Complete (simple) frame grabbing

6 files changed, 75 insertions, 36 deletions

diff --git a/src/cameras/pco.c b/src/cameras/pco.c
index f65eb14..cfb5d6b 100644
--- a/src/cameras/pco.c
+++ b/src/cameras/pco.c
@@ -60,11 +60,13 @@ static uint32_t uca_pco_set_property(struct uca_camera_t *cam, enum uca_property
         case UCA_PROP_WIDTH:
             if (grabber->set_property(grabber, FG_WIDTH, (uint32_t *) data) != UCA_NO_ERROR)
                 return UCA_ERR_PROP_VALUE_OUT_OF_RANGE;
+            cam->frame_width = *((uint32_t *) data);
             break;
 
         case UCA_PROP_HEIGHT:
             if (grabber->set_property(grabber, FG_HEIGHT, (uint32_t *) data) != UCA_NO_ERROR)
                 return UCA_ERR_PROP_VALUE_OUT_OF_RANGE;
+            cam->frame_height = *((uint32_t *) data);
             break;
 
         case UCA_PROP_X_OFFSET:
@@ -109,11 +111,7 @@ static uint32_t uca_pco_get_property(struct uca_camera_t *cam, enum uca_property
             break;
 
         case UCA_PROP_WIDTH:
-            {
-                int w, h;
-                if (pco_get_actual_size(pco, &w, &h) == PCO_NOERROR)
-                    set_void(data, uint32_t, w);
-            }
+            set_void(data, uint32_t, cam->frame_width);
             break;
 
         case UCA_PROP_WIDTH_MIN:
@@ -125,11 +123,7 @@ static uint32_t uca_pco_get_property(struct uca_camera_t *cam, enum uca_property
             break;
 
         case UCA_PROP_HEIGHT:
-            {
-                int w, h;
-                if (pco_get_actual_size(pco, &w, &h) == PCO_NOERROR)
-                    set_void(data, uint32_t, h);
-            }
+            set_void(data, uint32_t, cam->frame_height);
             break;
 
         case UCA_PROP_HEIGHT_MIN:
@@ -179,19 +173,28 @@ static uint32_t uca_pco_get_property(struct uca_camera_t *cam, enum uca_property
 uint32_t uca_pco_start_recording(struct uca_camera_t *cam)
 {
     struct pco_edge_t *pco = GET_PCO(cam);
-    pco_arm_camera(pco);
-    pco_set_rec_state(pco, 1);
-    cam->grabber->acquire(cam->grabber, -1, true);
+    if (pco_arm_camera(pco) != PCO_NOERROR)
+        return UCA_ERR_CAM_ARM;
+    if (pco_set_rec_state(pco, 1) != PCO_NOERROR)
+        return UCA_ERR_CAM_RECORD;
+    return cam->grabber->acquire(cam->grabber, -1);
 }
 
 uint32_t uca_pco_stop_recording(struct uca_camera_t *cam)
 {
-    pco_set_rec_state(GET_PCO(cam), 0);
+    if (pco_set_rec_state(GET_PCO(cam), 0) != PCO_NOERROR)
+        return UCA_ERR_PROP_GENERAL;
 }
 
 uint32_t uca_pco_grab(struct uca_camera_t *cam, char *buffer, size_t n_bytes)
 {
-    cam->grabber->grab(cam->grabber, buffer, n_bytes);
+    uint16_t *frame;
+    uint32_t err = cam->grabber->grab(cam->grabber, (void **) &frame, n_bytes);
+    if (err != UCA_NO_ERROR)
+        return err;
+    /* FIXME: choose according to data format */
+    pco_reorder_image_5x16((uint16_t *) buffer, frame, cam->frame_width, cam->frame_height);
+    return UCA_NO_ERROR;
 }
 
 uint32_t uca_pco_init(struct uca_camera_t **cam, struct uca_grabber_t *grabber)
@@ -202,7 +205,7 @@ uint32_t uca_pco_init(struct uca_camera_t **cam, struct uca_grabber_t *grabber)
         return UCA_ERR_INIT_NOT_FOUND;
     }
 
