/* Copyright (C) 2011, 2012 Matthias Vogelgesang (Karlsruhe Institute of Technology) This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110, USA */ #include #include #include #include #include #include #include #include #include "uca-camera.h" #include "uca-ufo-camera.h" #define PCILIB_SET_ERROR(err, err_type) \ if (err != 0) { \ g_set_error(error, UCA_UFO_CAMERA_ERROR, \ err_type, \ "%s:%i pcilib: %s (errcode = %d)", \ __FILE__, __LINE__, strerror(err), err);\ return; \ } #define PCILIB_SET_ERROR_RETURN_FALSE(err, err_type) \ if (err != 0) { \ g_set_error(error, UCA_UFO_CAMERA_ERROR, \ err_type, \ "%s:%i pcilib: %s (errcode = %d)", \ __FILE__, __LINE__, strerror(err), err);\ return FALSE; \ } #define PCILIB_WARN_ON_ERROR(err) \ if (err != 0) { \ g_warning ("%s:%i pcilib: %s (errcode = %d)", \ __FILE__, __LINE__, strerror(err), err); \ } #define UCA_UFO_CAMERA_GET_PRIVATE(obj) (G_TYPE_INSTANCE_GET_PRIVATE((obj), UCA_TYPE_UFO_CAMERA, UcaUfoCameraPrivate)) static void uca_ufo_camera_initable_iface_init (GInitableIface *iface); G_DEFINE_TYPE_WITH_CODE (UcaUfoCamera, uca_ufo_camera, UCA_TYPE_CAMERA, G_IMPLEMENT_INTERFACE (G_TYPE_INITABLE, uca_ufo_camera_initable_iface_init)) static const guint SENSOR_WIDTH = 2048; static const gdouble EXPOSURE_TIME_SCALE = 2.69e6; /** * UcaUfoCameraError: * @UCA_UFO_CAMERA_ERROR_INIT: Initializing pcilib failed * @UCA_UFO_CAMERA_ERROR_START_RECORDING: Starting failed * @UCA_UFO_CAMERA_ERROR_STOP_RECORDING: Stopping failed * @UCA_UFO_CAMERA_ERROR_TRIGGER: Triggering a frame failed * @UCA_UFO_CAMERA_ERROR_NEXT_EVENT: No event happened * @UCA_UFO_CAMERA_ERROR_NO_DATA: No data was transmitted * @UCA_UFO_CAMERA_ERROR_MAYBE_CORRUPTED: Data is potentially corrupted */ GQuark uca_ufo_camera_error_quark() { return g_quark_from_static_string("uca-ufo-camera-error-quark"); } enum { PROP_SENSOR_TEMPERATURE = N_BASE_PROPERTIES, PROP_FPGA_TEMPERATURE, PROP_UFO_START, N_MAX_PROPERTIES = 512 }; static gint base_overrideables[] = { PROP_NAME, PROP_SENSOR_WIDTH, PROP_SENSOR_HEIGHT, PROP_SENSOR_BITDEPTH, PROP_EXPOSURE_TIME, PROP_FRAMES_PER_SECOND, PROP_ROI_X, PROP_ROI_Y, PROP_ROI_WIDTH, PROP_ROI_HEIGHT, PROP_HAS_STREAMING, PROP_HAS_CAMRAM_RECORDING, 0, }; typedef struct _RegisterInfo { gchar *name; guint cached_value; } RegisterInfo; static GParamSpec *ufo_properties[N_MAX_PROPERTIES] = { NULL, }; static guint N_PROPERTIES; struct _UcaUfoCameraPrivate { GError *construct_error; GHashTable *property_table; /* maps from prop_id to RegisterInfo* */ GThread *async_thread; pcilib_t *handle; pcilib_timeout_t timeout; guint n_bits; guint height; enum { FPGA_48MHZ = 0, FPGA_40MHZ } frequency; }; static void error_handler (const char *format, ...) { va_list args; gchar *message; va_start (args, format); message = g_strdup_vprintf (format, args); g_warning ("%s", message); va_end (args); } static guint read_register_value (pcilib_t *handle, const gchar *name) { pcilib_register_value_t reg_value; int err; err = pcilib_read_register(handle, NULL, name, ®_value); PCILIB_WARN_ON_ERROR (err); return (guint) reg_value; } static int event_callback(pcilib_event_id_t event_id, pcilib_event_info_t *info, void *user) { UcaCamera *camera = UCA_CAMERA(user); UcaUfoCameraPrivate *priv = UCA_UFO_CAMERA_GET_PRIVATE(camera); size_t error = 0; void *buffer = pcilib_get_data(priv->handle, event_id, PCILIB_EVENT_DATA, &error); if (buffer == NULL) return PCILIB_STREAMING_CONTINUE; camera->grab_func (buffer, camera->user_data); pcilib_return_data (priv->handle, event_id, PCILIB_EVENT_DATA, buffer); return PCILIB_STREAMING_CONTINUE; } static guint update_properties (UcaUfoCameraPrivate *priv) { guint prop; pcilib_model_description_t *description; prop = PROP_UFO_START; description = pcilib_get_model_description (priv->handle); for (guint i = 0; description->registers[i].name != NULL; i++) { GParamFlags flags = 0; RegisterInfo *reg_info; gchar *prop_name; pcilib_register_description_t *reg; pcilib_register_value_t value; gint err; reg = &description->registers[i]; switch (reg->mode) { case PCILIB_REGISTER_R: flags = G_PARAM_READABLE; break; case PCILIB_REGISTER_W: case PCILIB_REGISTER_W1C: flags = G_PARAM_WRITABLE; break; case PCILIB_REGISTER_RW: case PCILIB_REGISTER_RW1C: flags = G_PARAM_READWRITE; break; } err = pcilib_read_register (priv->handle, NULL, reg->name, &value); PCILIB_WARN_ON_ERROR (err); reg_info = g_new0 (RegisterInfo, 1); reg_info->name = g_strdup (reg->name); reg_info->cached_value = (guint32) value; g_hash_table_insert (priv->property_table, GINT_TO_POINTER (prop), reg_info); prop_name = g_strdup_printf ("ufo-%s", reg->name); ufo_properties[prop++] = g_param_spec_uint ( prop_name, reg->description, reg->description, 0, G_MAXUINT, reg->defvalue, flags); g_free (prop_name); } return prop; } static gboolean setup_pcilib (UcaUfoCameraPrivate *priv) { pcilib_model_t model; guint adc_resolution; int err; model = PCILIB_MODEL_DETECT; priv->handle = pcilib_open("/dev/fpga0", model); if (priv->handle == NULL) { g_set_error (&priv->construct_error, UCA_UFO_CAMERA_ERROR, UCA_UFO_CAMERA_ERROR_INIT, "Initializing pcilib failed"); return FALSE; } pcilib_set_error_handler (&error_handler, &error_handler); priv->property_table = g_hash_table_new_full (g_direct_hash, g_direct_equal, NULL, g_free); N_PROPERTIES = update_properties (priv); priv->height = read_register_value (priv->handle, "cmosis_number_lines") + 1; priv->frequency = read_register_value (priv->handle, "control") >> 31; adc_resolution = read_register_value (priv->handle, "adc_resolution"); switch (adc_resolution) { case 0: priv->n_bits = 10; break; case 1: priv->n_bits = 11; break; case 2: priv->n_bits = 12; break; } err = pcilib_start(priv->handle, PCILIB_EVENT_DATA, PCILIB_EVENT_FLAGS_DEFAULT); if (err != 0) { g_set_error (&priv->construct_error, UCA_UFO_CAMERA_ERROR, UCA_UFO_CAMERA_ERROR_INIT, "pcilib start failed: %s", strerror (err)); return FALSE; } return TRUE; } static void set_control_bit (UcaUfoCameraPrivate *priv, guint bit, gboolean set) { static const gchar *name = "control"; pcilib_register_value_t flags; pcilib_register_value_t mask; gint err; err = pcilib_read_register (priv->handle, NULL, name, &flags); PCILIB_WARN_ON_ERROR (err); mask = 1 << bit; if (set) flags |= mask; else flags = flags & ~mask; err = pcilib_write_register (priv->handle, NULL, name, flags); PCILIB_WARN_ON_ERROR (err); } static void set_streaming_bit (UcaUfoCameraPrivate *priv, gboolean enable) { set_control_bit (priv, 11, enable); } static void set_external_trigger_bit (UcaUfoCameraPrivate *priv, gboolean enable) { set_control_bit (priv, 14, enable); } static gpointer stream_async (UcaCamera *camera) { UcaUfoCameraPrivate *priv; priv = UCA_UFO_CAMERA_GET_PRIVATE (camera); pcilib_stream (priv->handle, &event_callback, camera); return NULL; } static void uca_ufo_camera_start_recording(UcaCamera *camera, GError **error) { UcaUfoCameraPrivate *priv; UcaCameraTriggerSource trigger_source; gdouble exposure_time; gboolean transfer_async; g_return_if_fail(UCA_IS_UFO_CAMERA(camera)); priv = UCA_UFO_CAMERA_GET_PRIVATE(camera); g_object_get (G_OBJECT(camera), "transfer-asynchronously", &transfer_async, "exposure-time", &exposure_time, "trigger-source", &trigger_source, NULL); set_external_trigger_bit (priv, trigger == UCA_CAMERA_TRIGGER_SOURCE_EXTERNAL); set_streaming_bit (priv, trigger_mode == UCA_CAMERA_TRIGGER_SOURCE_AUTO); priv->timeout = ((pcilib_timeout_t) (exposure_time * 1000 + 50.0) * 1000); if (transfer_async) priv->async_thread = g_thread_create ((GThreadFunc) stream_async, camera, TRUE, error); } static void uca_ufo_camera_stop_recording(UcaCamera *camera, GError **error) { UcaUfoCameraPrivate *priv; UcaCameraTriggerSource trigger_source; g_return_if_fail(UCA_IS_UFO_CAMERA(camera)); priv = UCA_UFO_CAMERA_GET_PRIVATE(camera); set_external_trigger_bit (priv, FALSE); g_object_get (G_OBJECT (camera), "trigger-source", &trigger_source, NULL); if (priv->async_thread) { int err = pcilib_stop(priv->handle, PCILIB_EVENT_FLAG_STOP_ONLY); PCILIB_SET_ERROR(err, UCA_UFO_CAMERA_ERROR_STOP_RECORDING); g_thread_join(priv->async_thread); priv->async_thread = NULL; } set_streaming_bit (priv, trigger_mode != UCA_CAMERA_TRIGGER_SOURCE_AUTO); } static void uca_ufo_camera_start_readout(UcaCamera *camera, GError **error) { g_return_if_fail(UCA_IS_UFO_CAMERA(camera)); } static void uca_ufo_camera_stop_readout(UcaCamera *camera, GError **error) { g_return_if_fail(UCA_IS_UFO_CAMERA(camera)); } static gboolean uca_ufo_camera_grab(UcaCamera *camera, gpointer data, GError **error) { g_return_val_if_fail (UCA_IS_UFO_CAMERA(camera), FALSE); UcaUfoCameraPrivate *priv = UCA_UFO_CAMERA_GET_PRIVATE(camera); pcilib_event_id_t event_id; pcilib_event_info_t event_info; int err; const gsize size = SENSOR_WIDTH * priv->height * sizeof(guint16); err = pcilib_get_next_event (priv->handle, priv->timeout, &event_id, sizeof(pcilib_event_info_t), &event_info); PCILIB_SET_ERROR_RETURN_FALSE (err, UCA_UFO_CAMERA_ERROR_NEXT_EVENT); gpointer src = pcilib_get_data (priv->handle, event_id, PCILIB_EVENT_DATA, (size_t *) &err); if (src == NULL) PCILIB_SET_ERROR_RETURN_FALSE (err, UCA_UFO_CAMERA_ERROR_NO_DATA); /* * Apparently, we checked that err equals total size in previous version. * This is problematic because errno is positive and size could be equal * even when an error condition is met, e.g. with a very small ROI. However, * we don't know if src will always be NULL when an error occured. */ /* assert(err == size); */ memcpy (data, src, size); /* * Another problem here. What does this help us? At this point we have * already overwritten the original buffer but can only know here if the * data is corrupted. */ err = pcilib_return_data (priv->handle, event_id, PCILIB_EVENT_DATA, data); PCILIB_SET_ERROR_RETURN_FALSE (err, UCA_UFO_CAMERA_ERROR_MAYBE_CORRUPTED); return TRUE; } static void uca_ufo_camera_trigger (UcaCamera *camera, GError **error) { UcaUfoCameraPrivate *priv; int err; g_return_if_fail (UCA_IS_UFO_CAMERA(camera)); priv = UCA_UFO_CAMERA_GET_PRIVATE(camera); /* XXX: What is PCILIB_EVENT0? */ err = pcilib_trigger (priv->handle, PCILIB_EVENT0, 0, NULL); PCILIB_SET_ERROR (err, UCA_UFO_CAMERA_ERROR_TRIGGER); } static gdouble total_readout_time (UcaUfoCamera *camera) { gdouble clock_period, foo; gdouble exposure_time, image_readout_time, overhead_time; guint output_mode; guint roi_height; g_object_get (G_OBJECT (camera), "exposure-time", &exposure_time, "ufo-cmosis-output-mode", &output_mode, "roi-height", &roi_height, NULL); clock_period = camera->priv->frequency == FPGA_40MHZ ? 