Merge branch 'ipe-basler'

Conflicts:
	src/CMakeLists.txt

11 files changed, 736 insertions, 5 deletions

diff --git a/cmake/FindPylon.cmake b/cmake/FindPylon.cmake
new file mode 100644
index 0000000..01cee02
--- /dev/null
+++ b/cmake/FindPylon.cmake
@@ -0,0 +1,40 @@
+
+# Try to find libpco.so
+#
+# Defines
+#
+# PYLON_FOUND - system has libpco
+# PYLON_INCLUDE_DIR - libpco include directory
+# PYLON_LIB - pco library
+
+# check for environment variable PYLON_ROOT
+find_package(YAT)
+find_package(PkgConfig)
+find_package(PackageHandleStandardArgs)
+
+if (NOT "$ENV{PYLON_ROOT}" STREQUAL "")
+  message("PYLON_ROOT=$ENV{PYLON_ROOT}")
+
+  find_library(YAT_LIB yat ${YAT_LIBRARY_DIRS})
+
+  pkg_check_modules(LIBPYLONCAM pyloncam>=0.1)
+  if (DEFINED LIBPYLONCAM_OTHER_PREFIX)
+    string(REPLACE ${LIBPYLONCAM_PREFIX} ${LIBPYLONCAM_OTHER_PREFIX}
+      LIBPYLONCAM_INCLUDEDIR ${LIBPYLONCAM_INCLUDEDIR})
+    string(REPLACE ${LIBPYLONCAM_PREFIX} ${LIBPYLONCAM_OTHER_PREFIX}
+      LIBPYLONCAM_LIBRARIES ${LIBPYLONCAM_LIBRARIES})
+    string(REPLACE ${LIBPYLONCAM_PREFIX} ${LIBPYLONCAM_OTHER_PREFIX}
+      LIBPYLONCAM_LIBDIR ${LIBPYLONCAM_LIBDIR})
+    set(LIBPYLONCAM_LIBDIR ${LIBPYLONCAM_LIBDIR} PARENT_SCOPE)
+  endif()
+
+  find_package_handle_standard_args(PYLON DEFAULT_MSG LIBPYLONCAM_INCLUDEDIR LIBPYLONCAM_LIBRARIES)
+
+  mark_as_advanced(
+    LIBPYLONCAM_INCLUDEDIR
+    LIBPYLONCAM_LIBRARIES
+    LIBPYLONCAM_LIBDIR)
+
+else()
+  message("Environment variable PYLON_ROOT not found! => unable to build pylon camera support")
+endif()
diff --git a/cmake/FindYAT.cmake b/cmake/FindYAT.cmake
new file mode 100644
index 0000000..0d3ec56
--- /dev/null
+++ b/cmake/FindYAT.cmake
@@ -0,0 +1,5 @@
+
+find_package(PkgConfig)
+pkg_check_modules(YAT yat>=1.7.7)
+
+find_library(YAT_LIB yat ${YAT_LIBRARY_DIRS})
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 84b6199..0a38e17 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -17,6 +17,7 @@ set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
 find_package(PCO)
 find_package(PF)
 find_package(IPE)
+find_package(Pylon)
 
 # --- Find frame grabber interfaces
 find_package(FgLib5)
@@ -90,6 +91,21 @@ if (IPE_FOUND)
     endif()
 endif()
 
+if (PYLON_FOUND)
+  option(HAVE_PYLON_CAMERA "Camera: Pylon based (Basler)" ON)
+
+  if (HAVE_PYLON_CAMERA)
+        list(APPEND uca_SRCS cameras/uca-pylon-camera.c)
+        list(APPEND uca_HDRS cameras/uca-pylon-camera.h)
+        list(APPEND cameras "Pylon")
+        set(uca_LIBS ${uca_LIBS} ${LIBPYLONCAM_LIBRARIES})
+
+        include_directories(${LIBPYLONCAM_INCLUDEDIR})
+        link_directories(${LIBPYLONCAM_LIBDIR})
+  endif()
+
+endif()
+
 if (HAVE_MOCK_CAMERA)
     list(APPEND uca_SRCS cameras/uca-mock-camera.c)
     list(APPEND uca_HDRS cameras/uca-mock-camera.h)
@@ -150,6 +166,9 @@ endif()
 
