extracted pylon_camera C-wrapper into own project; enhanced cmake build for pylon cameras

6 files changed, 39 insertions, 362 deletions

diff --git a/cmake/FindPylon.cmake b/cmake/FindPylon.cmake
index 142f432..be3ce85 100644
--- a/cmake/FindPylon.cmake
+++ b/cmake/FindPylon.cmake
@@ -3,45 +3,30 @@
 #
 # Defines
 #
-# PCO_FOUND - system has libpco
-# PCO_INCLUDE_DIRS - libpco include directory
-# PCO_LIBRARIES - pco library
+# PYLON_FOUND - system has libpco
+# PYLON_INCLUDE_DIR - libpco include directory
+# PYLON_LIB - pco library
 
-find_package(YAT)
+# check for environment variable PYLON_ROOT
+message("DEFINED PYLON ROOT $ENV{PYLON_ROOT}")
+if (NOT "$ENV{PYLON_ROOT}" STREQUAL "")
+  message("PYLON_ROOT=$ENV{PYLON_ROOT}")
+  set(ENV{LD_LIBRARY_PATH} "$ENV{LD_LIBRARY_PATH}:$ENV{PYLON_ROOT}/lib")
+  set(ENV{LD_LIBRARY_PATH} "$ENV{LD_LIBRARY_PATH};$ENV{PYLON_ROOT}/lib64")
+  set(ENV{LD_LIBRARY_PATH} "$ENV{LD_LIBRARY_PATH};$ENV{PYLON_ROOT}/genicam/bin/Linux64_x64")
+  set(ENV{LD_LIBRARY_PATH} "$ENV{LD_LIBRARY_PATH};$ENV{PYLON_ROOT}/genicam/bin/Linux32_i86")
 
-find_package(PackageHandleStandardArgs)
 
-find_path(PYLON_DIRS include/pylon/PylonBase.h HINTS /opt/pylon ENV PYLON_ROOT)
-set(GENICAM_ROOT ${PYLON_DIRS}/genicam)
-set(PYLON_INCLUDE_DIRS ${PYLON_DIRS}/include ${GENICAM_ROOT}/library/CPP/include)
+  find_package(YAT)
+  find_package(PackageHandleStandardArgs)
 
-# check for 32/64 bit
-if (CMAKE_SIZEOF_VOID_P EQUAL 8)
-  set(PYLON_LIB_DIRS ${PYLON_DIRS}/lib64 ${PYLON_DIRS}/bin ${GENICAM_ROOT}/bin/Linux64_x64
-     ${GENICAM_ROOT}/bin/Linux64_x64/GenApi/Generic)
-else()
-  set(PYLON_LIB_DIRS ${PYLON_DIRS}/lib64 ${PYLON_DIRS}/bin ${GENICAM_ROOT}/bin/Linux32_i86
-     ${GENICAM_ROOT}/bin/Linux32_i86/GenApi/Generic)
-endif()
-
-find_library(PYLONBASE_LIB pylonbase PATHS ${PYLON_LIB_DIRS})
-find_library(PYLONUTILITY_LIB pylonutility PATHS ${PYLON_LIB_DIRS})
-find_library(PYLONGIGESUPP_LIB pylongigesupp PATHS ${PYLON_LIB_DIRS})
-find_library(GENAPI_LIB GenApi_gcc40_v2_1 PATHS ${PYLON_LIB_DIRS})
-find_library(GCBASE_LIB GCBase_gcc40_v2_1 PATHS ${PYLON_LIB_DIRS})
-set (PYLON_LIBS ${PYLONBASE_LIB} 
-  ${PYLONUTILITY_LIB}
-  ${PYLONGIGESUPP_LIB}
-  ${GENAPI_LIB}
-  ${GCBASE_LIB}
-  ${YAT_LIB})
+  find_path(PYLON_INCLUDE_DIR libpyloncam/pylon_camera.h)
+  find_library(PYLON_LIB pyloncam)
 
-find_package_handle_standard_args(PYLON DEFAULT_MSG PYLON_LIBS PYLON_INCLUDE_DIRS)
+  message("INCLUDE ${PYLON_INCLUDE_DIR}")
 
-find_package(PkgConfig)
-pkg_check_modules(BASLER_PYLON baslerpylon>=0.1.0 REQUIRED)
-MESSAGE(LIBRARY_DIRS ${BASLER_PYLON_LIBRARY_DIRS})
-find_library(BASLERPYLON_LIB baslerpylon PATHS ${BASLER_PYLON_LIBRARY_DIRS})
-
-set (PYLON_LIBS ${PYLON_LIBS} ${BASLERPYLON_LIB})
+  find_package_handle_standard_args(PYLON DEFAULT_MSG PYLON_LIB PYLON_INCLUDE_DIR)
 