1 / 40.0 : 1 / 48.0; foo = pow (2, output_mode); image_readout_time = (129 * clock_period * foo) * roi_height; overhead_time = (10 /* reg73 */ + 2 * foo) * 129 * clock_period; return exposure_time + (overhead_time + image_readout_time) / 1000 / 1000; } static void uca_ufo_camera_set_property(GObject *object, guint property_id, const GValue *value, GParamSpec *pspec) { g_return_if_fail (UCA_IS_UFO_CAMERA (object)); UcaUfoCameraPrivate *priv = UCA_UFO_CAMERA_GET_PRIVATE (object); if (uca_camera_is_recording (UCA_CAMERA (object)) && !uca_camera_is_writable_during_acquisition (UCA_CAMERA (object), pspec->name)) { g_warning ("Property '%s' cant be changed during acquisition", pspec->name); return; } switch (property_id) { case PROP_EXPOSURE_TIME: { const guint frequency = priv->frequency == FPGA_40MHZ ? 40 : 48; const gdouble user_exposure_time = g_value_get_double(value); gint err; pcilib_register_value_t reg_value = (pcilib_register_value_t) (1e6 * user_exposure_time * frequency / 129.0 - 0.43 * 10); err = pcilib_write_register(priv->handle, NULL, "cmosis_exp_time", reg_value); PCILIB_WARN_ON_ERROR (err); } break; case PROP_FRAMES_PER_SECOND: { gdouble readout_time; gdouble frame_period; guint32 trigger_period; frame_period = 1.0 / g_value_get_double (value); readout_time = total_readout_time (UCA_UFO_CAMERA (object)); if (frame_period < readout_time) { g_warning ("Frame period higher than readout time %f\n", readout_time); break; } trigger_period = (guint32) ((frame_period - readout_time) / (8.0 * 1e-9)); g_object_set (object, "ufo-trigger-period", trigger_period, NULL); } break; case PROP_ROI_X: case PROP_ROI_Y: case PROP_ROI_WIDTH: case PROP_ROI_HEIGHT: g_debug("ROI feature not implemented yet"); break; default: { RegisterInfo *reg_info; reg_info = g_hash_table_lookup (priv->property_table, GINT_TO_POINTER (property_id)); if (reg_info != NULL) { pcilib_register_value_t reg_value = 0; gint err; reg_value = g_value_get_uint (value); err = pcilib_write_register (priv->handle, NULL, reg_info->name, reg_value); PCILIB_WARN_ON_ERROR (err); err = pcilib_read_register (priv->handle, NULL, reg_info->name, ®_value); PCILIB_WARN_ON_ERROR (err); reg_info->cached_value = (guint) reg_value; } else G_OBJECT_WARN_INVALID_PROPERTY_ID(object, property_id, pspec); } return; } } static void uca_ufo_camera_get_property(GObject *object, guint property_id, GValue *value, GParamSpec *pspec) { UcaUfoCameraPrivate *priv = UCA_UFO_CAMERA_GET_PRIVATE(object); switch (property_id) { case PROP_SENSOR_WIDTH: g_value_set_uint (value, SENSOR_WIDTH); break; case PROP_SENSOR_HEIGHT: g_value_set_uint (value, priv->height); break; case PROP_SENSOR_BITDEPTH: g_value_set_uint (value, priv->n_bits); break; case PROP_SENSOR_TEMPERATURE: { const double a = priv->frequency == FPGA_48MHZ ? 0.3 : 0.25; const double b = priv->frequency == FPGA_48MHZ ? 1000 : 1200; guint32 temperature; temperature = read_register_value (priv->handle, "sensor_temperature"); g_value_set_double (value, a * (temperature - b)); } break; case PROP_FPGA_TEMPERATURE: { const double a = 503.975 / 1024.0; const double b = 273.15; guint32 temperature; temperature = read_register_value (priv->handle, "fpga_temperature"); g_value_set_double (value, a * temperature - b); } break; case PROP_EXPOSURE_TIME: { const gdouble frequency = priv->frequency == FPGA_40MHZ ? 40.0 : 48.0; g_value_set_double (value, (read_register_value (priv->handle, "cmosis_exp_time") + 0.43 * 10) * 129.0 / frequency / 1e6); } break; case PROP_FRAMES_PER_SECOND: { gdouble delay_time; gdouble framerate; guint32 trigger_period; g_object_get (object, "ufo-trigger-period", &trigger_period, NULL); delay_time = trigger_period * 8.0 * 1e-9; framerate = 1.0 / (total_readout_time (UCA_UFO_CAMERA (object)) + delay_time); g_value_set_double(value, framerate); } break; case PROP_HAS_STREAMING: g_value_set_boolean (value, TRUE); break; case PROP_HAS_CAMRAM_RECORDING: g_value_set_boolean (value, FALSE); break; case