger while grabbing is not started"); - return PCILIB_ERROR_INVALID_REQUEST; - } - - SET_REG(control_reg, IPECAMERA_FRAME_REQUEST|IPECAMERA_READOUT_FLAG); - usleep(IPECAMERA_WAIT_FRAME_RCVD_TIME); - CHECK_REG(status_reg, IPECAMERA_EXPECTED_STATUS); - SET_REG(control_reg, IPECAMERA_IDLE|IPECAMERA_READOUT_FLAG); - - - // DS: Just measure when next trigger is allowed instead and wait in the beginning - usleep(IPECAMERA_NEXT_FRAME_DELAY); // minimum delay between End Of Readout and next Frame Req - - return 0; -} - -int ipecamera_stream(pcilib_context_t *vctx, pcilib_event_callback_t callback, void *user) { - int err = 0; - int do_stop = 0; - pcilib_event_id_t reported; - ipecamera_t *ctx = (ipecamera_t*)vctx; - - size_t events = 0; - - struct timeval stream_stop; - - if (!ctx) { - pcilib_error("IPECamera imaging is not initialized"); - return PCILIB_ERROR_NOTINITIALIZED; - } - - ctx->streaming = 1; - ctx->run_streamer = 1; - - if (!ctx->started) { - err = ipecamera_start(vctx, PCILIB_EVENTS_ALL, PCILIB_EVENT_FLAGS_DEFAULT); - if (err) { - ctx->streaming = 0; - pcilib_error("IPECamera is not in grabbing state"); - return PCILIB_ERROR_INVALID_STATE; - } - - do_stop = 1; - } - - // This loop iterates while the generation - while ((ctx->run_streamer)||(ctx->reported_id != ctx->event_id)) { - while (ctx->reported_id != ctx->event_id) { - if ((ctx->event_id - ctx->reported_id) > (ctx->buffer_size - IPECAMERA_RESERVE_BUFFERS)) ctx->reported_id = ctx->event_id - (ctx->buffer_size - 1) - IPECAMERA_RESERVE_BUFFERS; - else ++ctx->reported_id; - - callback(ctx->reported_id, (pcilib_event_info_t*)(ctx->frame_info + ((ctx->reported_id-1)%ctx->buffer_size)), user); - } - usleep(IPECAMERA_NOFRAME_SLEEP); - } - - ctx->streaming = 0; - - if (do_stop) { - ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); - } - - - return err; -} - -int ipecamera_next_event(pcilib_context_t *vctx, pcilib_event_t event_mask, pcilib_timeout_t timeout, pcilib_event_id_t *evid, pcilib_event_info_t **info) { - struct timeval tv; - ipecamera_t *ctx = (ipecamera_t*)vctx; - - if (!ctx) { - pcilib_error("IPECamera imaging is not initialized"); - return PCILIB_ERROR_NOTINITIALIZED; - } - - if (!ctx->started) { - pcilib_error("IPECamera is not in grabbing mode"); - return PCILIB_ERROR_INVALID_REQUEST; - } - - if (ctx->reported_id == ctx->event_id) { - if (timeout) { - pcilib_calc_deadline(&tv, timeout); - - while ((pcilib_calc_time_to_deadline(&tv) > 0)&&(ctx->reported_id == ctx->event_id)) - usleep(IPECAMERA_NOFRAME_SLEEP); - } - - if (ctx->reported_id == ctx->event_id) return PCILIB_ERROR_TIMEOUT; - } - - if ((ctx->event_id - ctx->reported_id) > (ctx->buffer_size - IPECAMERA_RESERVE_BUFFERS)) ctx->reported_id = ctx->event_id - (ctx->buffer_size - 1) - IPECAMERA_RESERVE_BUFFERS; - else ++ctx->reported_id; - - if (evid) *evid = ctx->reported_id; - if (info) *info = (pcilib_event_info_t*)(ctx->frame_info + ((ctx->reported_id-1)%ctx->buffer_size)); - - return 0; -} - - -inline static int ipecamera_decode_frame(ipecamera_t *ctx, pcilib_event_id_t event_id) { - int err; - uint32_t tmp; - uint16_t *pixels; - - int buf_ptr = (event_id - 1) % ctx->buffer_size; - - if (!ctx->frame_info[buf_ptr].image_ready) { - if (ctx->frame_info[buf_ptr].info.flags&PCILIB_EVENT_INFO_FLAG_BROKEN) return PCILIB_ERROR_INVALID_DATA; - - ufo_decoder_set_raw_data(ctx->ipedec, ctx->buffer + buf_ptr * ctx->padded_size, ctx->raw_size); - - pixels = ctx->image + buf_ptr * ctx->image_size; - memset(ctx->cmask + ctx->buffer_pos * ctx->dim.height, 0, ctx->dim.height * sizeof(ipecamera_change_mask_t)); - err = ufo_decoder_get_next_frame(ctx->ipedec, &pixels, &tmp, &tmp, ctx->cmask + ctx->buffer_pos * ctx->dim.height); - if (err) return PCILIB_ERROR_FAILED; - - ctx->frame_info[buf_ptr].image_ready = 1; - - if (ipecamera_resolve_event_id(ctx, event_id) < 0) { - ctx->frame_info[buf_ptr].image_ready = 0; - return PCILIB_ERROR_TIMEOUT; - } - } - - return 0; -} - -void* ipecamera_get(pcilib_context_t *vctx, pcilib_event_id_t event_id, pcilib_event_data_type_t data_type, size_t arg_size, void *arg, size_t *size, void *data) { - int err; - int buf_ptr; - size_t raw_size; - ipecamera_t *ctx = (ipecamera_t*)vctx; - uint16_t *pixels; - - if (!ctx) { - pcilib_error("IPECamera imaging is not initialized"); - return NULL; - } - - - buf_ptr = ipecamera_resolve_event_id(ctx, event_id); - if (buf_ptr < 0) return NULL; - - switch ((ipecamera_data_type_t)data_type) { - case IPECAMERA_RAW_DATA: - raw_size = ctx->frame_info[buf_ptr].raw_size; - if (data) { - if ((!size)||(*size < raw_size)) return NULL; - memcpy(data, ctx->buffer + buf_ptr * ctx->padded_size, raw_size); - if (ipecamera_resolve_event_id(ctx, event_id) < 0) return NULL; - *size = raw_size; - return data; - } - if (size) *size = raw_size; - return ctx->buffer + buf_ptr * ctx->padded_size; - case IPECAMERA_IMAGE_DATA: - err = ipecamera_decode_frame(ctx, event_id); - if (err) return NULL; - - if (data) { - if ((!size)||(*size < ctx->image_size * sizeof(ipecamera_pixel_t))) return NULL; - memcpy(data, ctx->image + buf_ptr * ctx->image_size, ctx->image_size * sizeof(ipecamera_pixel_t)); - if (ipecamera_resolve_event_id(ctx, event_id) < 0) return NULL; - *size = ctx->image_size * sizeof(ipecamera_pixel_t); - return data; - } - - if (size) *size = ctx->image_size * sizeof(ipecamera_pixel_t); - return ctx->image + buf_ptr * ctx->image_size; - case IPECAMERA_CHANGE_MASK: - err = ipecamera_decode_frame(ctx, event_id); - if (err) return NULL; - - if (data) { - if ((!size)||(*size < ctx->dim.height * sizeof(ipecamera_change_mask_t))) return NULL; - memcpy(data, ctx->image + buf_ptr * ctx->dim.height, ctx->dim.height * sizeof(ipecamera_change_mask_t)); - if (ipecamera_resolve_event_id(ctx, event_id) < 0) return NULL; - *size = ctx->dim.height * sizeof(ipecamera_change_mask_t); - - return data; - } - - if (size) *size = ctx->dim.height * sizeof(ipecamera_change_mask_t); - return ctx->cmask + buf_ptr * ctx->dim.height; - case IPECAMERA_DIMENSIONS: - if (size) *size = sizeof(ipecamera_image_dimensions_t); - return &ctx->dim; - case IPECAMERA_IMAGE_REGION: - case IPECAMERA_PACKED_IMAGE: - // Shall we return complete image or only changed parts? - case IPECAMERA_PACKED_LINE: - case IPECAMERA_PACKED_PAYLOAD: - pcilib_error("Support for data type (%li) is not implemented yet", data_type); - return NULL; - default: - pcilib_error("Unknown data type (%li) is requested", data_type); - return NULL; - } -} - - - -int ipecamera_return(pcilib_context_t *vctx, pcilib_event_id_t event_id, void *data) { - ipecamera_t *ctx = (ipecamera_t*)vctx; - - if (!ctx) { - pcilib_error("IPECamera imaging is not initialized"); - return PCILIB_ERROR_NOTINITIALIZED; - - } - - if (ipecamera_resolve_event_id(ctx, event_id) < 0) { - return PCILIB_ERROR_NOTAVAILABLE; - } - - return 0; -} diff --git a/ipecamera/ipecamera.c b/ipecamera/ipecamera.c new file mode 100644 index 0000000..0819284 --- /dev/null +++ b/ipecamera/ipecamera.c @@ -0,0 +1,597 @@ +#define _IPECAMERA_IMAGE_C +#define _BSD_SOURCE +#define _GNU_SOURCE + +#include <stdio.h> +#include <stdlib.h> +#include <unistd.h> +#include <string.h> +#include <sys/time.h> +#include <pthread.h> +#include <assert.h> + +#include <ufodecode.h> + +#include "../tools.h" +#include "../error.h" +#include "../event.h" + +#include "pcilib.h" +#include "private.h" +#include "model.h" +#include "reader.h" +#include "events.h" +#include "data.h" + +#include "dma/nwl_dma.h" + +#ifdef IPECAMERA_DEBUG +#include "dma/nwl.h" +#endif /* IPECAMERA_DEBUG */ + + +#define FIND_REG(var, bank, name) \ + ctx->var = pcilib_find_register(pcilib, bank, name); \ + if (ctx->var == PCILIB_REGISTER_INVALID) { \ + err = PCILIB_ERROR_NOTFOUND; \ + pcilib_error("Unable to find a %s register", name); \ + } + + +#define GET_REG(reg, var) \ + if (!err) { \ + err = pcilib_read_register_by_id(pcilib, ctx->reg, &var); \ + if (err) { \ + pcilib_error("Error reading %s register", ipecamera_registers[ctx->reg].name); \ + } \ + } + +#define SET_REG(reg, val) \ + if (!err) { \ + err = pcilib_write_register_by_id(pcilib, ctx->reg, val); \ + if (err) { \ + pcilib_error("Error writting %s register", ipecamera_registers[ctx->reg].name); \ + } \ + } + +#define CHECK_REG(reg, check) \ + if (!err) { \ + err = pcilib_read_register_by_id(pcilib, ctx->reg, &value); \ + if (err) { \ + pcilib_error("Error reading %s register", ipecamera_registers[ctx->reg].name); \ + } \ + if (!(check)) { \ + pcilib_error("Unexpected value (%li) of register %s", value, ipecamera_registers[ctx->reg].name); \ + err = PCILIB_ERROR_INVALID_DATA; \ + } \ + } + +#define CHECK_VALUE(value, val) \ + if ((!err)&&(value != val)) { \ + pcilib_error("Unexpected value (0x%x) in data stream (0x%x is expected)", value, val); \ + err = PCILIB_ERROR_INVALID_DATA; \ + } + +#define CHECK_FLAG(flag, check, ...) \ + if ((!err)&&(!