+else()
+  message("Environment variable PYLON_ROOT not found! => unable to build pylon camera support")
+endif()
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 931ca9b..13d677a 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -15,7 +15,7 @@ set(cameras)
 set(CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
 
 # --- Find camera interfaces
-#find_package(PCO)
+find_package(PCO)
 find_package(PF)
 find_package(IPE)
 find_package(Pylon)
@@ -96,13 +96,12 @@ if (PYLON_FOUND)
   option(HAVE_PYLON_CAMERA "Camera: Pylon based (Basler)" ON)
 
   if (HAVE_PYLON_CAMERA)
-        list(APPEND uca_SRCS cameras/uca-pylon-camera.c cameras/pylon_camera.cpp)
+        list(APPEND uca_SRCS cameras/uca-pylon-camera.c)
         list(APPEND uca_HDRS cameras/uca-pylon-camera.h)
         list(APPEND cameras "Pylon")
-        set(uca_LIBS ${uca_LIBS} ${PYLON_LIBS})
+        set(uca_LIBS ${uca_LIBS} ${PYLON_LIB})
 
-        include_directories(${PYLON_INCLUDE_DIRS})
-        link_directories(/opt/pylon/lib64)
+        include_directories(${PYLON_INCLUDE_DIR})
   endif()
 
 endif()
diff --git a/src/cameras/pylon_camera.cpp b/src/cameras/pylon_camera.cpp
deleted file mode 100644
index 094e3c8..0000000
--- a/src/cameras/pylon_camera.cpp
+++ /dev/null
@@ -1,289 +0,0 @@
-
-#include "pylon_camera.h"
-#include <yat/plugin/PlugInManager.h>
-#include <yat/threading/Condition.h>
-#include <baslerpylon/IGrabber.h>
-#include <iostream>
-
-namespace {
-
-  GrabAPI::IGrabber* pGrabber = 0;
-  yat::Mutex pImageMutex;
-  yat::Condition pImageCondition(pImageMutex);
-  guint imageCounter = 0;
-  guint currentImage = 0;
-  GrabAPI::Image* image = NULL;
-  guint bytesPerPixel = 0;
-
-  void handle_image(GrabAPI::Image* newImage)
-  {
-    yat::MutexLock lock(pImageMutex);
-    delete image;
-    image = newImage;
-    imageCounter++;
-    pImageCondition.signal();
-  }
-
-  void yat_exception_to_gerror(const yat::Exception& e, GError** error)
-  {
-    if (e.errors.size() == 2)
-    {
-      g_set_error(error, 0, 0, 
-          "%s : %s : %s\n%s : %s : %s",
-          e.errors[0].reason.c_str(),
-          e.errors[0].desc.c_str(),
-          e.errors[0].origin.c_str(),
-          e.errors[1].reason.c_str(),
-          e.errors[1].desc.c_str(),
-          e.errors[1].origin.c_str());
-      return;
-    }
-    if (e.errors.size() == 3)
-    {
-      g_set_error(error, 0, 0, 
-          "%s : %s : %s\n%s : %s : %s\n%s : %s : %s",
-          e.errors[0].reason.c_str(),
-          e.errors[0].desc.c_str(),
-          e.errors[0].origin.c_str(),
-          e.errors[1].reason.c_str(),
-          e.errors[1].desc.c_str(),
-          e.errors[1].origin.c_str(),
-          e.errors[2].reason.c_str(),
-          e.errors[2].desc.c_str(),
-          e.errors[2].origin.c_str());
-      return;
-    }
-
-    g_set_error(error, 0, 0, 
-        "%s : %s : %s",
-        e.errors[0].reason.c_str(),
-        e.errors[0].desc.c_str(),
-        e.errors[0].origin.c_str());
-  }
-
-}
-
-
-void pylon_camera_new(const char* lib_path, const char* camera_ip, GError** error)
-{
-  g_assert(!pGrabber);
-  try {
-
-    yat::PlugInManager pm;
-    std::pair<yat::IPlugInInfo*, yat::IPlugInFactory*> pp = 
-      pm.load((std::string(lib_path) + "/libbaslerpylon.so").c_str());
-
-    yat::IPlugInObject* plugin_obj = 0;
-    pp.second->create(plugin_obj);
-    pGrabber = static_cast<GrabAPI::IGrabber*>(plugin_obj);
-
-    yat::PlugInPropValues values;
-    values["CameraIP"] = yat::Any(std::string(camera_ip));
-    pGrabber->set_properties(values);
-    pGrabber->initialize();
-    pGrabber->set_image_handler(GrabAPI::ImageHandlerCallback::instanciate(handle_image));
-    pGrabber->open();
-  } 
-  catch (const yat::Exception& e) {
-    yat_exception_to_gerror(e, error);
-  }
-}
-
-void pylon_camera_set_exposure_time(gdouble exp_time, GError** error)
-{
-  g_assert(pGrabber);
-  try
-  {
-    pGrabber->set_exposure_time(yat::Any(exp_time));
-  }
-  catch (const yat::Exception& e)
-  {
-    yat_exception_to_gerror(e, error);
-  }
-}
-
-void pylon_camera_get_exposure_time(gdouble* exp_time, GError** error)
-{
-  g_assert(pGrabber);
-  try
-  {
-    yat::Any exp_time_result;
-    pGrabber->get_exposure_time(exp_time_result);
-    *exp_time = yat::any_cast<gdouble>(exp_time_result);
-  }
-  catch (const yat::Exception& e)
-  {
-    yat_exception_to_gerror(e, error);
-  }
-}
-
-
-void pylon_camera_get_sensor_size(guint* width, guint* height, GError** error)
-{
-  g_assert(pGrabber);
-  try
-  {
-    yat::Any w, h;
-    pGrabber->get_sensor_width(w);
-    pGrabber->get_sensor_height(h);
-    *width = yat::any_cast<yat_int32_t>(w);
-    *height = yat::any_cast<yat_int32_t>(h);
-  }
-  catch (const yat::Exception& e)
-  {
-    yat_exception_to_gerror(e, error);
-  }
-}
-
-void pylon_camera_get_bit_depth(guint* depth, GError** error)
-{
-  g_assert(pGrabber);