-    if ((pco->serial_ref == NULL) || !pco_active(pco)) {
+    if ((pco->serial_ref == NULL) || !pco_is_active(pco)) {
         pco_destroy(pco);
         return UCA_ERR_INIT_NOT_FOUND;
     }
@@ -210,6 +213,7 @@ uint32_t uca_pco_init(struct uca_camera_t **cam, struct uca_grabber_t *grabber)
     struct uca_camera_t *uca = (struct uca_camera_t *) malloc(sizeof(struct uca_camera_t));
     uca->user = pco;
     uca->grabber = grabber;
+    uca->grabber->asynchronous = false;
 
     /* Camera found, set function pointers... */
     uca->destroy = &uca_pco_destroy;
@@ -240,6 +244,8 @@ uint32_t uca_pco_init(struct uca_camera_t **cam, struct uca_grabber_t *grabber)
 
     int width, height;
     pco_get_actual_size(pco, &width, &height);
+    uca->frame_width = width;
+    uca->frame_height = height;
 
     /* Yes, we really have to take an image twice as large because we set the
      * CameraLink interface to 8-bit 10 Taps, but are actually using 5x16 bits. */
diff --git a/src/grabbers/me4.c b/src/grabbers/me4.c
index 2196172..e907014 100644
--- a/src/grabbers/me4.c
+++ b/src/grabbers/me4.c
@@ -50,19 +50,40 @@ uint32_t uca_me4_alloc(struct uca_grabber_t *grabber, uint32_t n_buffers)
     return UCA_ERR_PROP_GENERAL;
 }
 
-uint32_t uca_me4_acquire(struct uca_grabber_t *grabber, int32_t n_frames, bool async)
+uint32_t uca_me4_acquire(struct uca_grabber_t *grabber, int32_t n_frames)
 {
-    if (GET_MEM(grabber) != NULL) {
-        if (Fg_AcquireEx(GET_FG(grabber), 0, n_frames, ACQ_STANDARD, GET_MEM(grabber)) != FG_OK)
-            return UCA_NO_ERROR;
-    }
-    return UCA_ERR_PROP_GENERAL;
+    if (GET_MEM(grabber) == NULL)
+        return UCA_ERR_GRABBER_NOMEM;
+
+    int flag = grabber->asynchronous ? ACQ_STANDARD : ACQ_BLOCK;
+    n_frames = n_frames < 0 ? GRAB_INFINITE : n_frames;
+    if (Fg_AcquireEx(GET_FG(grabber), 0, n_frames, flag, GET_MEM(grabber)) == FG_OK)
+        return UCA_NO_ERROR;
+
+    return UCA_ERR_GRABBER_ACQUIRE;
+}
+
+uint32_t uca_me4_stop_acquire(struct uca_grabber_t *grabber)
+{
+    if (GET_MEM(grabber) != NULL)
+        if (Fg_stopAcquireEx(GET_FG(grabber), 0, GET_MEM(grabber), STOP_SYNC) != FG_OK)
+            return UCA_ERR_PROP_GENERAL;
+    return UCA_NO_ERROR;
 }
 
-uint32_t uca_me4_grab(struct uca_grabber_t *grabber, char *buffer, size_t n_bytes)
+uint32_t uca_me4_grab(struct uca_grabber_t *grabber, void **buffer, size_t n_bytes)
 {
-    uint32_t last_frame = Fg_getLastPicNumber(GET_FG(grabber), PORT_A);
-    memcpy(buffer, Fg_getImagePtrEx(GET_FG(grabber), last_frame, PORT_A, GET_MEM(grabber)), n_bytes);
+    int32_t last_frame;
+    if (grabber->asynchronous)
+        last_frame = Fg_getLastPicNumberEx(GET_FG(grabber), PORT_A, GET_MEM(grabber));
+    else 
+        last_frame = Fg_getLastPicNumberBlockingEx(GET_FG(grabber), 1, PORT_A, 10, GET_MEM(grabber));
+
+    if (last_frame <= 0)
+        return UCA_ERR_PROP_GENERAL;
+
+    *buffer = Fg_getImagePtrEx(GET_FG(grabber), last_frame, PORT_A, GET_MEM(grabber));
+    return UCA_NO_ERROR;
 }
 
 uint32_t uca_me4_init(struct uca_grabber_t **grabber)
@@ -83,6 +104,7 @@ uint32_t uca_me4_init(struct uca_grabber_t **grabber)
     uca->get_property = &uca_me4_get_property;
     uca->alloc = &uca_me4_alloc;
     uca->acquire = &uca_me4_acquire;
+    uca->stop_acquire = &uca_me4_stop_acquire;
     uca->grab = &uca_me4_grab;
     
