1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
|
#include <stdlib.h>
#include <string.h>
#include <libpco/libpco.h>
#include "uca.h"
#include "uca-cam.h"
#include "uca-grabber.h"
#include "pco.h"
#define GET_PCO(uca) ((struct pco_edge_t *)(uca->user))
#define set_void(p, type, value) { *((type *) p) = (type) value; }
static uint32_t uca_pco_set_exposure(struct uca_camera_t *cam, uint32_t *exposure)
{
uint32_t e, d;
if (pco_get_delay_exposure(GET_PCO(cam), &d, &e) != PCO_NOERROR)
return UCA_ERR_PROP_GENERAL;
if (pco_set_delay_exposure(GET_PCO(cam), d, *exposure) != PCO_NOERROR)
return UCA_ERR_PROP_GENERAL;
return UCA_NO_ERROR;
}
static uint32_t uca_pco_set_delay(struct uca_camera_t *cam, uint32_t *delay)
{
uint32_t e, d;
if (pco_get_delay_exposure(GET_PCO(cam), &d, &e) != PCO_NOERROR)
return UCA_ERR_PROP_GENERAL;
if (pco_set_delay_exposure(GET_PCO(cam), *delay, e) != PCO_NOERROR)
return UCA_ERR_PROP_GENERAL;
return UCA_NO_ERROR;
}
static uint32_t uca_pco_destroy(struct uca_camera_t *cam)
{
pco_set_rec_state(GET_PCO(cam), 0);
pco_destroy(GET_PCO(cam));
return UCA_NO_ERROR;
}
static uint32_t uca_pco_set_property(struct uca_camera_t *cam, enum uca_property_ids property, void *data)
{
struct uca_grabber_t *grabber = cam->grabber;
switch (property) {
case UCA_PROP_WIDTH:
if (grabber->set_property(grabber, UCA_GRABBER_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, UCA_GRABBER_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:
if (grabber->set_property(grabber, UCA_GRABBER_OFFSET_X, (uint32_t *) data) != UCA_NO_ERROR)
return UCA_ERR_PROP_VALUE_OUT_OF_RANGE;
break;
case UCA_PROP_Y_OFFSET:
if (grabber->set_property(grabber, UCA_GRABBER_OFFSET_Y, (uint32_t *) data) != UCA_NO_ERROR)
return UCA_ERR_PROP_VALUE_OUT_OF_RANGE;
break;
case UCA_PROP_EXPOSURE:
return uca_pco_set_exposure(cam, (uint32_t *) data);
case UCA_PROP_DELAY:
return uca_pco_set_delay(cam, (uint32_t *) data);
case UCA_PROP_TIMESTAMP_MODE:
return pco_set_timestamp_mode(GET_PCO(cam), *((uint16_t *) data));
default:
return UCA_ERR_PROP_INVALID;
}
return UCA_NO_ERROR;
}
static uint32_t uca_pco_get_property(struct uca_camera_t *cam, enum uca_property_ids property, void *data, size_t num)
{
struct pco_edge_t *pco = GET_PCO(cam);
struct uca_grabber_t *grabber = cam->grabber;
switch (property) {
case UCA_PROP_NAME:
{
/* FIXME: how to ensure, that buffer is large enough? */
SC2_Camera_Name_Response name;
/* FIXME: This is _not_ a mistake. For some reason (which I
* still have to figure out), it is sometimes not possible to
* read the camera name... unless the same call precedes that
* one.*/
pco_read_property(pco, GET_CAMERA_NAME, &name, sizeof(name));
pco_read_property(pco, GET_CAMERA_NAME, &name, sizeof(name));
strncpy((char *) data, name.szName, num);
}
break;
case UCA_PROP_TEMPERATURE_SENSOR:
{
SC2_Temperature_Response temperature;
if (pco_read_property(pco, GET_TEMPERATURE, &temperature, sizeof(temperature)) == PCO_NOERROR)
set_void(data, uint32_t, temperature.sCCDtemp / 10);
}
break;
case UCA_PROP_TEMPERATURE_CAMERA:
{
SC2_Temperature_Response temperature;
if (pco_read_property(pco, GET_TEMPERATURE, &temperature, sizeof(temperature)) == PCO_NOERROR)
set_void(data, uint32_t, temperature.sCamtemp);
}
break;
case UCA_PROP_WIDTH:
set_void(data, uint32_t, cam->frame_width);
break;
case UCA_PROP_WIDTH_MIN:
set_void(data, uint32_t, 1);
break;
case UCA_PROP_WIDTH_MAX:
set_void(data, uint32_t, pco->description.wMaxHorzResStdDESC);