(check))) { \ + pcilib_error("Unexpected value (0x%x) of " flag, __VA_ARGS__); \ + err = PCILIB_ERROR_INVALID_DATA; \ + } + + +pcilib_context_t *ipecamera_init(pcilib_t *pcilib) { + int err = 0; + + ipecamera_t *ctx = malloc(sizeof(ipecamera_t)); + + if (ctx) { + memset(ctx, 0, sizeof(ipecamera_t)); + + ctx->buffer_size = IPECAMERA_DEFAULT_BUFFER_SIZE; + ctx->dim.bpp = sizeof(ipecamera_pixel_t) * 8; + + // We need DMA engine initialized to resolve DMA registers +// FIND_REG(packet_len_reg, "fpga", "xrawdata_packet_length"); + + FIND_REG(status_reg, "fpga", "status"); + FIND_REG(control_reg, "fpga", "control"); + FIND_REG(start_reg, "fpga", "start_address"); + FIND_REG(end_reg, "fpga", "end_address"); + + FIND_REG(n_lines_reg, "cmosis", "number_lines"); + FIND_REG(line_reg, "cmosis", "start1"); + FIND_REG(exposure_reg, "cmosis", "exp_time"); + FIND_REG(flip_reg, "cmosis", "image_flipping"); + + ctx->rdma = PCILIB_DMA_ENGINE_INVALID; + ctx->wdma = PCILIB_DMA_ENGINE_INVALID; + + if (err) { + free(ctx); + return NULL; + } + } + + return (pcilib_context_t*)ctx; +} + +void ipecamera_free(pcilib_context_t *vctx) { + if (vctx) { + ipecamera_t *ctx = (ipecamera_t*)vctx; + ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); + free(ctx); + } +} + +pcilib_dma_context_t *ipecamera_init_dma(pcilib_context_t *vctx) { +// ipecamera_t *ctx = (ipecamera_t*)vctx; + + pcilib_model_description_t *model_info = pcilib_get_model_description(vctx->pcilib); + if ((!model_info->dma_api)||(!model_info->dma_api->init)) { + pcilib_error("The DMA engine is not configured in model"); + return NULL; + } + + +#ifdef IPECAMERA_DMA_R3 + return model_info->dma_api->init(vctx->pcilib, PCILIB_NWL_MODIFICATION_IPECAMERA, NULL); +#else + return model_info->dma_api->init(vctx->pcilib, PCILIB_DMA_MODIFICATION_DEFAULT, NULL); +#endif +} + + +int ipecamera_set_buffer_size(ipecamera_t *ctx, int size) { + if (ctx->started) { + pcilib_error("Can't change buffer size while grabbing"); + return PCILIB_ERROR_INVALID_REQUEST; + } + + if (size < 2) { + pcilib_error("The buffer size is too small"); + return PCILIB_ERROR_INVALID_REQUEST; + } + + if (((size^(size-1)) < size) < size) { + pcilib_error("The buffer size is not power of 2"); + } + + ctx->buffer_size = size; + + return 0; +} + +int ipecamera_reset(pcilib_context_t *vctx) { + int err = 0; + ipecamera_t *ctx = (ipecamera_t*)vctx; + pcilib_t *pcilib = vctx->pcilib; + + pcilib_register_t control, status; + pcilib_register_value_t value; + + if (!ctx) { + pcilib_error("IPECamera imaging is not initialized"); + return PCILIB_ERROR_NOTINITIALIZED; + } + + pcilib = vctx->pcilib; + control = ctx->control_reg; + status = ctx->status_reg; + + // Set Reset bit to CMOSIS + err = pcilib_write_register_by_id(pcilib, control, 0x1e4); + if (err) { + pcilib_error("Error setting FPGA reset bit"); + return err; + } + usleep(IPECAMERA_SLEEP_TIME); + + // Remove Reset bit to CMOSIS + err = pcilib_write_register_by_id(pcilib, control, 0x1e1); + if (err) { + pcilib_error("Error reseting FPGA reset bit"); + return err; + } + usleep(IPECAMERA_SLEEP_TIME); + + // Special settings for CMOSIS v.2 + value = 01; err = pcilib_write_register_space(pcilib, "cmosis", 115, 1, &value); + if (err) { + pcilib_error("Error setting CMOSIS configuration"); + return err; + } + usleep(IPECAMERA_SLEEP_TIME); + + value = 07; err = pcilib_write_register_space(pcilib, "cmosis", 82, 1, &value); + if (err) { + pcilib_error("Error setting CMOSIS configuration"); + return err; + } + usleep(IPECAMERA_SLEEP_TIME); + + // Set default parameters + err = pcilib_write_register_by_id(pcilib, control, IPECAMERA_IDLE); + if (err) { + pcilib_error("Error bringing FPGA in default mode"); + return err; + } + + usleep(10000); + + + err = pcilib_read_register_by_id(pcilib, status, &value); + if (err) { + pcilib_error("Error reading status register"); + return err; + } + + if (value != IPECAMERA_EXPECTED_STATUS) { + pcilib_error("Unexpected value (%lx) of status register, expected %lx", value, IPECAMERA_EXPECTED_STATUS); + return PCILIB_ERROR_VERIFY; + } + + return 0; +} + + +int ipecamera_start(pcilib_context_t *vctx, pcilib_event_t event_mask, pcilib_event_flags_t flags) { + int i; + int err = 0; + ipecamera_t *ctx = (ipecamera_t*)vctx; + pcilib_t *pcilib = vctx->pcilib; + pcilib_register_value_t value; + + const size_t chan_size = (2 + IPECAMERA_PIXELS_PER_CHANNEL / 3) * sizeof(ipecamera_payload_t); + const size_t line_size = (IPECAMERA_MAX_CHANNELS * chan_size); + const size_t header_size = 8 * sizeof(ipecamera_payload_t); + const size_t footer_size = 8 * sizeof(ipecamera_payload_t); + size_t raw_size; + size_t padded_blocks; + + pthread_attr_t attr; + struct sched_param sched; + + if (!ctx) { + pcilib_error("IPECamera imaging is not initialized"); + return PCILIB_ERROR_NOTINITIALIZED; + } + + if (ctx->started) { + pcilib_error("IPECamera grabbing is already started"); + return PCILIB_ERROR_INVALID_REQUEST; + } + + + // Allow readout and clean the FRAME_REQUEST mode if set for some reason + SET_REG(control_reg, IPECAMERA_IDLE|IPECAMERA_READOUT_FLAG); + usleep(IPECAMERA_SLEEP_TIME); + CHECK_REG(status_reg, IPECAMERA_EXPECTED_STATUS); + if (err) return err; + + + ctx->event_id = 0; + ctx->preproc_id = 0; + ctx->reported_id = 0; + ctx->buffer_pos = 0; + ctx->parse_data = (flags&PCILIB_EVENT_FLAG_RAW_DATA_ONLY)?0:1; + ctx->cur_size = 0; + + ctx->dim.width = IPECAMERA_WIDTH; + GET_REG(n_lines_reg, ctx->dim.height); + + raw_size = header_size + ctx->dim.height * line_size + footer_size; + padded_blocks = raw_size / IPECAMERA_DMA_PACKET_LENGTH + ((raw_size % IPECAMERA_DMA_PACKET_LENGTH)?1:0); + + ctx->image_size = ctx->dim.width * ctx->dim.height; + ctx->raw_size = raw_size; + ctx->full_size = padded_blocks * IPECAMERA_DMA_PACKET_LENGTH; + +#ifdef IPECAMERA_BUG_EXTRA_DATA + ctx->full_size += 8; + padded_blocks ++; +#endif /* IPECAMERA_BUG_EXTRA_DATA */ + + ctx->padded_size = padded_blocks * IPECAMERA_DMA_PACKET_LENGTH; + + ctx->buffer = malloc(ctx->padded_size * ctx->buffer_size); + if (!ctx->buffer) { + ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); + pcilib_error("Unable to allocate ring buffer (%lu bytes)", ctx->padded_size * ctx->buffer_size); + return PCILIB_ERROR_MEMORY; + } + + ctx->image = (ipecamera_pixel_t*)malloc(ctx->image_size * ctx->buffer_size * sizeof(ipecamera_pixel_t)); + if (!ctx->image) { + ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); + pcilib_error("Unable to allocate image buffer (%lu bytes)", ctx->image_size * ctx->buffer_size * sizeof(ipecamera_pixel_t)); + return PCILIB_ERROR_MEMORY; + } + + ctx->cmask = malloc(ctx->dim.height * ctx->buffer_size * sizeof(ipecamera_change_mask_t)); + if (!ctx->cmask) { + ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); + pcilib_error("Unable to allocate change-mask buffer"); + return PCILIB_ERROR_MEMORY; + } + + ctx->frame = (ipecamera_frame_t*)malloc(ctx->buffer_size * sizeof(ipecamera_frame_t)); + if (!ctx->frame) { + ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); + pcilib_error("Unable to allocate frame-info buffer"); + return PCILIB_ERROR_MEMORY; + } + + memset(ctx->frame, 0, ctx->buffer_size * sizeof(ipecamera_frame_t)); + + for (i = 0; i < ctx->buffer_size; i++) { + err = pthread_rwlock_init(&ctx->frame[i].mutex, NULL); + if (err) break; + } + + ctx->frame_mutex_destroy = i; + + if (err) { + ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); + pcilib_error("Initialization of rwlock mutexes for frame synchronization has failed"); + return PCILIB_ERROR_FAILED; + } + + ctx->ipedec = ufo_decoder_new(ctx->dim.height, ctx->dim.width, NULL, 0); + if (!ctx->ipedec) { + ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); + pcilib_error("Unable to initialize IPECamera decoder library"); + return PCILIB_ERROR_FAILED; + } + + if (!err) { + ctx->rdma = pcilib_find_dma_by_addr(vctx->pcilib, PCILIB_DMA_FROM_DEVICE, IPECAMERA_DMA_ADDRESS); + if (ctx->rdma == PCILIB_DMA_ENGINE_INVALID) { + err = PCILIB_ERROR_NOTFOUND; + pcilib_error("The C2S channel of IPECamera DMA Engine (%u) is not found", IPECAMERA_DMA_ADDRESS); + } else { + err = pcilib_start_dma(vctx->pcilib, ctx->rdma, PCILIB_DMA_FLAGS_DEFAULT); + if (err) { + ctx->rdma = PCILIB_DMA_ENGINE_INVALID; + pcilib_error("Failed to initialize C2S channel of IPECamera DMA Engine (%u)", IPECAMERA_DMA_ADDRESS); + } + } + } + +/* + if (!err) { + ctx->wdma = pcilib_find_dma_by_addr(vctx->pcilib, PCILIB_DMA_TO_DEVICE, IPECAMERA_DMA_ADDRESS); + if (ctx->wdma == PCILIB_DMA_ENGINE_INVALID) { + err = PCILIB_ERROR_NOTFOUND; + pcilib_error("The S2C channel of IPECamera DMA Engine (%u) is not found", IPECAMERA_DMA_ADDRESS); + } else { + err = pcilib_start_dma(vctx->pcilib, ctx->wdma, PCILIB_DMA_FLAGS_DEFAULT); + if (err) { + ctx->wdma = PCILIB_DMA_ENGINE_INVALID; + pcilib_error("Failed to initialize S2C channel of IPECamera DMA Engine (%u)", IPECAMERA_DMA_ADDRESS); + } + } + } +*/ + +/* + SET_REG(packet_len_reg, IPECAMERA_DMA_PACKET_LENGTH); +*/ + + if (err) { + ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); + return err; + } + + // Clean DMA + err = pcilib_skip_dma(vctx->pcilib, ctx->rdma); + if (err) { + ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); + pcilib_error("Can't start grabbing, device continuously writes unexpected data using DMA engine"); + return err; + } + + if (vctx->params.autostop.duration) { + gettimeofday(&ctx->autostop.timestamp, NULL); + ctx->autostop.timestamp.tv_usec += vctx->params.autostop.duration % 1000000; + if (ctx->autostop.timestamp.tv_usec > 999999) { + ctx->autostop.timestamp.tv_sec += 1 + vctx->params.autostop.duration / 1000000; + ctx->autostop.timestamp.tv_usec -= 1000000; + } else { + ctx->autostop.timestamp.tv_sec += vctx->params.autostop.duration / 1000000; + } + } + + if (vctx->params.autostop.max_events) { + ctx->autostop.evid = vctx->params.autostop.max_events; + } + + if (flags&PCILIB_EVENT_FLAG_PREPROCESS) { + ctx->n_preproc = pcilib_get_cpu_count(); + switch (ctx->n_preproc) { + case 1: break; + case 2-3: ctx->n_preproc -= 1; break; + default: ctx->n_preproc -= 2; break; + } + + ctx->preproc = (ipecamera_preprocessor_t*)malloc(ctx->n_preproc * sizeof(ipecamera_preprocessor_t)); + if (!ctx->preproc) { + ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); + pcilib_error("Unable to allocate memory for preprocessor contexts"); + return PCILIB_ERROR_MEMORY; + } + + memset(ctx->preproc, 0, ctx->n_preproc * sizeof(ipecamera_preprocessor_t)); + + err = pthread_mutex_init(&ctx->preproc_mutex, NULL); + if (err) { + ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); + pcilib_error("Failed to initialize event mutex"); + return PCILIB_ERROR_FAILED; + } + ctx->preproc_mutex_destroy = 1; + + + ctx->run_preprocessors = 1; + for (i = 0; i < ctx->n_preproc; i++) { + ctx->preproc[i].i = i; + ctx->preproc[i].ipecamera = ctx; + err = pthread_create(&ctx->preproc[i].thread, NULL, ipecamera_preproc_thread, ctx->preproc + i); + if (err) { + err = PCILIB_ERROR_FAILED; + break; + } else { + ctx->preproc[i].started = 1; + } + } + + if (err) { + ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); + pcilib_error("Failed to schedule some of the preprocessor threads"); + return err; + } + } else { + ctx->n_preproc = 0; + } + + ctx->started = 1; + ctx->run_reader = 1; + + pthread_attr_init(&attr); + + if (pthread_attr_setschedpolicy(&attr, SCHED_FIFO)) { + pcilib_warning("Can't schedule a real-time thread, you may consider running as root"); + } else { + sched.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1; // Let 1 priority for something really critcial + pthread_attr_setschedparam(&attr, &sched); + } + + if (pthread_create(&ctx->rthread, &attr, &ipecamera_reader_thread, (void*)ctx)) { + ctx->started = 0; + ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); + err = PCILIB_ERROR_FAILED; + } + + pthread_attr_destroy(&attr); + + return err; +} + + +int ipecamera_stop(pcilib_context_t *vctx, pcilib_event_flags_t flags) { + int i; + int err; + void *retcode; + ipecamera_t *ctx = (ipecamera_t*)vctx; + + if (!ctx) { + pcilib_error("IPECamera imaging is not initialized"); + return PCILIB_ERROR_NOTINITIALIZED; + } + + if (flags&PCILIB_EVENT_FLAG_STOP_ONLY) { + ctx->run_reader = 0; + return 0; + } + + if (ctx->started) { + ctx->run_reader = 0; + err = pthread_join(ctx->rthread, &retcode); + if (err) pcilib_error("Error joining the reader thread"); + } + + if (ctx->preproc) { + ctx->run_preprocessors = 0; + + for (i = 0; i < ctx->n_preproc; i++) { + if (ctx->preproc[i].started) { + pthread_join(ctx->preproc[i].thread, &retcode); + ctx->preproc[i].started = 0; + } + } + + if (ctx->preproc_mutex_destroy) { + pthread_mutex_destroy(&ctx->preproc_mutex); + ctx->preproc_mutex_destroy = 0; + } + + free(ctx->preproc); + ctx->preproc = NULL; + } + + if (ctx->frame_mutex_destroy) { + for (i = 0; i < ctx->frame_mutex_destroy; i++) { + pthread_rwlock_destroy(&ctx->frame[i].mutex); + } + ctx->frame_mutex_destroy = 0; + } + + if (ctx->wdma != PCILIB_DMA_ENGINE_INVALID) { + pcilib_stop_dma(vctx->pcilib, ctx->wdma, PCILIB_DMA_FLAGS_DEFAULT); + ctx->wdma = PCILIB_DMA_ENGINE_INVALID; + } + + if (ctx->rdma != PCILIB_DMA_ENGINE_INVALID) { + pcilib_stop_dma(vctx->pcilib, ctx->rdma, PCILIB_DMA_FLAGS_DEFAULT); + ctx->rdma = PCILIB_DMA_ENGINE_INVALID; + } + + if (ctx->ipedec) { + ufo_decoder_free(ctx->ipedec); + ctx->ipedec = NULL; + } + + if (ctx->frame) { + free(ctx->frame); + ctx->frame = NULL; + } + + if (ctx->cmask) { + free(ctx->cmask); + ctx->cmask = NULL; + } + + if (ctx->image) { + free(ctx->image); + ctx->image = NULL; + } + + if (ctx->buffer) { + free(ctx->buffer); + ctx->buffer = NULL; + } + + + memset(&ctx->autostop, 0, sizeof(ipecamera_autostop_t)); + + ctx->event_id = 0; + ctx->reported_id = 0; + ctx->buffer_pos = 0; + ctx->started = 0; + + return 0; +} + + +int ipecamera_trigger(pcilib_context_t *vctx, pcilib_event_t event, size_t trigger_size, void *trigger_data) { + int err = 0; + pcilib_register_value_t value; + + ipecamera_t *ctx = (ipecamera_t*)vctx; + pcilib_t *pcilib = vctx->pcilib; + + if (!ctx) { + pcilib_error("IPECamera imaging is not initialized"); + return PCILIB_ERROR_NOTINITIALIZED; + } + + SET_REG(control_reg, IPECAMERA_FRAME_REQUEST|IPECAMERA_READOUT_FLAG); + usleep(IPECAMERA_WAIT_FRAME_RCVD_TIME); + CHECK_REG(status_reg, IPECAMERA_EXPECTED_STATUS); + SET_REG(control_reg, IPECAMERA_IDLE|IPECAMERA_READOUT_FLAG); + + + // DS: Just measure when next trigger is