 
 # --- Build documentation -----------------------------------------------------
+if (NOT DEFINED WITH_REFERENCE)
+  set(WITH_REFERENCE TRUE)
+endif()
 pkg_check_modules(GTK_DOC gtk-doc)
 if(GTK_DOC_FOUND AND WITH_REFERENCE)
     option(WITH_GTK_DOC "Build documentation" ON)
@@ -229,7 +248,7 @@ if(GTK_DOC_FOUND AND WITH_REFERENCE)
             DEPENDS ${docs_out}/sgml.stamp ${docs_out}/uca-docs.xml
             WORKING_DIRECTORY ${docs_out})
 
-        add_custom_target(reference ALL DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/html.stamp)
+        add_custom_target(reference DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/html.stamp)
 
         install(FILES ${reference_files} DESTINATION share/gtk-doc/html/uca)
     endif()
@@ -267,6 +286,8 @@ set(CPACK_PACKAGE_NAME "libuca")
 
 # --- Distro specific
 set(CPACK_DEBIAN_PACKAGE_DEPENDS "libc6 (>= 2.3.6), libgcc1 (>= 1:4.1)")
+
+# this doesn't work when building RPMs on Jenkins
 set(CPACK_SET_DESTDIR ON)
 
 set(CPACK_PACKAGE_CONTACT "Matthias Vogelgesang")
@@ -283,6 +304,6 @@ set(CPACK_SOURCE_PACKAGE_FILE_NAME "libuca-${UCA_VERSION_STRING}" CACHE INTERNAL
 set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_NAME}-${UCA_VERSION_STRING}-${CMAKE_SYSTEM_PROCESSOR}")
 
 configure_file("${CMAKE_CURRENT_SOURCE_DIR}/../libuca.spec.in"
-  "${CMAKE_CURRENT_BINARY_DIR}/../libuca.spec" @ONLY IMMEDIATE)
+               "${CMAKE_CURRENT_BINARY_DIR}/../libuca.spec" @ONLY IMMEDIATE)
 