-  try
-  {
-    yat::Any bit_depth_result;
-    pGrabber->get_bit_depth(bit_depth_result);
-    *depth = yat::any_cast<yat_int32_t>(bit_depth_result);
-  }
-  catch (const yat::Exception& e)
-  {
-    yat_exception_to_gerror(e, error);
-  }
-}
-
-void pylon_camera_get_roi(guint16* roi_x, guint16* roi_y, guint16* roi_width, guint16* roi_height, GError** error)
-{
-  g_assert(pGrabber);
-  g_assert(roi_x);
-  g_assert(roi_y);
-  g_assert(roi_width);
-  g_assert(roi_height);
-  try
-  {
-    GrabAPI::ROI roi = pGrabber->get_roi();
-    *roi_x = roi.x;
-    *roi_y = roi.y;
-    *roi_width = roi.width;
-    *roi_height = roi.height;
-  }
-  catch (const yat::Exception& e)
-  {
-    yat_exception_to_gerror(e, error);
-  }
-}
-
-void pylon_camera_set_roi(guint16 roi_x, guint16 roi_y, guint16 roi_width, guint16 roi_height, GError** error)
-{
-  g_assert(pGrabber);
-  try
-  {
-    GrabAPI::ROI roi(roi_x, roi_y, roi_width, roi_height);
-    pGrabber->set_roi(roi);
-  }
-  catch (const yat::Exception& e)
-  {
-    yat_exception_to_gerror(e, error);
-  }
-}
-
-void pylon_camera_get_gain(gint* gain, GError** error)
-{
-  g_assert(pGrabber);
-  try
-  {
-    yat::Any gain_result;
-    pGrabber->get_gain(gain_result);
-    *gain = yat::any_cast<gint>(gain_result);
-  }
-  catch (const yat::Exception& e)
-  {
-    yat_exception_to_gerror(e, error);
-  }
-}
-
-void pylon_camera_set_gain(gint gain, GError** error)
-{
-  g_assert(pGrabber);
-  try
-  {
-    pGrabber->set_gain(yat::Any(gain));
-  }
-  catch (const yat::Exception& e)
-  {
-    yat_exception_to_gerror(e, error);
-  }
-}
-
-void pylon_camera_start_acquision(GError** error)
-{
-  g_assert(pGrabber);
-  guint bit_depth = 0;
-  pylon_camera_get_bit_depth(&bit_depth, error);
-  bytesPerPixel = 1;
-  if (bit_depth > 8) bytesPerPixel = 2;
-  if (bit_depth > 16) bytesPerPixel = 3;
-  if (bit_depth > 24) bytesPerPixel = 4;
-  try
-  {
-    {
-      yat::MutexLock lock(pImageMutex);
-      imageCounter = 0;
-      currentImage = 0;
-    }
-    pGrabber->start();
-  }
-  catch (const yat::Exception& e)
-  {
-    yat_exception_to_gerror(e, error);
-  }
-}
-
-void pylon_camera_stop_acquision(GError** error)
-{
-  g_assert(pGrabber);
-  try
-  {
-    pGrabber->stop();
-  }
-  catch (const yat::Exception& e)
-  {
-    yat_exception_to_gerror(e, error);
-  }
-}
-
-void pylon_camera_grab(gpointer *data, GError** error)
-{
-  g_assert(pGrabber);
-  try
-  {
-      yat::MutexLock lock(pImageMutex);
-      g_assert(currentImage <= imageCounter);
-
-      while (currentImage == imageCounter)
-      {
-        std::cerr << "wait for next image... " << currentImage << std::endl;
-        pImageCondition.wait();
-      }
-
-      std::cerr << "grab next image " << currentImage << ", " << imageCounter 
-        << "; width: " << image->width() / bytesPerPixel << ", height: " << image->height() << std::endl;
-      g_assert(currentImage < imageCounter);
-      currentImage = imageCounter;
-      memcpy(*data, image->base(), image->width() * image->height());
-
-  }
-  catch (const yat::Exception& e)
-  {
-    yat_exception_to_gerror(e, error);
-  }
-}
-
-void pylon_camera_delete()
-{
-  if (!pGrabber)
-    return;
-
-  pGrabber->close();
-  pGrabber->uninitialize();
-  delete pGrabber;
-}
-
diff --git a/src/cameras/pylon_camera.h b/src/cameras/pylon_camera.h
deleted file mode 100644
index 89b450b..0000000
--- a/src/cameras/pylon_camera.h
+++ /dev/null
@@ -1,32 +0,0 @@
-
-#ifndef _PYLON_CAMERA_H_
-#define _PYLON_CAMERA_H_
-
-#include <glib.h>
-
-G_BEGIN_DECLS
-
-void pylon_camera_new(const gchar* lib_path, const gchar* camera_ip, GError** error);
-
-void pylon_camera_set_exposure_time(gdouble exp_time, GError** error);
-void pylon_camera_get_exposure_time(gdouble* exp_time, GError** error);
-
-void pylon_camera_get_sensor_size(guint* width, guint* height, GError** error);
-void pylon_camera_get_bit_depth(guint* depth, GError** error);
-
-void pylon_camera_get_roi(guint16* roi_x, guint16* roi_y, guint16* roi_width, guint16* roi_height, GError** error);
-void pylon_camera_set_roi(guint16 roi_x, guint16 roi_y, guint16 roi_width, guint16 roi_height, GError** error);
-
-void pylon_camera_get_gain(gint* gain, GError** error);
-void pylon_camera_set_gain(gint gain, GError** error);
-
-void pylon_camera_start_acquision(GError** error);
-void pylon_camera_stop_acquision(GError** error);
-void pylon_camera_grab(gpointer *data, GError** error);
-
-void pylon_camera_delete();
-
-G_END_DECLS
-
-#endif
-
diff --git a/src/cameras/uca-pylon-camera.c b/src/cameras/uca-pylon-camera.c
index 23aa1a3..6fef112 100644
--- a/src/cameras/uca-pylon-camera.c
+++ b/src/cameras/uca-pylon-camera.c
@@ -18,9 +18,9 @@
 #include <stdlib.h>
 #include <stdio.h>
 #include <string.h>
+#include <libpyloncam/pylon_camera.h>
 #include "uca-camera.h"
 #include "uca-pylon-camera.h"
-#include "pylon_camera.h"
 