     *grabber = uca;
diff --git a/src/uca-cam.h b/src/uca-cam.h
index f9db0b7..db780da 100644
--- a/src/uca-cam.h
+++ b/src/uca-cam.h
@@ -76,6 +76,8 @@ struct uca_camera_t {
 
     struct uca_grabber_t    *grabber;
     enum uca_cam_state      state;
+    uint32_t                frame_width;
+    uint32_t                frame_height;
 
     void *user; /**< private user data to be used by the camera driver */
 };
diff --git a/src/uca-grabber.h b/src/uca-grabber.h
index 0e203e1..dd68688 100644
--- a/src/uca-grabber.h
+++ b/src/uca-grabber.h
@@ -44,9 +44,11 @@ typedef uint32_t (*uca_grabber_alloc) (struct uca_grabber_t *grabber, uint32_t n
  * \param[in] n_frames Number of frames to acquire, -1 means infinite number
  * \param[in] async Grab asynchronous if true
  */
-typedef uint32_t (*uca_grabber_acquire) (struct uca_grabber_t *grabber, int32_t n_frames, bool async);
+typedef uint32_t (*uca_grabber_acquire) (struct uca_grabber_t *grabber, int32_t n_frames);
 
-typedef uint32_t (*uca_grabber_grab) (struct uca_grabber_t *grabber, char *buffer, size_t n_bytes);
+typedef uint32_t (*uca_grabber_stop_acquire) (struct uca_grabber_t *grabber);
+
+typedef uint32_t (*uca_grabber_grab) (struct uca_grabber_t *grabber, void **buffer, size_t n_bytes);
 
 
 struct uca_grabber_t {
@@ -58,9 +60,11 @@ struct uca_grabber_t {
     uca_grabber_get_property get_property;
     uca_grabber_alloc        alloc;
     uca_grabber_acquire      acquire;
+    uca_grabber_stop_acquire stop_acquire;
     uca_grabber_grab         grab;
 
     /* Private */
+    bool asynchronous;
     void *user;
 };
 
diff --git a/src/uca.h b/src/uca.h
index 5415c90..893d51c 100644
--- a/src/uca.h
+++ b/src/uca.h
@@ -117,12 +117,19 @@ struct uca_property_t {
     } type;
 };
 
-
-#define UCA_NO_ERROR                    0
-#define UCA_ERR_INIT_NOT_FOUND          1   /**< camera probing or initialization failed */
-#define UCA_ERR_PROP_INVALID            2   /**< the requested property is not supported by the camera */
-#define UCA_ERR_PROP_GENERAL            3   /**< error occured reading/writing the property */
-#define UCA_ERR_PROP_VALUE_OUT_OF_RANGE 4   /**< error occured writing the property */
+enum uca_errors {
+    UCA_NO_ERROR = 0,
+    UCA_ERR_INIT_NOT_FOUND,             /**< camera probing or initialization failed */
+    UCA_ERR_PROP_INVALID,               /**< the requested property is not supported by the camera */
+    UCA_ERR_PROP_GENERAL,               /**< error occured reading/writing the property */
+    UCA_ERR_PROP_VALUE_OUT_OF_RANGE,    /**< error occured writing the property */
+
+    UCA_ERR_CAM_ARM,
+    UCA_ERR_CAM_RECORD,
+
+    UCA_ERR_GRABBER_ACQUIRE,
+    UCA_ERR_GRABBER_NOMEM
+};
 
 struct uca_t {
     struct uca_camera_t *cameras;
diff --git a/test/grab.c b/test/grab.c
index 34453da..aeed8c6 100644
--- a/test/grab.c
+++ b/test/grab.c
@@ -23,10 +23,8 @@ int main(int argc, char *argv[])
     uint32_t width, height;
     cam->get_property(cam, UCA_PROP_WIDTH, &width);
     cam->get_property(cam, UCA_PROP_HEIGHT, &height);
-    printf("Image dimensions: %ix%i\n", width, height);
 
-    if (uca_cam_alloc(cam, 20) != UCA_NO_ERROR)
-        printf("Couldn't allocate buffer memory\n");
+    uca_cam_alloc(cam, 20);
 
     uint16_t *buffer = (uint16_t *) malloc(width * height * 2);