allowed instead and wait in the beginning + usleep(IPECAMERA_NEXT_FRAME_DELAY); // minimum delay between End Of Readout and next Frame Req + + return 0; +} diff --git a/ipecamera/ipecamera.h b/ipecamera/ipecamera.h index 3abcf25..19c123b 100644 --- a/ipecamera/ipecamera.h +++ b/ipecamera/ipecamera.h @@ -4,9 +4,9 @@ typedef struct ipecamera_s ipecamera_t; typedef struct { - int bpp; /*<< Bits per pixel (8, 16, or 32) as returned by IPECAMERA_IMAGE_DATA */ - int real_bpp; /*<< Bits per pixel as returned by camera and IPECAMERA_PACKED_IMAGE */ - int width, height; + unsigned int bpp; /*<< Bits per pixel (8, 16, or 32) as returned by IPECAMERA_IMAGE_DATA */ + unsigned int real_bpp; /*<< Bits per pixel as returned by camera and IPECAMERA_PACKED_IMAGE */ + unsigned int width, height; } ipecamera_image_dimensions_t; typedef enum { @@ -25,8 +25,9 @@ typedef uint16_t ipecamera_pixel_t; typedef struct { pcilib_event_info_t info; - size_t raw_size; /**< Indicates the actual size of raw data */ int image_ready; /**< Indicates if image data is parsed */ + int image_broken; /**< Unlike the info.flags this is bound to the reconstructed image (i.e. is not updated on rawdata overwrite) */ + size_t raw_size; /**< Indicates the actual size of raw data */ } ipecamera_event_info_t; int ipecamera_set_buffer_size(ipecamera_t *ctx, int size); diff --git a/ipecamera/model.c b/ipecamera/model.c index ddf9ee6..e60561b 100644 --- a/ipecamera/model.c +++ b/ipecamera/model.c @@ -26,7 +26,7 @@ int ipecamera_read(pcilib_t *ctx, pcilib_register_bank_description_t *bank, pcilib_register_addr_t addr, pcilib_register_value_t *value) { uint32_t val, tmp[4]; char *wr, *rd; - struct timeval start, cur; + struct timeval start;//, cur; int retries = RETRIES; assert(addr < 128); @@ -116,7 +116,7 @@ retry: int ipecamera_write(pcilib_t *ctx, pcilib_register_bank_description_t *bank, pcilib_register_addr_t addr, pcilib_register_value_t value) { uint32_t val, tmp[4]; char *wr, *rd; - struct timeval start, cur; + struct timeval start;//, cur; int retries = RETRIES; assert(addr < 128); diff --git a/ipecamera/model.h b/ipecamera/model.h index b9c3b32..4a0fc8c 100644 --- a/ipecamera/model.h +++ b/ipecamera/model.h @@ -4,7 +4,7 @@ #include <stdio.h> #include "pcilib.h" -#include "image.h" +#include "public.h" //#define IPECAMERA_DEBUG @@ -126,7 +126,7 @@ pcilib_event_api_description_t ipecamera_image_api = { ipecamera_trigger, ipecamera_stream, - NULL, //ipecamera_next_event, + ipecamera_next_event, ipecamera_get, ipecamera_return, ipecamera_init_dma diff --git a/ipecamera/private.h b/ipecamera/private.h new file mode 100644 index 0000000..b583f38 --- /dev/null +++ b/ipecamera/private.h @@ -0,0 +1,121 @@ +#ifndef _IPECAMERA_PRIVATE_H +#define _IPECAMERA_PRIVATE_H + +#include "ipecamera.h" + +#define IPECAMERA_BUG_EXTRA_DATA +#define IPECAMERA_BUG_MULTIFRAME_PACKETS +#define IPECAMERA_BUG_INCOMPLETE_PACKETS + +#define IPECAMERA_DEFAULT_BUFFER_SIZE 64 //**< should be power of 2 */ +#define IPECAMERA_RESERVE_BUFFERS 2 //**< Return Frame is Lost error, if requested frame will be overwritten after specified number of frames +#define IPECAMERA_SLEEP_TIME 250000 //**< Michele thinks 250 should be enough, but reset failing in this case */ +#define IPECAMERA_NEXT_FRAME_DELAY 1000 //**< Michele requires 30000 to sync between End Of Readout and next Frame Req */ +#define IPECAMERA_WAIT_FRAME_RCVD_TIME 0 //**< by Uros ,wait 6 ms */ +#define IPECAMERA_NOFRAME_SLEEP 100 +#define IPECAMERA_NOFRAME_PREPROC_SLEEP 100 + +#define IPECAMERA_MAX_LINES 1088 +#define IPECAMERA_EXPECTED_STATUS 0x08409FFFF +#define IPECAMERA_END_OF_SEQUENCE 0x1F001001 + +#define IPECAMERA_MAX_CHANNELS 16 +#define IPECAMERA_PIXELS_PER_CHANNEL 128 +#define IPECAMERA_WIDTH (IPECAMERA_MAX_CHANNELS * IPECAMERA_PIXELS_PER_CHANNEL) + +#define IPECAMERA_FRAME_REQUEST 0x1E9 +#define IPECAMERA_READOUT_FLAG 0x200 +#define IPECAMERA_READOUT 0x3E1 +#define IPECAMERA_IDLE 0x1E1 +#define IPECAMERA_START_INTERNAL_STIMULI 0x1F1 + + +typedef uint32_t ipecamera_payload_t; + +typedef struct { + pcilib_event_id_t evid; + struct timeval timestamp; +} ipecamera_autostop_t; + +typedef struct { + size_t i; + pthread_t thread; + ipecamera_t *ipecamera; + + int started; /**< flag indicating that join & cleanup is required */ +} ipecamera_preprocessor_t; + + +typedef struct { + ipecamera_event_info_t event; /**< this structure is overwritten by the reader thread, we need a copy */ + pthread_rwlock_t mutex; /**< this mutex protects reconstructed buffers only, the raw data, event_info, etc. will be overwritten by reader thread anyway */ +} ipecamera_frame_t; + +struct ipecamera_s { + pcilib_context_t