 include(CPack)
diff --git a/src/cameras/uca-pylon-camera.c b/src/cameras/uca-pylon-camera.c
new file mode 100644
index 0000000..373f713
--- /dev/null
+++ b/src/cameras/uca-pylon-camera.c
@@ -0,0 +1,460 @@
+/* Copyright (C) 2011, 2012 Matthias Vogelgesang <matthias.vogelgesang@kit.edu>
+   (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 <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <libpyloncam/pylon_camera.h>
+#include "uca-camera.h"
+#include "uca-pylon-camera.h"
+
+
+/*#define HANDLE_PYLON_ERROR(err)                       \
+    if ((err) != PYLON_NOERROR) {                     \
+        g_set_error(error, UCA_PYLON_CAMERA_ERROR,    \
+                UCA_PYLON_CAMERA_ERROR_LIBPYLON_GENERAL,\
+                "libpylon error %i", err);            \
+        return;                                     \
+    }*/
+
+#define UCA_PYLON_CAMERA_GET_PRIVATE(obj) (G_TYPE_INSTANCE_GET_PRIVATE((obj), UCA_TYPE_PYLON_CAMERA, UcaPylonCameraPrivate))
+
+G_DEFINE_TYPE(UcaPylonCamera, uca_pylon_camera, UCA_TYPE_CAMERA)
+
+/**
+ * UcapylonCameraError:
+ * @UCA_PYLON_CAMERA_ERROR_LIBPYLON_INIT: Initializing libpylon failed
+ * @UCA_PYLON_CAMERA_ERROR_LIBPYLON_GENERAL: General libpylon error
+ * @UCA_PYLON_CAMERA_ERROR_UNSUPPORTED: Camera type is not supported
+ * @UCA_PYLON_CAMERA_ERROR_FG_INIT: Framegrabber initialization failed
+ * @UCA_PYLON_CAMERA_ERROR_FG_GENERAL: General framegrabber error
+ * @UCA_PYLON_CAMERA_ERROR_FG_ACQUISITION: Framegrabber acquisition error
+ */
+GQuark uca_pylon_camera_error_quark()
+{
+    return g_quark_from_static_string("uca-pylon-camera-error-quark");
+}
+
+enum {
+    PROP_ROI_WIDTH_DEFAULT = N_BASE_PROPERTIES,
+    PROP_ROI_HEIGHT_DEFAULT,
+    PROP_GAIN,
+    N_PROPERTIES
+};
+
+static gint base_overrideables[] = {
+    PROP_NAME,
+    PROP_SENSOR_WIDTH,
+    PROP_SENSOR_HEIGHT,
+    PROP_SENSOR_BITDEPTH,
+    PROP_SENSOR_HORIZONTAL_BINNING,
+    PROP_SENSOR_HORIZONTAL_BINNINGS,
+    PROP_SENSOR_VERTICAL_BINNING,
+    PROP_SENSOR_VERTICAL_BINNINGS,
+    PROP_SENSOR_MAX_FRAME_RATE,
+    PROP_TRIGGER_MODE,
+    PROP_EXPOSURE_TIME,
+    PROP_ROI_X,
+    PROP_ROI_Y,
+    PROP_ROI_WIDTH,
+    PROP_ROI_HEIGHT,
+    PROP_ROI_WIDTH_MULTIPLIER,
+    PROP_ROI_HEIGHT_MULTIPLIER,
+    PROP_HAS_STREAMING,
+    PROP_HAS_CAMRAM_RECORDING,
+    0
+};
+
+
+static GParamSpec *pylon_properties[N_PROPERTIES] = { NULL, };
+
+
+struct _UcaPylonCameraPrivate {
+    guint bit_depth;
+    gsize num_bytes;
+
+    guint width;
+    guint height;
+    guint16 roi_x, roi_y;
+    guint16 roi_width, roi_height;
+    GValueArray *binnings;
+};
+
+
+static void pylon_get_roi(GObject *object, GError** error)
+{
+    UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(object);
+    pylon_camera_get_roi(&priv->roi_x, &priv->roi_y, &priv->roi_width, &priv->roi_height, error);
+}
+
+static void pylon_set_roi(GObject *object, GError** error)
+{
+    UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(object);
+    pylon_camera_set_roi(priv->roi_x, priv->roi_y, priv->roi_width, priv->roi_height, error);
+}
+
+UcaPylonCamera *uca_pylon_camera_new(GError **error)
+{
+  UcaPylonCamera *camera = g_object_new(UCA_TYPE_PYLON_CAMERA, NULL);
+  UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(camera);
+
+  pylon_camera_new("/usr/local/lib64", "141.52.111.110", error);
+  if (*error) {
+    g_print("Error when calling pylon_camera_new %s\n", (*error)->message);
+    return NULL;
+  }
+
+  pylon_camera_get_sensor_size(&priv->width, &priv->height, error);
+  if (*error) {
+    g_print("Error when calling pylon_camera_get_sensor_size %s\n", (*error)->message);
+    return NULL;
+  }
+  return camera;
+}
+
+static void uca_pylon_camera_start_recording(UcaCamera *camera, GError **error)
+{
+    g_return_if_fail(UCA_IS_PYLON_CAMERA(camera));
+    UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(camera);
+
+    priv->num_bytes = 2;
+    pylon_camera_start_acquision(error);
+
+}
+
+static void uca_pylon_camera_stop_recording(UcaCamera *camera, GError **error)
+{
+    g_return_if_fail(UCA_IS_PYLON_CAMERA(camera));
+    pylon_camera_stop_acquision(error);
+}
+
+static void uca_pylon_camera_grab(UcaCamera *camera, gpointer *data, GError **error)
+{
+    g_return_if_fail(UCA_IS_PYLON_CAMERA(camera));
+    UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(camera);
+
+    if (*data == NULL) {
+        *data = g_malloc0(priv->width * priv->height * priv->num_bytes);
+    }
+    pylon_camera_grab(data, error);
+}
+
+static void uca_pylon_camera_set_property(GObject *object, guint property_id, const GValue *value, GParamSpec *pspec)
+{
+    UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(object);
+    GError* error = NULL;
+
+    switch (property_id) {
+
+        case PROP_SENSOR_HORIZONTAL_BINNING:
+          /* intentional fall-through*/
+        case PROP_SENSOR_VERTICAL_BINNING:
+          /* intentional fall-through*/
+        case PROP_TRIGGER_MODE:
+          break;
+
+        case PROP_ROI_X:
+            {
+              priv->roi_x = g_value_get_uint(value);
+              pylon_set_roi(object, &error);
+            }
+            break;
+
+        case PROP_ROI_Y:
+            {
+              priv->roi_y = g_value_get_uint(value);
+              pylon_set_roi(object, &error);
+            }
+            break;
+
+        case PROP_ROI_WIDTH:
+            {
+              priv->roi_width = g_value_get_uint(value);
+              pylon_set_roi(object, &error);
+            }
+            break;
+
+        case PROP_ROI_HEIGHT:
+            {
+              priv->roi_height = g_value_get_uint(value);
+              pylon_set_roi(object, &error);
+            }
+            break;
+
+        case PROP_EXPOSURE_TIME:
+            pylon_camera_set_exposure_time(g_value_get_double(value), &error);
+            break;
+
+        case PROP_GAIN:
+            pylon_camera_set_gain(g_value_get_int(value), &error);
+            break;
+
+        default:
+            G_OBJECT_WARN_INVALID_PROPERTY_ID(object, property_id, pspec);
+            return;
+    }
+}
+
+static void uca_pylon_camera_get_property(GObject *object, guint property_id, GValue *value, GParamSpec *pspec)
+{
+  fprintf(stderr, "pylon_get_property\n");
+    UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(object);
+    GError* error = NULL;
+
+    switch (property_id) {
+
+        case PROP_SENSOR_WIDTH:
+            pylon_camera_get_sensor_size(&priv->width, &priv->height, &error);
+            g_value_set_uint(value, priv->width);
+            g_print("pylon_get_property sensor width %d\n", priv->width);
+            break;
+
+        case PROP_SENSOR_HEIGHT:
+            pylon_camera_get_sensor_size(&priv->width, &priv->height, &error);
+            g_value_set_uint(value, priv->height);
+            g_print("pylon_get_property sensor height %d\n", priv->height);
+            break;
+
+        case PROP_SENSOR_BITDEPTH:
+            pylon_camera_get_bit_depth(&priv->bit_depth, &error);
+            g_value_set_uint(value, priv->bit_depth);
+            g_print("pylon_get_property depth %d\n", priv->bit_depth);
+            break;
+
+        case PROP_SENSOR_HORIZONTAL_BINNING:
+            g_value_set_uint(value, 1);
+            break;
+
+        case PROP_SENSOR_HORIZONTAL_BINNINGS:
+            g_value_set_boxed(value, priv->binnings);
+            break;
+
+        case PROP_SENSOR_VERTICAL_BINNING:
+            g_value_set_uint(value, 1);
+            break;
+
+        case PROP_SENSOR_VERTICAL_BINNINGS:
+            g_value_set_boxed(value, priv->binnings);
+            break;
+
+        case PROP_SENSOR_MAX_FRAME_RATE:
+            g_value_set_float(value, 0.0);
+            break;
+
+        case PROP_TRIGGER_MODE:
+            g_value_set_enum(value, UCA_CAMERA_TRIGGER_AUTO);
+            break;
+
+        case PROP_HAS_STREAMING:
+            g_value_set_boolean(value, FALSE);
+            break;
+
+        case PROP_HAS_CAMRAM_RECORDING:
+            g_value_set_boolean(value, FALSE);
+            break;
+
+        case PROP_ROI_X:
+            {
+              pylon_get_roi(object, &error);
+              g_value_set_uint(value, priv->roi_x);
+            }
+            break;
+
+        case PROP_ROI_Y:
+            {
+              pylon_get_roi(object, &error);