PROP_ROI_X: g_value_set_uint (value, 0); break; case PROP_ROI_Y: g_value_set_uint (value, 0); break; case PROP_ROI_WIDTH: g_value_set_uint (value, SENSOR_WIDTH); break; case PROP_ROI_HEIGHT: g_value_set_uint (value, priv->height); break; case PROP_NAME: g_value_set_string (value, "Ufo Camera w/ CMOSIS CMV2000"); break; default: { RegisterInfo *reg_info = g_hash_table_lookup (priv->property_table, GINT_TO_POINTER (property_id)); if (reg_info != NULL) g_value_set_uint (value, reg_info->cached_value); else G_OBJECT_WARN_INVALID_PROPERTY_ID(object, property_id, pspec); } break; } } static void uca_ufo_camera_finalize(GObject *object) { UcaUfoCameraPrivate *priv; priv = UCA_UFO_CAMERA_GET_PRIVATE (object); int err = pcilib_stop (priv->handle, PCILIB_EVENT_FLAGS_DEFAULT); PCILIB_WARN_ON_ERROR (err); pcilib_close (priv->handle); g_clear_error (&priv->construct_error); G_OBJECT_CLASS (uca_ufo_camera_parent_class)->finalize (object); } static gboolean ufo_ufo_camera_initable_init (GInitable *initable, GCancellable *cancellable, GError **error) { UcaUfoCamera *camera; UcaUfoCameraPrivate *priv; g_return_val_if_fail (UCA_IS_UFO_CAMERA (initable), FALSE); if (cancellable != NULL) { g_set_error_literal (error, G_IO_ERROR, G_IO_ERROR_NOT_SUPPORTED, "Cancellable initialization not supported"); return FALSE; } camera = UCA_UFO_CAMERA (initable); priv = camera->priv; if (priv->construct_error != NULL) { if (error) *error = g_error_copy (priv->construct_error); return FALSE; } return TRUE; } static void uca_ufo_camera_initable_iface_init (GInitableIface *iface) { iface->init = ufo_ufo_camera_initable_init; } static void uca_ufo_camera_class_init(UcaUfoCameraClass *klass) { GObjectClass *gobject_class = G_OBJECT_CLASS(klass); gobject_class->set_property = uca_ufo_camera_set_property; gobject_class->get_property = uca_ufo_camera_get_property; gobject_class->finalize = uca_ufo_camera_finalize; UcaCameraClass *camera_class = UCA_CAMERA_CLASS(klass); camera_class->start_recording = uca_ufo_camera_start_recording; camera_class->stop_recording = uca_ufo_camera_stop_recording; camera_class->start_readout = uca_ufo_camera_start_readout; camera_class->stop_readout = uca_ufo_camera_stop_readout; camera_class->grab = uca_ufo_camera_grab; camera_class->trigger = uca_ufo_camera_trigger; for (guint i = 0; base_overrideables[i] != 0; i++) g_object_class_override_property(gobject_class, base_overrideables[i], uca_camera_props[base_overrideables[i]]); ufo_properties[PROP_SENSOR_TEMPERATURE] = g_param_spec_double("sensor-temperature", "Temperature of the sensor", "Temperature of the sensor in degree Celsius", -G_MAXDOUBLE, G_MAXDOUBLE, 0.0, G_PARAM_READABLE); ufo_properties[PROP_FPGA_TEMPERATURE] = g_param_spec_double("fpga-temperature", "Temperature of the FPGA", "Temperature of the FPGA in degree Celsius", -G_MAXDOUBLE, G_MAXDOUBLE, 0.0, G_PARAM_READABLE); g_type_class_add_private(klass, sizeof(UcaUfoCameraPrivate)); } static void uca_ufo_camera_init(UcaUfoCamera *self) { UcaCamera *camera; UcaUfoCameraPrivate *priv; GObjectClass *oclass; self->priv = priv = UCA_UFO_CAMERA_GET_PRIVATE(self); priv->construct_error = NULL; priv->async_thread = NULL; if (!setup_pcilib (priv)) return; oclass = G_OBJECT_GET_CLASS (self); for (guint id = N_BASE_PROPERTIES; id < N_PROPERTIES; id++) g_object_class_install_property(oclass, id, ufo_properties[id]); camera = UCA_CAMERA (self); uca_camera_register_unit (camera, "sensor-temperature", UCA_UNIT_DEGREE_CELSIUS); uca_camera_register_unit (camera, "fpga-temperature", UCA_UNIT_DEGREE_CELSIUS); } G_MODULE_EXPORT GType uca_camera_get_type (void) { return UCA_TYPE_UFO_CAMERA; }