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| -rw-r--r-- | docs/conf.py | 53 | ||||
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diff --git a/docs/Makefile b/docs/Makefile index 7ccaf43..690ab55 100644 --- a/docs/Makefile +++ b/docs/Makefile @@ -1,24 +1,153 @@ -PANDOC=$(shell which pandoc) -OPTS=-s --smart --toc -MANUAL=manual.md -NEWS=../NEWS -INPUTS=$(MANUAL) $(NEWS) +# Makefile for Sphinx documentation +# -all: pdf html +# You can set these variables from the command line. +SPHINXOPTS = +SPHINXBUILD = sphinx-build +PAPER = +BUILDDIR = _build -pdf: manual.pdf +# Internal variables. +PAPEROPT_a4 = -D latex_paper_size=a4 +PAPEROPT_letter = -D latex_paper_size=letter +ALLSPHINXOPTS = -d $(BUILDDIR)/doctrees $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) . +# the i18n builder cannot share the environment and doctrees with the others +I18NSPHINXOPTS = $(PAPEROPT_$(PAPER)) $(SPHINXOPTS) . -html: manual.html +.PHONY: help clean html dirhtml singlehtml pickle json htmlhelp qthelp devhelp epub latex latexpdf text man changes linkcheck doctest gettext + +help: + @echo "Please use \`make <target>' where <target> is one of" + @echo " html to make standalone HTML files" + @echo " dirhtml to make HTML files named index.html in directories" + @echo " singlehtml to make a single large HTML file" + @echo " pickle to make pickle files" + @echo " json to make JSON files" + @echo " htmlhelp to make HTML files and a HTML help project" + @echo " qthelp to make HTML files and a qthelp project" + @echo " devhelp to make HTML files and a Devhelp project" + @echo " epub to make an epub" + @echo " latex to make LaTeX files, you can set PAPER=a4 or PAPER=letter" + @echo " latexpdf to make LaTeX files and run them through pdflatex" + @echo " text to make text files" + @echo " man to make manual pages" + @echo " texinfo to make Texinfo files" + @echo " info to make Texinfo files and run them through makeinfo" + @echo " gettext to make PO message catalogs" + @echo " changes to make an overview of all changed/added/deprecated items" + @echo " linkcheck to check all external links for integrity" + @echo " doctest to run all doctests embedded in the documentation (if enabled)" clean: - rm -f manual.pdf manual.html + -rm -rf $(BUILDDIR)/* + +html: + $(SPHINXBUILD) -b html $(ALLSPHINXOPTS) $(BUILDDIR)/html + @echo + @echo "Build finished. The HTML pages are in $(BUILDDIR)/html." + +dirhtml: + $(SPHINXBUILD) -b dirhtml $(ALLSPHINXOPTS) $(BUILDDIR)/dirhtml + @echo + @echo "Build finished. The HTML pages are in $(BUILDDIR)/dirhtml." + +singlehtml: + $(SPHINXBUILD) -b singlehtml $(ALLSPHINXOPTS) $(BUILDDIR)/singlehtml + @echo + @echo "Build finished. The HTML page is in $(BUILDDIR)/singlehtml." + +pickle: + $(SPHINXBUILD) -b pickle $(ALLSPHINXOPTS) $(BUILDDIR)/pickle + @echo + @echo "Build finished; now you can process the pickle files." + +json: + $(SPHINXBUILD) -b json $(ALLSPHINXOPTS) $(BUILDDIR)/json + @echo + @echo "Build finished; now you can process the JSON files." + +htmlhelp: + $(SPHINXBUILD) -b htmlhelp $(ALLSPHINXOPTS) $(BUILDDIR)/htmlhelp + @echo + @echo "Build finished; now you can run HTML Help Workshop with the" \ + ".hhp project file in $(BUILDDIR)/htmlhelp." + +qthelp: + $(SPHINXBUILD) -b qthelp $(ALLSPHINXOPTS) $(BUILDDIR)/qthelp + @echo + @echo "Build finished; now you can run "qcollectiongenerator" with the" \ + ".qhcp project file in $(BUILDDIR)/qthelp, like this:" + @echo "# qcollectiongenerator $(BUILDDIR)/qthelp/libuca.qhcp" + @echo "To view the help file:" + @echo "# assistant -collectionFile $(BUILDDIR)/qthelp/libuca.qhc" + +devhelp: + $(SPHINXBUILD) -b devhelp $(ALLSPHINXOPTS) $(BUILDDIR)/devhelp + @echo + @echo "Build finished." + @echo "To view the help file:" + @echo "# mkdir -p $$HOME/.local/share/devhelp/libuca" + @echo "# ln -s $(BUILDDIR)/devhelp $$HOME/.local/share/devhelp/libuca" + @echo "# devhelp" + +epub: + $(SPHINXBUILD) -b epub $(ALLSPHINXOPTS) $(BUILDDIR)/epub + @echo + @echo "Build finished. The epub file is in $(BUILDDIR)/epub." + +latex: + $(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex + @echo + @echo "Build