+              g_value_set_uint(value, priv->roi_y);
+            }
+            break;
+
+        case PROP_ROI_WIDTH:
+            {
+              pylon_get_roi(object, &error);
+              g_value_set_uint(value, priv->roi_width);
+            }
+            break;
+
+        case PROP_ROI_HEIGHT:
+            {
+              pylon_get_roi(object, &error);
+              g_value_set_uint(value, priv->roi_height);
+            }
+            break;
+
+        case PROP_ROI_WIDTH_DEFAULT:
+            pylon_camera_get_sensor_size(&priv->width, &priv->height, &error);
+            g_value_set_uint(value, priv->width);
+            break;
+
+        case PROP_ROI_HEIGHT_DEFAULT:
+            pylon_camera_get_sensor_size(&priv->width, &priv->height, &error);
+            g_value_set_uint(value, priv->height);
+            break;
+
+        case PROP_GAIN:
+            {
+              gint gain=0;
+              pylon_camera_get_gain(&gain, &error);
+              g_value_set_int(value, gain);
+            }
+            break;
+
+        case PROP_ROI_WIDTH_MULTIPLIER:
+            g_value_set_uint(value, 1);
+            break;
+
+        case PROP_ROI_HEIGHT_MULTIPLIER:
+            g_value_set_uint(value, 1);
+            break;
+
+        case PROP_EXPOSURE_TIME:
+            {
+              gdouble exp_time = 0.0;
+              pylon_camera_get_exposure_time(&exp_time, &error);
+              g_value_set_double(value, exp_time);
+            }
+            break;
+
+        case PROP_NAME:
+            {
+                //char *name = NULL;
+                //pylon_get_name(priv->pylon, &name);
+                g_value_set_string(value, "Pylon Camera");
+                //free(name);
+            }
+            break;
+
+        default:
+            G_OBJECT_WARN_INVALID_PROPERTY_ID(object, property_id, pspec);
+            break;
+    }
+}
+
+static void uca_pylon_camera_finalize(GObject *object)
+{
+  UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(object);
+  g_value_array_free(priv->binnings);
+    /*UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(object);
+
+    if (priv->horizontal_binnings)
+        g_value_array_free(priv->horizontal_binnings);
+
+    if (priv->vertical_binnings)
+        g_value_array_free(priv->vertical_binnings);
+
+    if (priv->fg) {
+        if (priv->fg_mem)
+            Fg_FreeMem(priv->fg, priv->fg_port);
+
+        Fg_FreeGrabber(priv->fg);
+    }
+
+    if (priv->pylon)
+        pylon_destroy(priv->pylon);
+        */
+
+    G_OBJECT_CLASS(uca_pylon_camera_parent_class)->finalize(object);
+}
+
+static void uca_pylon_camera_class_init(UcaPylonCameraClass *klass)
+{
+    GObjectClass *gobject_class = G_OBJECT_CLASS(klass);
+    gobject_class->set_property = uca_pylon_camera_set_property;
+    gobject_class->get_property = uca_pylon_camera_get_property;
+    gobject_class->finalize = uca_pylon_camera_finalize;
+
+    UcaCameraClass *camera_class = UCA_CAMERA_CLASS(klass);
+    camera_class->start_recording = uca_pylon_camera_start_recording;
+    camera_class->stop_recording = uca_pylon_camera_stop_recording;
+    camera_class->grab = uca_pylon_camera_grab;
+
+    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]]);
+
+    pylon_properties[PROP_NAME] =
+        g_param_spec_string("name",
+            "Name of the camera",
+            "Name of the camera",
+            "", G_PARAM_READABLE);
+
+    /*guint sensor_width = 0;
+    guint sensor_height = 0;
+    GError* error;
+    pylon_camera_get_sensor_size(&sensor_width, &sensor_height, &error);*/
+
+    pylon_properties[PROP_ROI_WIDTH_DEFAULT] =
+        g_param_spec_uint("roi-width-default",
+            "ROI width default value",
+            "ROI width default value",
+            0, G_MAXUINT, 0,
+            G_PARAM_READABLE);
+    pylon_properties[PROP_ROI_HEIGHT_DEFAULT] =
+        g_param_spec_uint("roi-height-default",
+            "ROI height default value",
+            "ROI height default value",
+            0, G_MAXUINT, 0,
+            G_PARAM_READABLE);
+    pylon_properties[PROP_GAIN] =
+        g_param_spec_int("gain",
+            "gain",
+            "gain",
+            0, G_MAXINT, 0,
+            G_PARAM_READWRITE);
+    /*g_object_class_install_property(gobject_class, PROP_ROI_X, pylon_properties[PROP_ROI_X]);
+
+
+    pylon_properties[PROP_ROI_Y] =
+        g_param_spec_uint(uca_camera_props[PROP_ROI_Y],
+            "Vertical coordinate",
+            "Vertical coordinate",
+            0, G_MAXUINT, 0,
+            G_PARAM_READWRITE);
+    g_object_class_install_property(gobject_class, PROP_ROI_Y, pylon_properties[PROP_ROI_Y]);
+
+    pylon_properties[PROP_ROI_WIDTH] =
+        g_param_spec_uint(uca_camera_props[PROP_ROI_WIDTH],
+            "Width",
+            "Width of the region of interest",
+            1, G_MAXUINT, 500,
+            G_PARAM_READWRITE);
+    g_object_class_install_property(gobject_class, PROP_ROI_WIDTH, pylon_properties[PROP_ROI_WIDTH]);
+
+    pylon_properties[PROP_ROI_HEIGHT] =
+        g_param_spec_uint(uca_camera_props[PROP_ROI_HEIGHT],
+            "Height",
+            "Height of the region of interest",
+            1, G_MAXUINT, 100,
+            G_PARAM_READWRITE);
+    g_object_class_install_property(gobject_class, PROP_ROI_HEIGHT, pylon_properties[PROP_ROI_HEIGHT]); */
+
+    for (guint id = N_BASE_PROPERTIES; id < N_PROPERTIES; id++)
+        g_object_class_install_property(gobject_class, id, pylon_properties[id]);
+
+    g_type_class_add_private(klass, sizeof(UcaPylonCameraPrivate));
+}
+
+static void uca_pylon_camera_init(UcaPylonCamera *self)
+{
+    self->priv = UCA_PYLON_CAMERA_GET_PRIVATE(self);
+
+    /* binnings */
+    GValue val = {0};
+    g_value_init(&val, G_TYPE_UINT);
+    g_value_set_uint(&val, 1);
+    self->priv->binnings  = g_value_array_new(1);
+    g_value_array_append(self->priv->binnings, &val);
+}
diff --git a/src/cameras/uca-pylon-camera.h b/src/cameras/uca-pylon-camera.h
new file mode 100644
index 0000000..eebf63c
--- /dev/null
+++ b/src/cameras/uca-pylon-camera.h
@@ -0,0 +1,74 @@
+/* Copyright (C) 2011, 2012 Matthias Vogelgesang <matthias.vogelgesang@kit.edu>
+   (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 */
+
+#ifndef __UCA_PYLON_CAMERA_H
+#define __UCA_PYLON_CAMERA_H
+
+#include <glib-object.h>
+#include "uca-camera.h"
+
+G_BEGIN_DECLS
+
+#define UCA_TYPE_PYLON_CAMERA             (uca_pylon_camera_get_type())
+#define UCA_PYLON_CAMERA(obj)             (G_TYPE_CHECK_INSTANCE_CAST((obj), UCA_TYPE_PYLON_CAMERA, UcaPylonCamera))
+#define UCA_IS_PYLON_CAMERA(obj)          (G_TYPE_CHECK_INSTANCE_TYPE((obj), UCA_TYPE_PYLON_CAMERA))
+#define UCA_PYLON_CAMERA_CLASS(klass)     (G_TYPE_CHECK_CLASS_CAST((klass), UFO_TYPE_PYLON_CAMERA, UfoPylonCameraClass))
+#define UCA_IS_PYLON_CAMERA_CLASS(klass)  (G_TYPE_CHECK_CLASS_TYPE((klass), UCA_TYPE_PYLON_CAMERA))
+#define UCA_PYLON_CAMERA_GET_CLASS(obj)   (G_TYPE_INSTANCE_GET_CLASS((obj), UCA_TYPE_PYLON_CAMERA, UcaPylonCameraClass))
+
+#define UCA_PYLON_CAMERA_ERROR uca_pylon_camera_error_quark()
+typedef enum {
+    UCA_PYLON_CAMERA_ERROR_LIBPYLON_INIT,
+    UCA_PYLON_CAMERA_ERROR_LIBPYLON_GENERAL,
+    UCA_PYLON_CAMERA_ERROR_UNSUPPORTED,
+} UcaPylonCameraError;
+
+typedef struct _UcaPylonCamera           UcaPylonCamera;
+typedef struct _UcaPylonCameraClass      UcaPylonCameraClass;
+typedef struct _UcaPylonCameraPrivate    UcaPylonCameraPrivate;
+
+/**
+ * UcaPylonCamera:
+ *
+ * Creates #UcaPylonCamera instances by loading corresponding shared objects. The
+ * contents of the #UcaPylonCamera structure are private and should only be
+ * accessed via the provided API.
+ */
+struct _UcaPylonCamera {
+    /*< private >*/
+    UcaCamera parent;
+
+    UcaPylonCameraPrivate *priv;
+};
+
+/**
+ * UcaPylonCameraClass:
+ *
+ * #UcaPylonCamera class
+ */
+struct _UcaPylonCameraClass {
+    /*< private >*/
+    UcaCameraClass parent;
+};
+
+UcaPylonCamera *uca_pylon_camera_new(GError **error);
+
+GType uca_pylon_camera_get_type(void);
+
+G_END_DECLS
+
+#endif
diff --git a/src/config.h.in b/src/config.h.in
index 0b1dde9..e3911a1 100644
--- a/src/config.h.in
+++ b/src/config.h.in
@@ -2,6 +2,7 @@
 #cmakedefine HAVE_PHOTON_FOCUS
 #cmakedefine HAVE_PHOTRON_FASTCAM
 #cmakedefine HAVE_UFO_CAMERA
+#cmakedefine HAVE_PYLON_CAMERA
 