event; + ufo_decoder ipedec; + + char *data; + ipecamera_pixel_t *image; + size_t size; + + pcilib_event_callback_t cb; + void *cb_user; + + pcilib_event_id_t event_id; + pcilib_event_id_t preproc_id; + pcilib_event_id_t reported_id; + + pcilib_dma_engine_t rdma, wdma; + + pcilib_register_t packet_len_reg; + pcilib_register_t control_reg, status_reg; + pcilib_register_t start_reg, end_reg; + pcilib_register_t n_lines_reg; + uint16_t line_reg; + pcilib_register_t exposure_reg; + pcilib_register_t flip_reg; + + int started; /**< Camera is in grabbing mode (start function is called) */ + int streaming; /**< Camera is in streaming mode (we are within stream call) */ + int parse_data; /**< Indicates if some processing of the data is required, otherwise only rawdata_callback will be called */ + + int run_reader; /**< Instructs the reader thread to stop processing */ + int run_streamer; /**< Indicates request to stop streaming events and can be set by reader_thread upon exit or by user request */ + int run_preprocessors; /**< Instructs preprocessors to exit */ + + ipecamera_autostop_t autostop; + + struct timeval autostop_time; + + size_t buffer_size; /**< How many images to store */ + size_t buffer_pos; /**< Current image offset in the buffer, due to synchronization reasons should not be used outside of reader_thread */ + size_t cur_size; /**< Already written part of data in bytes */ + size_t raw_size; /**< Size of raw data in bytes */ + size_t full_size; /**< Size of raw data including the padding */ + size_t padded_size; /**< Size of buffer for raw data, including the padding for performance */ + + size_t image_size; /**< Size of a single image in bytes */ + + int width, height; + + +// void *raw_buffer; + void *buffer; + ipecamera_change_mask_t *cmask; + ipecamera_frame_t *frame; + + + ipecamera_image_dimensions_t dim; + + pthread_t rthread; + + size_t n_preproc; + ipecamera_preprocessor_t *preproc; + pthread_mutex_t preproc_mutex; + + int preproc_mutex_destroy; + int frame_mutex_destroy; +}; + +#endif /* _IPECAMERA_PRIVATE_H */ diff --git a/ipecamera/image.h b/ipecamera/public.h index c311b4d..b745d6c 100644 --- a/ipecamera/image.h +++ b/ipecamera/public.h @@ -1,25 +1,25 @@ -#ifndef _IPECAMERA_IMAGE_H -#define _IPECAMERA_IMAGE_H +#ifndef _IPECAMERA_PUBLIC_H +#define _IPECAMERA_PUBLIC_H #include <stdio.h> #include "ipecamera.h" #include "pcilib.h" + pcilib_context_t *ipecamera_init(pcilib_t *pcilib); void ipecamera_free(pcilib_context_t *ctx); +pcilib_dma_context_t *ipecamera_init_dma(pcilib_context_t *ctx); + int ipecamera_reset(pcilib_context_t *ctx); int ipecamera_start(pcilib_context_t *ctx, pcilib_event_t event_mask, pcilib_event_flags_t flags); int ipecamera_stop(pcilib_context_t *ctx, pcilib_event_flags_t flags); int ipecamera_trigger(pcilib_context_t *ctx, pcilib_event_t event, size_t trigger_size, void *trigger_data); int ipecamera_stream(pcilib_context_t *vctx, pcilib_event_callback_t callback, void *user); -//pcilib_event_id_t ipecamera_next_event(pcilib_context_t *ctx, pcilib_event_t event_mask, pcilib_timeout_t timeout); - -void* ipecamera_get(pcilib_context_t *ctx, pcilib_event_id_t event_id, pcilib_event_data_type_t data_type, size_t arg_size, void *arg, size_t *size, void *buf); -int ipecamera_return(pcilib_context_t *ctx, pcilib_event_id_t event_id, void *data); - -pcilib_dma_context_t *ipecamera_init_dma(pcilib_context_t *ctx); +int ipecamera_next_event(pcilib_context_t *vctx, pcilib_timeout_t timeout, pcilib_event_id_t *evid, size_t info_size, pcilib_event_info_t *info); +int ipecamera_get(pcilib_context_t *ctx, pcilib_event_id_t event_id, pcilib_event_data_type_t data_type, size_t arg_size, void *arg, size_t *size, void **buf); +int ipecamera_return(pcilib_context_t *ctx, pcilib_event_id_t event_id, pcilib_event_data_type_t data_type, void *data); -#endif /* _IPECAMERA_IMAGE_H */ +#endif /* _IPECAMERA_PUBLIC_H */ diff --git a/ipecamera/reader.c b/ipecamera/reader.c new file mode 100644 index 0000000..f02df0f --- /dev/null +++ b/ipecamera/reader.c @@ -0,0 +1,170 @@ +#define _IPECAMERA_IMAGE_C +#define _BSD_SOURCE +#define _GNU_SOURCE + +#include <stdio.h> +#include <stdlib.h> +#include <unistd.h> +#include <string.h> +#include <sys/time.h> +#include <pthread.h> +#include <assert.h> + +#include <ufodecode.h> + +#include "../tools.h" +#include "../error.h" + +#include "pcilib.h" +#include "private.h" +#include "reader.h" + +static inline int ipecamera_new_frame(ipecamera_t *ctx) { + ctx->frame[ctx->buffer_pos].event.raw_size = ctx->cur_size; + + if (ctx->cur_size < ctx->raw_size) ctx->frame[ctx->buffer_pos].event.info.flags |= PCILIB_EVENT_INFO_FLAG_BROKEN; + + ctx->buffer_pos = (++ctx->event_id) % ctx->buffer_size; + ctx->cur_size = 0; + + ctx->frame[ctx->buffer_pos].event.info.type = PCILIB_EVENT0; + ctx->frame[ctx->buffer_pos].event.info.flags = 0; + ctx->frame[ctx->buffer_pos].event.image_ready = 0; + + if ((ctx->event_id == ctx->autostop.evid)&&(ctx->event_id)) { + ctx->run_reader = 0; + return 1; + } + + if (pcilib_check_deadline(&ctx->autostop.timestamp, PCILIB_DMA_TIMEOUT)) { + ctx->run_reader = 0; + return 1; + } + + return 0; +} + +static uint32_t frame_magic[6] = { 0x51111111, 0x52222222, 0x53333333, 0x54444444, 0x55555555, 0x56666666 }; + +static int ipecamera_data_callback(void *user, pcilib_dma_flags_t flags, size_t bufsize, void *buf) { + int res; + int eof = 0; + +#ifdef IPECAMERA_BUG_MULTIFRAME_PACKETS + size_t extra_data = 0; +#endif /* IPECAMERA_BUG_MULTIFRAME_PACKETS */ + + ipecamera_t *ctx = (ipecamera_t*)user; + + if (!ctx->cur_size) { +#if defined(IPECAMERA_BUG_INCOMPLETE_PACKETS)||defined(IPECAMERA_BUG_MULTIFRAME_PACKETS) + size_t startpos; + for (startpos = 0; (startpos + 8) < bufsize; startpos++) { + if (!memcmp(buf + startpos, frame_magic, sizeof(frame_magic))) break; + } + + if (startpos) { + buf += startpos; + bufsize -= startpos; + } +#endif /* IPECAMERA_BUG_INCOMPLETE_PACKETS */ + + if ((bufsize >= 8)&&(!memcmp(buf, frame_magic, sizeof(frame_magic)))) { +/* + // Not implemented in hardware yet + ctx->frame[ctx->buffer_pos].event.info.seqnum = ((uint32_t*)buf)[6] & 0xF0000000; + ctx->frame[ctx->buffer_pos].event.info.offset = ((uint32_t*)buf)[7] & 0xF0000000; +*/ + gettimeofday(&ctx->frame[ctx->buffer_pos].event.info.timestamp, NULL); + } else { +// pcilib_warning("Frame magic is not found, ignoring broken data..."); + return PCILIB_STREAMING_CONTINUE; + } + } + +#ifdef IPECAMERA_BUG_MULTIFRAME_PACKETS + if (ctx->cur_size + bufsize > ctx->raw_size) { + size_t need; + + for (need = ctx->raw_size - ctx->cur_size; need < bufsize; need += sizeof(uint32_t)) { + if (*(uint32_t*)(buf + need) == frame_magic[0]) break; + } + + if (need < bufsize) { + extra_data = bufsize - need; + //bufsize = need; + eof = 1; + } + + // just rip of padding + bufsize = ctx->raw_size - ctx->cur_size; + } +#endif /* IPECAMERA_BUG_MULTIFRAME_PACKETS */ + + if (ctx->parse_data) { + if (ctx->cur_size + bufsize > ctx->full_size) { + pcilib_error("Unexpected event data, we are expecting at maximum (%zu) bytes, but (%zu) already read", ctx->full_size, ctx->cur_size + bufsize); + return -PCILIB_ERROR_TOOBIG; + } + + memcpy(ctx->buffer + ctx->buffer_pos * ctx->padded_size + ctx->cur_size, buf, bufsize); + } + + ctx->cur_size += bufsize; +// printf("%i: %i %i\n", ctx->buffer_pos, ctx->cur_size, bufsize); + + if (ctx->cur_size >= ctx->full_size) eof = 1; + + if (ctx->event.params.rawdata.callback) { + res = ctx->event.params.rawdata.callback(ctx->event_id, (pcilib_event_info_t*)(ctx->frame + ctx->buffer_pos), (eof?PCILIB_EVENT_FLAG_EOF:PCILIB_EVENT_FLAGS_DEFAULT), bufsize, buf, ctx->event.params.rawdata.user); + if (res <= 0) { + if (res < 0) return res; + ctx->run_reader = 0; + } + } + + if (eof) { + if (ipecamera_new_frame(ctx)) { + return PCILIB_STREAMING_STOP; + } + +#ifdef IPECAMERA_BUG_MULTIFRAME_PACKETS + if (extra_data) { + return ipecamera_data_callback(user, flags, extra_data, buf + bufsize); + } +#endif /* IPECAMERA_BUG_MULTIFRAME_PACKETS */ + } + + return PCILIB_STREAMING_REQ_FRAGMENT; +} + +void *ipecamera_reader_thread(void *user) { + int err; + ipecamera_t *ctx = (ipecamera_t*)user; + + while (ctx->run_reader) { + err = pcilib_stream_dma(ctx->event.pcilib, ctx->rdma, 0, 0, PCILIB_DMA_FLAG_MULTIPACKET, PCILIB_DMA_TIMEOUT, &ipecamera_data_callback, user); + if (err) { + if (err == PCILIB_ERROR_TIMEOUT) { + if (ctx->cur_size > ctx->raw_size) ipecamera_new_frame(ctx); +#ifdef IPECAMERA_BUG_INCOMPLETE_PACKETS + else if (ctx->cur_size > 0) ipecamera_new_frame(ctx); +#endif /* IPECAMERA_BUG_INCOMPLETE_PACKETS */ + if (pcilib_check_deadline(&ctx->autostop.timestamp, PCILIB_DMA_TIMEOUT)) { + ctx->run_reader = 0; + break; + } + usleep(IPECAMERA_NOFRAME_SLEEP); + } else pcilib_error("DMA error while reading IPECamera frames, error: %i", err); + } else printf("no error\n"); + + //usleep(1000); + } + + ctx->run_streamer = 0; + + if (ctx->cur_size) + pcilib_error("partialy read frame after stop signal, %zu bytes in the buffer", ctx->cur_size); + + return NULL; +} diff --git a/ipecamera/reader.h b/ipecamera/reader.h new file mode 100644 index 0000000..738d742 --- /dev/null +++ b/ipecamera/reader.h @@ -0,0 +1,6 @@ +#ifndef _IPECAMERA_READER_H +#define _IPECAMERA_READER_H + +void *ipecamera_reader_thread(void *user); + +#endif /* _IPECAMERA_READER_H */ |