diff options
Diffstat (limited to 'plugins/xkit/uca-xkit-camera.c')
| -rw-r--r-- | plugins/xkit/uca-xkit-camera.c | 728 |
1 files changed, 0 insertions, 728 deletions
diff --git a/plugins/xkit/uca-xkit-camera.c b/plugins/xkit/uca-xkit-camera.c deleted file mode 100644 index 3240ea7..0000000 --- a/plugins/xkit/uca-xkit-camera.c +++ /dev/null @@ -1,728 +0,0 @@ -/* Copyright (C) 2011-2013 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 <gio/gio.h> -#include <gmodule.h> -#include <stdio.h> -#include <string.h> -#include <errno.h> - -#include "uca-camera.h" -#include "uca-xkit-camera.h" - - -#define UCA_XKIT_CAMERA_GET_PRIVATE(obj) (G_TYPE_INSTANCE_GET_PRIVATE((obj), UCA_TYPE_XKIT_CAMERA, UcaXkitCameraPrivate)) - -#define XKIT_DEFAULT_IP "192.168.1.115" -#define XKIT_DEFAULT_PORT 5002 -#define XKIT_MESSAGE_SIZE 512 - -#define MEDIPIX_SENSOR_SIZE 256 -#define CHIPS_PER_ROW 3 -#define CHIPS_PER_COLUMN 1 -#define NUM_CHIPS CHIPS_PER_ROW * CHIPS_PER_COLUMN -#define NUM_FSRS 32 - -static void uca_xkit_camera_initable_iface_init (GInitableIface *iface); - -G_DEFINE_TYPE_WITH_CODE (UcaXkitCamera, uca_xkit_camera, UCA_TYPE_CAMERA, - G_IMPLEMENT_INTERFACE (G_TYPE_INITABLE, - uca_xkit_camera_initable_iface_init)) - -GQuark uca_xkit_camera_error_quark() -{ - return g_quark_from_static_string("uca-xkit-camera-error-quark"); -} - -enum { - PROP_NUM_CHIPS = N_BASE_PROPERTIES, - PROP_ADDR, - PROP_PORT_CHIP_0, - PROP_PORT_CHIP_1, - PROP_PORT_CHIP_2, - PROP_FLIP_CHIP_0, - PROP_FLIP_CHIP_1, - PROP_FLIP_CHIP_2, - /* PROP_FLIP_CHIP_3, */ - /* PROP_FLIP_CHIP_4, */ - /* PROP_FLIP_CHIP_5, */ - PROP_READOUT_BIG_ENDIAN, - PROP_READOUT_MIRRORED, - PROP_READOUT_INCREMENTAL_GREYSCALE, - PROP_FAST_SHIFT_REGISTER, - N_PROPERTIES -}; - -static gint base_overrideables[] = { - PROP_NAME, - PROP_SENSOR_WIDTH, - PROP_SENSOR_HEIGHT, - PROP_SENSOR_BITDEPTH, - PROP_EXPOSURE_TIME, - PROP_ROI_X, - PROP_ROI_Y, - PROP_ROI_WIDTH, - PROP_ROI_HEIGHT, - PROP_HAS_STREAMING, - PROP_HAS_CAMRAM_RECORDING, - 0, -}; - -static GParamSpec *xkit_properties[N_PROPERTIES] = { NULL, }; - -enum { - X_KIT_ACQUIRE_NORMAL = 0x0, - X_KIT_ACQUIRE_CONTINUOUS = 0x1, - X_KIT_ACQUIRE_TRIGGERED = 0x2, - X_KIT_ACQUIRE_CONTINUOUS_TRIGGERED = 0x3, -}; - -enum { - X_KIT_READOUT_DEFAULT = 0, - X_KIT_READOUT_BIG_ENDIAN = 1 << 2, - X_KIT_READOUT_MIRRORED = 1 << 3, - X_KIT_READOUT_INCREMENTAL_GREYSCALE = 1 << 4, -}; - -struct _UcaXkitCameraPrivate { - GError *construct_error; - gsize n_chips; - gsize n_max_chips; - guint16 **buffers; - gboolean flip[NUM_CHIPS]; - - gchar *addr; - guint ports[NUM_CHIPS]; - GSocket* sockets[NUM_CHIPS]; - - guint8 fsr[NUM_FSRS]; - - guint8 readout_mode; - guint8 acquisition_mode; - - gdouble exposure_time; - guint acq_time_cycles; -}; - -static gboolean -xkit_send_recv_ackd (GSocket *socket, gchar *buffer, gsize size, GError **error) -{ - gchar ack; - - g_socket_send (socket, buffer, size, NULL, error); - g_socket_receive (socket, &ack, 1, NULL, error); - return ack == 0x21; -} - -static void -xkit_recv_chunked (GSocket *socket, gchar *buffer, gsize size, GError **error) -{ - gsize total_read = 0; - - while (total_read < size) { - gssize read; - - read = g_socket_receive_with_blocking (socket, buffer + total_read, size - total_read, - FALSE, NULL, NULL); - - if (read > 0) - total_read += read; - } -} - -static gboolean -xkit_reset (GSocket *socket, GError **error) -{ - gchar buffer = 0x32; - return xkit_send_recv_ackd (socket, &buffer, 1, error); -} - -static gboolean -xkit_set_fast_shift_register (GSocket *socket, guint8 *fsr, GError **error) -{ - struct { - guint8 msg; - guint8 fsr[NUM_FSRS]; - } __attribute__((packed)) - buffer = { - .msg = 0x36, - }; - - memcpy (&buffer.fsr[0], fsr, NUM_FSRS); - return xkit_send_recv_ackd (socket, (gchar *) &buffer, sizeof (buffer), error); -} - -static gboolean -xkit_set_exposure_time (GSocket *socket, guint32 exposure_time, GError **error) -{ - struct { - guint8 msg; - guint32 time; - } __attribute__((packed)) - buffer = { - .msg = 0x38, - .time = exposure_time - }; - - return xkit_send_recv_ackd (socket, (gchar *) &buffer, sizeof (buffer), error); -} - -static gboolean -xkit_start_acquisition (GSocket *socket, guint8 acquisition_mode, GError **error) -{ - gchar msg[] = { 0x34, 0x00, acquisition_mode }; - return xkit_send_recv_ackd (socket, msg, 3, error); -} - -static gboolean -xkit_serial_matrix_readout (GSocket *socket, gchar *data, guint8 acquisition_mode, GError **error) -{ - gchar msg[] = { 0x35, acquisition_mode }; - gchar ack; - - g_socket_send (socket, msg, 2, NULL, error); - xkit_recv_chunked (socket, data, MEDIPIX_SENSOR_SIZE * MEDIPIX_SENSOR_SIZE * 2, error); - g_socket_receive (socket, &ack, 1, NULL, error); - return ack == 0x21; -} - -static gboolean -connect_xkit (UcaXkitCameraPrivate *priv) -{ - GInetAddress *local_addr; - - local_addr = g_inet_address_new_from_string (priv->addr); - - for (guint i = 0; i < NUM_CHIPS; i++) { - GSocketAddress *socket_addr; - - socket_addr = g_inet_socket_address_new (local_addr, priv->ports[i]); - - priv->sockets[i] = g_socket_new (G_SOCKET_FAMILY_IPV4, - G_SOCKET_TYPE_DATAGRAM, - G_SOCKET_PROTOCOL_UDP, - &priv->construct_error); - - if (priv->sockets[i] == NULL) - return FALSE; - - if (!g_socket_connect (priv->sockets[i], socket_addr, NULL, &priv->construct_error)) - return FALSE; - } - - return TRUE; -} - -static gboolean -setup_xkit (UcaXkitCameraPrivate *priv) -{ - priv->n_max_chips = priv->n_chips = NUM_CHIPS; - priv->buffers = g_new0 (guint16 *, priv->n_max_chips); - - for (guint i = 0; i < priv->n_max_chips; i++) - priv->buffers[i] = (guint16 *) g_malloc0 (MEDIPIX_SENSOR_SIZE * MEDIPIX_SENSOR_SIZE * sizeof(guint16)); - - return connect_xkit (priv); -} - -static void -compose_image (guint16 *output, guint16 **buffers, gboolean *flip, gsize n) -{ - gsize dst_stride; - gsize cx = 0; - gsize cy = 0; - - dst_stride = CHIPS_PER_ROW * MEDIPIX_SENSOR_SIZE; - - for (gsize i = 0; i < n; i++) { - guint16 *dst; - guint16 *src; - gsize src_stride; - - if (cx == CHIPS_PER_ROW) { - cx = 0; - cy++; - } - - if (flip[i]) { - src = buffers[i] + MEDIPIX_SENSOR_SIZE * MEDIPIX_SENSOR_SIZE; - src_stride = -MEDIPIX_SENSOR_SIZE; - } - else { - src = buffers[i]; - src_stride = MEDIPIX_SENSOR_SIZE; - } - - dst = output + (cy * MEDIPIX_SENSOR_SIZE * dst_stride + cx * MEDIPIX_SENSOR_SIZE); - - for (gsize row = 0; row < 256; row++) { - memcpy (dst, src, MEDIPIX_SENSOR_SIZE * sizeof (guint16)); - dst += dst_stride; - src += src_stride; - } - - cx++; - } -} - -static void -uca_xkit_camera_start_recording (UcaCamera *camera, - GError **error) -{ - UcaXkitCameraPrivate *priv; - UcaCameraTrigger trigger_mode; - - g_return_if_fail (UCA_IS_XKIT_CAMERA (camera)); - - priv = UCA_XKIT_CAMERA_GET_PRIVATE (camera); - g_object_get (camera, "trigger-mode", &trigger_mode, NULL); - - if (trigger_mode == UCA_CAMERA_TRIGGER_AUTO) - priv->acquisition_mode = X_KIT_ACQUIRE_NORMAL; - else if (trigger_mode == UCA_CAMERA_TRIGGER_SOFTWARE) - priv->acquisition_mode = X_KIT_ACQUIRE_NORMAL; - else if (trigger_mode == UCA_CAMERA_TRIGGER_EXTERNAL) - priv->acquisition_mode = X_KIT_ACQUIRE_TRIGGERED; - - priv->acquisition_mode |= priv->readout_mode; - - if (!xkit_reset (priv->sockets[0], error)) - return; - - if (!xkit_set_exposure_time (priv->sockets[0], 0x1000, error)) - return; - - if (!xkit_set_fast_shift_register (priv->sockets[0], &priv->fsr[0], error)) - return; - - xkit_start_acquisition (priv->sockets[0], priv->acquisition_mode, error); -} - -static void -uca_xkit_camera_stop_recording (UcaCamera *camera, - GError **error) -{ - g_return_if_fail (UCA_IS_XKIT_CAMERA (camera)); -} - -static void -uca_xkit_camera_start_readout (UcaCamera *camera, - GError **error) -{ - g_return_if_fail( UCA_IS_XKIT_CAMERA (camera)); -} - -static void -uca_xkit_camera_stop_readout (UcaCamera *camera, - GError **error) -{ - g_return_if_fail (UCA_IS_XKIT_CAMERA (camera)); -} - -static gboolean -uca_xkit_camera_grab (UcaCamera *camera, - gpointer data, - GError **error) -{ - g_return_val_if_fail (UCA_IS_XKIT_CAMERA (camera), FALSE); - UcaXkitCameraPrivate *priv; - - priv = UCA_XKIT_CAMERA_GET_PRIVATE (camera); - - #pragma omp parallel for num_threads(NUM_CHIPS) - for (guint i = 0; i < NUM_CHIPS; i++) { - GError *local_error = NULL; - - xkit_serial_matrix_readout (priv->sockets[i], - (gchar *) priv->buffers[i], - priv->acquisition_mode, - &local_error); - - if (local_error != NULL) { - g_error_free (local_error); - local_error = NULL; - } - } - - compose_image ((guint16 *) data, priv->buffers, priv->flip, priv->n_chips); - - return TRUE; -} - -static void -uca_xkit_camera_trigger (UcaCamera *camera, - GError **error) -{ - g_return_if_fail (UCA_IS_XKIT_CAMERA (camera)); -} - -static void -uca_xkit_camera_set_property (GObject *object, - guint property_id, - const GValue *value, - GParamSpec *pspec) -{ - UcaXkitCameraPrivate *priv; - - priv = UCA_XKIT_CAMERA_GET_PRIVATE (object); - - switch (property_id) { - case PROP_EXPOSURE_TIME: - priv->exposure_time = g_value_get_double(value); - break; - case PROP_FLIP_CHIP_0: - case PROP_FLIP_CHIP_1: - case PROP_FLIP_CHIP_2: - /* case PROP_FLIP_CHIP_3: */ - /* case PROP_FLIP_CHIP_4: */ - /* case PROP_FLIP_CHIP_5: */ - priv->flip[property_id - PROP_FLIP_CHIP_0] = g_value_get_boolean (value); - break; - - case PROP_READOUT_BIG_ENDIAN: - if (g_value_get_boolean (value)) - priv->readout_mode |= X_KIT_READOUT_BIG_ENDIAN; - else - priv->readout_mode &= ~X_KIT_READOUT_BIG_ENDIAN; - break; - - case PROP_READOUT_MIRRORED: - if (g_value_get_boolean (value)) - priv->readout_mode |= X_KIT_READOUT_MIRRORED; - else - priv->readout_mode &= ~X_KIT_READOUT_MIRRORED; - break; - - case PROP_READOUT_INCREMENTAL_GREYSCALE: - if (g_value_get_boolean (value)) - priv->readout_mode |= X_KIT_READOUT_INCREMENTAL_GREYSCALE; - else - priv->readout_mode &= ~X_KIT_READOUT_INCREMENTAL_GREYSCALE; - break; - - case PROP_FAST_SHIFT_REGISTER: - { - GValueArray *array; - - array = g_value_get_boxed (value); - - if (array != NULL) { - if (array->n_values < NUM_FSRS) - g_warning ("Number of elements is less than %i", array->n_values); - else if (array->n_values > NUM_FSRS) - g_warning ("Number of elements is more than %i", array->n_values); - - for (guint i = 0; i < MIN(NUM_FSRS, array->n_values); i++) - priv->fsr[i] = g_value_get_uchar (&array->values[i]); - } - } - break; - - default: - G_OBJECT_WARN_INVALID_PROPERTY_ID (object, property_id, pspec); - return; - } -} - -static void -uca_xkit_camera_get_property (GObject *object, - guint property_id, - GValue *value, - GParamSpec *pspec) -{ - UcaXkitCameraPrivate *priv; - - priv = UCA_XKIT_CAMERA_GET_PRIVATE (object); - - switch (property_id) { - case PROP_NAME: - g_value_set_string (value, "xkit"); - break; - case PROP_SENSOR_WIDTH: - g_value_set_uint (value, CHIPS_PER_ROW * MEDIPIX_SENSOR_SIZE); - break; - case PROP_SENSOR_HEIGHT: - g_value_set_uint (value, CHIPS_PER_COLUMN * MEDIPIX_SENSOR_SIZE); - break; - case PROP_SENSOR_BITDEPTH: - g_value_set_uint (value, 14); - break; - case PROP_EXPOSURE_TIME: - g_value_set_double (value, priv->exposure_time); - 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, CHIPS_PER_ROW * MEDIPIX_SENSOR_SIZE); - break; - case PROP_ROI_HEIGHT: - g_value_set_uint (value, CHIPS_PER_COLUMN * MEDIPIX_SENSOR_SIZE); - break; - case PROP_NUM_CHIPS: - g_value_set_uint (value, priv->n_chips); - break; - case PROP_ADDR: - g_value_set_string (value, priv->addr); - break; - case PROP_FLIP_CHIP_0: - case PROP_FLIP_CHIP_1: - case PROP_FLIP_CHIP_2: - /* case PROP_FLIP_CHIP_3: */ - /* case PROP_FLIP_CHIP_4: */ - /* case PROP_FLIP_CHIP_5: */ - g_value_set_boolean (value, priv->flip[property_id - PROP_FLIP_CHIP_0]); - break; - case PROP_PORT_CHIP_0: - case PROP_PORT_CHIP_1: - case PROP_PORT_CHIP_2: - /* case PROP_FLIP_CHIP_3: */ - /* case PROP_FLIP_CHIP_4: */ - /* case PROP_FLIP_CHIP_5: */ - g_value_set_uint (value, priv->ports[property_id - PROP_PORT_CHIP_0]); - break; - case PROP_READOUT_BIG_ENDIAN: - g_value_set_boolean (value, priv->readout_mode & X_KIT_READOUT_BIG_ENDIAN); - break; - case PROP_READOUT_MIRRORED: - g_value_set_boolean (value, priv->readout_mode & X_KIT_READOUT_MIRRORED); - break; - case PROP_READOUT_INCREMENTAL_GREYSCALE: - g_value_set_boolean (value, priv->readout_mode & X_KIT_READOUT_INCREMENTAL_GREYSCALE); - break; - case PROP_FAST_SHIFT_REGISTER: - { - GValueArray *array; - - array = g_value_array_new (NUM_FSRS); - - for (guint i = 0; i < NUM_FSRS; i++) { - GValue value = G_VALUE_INIT; - - g_value_init (&value, G_TYPE_UCHAR); - g_value_set_uchar (&value, priv->fsr[i]); - g_value_array_append (array, &value); - } - - g_value_set_boxed (value, array); - g_value_array_free (array); - } - break; - default: - G_OBJECT_WARN_INVALID_PROPERTY_ID (object, property_id, pspec); - break; - } -} - -static void -uca_xkit_camera_dispose (GObject *object) -{ - UcaXkitCameraPrivate *priv; - - priv = UCA_XKIT_CAMERA_GET_PRIVATE (object); - - for (guint i = 0; i < NUM_CHIPS; i++) { - if (priv->sockets[i] != NULL) { - g_object_unref (priv->sockets[i]); - priv->sockets[i] = NULL; - } - } - - G_OBJECT_CLASS (uca_xkit_camera_parent_class)->dispose (object); -} - -static void -uca_xkit_camera_finalize (GObject *object) -{ - UcaXkitCameraPrivate *priv; - - priv = UCA_XKIT_CAMERA_GET_PRIVATE (object); - g_clear_error (&priv->construct_error); - - for (guint i = 0; i < priv->n_max_chips; i++) - g_free (priv->buffers[i]); - - g_free (priv->buffers); - g_free (priv->addr); - - G_OBJECT_CLASS (uca_xkit_camera_parent_class)->finalize (object); -} - -static gboolean -ufo_xkit_camera_initable_init (GInitable *initable, - GCancellable *cancellable, - GError **error) -{ - UcaXkitCamera *camera; - UcaXkitCameraPrivate *priv; - - g_return_val_if_fail (UCA_IS_XKIT_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_XKIT_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_xkit_camera_initable_iface_init (GInitableIface *iface) -{ - iface->init = ufo_xkit_camera_initable_init; -} - -static void -uca_xkit_camera_class_init (UcaXkitCameraClass *klass) -{ - GObjectClass *oclass = G_OBJECT_CLASS (klass); - UcaCameraClass *camera_class = UCA_CAMERA_CLASS (klass); - - oclass->set_property = uca_xkit_camera_set_property; - oclass->get_property = uca_xkit_camera_get_property; - oclass->dispose = uca_xkit_camera_dispose; - oclass->finalize = uca_xkit_camera_finalize; - - camera_class->start_recording = uca_xkit_camera_start_recording; - camera_class->stop_recording = uca_xkit_camera_stop_recording; - camera_class->start_readout = uca_xkit_camera_start_readout; - camera_class->stop_readout = uca_xkit_camera_stop_readout; - camera_class->grab = uca_xkit_camera_grab; - camera_class->trigger = uca_xkit_camera_trigger; - - for (guint i = 0; base_overrideables[i] != 0; i++) - g_object_class_override_property (oclass, base_overrideables[i], uca_camera_props[base_overrideables[i]]); - - xkit_properties[PROP_NUM_CHIPS] = - g_param_spec_uint("num-sensor-chips", - "Number of sensor chips", - "Number of sensor chips", - 1, 6, 6, - G_PARAM_READABLE); - - xkit_properties[PROP_ADDR] = - g_param_spec_string ("address", - "Address of board", - "Address of board", - "192.168.1.115", - G_PARAM_READWRITE); - - xkit_properties[PROP_READOUT_BIG_ENDIAN] = - g_param_spec_boolean("big-endian", - "Big Endian Readout", - "Big Endian Readout", - FALSE, - (GParamFlags) G_PARAM_READWRITE); - - xkit_properties[PROP_READOUT_MIRRORED] = - g_param_spec_boolean("mirrored", - "Mirrored Readout", - "Mirrored Readout", - FALSE, - (GParamFlags) G_PARAM_READWRITE); - - xkit_properties[PROP_READOUT_INCREMENTAL_GREYSCALE] = - g_param_spec_boolean("incremental-greyscale", - "Incremental Greyscale Readout", - "Incremental Greyscale Readout", - FALSE, - (GParamFlags) G_PARAM_READWRITE); - - xkit_properties[PROP_FAST_SHIFT_REGISTER] = - g_param_spec_value_array ("fsr", - "Fast shift register", - "Fast shift register array", - g_param_spec_uchar ("dac", - "DAC value", - "DAC value", - 0, 255, 0, G_PARAM_READABLE), - G_PARAM_READWRITE); - - for (guint i = 0; i < NUM_CHIPS; i++) { - gchar *prop_name; - - prop_name = g_strdup_printf ("flip-chip-%i", i); - - xkit_properties[PROP_FLIP_CHIP_0 + i] = - g_param_spec_boolean (prop_name, "Flip chip", "Flip chip", FALSE, (GParamFlags) G_PARAM_READWRITE); - - g_free (prop_name); - - prop_name = g_strdup_printf ("port-chip-%i", i); - - xkit_properties[PROP_PORT_CHIP_0 + i] = - g_param_spec_uint (prop_name, "Connection port", "Connection port", 0, 65535, 5002 + i, (GParamFlags) G_PARAM_READWRITE); - - g_free (prop_name); - } - - for (guint id = N_BASE_PROPERTIES; id < N_PROPERTIES; id++) - g_object_class_install_property (oclass, id, xkit_properties[id]); - - g_type_class_add_private (klass, sizeof(UcaXkitCameraPrivate)); -} - -static void -uca_xkit_camera_init (UcaXkitCamera *self) -{ - UcaXkitCameraPrivate *priv; - - self->priv = priv = UCA_XKIT_CAMERA_GET_PRIVATE (self); - priv->exposure_time = 0.5; - priv->addr = g_strdup (XKIT_DEFAULT_IP); - priv->construct_error = NULL; - - for (guint i = 0; i < NUM_CHIPS; i++) { - priv->sockets[i] = NULL; - priv->flip[i] = FALSE; - priv->ports[i] = XKIT_DEFAULT_PORT + i; - } - - for (guint i = 0; i < NUM_FSRS; i++) { - priv->fsr[i] = 0; - } - - if (!setup_xkit (priv)) - return; -} - -G_MODULE_EXPORT GType -uca_camera_get_type (void) -{ - return UCA_TYPE_XKIT_CAMERA; -} |