 #cmakedefine HAVE_MOCK_CAMERA
 #define CONTROL_GLADE_PATH "${CMAKE_INSTALL_PREFIX}/share/libuca/control.glade"
diff --git a/src/scangobj.sh.in b/src/scangobj.sh.in
index 4a4e330..65766b6 100644
--- a/src/scangobj.sh.in
+++ b/src/scangobj.sh.in
@@ -1 +1 @@
-LD_LIBRARY_PATH=${CMAKE_CURRENT_BINARY_DIR} CC=gcc CFLAGS="${GTK_DOC_CFLAGS}" LDFLAGS="${GTK_DOC_LDFLAGS} -L${CMAKE_CURRENT_BINARY_DIR} -L${CMAKE_CURRENT_BINARY_DIR} -luca `pkg-config --libs gtk+-2.0`" gtkdoc-scangobj --module=uca
+LD_LIBRARY_PATH=${CMAKE_CURRENT_BINARY_DIR}:/opt/pylon/lib64:/opt/pylon/genicam/bin/Linux64_x64 CC=gcc CFLAGS="${GTK_DOC_CFLAGS}" LDFLAGS="${GTK_DOC_LDFLAGS} -L${CMAKE_CURRENT_BINARY_DIR} -L${CMAKE_CURRENT_BINARY_DIR} -luca `pkg-config --libs gtk+-2.0`" gtkdoc-scangobj --module=uca
diff --git a/src/uca-camera.c b/src/uca-camera.c
index 1584569..78adae3 100644
--- a/src/uca-camera.c
+++ b/src/uca-camera.c
@@ -24,6 +24,10 @@
 #include "cameras/uca-pco-camera.h"
 #endif
 
