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#include <math.h>
#include <stdlib.h>
#include <string.h>
#include <libpf/pfcam.h>
#include "uca.h"
#include "uca-cam.h"
#include "uca-grabber.h"
struct uca_pf_map {
enum uca_property_ids uca_prop;
const char *pf_prop;
};
static struct uca_pf_map uca_to_pf[] = {
{ UCA_PROP_NAME, "CameraName" },
{ UCA_PROP_WIDTH, "Window.W" },
{ UCA_PROP_WIDTH_MIN, "Window.W.Min" },
{ UCA_PROP_WIDTH_MAX, "Window.W.Max" },
{ UCA_PROP_HEIGHT, "Window.H" },
{ UCA_PROP_HEIGHT_MIN, "Window.H.Min" },
{ UCA_PROP_HEIGHT_MAX, "Window.H.Max" },
{ UCA_PROP_X_OFFSET, "Window.X" },
{ UCA_PROP_X_OFFSET_MIN,"Window.X.Min" },
{ UCA_PROP_X_OFFSET_MAX,"Window.X.Max" },
{ UCA_PROP_Y_OFFSET, "Window.Y" },
{ UCA_PROP_Y_OFFSET_MIN,"Window.Y.Min" },
{ UCA_PROP_Y_OFFSET_MAX,"Window.Y.Max" },
{ UCA_PROP_EXPOSURE, "ExposureTime" },
{ UCA_PROP_EXPOSURE_MIN,"ExposureTime.Min" },
{ UCA_PROP_EXPOSURE_MAX,"ExposureTime.Max" },
{ UCA_PROP_DELAY, "Trigger.Delay" },
{ UCA_PROP_DELAY_MIN, "Trigger.Delay.Min" },
{ UCA_PROP_DELAY_MAX, "Trigger.Delay.Max" },
{ UCA_PROP_FRAMERATE, "FrameRate" },
{ UCA_PROP_TRIGGER_MODE,"Trigger.Source" },
{ -1, NULL }
};
static int uca_pf_set_uint32_property(TOKEN token, void *data, uint32_t *update_var)
{
PFValue value;
value.type = PF_INT;
value.value.i = *((uint32_t *) data);
if (update_var != NULL)
*update_var = value.value.i;
return pfDevice_SetProperty(0, token, &value);
}
static uint32_t uca_pf_set_property(struct uca_camera_priv *cam, enum uca_property_ids property, void *data)
{
struct uca_grabber_priv *grabber = cam->grabber;
TOKEN token = INVALID_TOKEN;
int i = 0;
int err = UCA_NO_ERROR;
/* We try to set the property on the grabber. If it returns "invalid", we
* also try it via the PF SDK. Else, there was a more serious error.
*
* FIXME: This is actually not that good for cases where only the grabber
* should set a certain property and the camera itself is not able to do so. */
err = grabber->set_property(grabber, property, data);
if (((err & UCA_ERR_MASK_CODE) == UCA_ERR_INVALID) || (err == UCA_NO_ERROR))
err = UCA_ERR_CAMERA | UCA_ERR_PROP;
else
return err;
/* Find a valid pf token for the property */
while (uca_to_pf[i].uca_prop != -1) {
if (uca_to_pf[i].uca_prop == property) {
token = pfProperty_ParseName(0, uca_to_pf[i].pf_prop);
break;
}
i++;
}
if (token == INVALID_TOKEN)
return err | UCA_ERR_INVALID;
PFValue value;
switch (property) {
case UCA_PROP_WIDTH:
if (uca_pf_set_uint32_property(token, data, &cam->frame_width) < 0)
return err | UCA_ERR_OUT_OF_RANGE;
break;
case UCA_PROP_HEIGHT:
if (uca_pf_set_uint32_property(token, data, &cam->frame_height) < 0)
return err | UCA_ERR_OUT_OF_RANGE;
break;
case UCA_PROP_EXPOSURE:
/* I haven't found a specification but it looks like PF uses milli
* seconds. We also by-pass the frame grabber... */
value.type = PF_FLOAT;
value.value.f = (float) *((uint32_t *) data) / 1000.0;
if (pfDevice_SetProperty(0, token, &value) < 0)
return err | UCA_ERR_OUT_OF_RANGE;
break;
default:
return err | UCA_ERR_INVALID;
}
return UCA_NO_ERROR;
}
static uint32_t uca_pf_get_property(struct uca_camera_priv *cam, enum uca_property_ids property, void *data, size_t num)
{
TOKEN t; /* You gotta love developers who name types capitalized... */
PFValue value;
/* Handle all special cases */
switch (property) {
case UCA_PROP_BITDEPTH:
uca_set_void(data, uint32_t, 8);
return UCA_NO_ERROR;
default:
break;
}
int i = 0;
while (uca_to_pf[i].uca_prop != -1) {