finished; the LaTeX files are in $(BUILDDIR)/latex." + @echo "Run \`make' in that directory to run these through (pdf)latex" \ + "(use \`make latexpdf' here to do that automatically)." + +latexpdf: + $(SPHINXBUILD) -b latex $(ALLSPHINXOPTS) $(BUILDDIR)/latex + @echo "Running LaTeX files through pdflatex..." + $(MAKE) -C $(BUILDDIR)/latex all-pdf + @echo "pdflatex finished; the PDF files are in $(BUILDDIR)/latex." + +text: + $(SPHINXBUILD) -b text $(ALLSPHINXOPTS) $(BUILDDIR)/text + @echo + @echo "Build finished. The text files are in $(BUILDDIR)/text." + +man: + $(SPHINXBUILD) -b man $(ALLSPHINXOPTS) $(BUILDDIR)/man + @echo + @echo "Build finished. The manual pages are in $(BUILDDIR)/man." + +texinfo: + $(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo + @echo + @echo "Build finished. The Texinfo files are in $(BUILDDIR)/texinfo." + @echo "Run \`make' in that directory to run these through makeinfo" \ + "(use \`make info' here to do that automatically)." + +info: + $(SPHINXBUILD) -b texinfo $(ALLSPHINXOPTS) $(BUILDDIR)/texinfo + @echo "Running Texinfo files through makeinfo..." + make -C $(BUILDDIR)/texinfo info + @echo "makeinfo finished; the Info files are in $(BUILDDIR)/texinfo." + +gettext: + $(SPHINXBUILD) -b gettext $(I18NSPHINXOPTS) $(BUILDDIR)/locale + @echo + @echo "Build finished. The message catalogs are in $(BUILDDIR)/locale." -manual.pdf: $(INPUTS) - $(PANDOC) $(OPTS) $(INPUTS) --latex-engine=xelatex -o $@ +changes: + $(SPHINXBUILD) -b changes $(ALLSPHINXOPTS) $(BUILDDIR)/changes + @echo + @echo "The overview file is in $(BUILDDIR)/changes." -manual.html: $(INPUTS) style.css - $(PANDOC) $(OPTS) $(INPUTS) -H webfonts.html -c style.css -o $@ +linkcheck: + $(SPHINXBUILD) -b linkcheck $(ALLSPHINXOPTS) $(BUILDDIR)/linkcheck + @echo + @echo "Link check complete; look for any errors in the above output " \ + "or in $(BUILDDIR)/linkcheck/output.txt." -ifeq ($(PANDOC),) - $(warning Pandoc not found!) -endif +doctest: + $(SPHINXBUILD) -b doctest $(ALLSPHINXOPTS) $(BUILDDIR)/doctest + @echo "Testing of doctests in the sources finished, look at the " \ + "results in $(BUILDDIR)/doctest/output.txt." diff --git a/docs/conf.py b/docs/conf.py new file mode 100644 index 0000000..ac1a43e --- /dev/null +++ b/docs/conf.py @@ -0,0 +1,53 @@ +# -*- coding: utf-8 -*- + +import re + +def get_version(): + patterns = [ + r'^set\(UCA_VERSION_MAJOR "(\d*)"\)', + r'^set\(UCA_VERSION_MINOR "(\d*)"\)', + r'^set\(UCA_VERSION_PATCH "(\d*)"\)' + ] + version = ["0", "0", "0"] + + with open('../CMakeLists.txt', 'r') as f: + lines = f.readlines() + major_pattern = r'^set\(UCA_VERSION_MAJOR "(\d*)"\)' + + for line in lines: + for i, pattern in enumerate(patterns): + m = re.match(pattern, line) + + if m: + version[i] = m.group(1) + + return '.'.join(version) + +extensions = [] +templates_path = ['_templates'] +source_suffix = '.rst' +master_doc = 'index' + +project = u'libuca' +copyright = u'2014, Matthias Vogelgesang' + +version = get_version() +release = version + +exclude_patterns = ['_build'] +pygments_style = 'sphinx' + +html_theme = 'default' + +html_static_path = ['_static'] +htmlhelp_basename = 'libucadoc' + +latex_documents = [ + ('index', 'libuca.tex', u'libuca Documentation', + u'Matthias Vogelgesang', 'manual'), +] + +man_pages = [ + ('index', 'libuca', u'libuca Documentation', + [u'Matthias Vogelgesang'], 1) +] diff --git a/docs/index.rst b/docs/index.rst new file mode 100644 index 0000000..0ac412a --- /dev/null +++ b/docs/index.rst @@ -0,0 +1,690 @@ +Welcome +======= + +libuca is a light-weight camera abstraction library, focused on scientific +cameras used at the ANKA synchrotron. + + +Quickstart +========== + +Installation +------------ + +Before installing ``libuca`` itself, you should install any drivers and +SDKs needed to access the cameras you want to access through ``libuca``. +Now you have two options: install pre-built packages or build from +source. + + +Installing packages +~~~~~~~~~~~~~~~~~~~ + +Packages for the core library and all plugins are currently provided for +openSUSE. To install them run ``zypper``: + +:: + + sudo zypper in