+#ifdef HAVE_PYLON_CAMERA
+#include "cameras/uca-pylon-camera.h"
+#endif
+
 #ifdef HAVE_MOCK_CAMERA
 #include "cameras/uca-mock-camera.h"
 #endif
@@ -65,6 +69,9 @@ static gchar *uca_camera_types[] = {
 #ifdef HAVE_PCO_CL
         "pco",
 #endif
+#ifdef HAVE_PYLON_CAMERA
+        "pylon",
+#endif
 #ifdef HAVE_MOCK_CAMERA
         "mock",
 #endif
@@ -375,6 +382,11 @@ static UcaCamera *uca_camera_new_from_type(const gchar *type, GError **error)
         return UCA_CAMERA(uca_pco_camera_new(error));
 #endif
 
+#ifdef HAVE_PYLON_CAMERA
+    if (!g_strcmp0(type, "pylon"))
+        return UCA_CAMERA(uca_pylon_camera_new(error));
+#endif
+
 #ifdef HAVE_UFO_CAMERA
     if (!g_strcmp0(type, "ufo"))
         return UCA_CAMERA(uca_ufo_camera_new(error));
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 4f3bdc8..4686b84 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -16,6 +16,7 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/control.glade ${CMAKE_CURRENT_BINARY_
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/run.py ${CMAKE_CURRENT_BINARY_DIR})
 