if (uca_to_pf[i].uca_prop == property) {
t = pfProperty_ParseName(0, uca_to_pf[i].pf_prop);
if (t == INVALID_TOKEN || (pfDevice_GetProperty(0, t, &value) < 0))
return UCA_ERR_CAMERA | UCA_ERR_PROP | UCA_ERR_INVALID;
switch (value.type) {
case PF_INT:
uca_set_void(data, uint32_t, value.value.i);
break;
case PF_FLOAT:
uca_set_void(data, uint32_t, (uint32_t) floor((value.value.f * 1000.0)+0.5));
break;
case PF_STRING:
if (property == UCA_PROP_FRAMERATE) {
uca_set_void(data, uint32_t, (uint32_t) floor(atof(value.value.p)+0.5));
}
else {
strncpy((char *) data, value.value.p, num);
}
break;
case PF_MODE:
uca_set_void(data, uint32_t, (uint32_t) value.value.i);
break;
default:
break;
}
return UCA_NO_ERROR;
}
i++;
}
/* Try to get the property via frame grabber */
return cam->grabber->get_property(cam->grabber, property, data);
}
static uint32_t uca_pf_start_recording(struct uca_camera_priv *cam)
{
return cam->grabber->acquire(cam->grabber, -1);
}
static uint32_t uca_pf_stop_recording(struct uca_camera_priv *cam)
{
return cam->grabber->stop_acquire(cam->grabber);
}
static uint32_t uca_pf_trigger(struct uca_camera_priv *cam)
{
return cam->grabber->trigger(cam->grabber);
}
static uint32_t uca_pf_grab(struct uca_camera_priv *cam, char *buffer, void *metadata)
{
uint16_t *frame;
uint32_t err = cam->grabber->grab(cam->grabber, (void **) &frame, &cam->current_frame);
if (err != UCA_NO_ERROR)
return err;
memcpy(buffer, frame, cam->frame_width*cam->frame_height);
return UCA_NO_ERROR;
}
static uint32_t uca_pf_register_callback(struct uca_camera_priv *cam, uca_cam_grab_callback callback, void *user)
{
if (cam->callback == NULL) {
cam->callback = callback;
cam->callback_user = user;
return cam->grabber->register_callback(cam->grabber, callback, NULL, user);
}
return UCA_ERR_CAMERA | UCA_ERR_CALLBACK | UCA_ERR_ALREADY_REGISTERED;
}
static uint32_t uca_pf_destroy(struct uca_camera_priv *cam)
{
pfDeviceClose(0);
return UCA_NO_ERROR;
}
uint32_t uca_pf_init(struct uca_camera_priv **cam, struct uca_grabber_priv *grabber)
{
int num_ports;
if ((grabber == NULL) || (pfPortInit(&num_ports) < 0) || (pfDeviceOpen(0) < 0))
return UCA_ERR_CAMERA | UCA_ERR_INIT | UCA_ERR_NOT_FOUND;
/* We could check if a higher baud rate is supported, but... forget about
* it. We don't need high speed configuration. */
struct uca_camera_priv *uca = uca_cam_new();
uca->grabber = grabber;
uca->grabber->synchronous = false;
/* Camera found, set function pointers... */
uca->destroy = &uca_pf_destroy;
uca->set_property = &uca_pf_set_property;
uca->get_property = &uca_pf_get_property;
uca->start_recording = &uca_pf_start_recording;
uca->stop_recording = &uca_pf_stop_recording;
uca->trigger = &uca_pf_trigger;
uca->grab = &uca_pf_grab;
uca->register_callback = &uca_pf_register_callback;
/* Prepare frame grabber for recording */
int val = UCA_CL_8BIT_FULL_8;
grabber->set_property(grabber, UCA_GRABBER_CAMERALINK_TYPE, &val);
val = UCA_FORMAT_GRAY8;
grabber->set_property(grabber, UCA_GRABBER_FORMAT, &val);
val = UCA_TRIGGER_AUTO;
grabber->set_property(grabber, UCA_GRABBER_TRIGGER_MODE, &val);
uca_pf_get_property(uca, UCA_PROP_WIDTH, &uca->frame_width, 0);
uca_pf_get_property(uca, UCA_PROP_HEIGHT, &uca->frame_height, 0);
grabber->set_property(grabber, UCA_PROP_WIDTH, &uca->frame_width);
grabber->set_property(grabber, UCA_PROP_HEIGHT, &uca->frame_height);
uca->state = UCA_CAM_CONFIGURABLE;
*cam = uca;
return UCA_NO_ERROR;
}
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