libuca-x.y.z-x86_64.rpm + sudo zypper in uca-plugin-*.rpm + +To install development files such as headers, you have to install the +``libuca-x.y.z-devel.rpm`` package. + + +Building from source +~~~~~~~~~~~~~~~~~~~~ + +Building the library and installing from source is simple and +straightforward. Make sure you have + +- CMake, +- a C compiler, +- GLib and GObject development libraries and +- necessary camera SDKs + +installed. + +For the base system, install :: + + [Debian] sudo apt-get install libglib2.0 cmake gcc + [openSUSE] sudo zypper in glib2-devel cmake gcc + +In case you want to use the graphical user interface you also need the +Gtk+ development libraries:: + + [Debian] sudo apt-get install libgtk+2.0-dev + [openSUSE] sudo zypper in gtk2-devel + +To generate bindings for third-party languages, you have to install :: + + [Debian] sudo apt-get install gobject-introspection + [openSUSE] sudo zypper in gobject-introspection-devel + + +Fetching the sources +^^^^^^^^^^^^^^^^^^^^ + +Untar the distribution :: + + untar xfz libuca-x.y.z.tar.gz + +or clone the repository :: + + git clone http://ufo.kit.edu/git/libuca + +and create a new, empty build directory inside:: + + cd libuca/ + mkdir build + + +Configuring and building +^^^^^^^^^^^^^^^^^^^^^^^^ + +Now you need to create the Makefile with CMake. Go into the build +directory and point CMake to the ``libuca`` top-level directory:: + + cd build/ + cmake .. + +As long as the last line reads "Build files have been written to", the +configuration stage is successful. In this case you can build ``libuca`` +with :: + + make + +and install with :: + + sudo make install + +If an *essential* dependency could not be found, the configuration stage +will stop and build files will not be written. If a *non-essential* +dependency (such as a certain camera SDK) is not found, the +configuration stage will continue but that particular camera support not +built. + +If you want to customize the build process you can pass several +variables to CMake:: + + cmake .. -DPREFIX=/usr -DLIBDIR=/usr/lib64 + +The former tells CMake to install into ``/usr`` instead of +``/usr/local`` and the latter that we want to install the libraries and +plugins into the ``lib64`` subdir instead of the default ``lib`` subdir +as it is common on SUSE systems. + + +First look at the API +--------------------- + +.. highlight:: c + +The API for accessing cameras is straightforward. First you need to +include the necessary header files:: + + #include <glib-object.h> + #include <uca/uca-plugin-manager.h> + #include <uca/uca-camera.h> + +Then you need to setup the type system:: + + int + main (int argc, char *argv[]) + { + UcaPluginManager *manager; + UcaCamera *camera; + GError *error = NULL; /* this _must_ be set to NULL */ + + g_type_init (); + +Now you can instantiate new camera *objects*. Each camera is identified +by a human-readable string, in this case we want to access any pco +camera that is supported by +`libpco <http://ufo.kit.edu/repos/libpco.git/>`__. To instantiate a +camera we have to create a plugin manager first:: + + manager = uca_plugin_manager_new (); + camera = uca_plugin_manager_get_camera (manager, "pco", &error); + +Errors are indicated with a returned value ``NULL`` and ``error`` set to +a value other than ``NULL``:: + + if (camera == NULL) { + g_error ("Initialization: %s", error->message); + return 1; + } + +You should always remove the +`reference <http://developer.gnome.org/gobject/stable/gobject-memory.html#gobject-memory-refcount>`__ +from the camera object when not using it in order to free all associated +resources:: + + g_object_unref (camera); + return 0; + } + +Compile this program with :: + + cc `pkg-config --cflags --libs libuca glib-2.0` foo.c -o foo + +Now, run ``foo`` and verify that no errors occur. + + +Grabbing frames +~~~~~~~~~~~~~~~ + +To synchronously grab frames, first start the camera:: + + uca_camera_start_recording (camera, &error); + g_assert_no_error (error); + +Now, you have to allocate a suitably sized buffer and pass it to +``uca_camera_grab``:: + + gpointer buffer = g_malloc0 (640 * 480 * 