 # --- Build targets -----------------------------------------------------------
+
 include_directories(
     ${GLIB2_INCLUDE_DIRS}
     ${GOBJECT2_INCLUDE_DIRS}
@@ -25,6 +26,19 @@ include_directories(
 
 message("${CMAKE_CURRENT_SOURCE_DIR}")
 
+if (HAVE_PYLON_CAMERA)
+  set(GENICAM_ROOT $ENV{PYLON_ROOT}/genicam)
+  # check for 32/64 bit
+  if (CMAKE_SIZEOF_VOID_P EQUAL 8)
+    set(PYLON_LIB_DIRS $ENV{PYLON_ROOT}/lib64 $ENV{PYLON_ROOT}/bin ${GENICAM_ROOT}/bin/Linux64_x64
+      ${GENICAM_ROOT}/bin/Linux64_x64/GenApi/Generic)
+  else()
+    set(PYLON_LIB_DIRS $ENV{PYLON_ROOT}/lib64 $ENV{PYLON_ROOT}/bin ${GENICAM_ROOT}/bin/Linux32_i86
+      ${GENICAM_ROOT}/bin/Linux32_i86/GenApi/Generic)
+  endif()
+  link_directories(${PYLON_LIB_DIRS} ${LIBPYLONCAM_LIBDIR})
+endif()
+
 add_executable(grab grab.c)
 add_executable(grab-async grab-async.c)
 add_executable(benchmark benchmark.c)
@@ -33,7 +47,14 @@ target_link_libraries(benchmark uca ${GLIB2_LIBRARIES} ${GOBJECT2_LIBRARIES})
 target_link_libraries(grab uca ${GLIB2_LIBRARIES} ${GOBJECT2_LIBRARIES})
 target_link_libraries(grab-async uca ${GLIB2_LIBRARIES} ${GOBJECT2_LIBRARIES})
 