 
 /*#define HANDLE_PYLON_ERROR(err)                       \
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 873b85f..36a5fd3 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -33,6 +33,20 @@ include_directories(
 
 message("${CMAKE_CURRENT_SOURCE_DIR}")
 
+if (HAVE_PYLON_CAMERA)
+  set(GENICAM_ROOT $ENV{PYLON_ROOT}/genicam)
+  # check for 32/64 bit
+  if (CMAKE_SIZEOF_VOID_P EQUAL 8)
+    set(PYLON_LIB_DIRS $ENV{PYLON_ROOT}/lib64 $ENV{PYLON_ROOT}/bin ${GENICAM_ROOT}/bin/Linux64_x64
+      ${GENICAM_ROOT}/bin/Linux64_x64/GenApi/Generic)
+  else()
+    set(PYLON_LIB_DIRS $ENV{PYLON_ROOT}/lib64 $ENV{PYLON_ROOT}/bin ${GENICAM_ROOT}/bin/Linux32_i86
+      ${GENICAM_ROOT}/bin/Linux32_i86/GenApi/Generic)
+  endif()
+  message("PYLON LIB DIRS ${PYLON_LIB_DIRS}")
+  link_directories(${PYLON_LIB_DIRS})
+endif()
+
 add_executable(grab grab.c)
 add_executable(grab-async grab-async.c)