2); + + uca_camera_grab (camera, buffer, &error); + +You have to make sure that the buffer is large enough by querying the +size of the region of interest and the number of bits that are +transferred. + + +Getting and setting camera parameters +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +Because camera parameters vary tremendously between different vendors +and products, they are realized with so-called GObject *properties*, a +mechanism that maps string keys to typed and access restricted values. +To get a value, you use the ``g_object_get`` function and provide memory +where the result is stored:: + + guint roi_width; + gdouble exposure_time; + + g_object_get (G_OBJECT(camera), + "roi-width", &roi_width, + "exposure-time", &exposure_time, + /* The NULL marks the end! */ + NULL + ); + + g_print ("Width of the region of interest: %d\n", roi_width); + g_print ("Exposure time: %3.5s\n", exposure_time); + +In a similar way, properties are set with ``g_object_set``:: + + guint roi_width = 512; + gdouble exposure_time = 0.001; + + g_object_set (G_OBJECT (camera), + "roi-width", roi_width, + "exposure-time", exposure_time, + NULL); + +Each property can be associated with a physical unit. To query for the +unit call ``uca_camera_get_unit`` and pass a property name. The function +will then return a value from the ``UcaUnit`` enum. + +Several essential camera parameters *must* be implemented by all +cameras. To get a list of them consult the API reference for +```UcaCamera`` <http://ufo.kit.edu/extra/libuca/reference/UcaCamera.html#UcaCamera.properties>`__. +For camera specific parameters you need to consult the corresponding API +reference for ``UfoFooCamera``. The latest nightly built reference can +be found `here <http://ufo.kit.edu/extra/libuca/reference/>`__. + + +Supported cameras +================= + +The following cameras are supported: + +- pco.edge, pco.dimax, pco.4000 (all CameraLink) via + `libpco <http://ufo.kit.edu/repos/libpco.git/>`__. You need to have + the SiliconSoftware frame grabber SDK with the ``menable`` kernel + module installed. +- PhotonFocus +- Pylon +- UFO Camera developed at KIT/IPE. + + +Property documentation +---------------------- + +- `mock <mock.html>`__ +- `pco <pco.html>`__ +- `PhotonFocus <pf.html>`__ +- `Ufo Camera <ufo.html>`__ + + +More API +======== + +In the `last section <#first-look-at-the-api>`__, we had a quick glance +over the basic API used to communicate with the camera. Now we will go +into more detail. + + +Instantiating cameras +--------------------- + +We have already seen how to instantiate a camera object from a name. If +you have more than one camera connected to a machine, you will most +likely want the user decide which to use. To do so, you can enumerate +all camera strings with ``uca_plugin_manager_get_available_cameras``:: + + GList *types; + + types = uca_camera_get_available_cameras (manager); + + for (GList *it = g_list_first; it != NULL; it = g_list_next (it)) + g_print ("%s\n", (gchar *) it->data); + + /* free the strings and the list */ + g_list_foreach (types, (GFunc) g_free, NULL); + g_list_free (types); + + +Errors +------ + +All public API functions take a location of a pointer to a ``GError`` +structure as a last argument. You can pass in a ``NULL`` value, in which +case you cannot be notified about exceptional behavior. On the other +hand, if you pass in a pointer to a ``GError``, it must be initialized +with ``NULL`` so that you do not accidentally overwrite and miss an +error occurred earlier. + +Read more about ``GError``\ s in the official GLib +`documentation <http://developer.gnome.org/glib/stable/glib-Error-Reporting.html>`__. + + +Recording +--------- + +Recording frames is independent of actually grabbing them and is started +with ``uca_camera_start_recording``. You should always stop the +recording with ``ufo_camera_stop_recording`` when you finished. When the +recording has started, you can grab frames synchronously as described +earlier. In this mode, a block to ``uca_camera_grab`` blocks until a +frame is read from the camera. Grabbing might block indefinitely, when +the camera is not functioning correctly or it is not triggered +automatically. + + +Triggering +---------- + +``libuca`` supports three trigger modes through the "trigger-mode" +property: + +1. ``UCA_CAMERA_TRIGGER_AUTO``: Exposure is triggered by the camera + itself. +2. ``UCA_CAMERA_TRIGGER_INTERNAL``: Exposure is triggered via software. +3. ``UCA_CAMERA_TRIGGER_EXTERNAL``: Exposure is triggered by an external + hardware mechanism. + +With ``UCA_CAMERA_TRIGGER_INTERNAL`` you have to trigger with +``uca_camera_trigger``:: + + /* thread A */ + g_object_set (G_OBJECT (camera), + "trigger-mode", UCA_CAMERA_TRIGGER_INTERNAL, + NULL); + + uca_camera_start_recording (camera, NULL); + uca_camera_grab (camera, &buffer, NULL); + uca_camera_stop_recording (camera, NULL); + + /* thread B */ + uca_camera_trigger (camera, NULL); + + +Grabbing frames asynchronously +------------------------------ + +In some applications, it might make sense to setup asynchronous frame +acquisition, for which you will not be blocked by a call to ``libuca``:: + + static void + callback (gpointer buffer, gpointer user_data) + { + /* + * Do something useful with the buffer and the string we have got. + */ + } + + static void + setup_async (UcaCamera *camera) + { + gchar *s = g_strdup ("lorem ipsum"); + + g_object_set (G_OBJECT (camera), + "transfer-asynchronously", TRUE, + NULL); + + uca_camera_set_grab_func (camera, callback, s); + uca_camera_start_recording (camera, NULL); + + /* + * We will return here and `callback` will be called for each newo + * new frame. + */ + } + + +Bindings +======== + +.. highlight:: python + +Since version 1.1, libuca generates GObject introspection meta data if +``g-ir-scanner`` and ``g-ir-compiler`` can be found. When the XML +description ``Uca-x.y.gir`` and the typelib ``Uca-x.y.typelib`` are +installed, GI-aware languages can access libuca and create and modify +cameras, for example in Python:: + + from gi.repository import Uca + + pm = Uca.PluginManager() + + # List all cameras + print(pm.get_available_cameras()) + + # Load a camera + cam = pm.get_camerav('pco', []) + + # You can read and write properties in two ways + cam.set_properties(exposure_time=0.05) + cam.props.roi_width = 1024 + +Note, that the naming of classes and properties depends on the GI +implementation of the target language. For example with Python, the +namespace prefix ``uca_`` becomes the module name ``Uca`` and dashes +separating property names become underscores. + +Integration with Numpy is relatively straightforward. The most important +thing is to get the data pointer from a Numpy array to pass it to +``uca_camera_grab``:: + + import numpy as np + + def create_array_from(camera): + """Create a suitably sized Numpy array and return it together with the + arrays data pointer""" + bits = camera.props.sensor_bitdepth + dtype = np.uint16 if bits > 8 else np.uint8 + a = np.zeros((cam.props.roi_height, cam.props.roi_width), dtype=dtype) + return a, a.__array_interface__['data'][0] + + # Suppose 'camera' is a already available, you would get the camera data like + # this: + a, buf = create_array_from(camera) + camera.start_recording() + camera.grab(buf) + + # Now data is in 'a' and we can use Numpy functions on it + print(np.mean(a)) + + camera.stop_recording() + + +Integrating new cameras +======================= + +A new camera is integrated by +`sub-classing <http://developer.gnome.org/gobject/stable/howto-gobject.html>`__ +``UcaCamera`` and implement all virtual methods. The simplest way is to +take the ``mock`` camera and rename all occurences. Note, that if you +class is going to be called ``FooBar``, the upper case variant is +``FOO_BAR`` and the lower case variant is ``foo_bar``. + +In order to fully implement a camera, you need to override at least the +following virtual methods: + +- ``start_recording``: Take suitable actions so that a subsequent call + to ``grab`` delivers an image or blocks until one is exposed. +- ``stop_recording``: Stop recording so that subsequent calls to + ``grab`` fail. +- ``grab``: Return an image from the camera or block until one is + ready. + + +Asynchronous operation +---------------------- + +When the camera supports asynchronous acquisition and announces it with +a true boolean value for ``"transfer-asynchronously"``, a mechanism must +be setup up during ``start_recording`` so that for each new frame the +grab func callback is called. + + +Cameras with internal memory +---------------------------- + +Cameras such as the pco.dimax record into their own on-board memory +rather than streaming directly to the host PC. In this case, both +``start_recording`` and ``stop_recording`` initiate and end acquisition +to the on-board memory. To initiate a data transfer, the host calls +``start_readout`` which must be suitably implemented. The actual data +transfer happens either with ``grab`` or asynchronously. + + +Tools +===== + +Several tools are available to ensure ``libuca`` works as expected. All +of them are located in ``build/test/`` and some of them are installed +with ``make installed``. + + +``uca-grab`` -- grabbing frames +------------------------------- + +Grab with frames with :: + + $ uca-grab --num-frames=10 camera-model + +store them on disk as ``frames.tif`` if ``libtiff`` is installed, +otherwise as ``frame-00000.raw``, ``frame-000001.raw``. The raw format +is a memory dump of the frames, so you might want to use +`ImageJ <http://rsbweb.nih.gov/ij/>`__ to view them. You can also +specify the output filename or filename prefix with the ``-o/--output`` +option:: + + $ uca-grab -n 10 --output=foobar.tif camera-model + +Instead of reading exactly *n* frames, you can also specify a duration +in fractions of seconds:: + + $ uca-grab --duration=0.25 camera-model + + +``uca-camera-control`` -- simple graphical user interface +--------------------------------------------------------- + +Shows the frames and displays them on screen. Moreover, you can change +the camera properties in a side pane. + + +``uca-benchmark`` -- check bandwidth +------------------------------------ + +Measure the memory bandwidth by taking subsequent frames and averaging +the grabbing time: + +:: + + $ ./benchmark mock + # --- General information --- + # Sensor size: 640x480 + # ROI size: 640x480 + # Exposure time: 0.000010s + # type n_frames n_runs frames/s MiB/s + sync 100 3 29848.98 8744.82 + async 100 3 15739.43 4611.16 + + +The GObject Tango device +======================== + +UcaDevice is a generic Tango Device that wraps ``libuca`` in order to +make libuca controlled cameras available as Tango devices. + + +Architecture +------------ + +UcaDevice is derived from GObjectDevice and adds libuca specific features like +start/stop recording etc. The most important feature is *acquisition control*. +UcaDevice is responsible for controlling acquisition of images from libuca. The +last aquired image can be accessed by reading attribute ``SingleImage``. +UcaDevice is most useful together with ImageDevice. If used together, UcaDevice +sends each aquired image to ImageDevice, which in turn does configured +post-processing like flipping, rotating or writing the image to disk. + + +Attributes +~~~~~~~~~~ + +Besides the dynamic attributes translated from libuca properties +UcaDevice has the following attributes: + +- ``NumberOfImages (Tango::DevLong)``: how many images should be + acquired? A value of -1 means unlimited *(read/write)* +- ``ImageCounter (Tango::DevULong)``: current number of acquired images + *(read-only)* +- ``CameraName (Tango::DevString)``: name of libuca object type + *(read-only)* +- ``SingleImage (Tango::DevUChar)``: holds the last acquired image + + +Acquisition Control +~~~~~~~~~~~~~~~~~~~ + +In UcaDevice acquisition control is mostly implemented by two +``yat4tango::DeviceTasks``: *AcquisitionTask* and *GrabTask*. +*GrabTask*'s only responsibility is to call ``grab`` on ``libuca`` +synchronously and post the data on to AcquisitionTask. + +*AcquisitionTask* is responsible for starting and stopping GrabTask and +for passing image data on to ``ImageDevice`` (if exisiting) and to +``UcaDevice`` for storage in attribute ``SingleImage``. It counts how +many images have been acquired and checks this