break;
case UCA_PROP_HEIGHT:
set_void(data, uint32_t, cam->frame_height);
break;
case UCA_PROP_HEIGHT_MIN:
set_void(data, uint32_t, 1);
break;
case UCA_PROP_HEIGHT_MAX:
set_void(data, uint32_t, pco->description.wMaxVertResStdDESC);
break;
case UCA_PROP_X_OFFSET:
if (grabber->get_property(grabber, UCA_GRABBER_OFFSET_X, (uint32_t *) data) != UCA_NO_ERROR)
return UCA_ERR_PROP_GENERAL;
break;
case UCA_PROP_Y_OFFSET:
if (grabber->get_property(grabber, UCA_GRABBER_OFFSET_Y, (uint32_t *) data) != UCA_NO_ERROR)
return UCA_ERR_PROP_GENERAL;
break;
case UCA_PROP_DELAY:
{
uint32_t exposure;
if (pco_get_delay_exposure(pco, (uint32_t *) data, &exposure) != PCO_NOERROR)
return UCA_ERR_PROP_INVALID;
}
break;
case UCA_PROP_DELAY_MIN:
set_void(data, uint32_t, pco->description.dwMinDelayDESC);
break;
case UCA_PROP_DELAY_MAX:
set_void(data, uint32_t, pco->description.dwMaxDelayDESC);
break;
case UCA_PROP_EXPOSURE:
{
uint32_t delay;
if (pco_get_delay_exposure(pco, &delay, (uint32_t *) data) != PCO_NOERROR)
return UCA_ERR_PROP_INVALID;
}
break;
case UCA_PROP_EXPOSURE_MIN:
set_void(data, uint32_t, pco->description.dwMinExposureDESC);
break;
case UCA_PROP_EXPOSURE_MAX:
set_void(data, uint32_t, pco->description.dwMaxExposureDESC);
break;
case UCA_PROP_BITDEPTH:
set_void(data, uint32_t, 16);
break;
default:
return UCA_ERR_PROP_INVALID;
}
return UCA_NO_ERROR;
}
uint32_t uca_pco_start_recording(struct uca_camera_t *cam)
{
struct pco_edge_t *pco = GET_PCO(cam);
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)
{
if (pco_set_rec_state(GET_PCO(cam), 0) != PCO_NOERROR)
return UCA_ERR_PROP_GENERAL;
return UCA_NO_ERROR;
}
uint32_t uca_pco_grab(struct uca_camera_t *cam, char *buffer)
{
uint16_t *frame;
uint32_t err = cam->grabber->grab(cam->grabber, (void **) &frame);
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);
memcpy(buffer, frame, cam->frame_width*cam->frame_height*2);
return UCA_NO_ERROR;
}
uint32_t uca_pco_init(struct uca_camera_t **cam, struct uca_grabber_t *grabber)
{
if (grabber == NULL)
return UCA_ERR_CAM_NOT_FOUND;
struct pco_edge_t *pco = pco_init();
if (pco == NULL) {
return UCA_ERR_CAM_NOT_FOUND;
}
if ((pco->serial_ref == NULL) || !pco_is_active(pco)) {
pco_destroy(pco);
return UCA_ERR_CAM_NOT_FOUND;
}
struct uca_camera_t *uca = (struct uca_camera_t *) malloc(sizeof(struct uca_camera_t));
uca->user = pco;
uca->grabber = grabber;
uca->grabber->asynchronous = true;
/* Camera found, set function pointers... */
uca->destroy = &uca_pco_destroy;
uca->set_property = &uca_pco_set_property;
uca->get_property = &uca_pco_get_property;
uca->start_recording = &uca_pco_start_recording;
uca->stop_recording = &uca_pco_stop_recording;
uca->grab = &uca_pco_grab;
/* Prepare camera for recording */
pco_set_scan_mode(pco, PCO_SCANMODE_SLOW);
pco_set_rec_state(pco, 0);
pco_set_timestamp_mode(pco, 2);
pco_set_timebase(pco, 1, 1);
pco_arm_camera(pco);
/* Prepare frame grabber for recording */
int val = UCA_CL_8BIT_FULL_10;
grabber->set_property(grabber, UCA_GRABBER_CAMERALINK_TYPE, &val);
val = UCA_FORMAT_GRAY8;
grabber->set_property(grabber, UCA_GRABBER_FORMAT, &val);
val = UCA_TRIGGER_FREERUN;
grabber->set_property(grabber, UCA_GRABBER_TRIGGER_MODE, &val);
uint32_t 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. */
width *= 2;
grabber->set_property(grabber, UCA_GRABBER_WIDTH, &width);
grabber->set_property(grabber, UCA_GRABBER_HEIGHT, &height);
uca->state = UCA_CAM_CONFIGURABLE;
*cam = uca;
return UCA_NO_ERROR;
}
|