-if (GTK2_FOUND)
+add_executable(grab_pylon grab_pylon.c)
+target_link_libraries(grab_pylon uca ${GLIB2_LIBRARIES} ${GOBJECT2_LIBRARIES})
+
+if (NOT DEFINED WITH_CONTROL_GUI)
+  set(WITH_CONTROL_GUI TRUE)
+endif()
+
+if (GTK2_FOUND AND WITH_CONTROL_GUI)
     include_directories(${GTK2_INCLUDE_DIRS})
 
     add_executable(control 
diff --git a/test/grab.c b/test/grab.c
index a4d4aa3..41e6d88 100644
--- a/test/grab.c
+++ b/test/grab.c
@@ -114,7 +114,7 @@ int main(int argc, char *argv[])
         uca_camera_start_recording(camera, &error);
         g_assert_no_error(error);
 
-        while (counter < 2) {
+        while (counter < 5) {
             g_print(" grab frame ... ");
             g_timer_start(timer);
             uca_camera_grab(camera, &buffer, &error);
@@ -131,6 +131,7 @@ int main(int argc, char *argv[])
             FILE *fp = fopen(filename, "wb");
             fwrite(buffer, roi_width * roi_height, pixel_size, fp);
             fclose(fp);
+            g_usleep(2 * G_USEC_PER_SEC);
         }
 
         g_print("Stop recording\n");
diff --git a/test/grab_pylon.c b/test/grab_pylon.c
new file mode 100644
index 0000000..2f9b5a0
--- /dev/null
+++ b/test/grab_pylon.c
@@ -0,0 +1,96 @@
+/* Copyright (C) 2011, 2012 Matthias Vogelgesang <matthias.vogelgesang@kit.edu>
+   (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 <glib-object.h>
+#include <signal.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include "uca-camera.h"
+
+#define handle_error(errno) {if ((errno) != UCA_NO_ERROR) printf("error at <%s:%i>\n", \
+    __FILE__, __LINE__);}
+
+static UcaCamera *camera = NULL;
+
+void sigint_handler(int signal)
+{
+    printf("Closing down libuca\n");
+    uca_camera_stop_recording(camera, NULL);
+    g_object_unref(camera);
+    exit(signal);
+}
+
+int main(int argc, char *argv[])
+{
+    GError *error = NULL;
+    (void) signal(SIGINT, sigint_handler);
+
+    g_type_init();
+    camera = uca_camera_new("pylon", &error);
+
+    if (camera == NULL) {
+        g_print("Couldn't initialize camera\n");
+        return 1;
+    }
+
+    guint width, height, bits;
+    g_object_get(G_OBJECT(camera),
+            "sensor-width", &width,
+            "sensor-height", &height,
+            "sensor-bitdepth", &bits,
+            NULL);
+
+    const int pixel_size = bits == 8 ? 1 : 2;
+    g_print("allocate buffer %u, %u, %d\n", width, height, pixel_size);
+    gpointer buffer = g_malloc0(width * height * pixel_size);
+
+    gchar filename[FILENAME_MAX];
+
+    for (int i = 0; i < 2; i++) {
+        gint counter = 0;
+        g_print("Start recording\n");
+        uca_camera_start_recording(camera, &error);
+        g_assert_no_error(error);
+
+        while (counter < 10) {
+            g_print(" grab frame ... ");
+            uca_camera_grab(camera, &buffer, &error);
+            if (error != NULL) {
+                g_print("\nError: %s\n", error->message);
+                goto cleanup;
+            }
+            g_print("done\n");
+
+            snprintf(filename, FILENAME_MAX, "frame-%08i.raw", counter++);
+            FILE *fp = fopen(filename, "wb");
+            fwrite(buffer, width*height, pixel_size, fp);
+            fclose(fp);
+            //g_usleep(2 * G_USEC_PER_SEC);
+        }
+
+        g_print("Stop recording\n");
+        uca_camera_stop_recording(camera, &error);
+        g_assert_no_error(error);
+    }
+
+cleanup:
+    uca_camera_stop_recording(camera, NULL);
+    g_object_unref(camera);
+    g_free(buffer);
+
+    return error != NULL ? 1 : 0;
+}