number against the +configured ``NumberOfImages``. If the desired number is reached, it +stops GrabTask, calls ``stop_recording`` on ``libuca`` and sets the +Tango state to STANDBY. + + +Plugins +~~~~~~~ + +As different cameras have different needs, plugins are used for special +implementations. Plugins also makes UcaDevice and Tango Servers based on +it more flexible and independent of libuca implementation. + +* PCO: The Pco plugin implements additional checks when writing ROI values. +* Pylon: The Pylon plugin sets default values for ``roi-width`` and + ``roi-height`` from libuca properties ``roi-width-default`` and + ``roi-height-default``. + + +Installation +------------ + +Detailed installation depends on the manifestation of UcaDevice. All +manifestations depend on the following libraries: + +- YAT +- YAT4Tango +- Tango +- GObjectDevice +- ImageDevice + + +Build +~~~~~ + +:: + + export PKG_CONFIG_PATH=/usr/lib/pkgconfig + export PYLON_ROOT=/usr/pylon + export LD_LIBRARY_PATH=$PYLON_ROOT/lib64:$PYLON_ROOT/genicam/bin/Linux64_x64 + git clone git@iss-repo:UcaDevice.git + cd UcaDevice + mkdir build + cd build + cmake .. + make + + +Setup in Tango Database / Jive +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +Before ``ds_UcaDevice`` can be started, it has to be registered manually +in the Tango database. With ``Jive`` the following steps are necessary: + +1. Register Server Menu *Tools* → Server Wizard Server name → ds\_UcaDevice + Instance name → my\_server *(name can be chosen freely)* Next Cancel + +2. Register Classes and Instances In tab *Server*: context menu on + ds\_UcaDevice → my\_server → Add Class Class: UcaDevice Devices: + ``iss/name1/name2`` Register server same for class ImageDevice + +3. Start server :: + + export TANGO_HOST=anka-tango:100xx + export UCA_DEVICE_PLUGINS_DIR=/usr/lib(64) + ds_UcaDevice pco my_server + +4. Setup properties for UcaDevice context menu on device → Device wizard + Property StorageDevice: *address of previously registered ImageDevice + instance* + +5. Setup properties for ImageDevice context menu on device → Device wizard + PixelSize: how many bytes per pixel for the images of this camera? + GrabbingDevice: *address of previously registered UcaDevice instance* + +6. Finish restart ds_UcaDevice + +FAQ +--- + +*UcaDevice refuses to start up...?* Most likely there is no instance +registered for class UcaDevice. Register an instance for this class and +it should work. + +*Why does UcaDevice depend on ImageDevice?* UcaDevice pushes each new +Frame to ImageDevice. Polling is not only less efficient but also prone +to errors, e.g. missed/double frames and so on. Perhaps we could use the +Tango-Event-System here! + +Open Questions, Missing Features etc. +------------------------------------- + +* *Why do we need to specify ``Storage`` for UcaDevice and ``GrabbingDevice`` + for ImageDevice?* + + ImageDevice needs the Tango-Address of UcaDevice to mirror all Attributes and + Commands and to forward them to it. UcaDevice needs the Tango-Address of + ImageDevice to push a new frame on reception. A more convenient solution could + be using conventions for the device names, e.g. of the form + ``$prefix/$instance_name/uca`` and ``$prefix/$instance_name/image``. That way + we could get rid of the two Device-Properties and an easier installation + without the process of registering the classes and instances in ``Jive``. + +* *Why does UcaDevice dynamically link to GObjectDevice?* + + There is no good reason for it. Packaging and installing would be easier if we + linked statically to ``GObjectDevice`` because we would hide this dependency. + Having a separate ``GObjectDevice`` is generally a nice feature to make + ``GObjects`` available in Tango. However, there is currently no GObjectDevice + in use other than in the context of UcaDevice. + +* *Why must the plugin name be given as a command line parameter instead of a + Device-Property?* + + There is no good reason for it. UcaDevice would be easier to use, if the + plugin was configured in the Tango database as a Device-Property for the + respective server instance. |