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-/* Copyright (C) 2011, 2012 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 */
-
-#ifndef __UNIFIED_CAMERA_ACCESS_H
-#define __UNIFIED_CAMERA_ACCESS_H
-
-#include <stdint.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/**
- * \file uca.h
- * \brief Abstract camera model
- *
- * The uca_t structure represents a common interface for cameras regardless of
- * their connectivity. Each camera that adheres to this model must provide an
- * initialization function that probes the device and sets all function pointers
- * to their respective implementation.
- */
-
-/**
- * \mainpage
- *
- * \section intro_sec Introduction
- *
- * libuca is a thin wrapper to make different cameras and their access
- * interfaces (via CameraLink, PCIe …) accessible in an easy way.
- * It builds support for cameras, when it can find the necessary dependencies,
- * so there is no need to have camera SDKs installed when you don't own a
- * camera. 
- *
- * \section intro_installation Installation from source
- *
- * Check out the code from vogelgesang/libuca or untar the tarball. Make sure to
- * install CMake and any third party drivers and SDKs that you want to have
- * accessed by libuca. Now go into some empty build directory and issue
- *
- * \verbatim
-$ cmake PATH_TO_LIBUCA_SOURCE
-$ make
-$ make install
-   \endverbatim
- *
- * \section intro_quickstart Quick Start
- *
- * First of all you have to create a new uca handle to initialize the individual
- * subsystems
- *
- * \code uca *u = uca_init(); \endcode
- *
- * and see if uca_init() did not return NULL. If this is the case, no camera or
- * frame grabber was found. If you build with HAVE_DUMMY_CAMERA, there will
- * always be at least the dummy camera available.
- *
- * You can then iterate through all available cameras using
- * 
- * \code
- * uca_camera *i = uca->cameras;
- * while (i != NULL) {
- *     // do something with i
- *     i = i->next;
- * }
- * \endcode
- *
- * The uca_camera handle is used to set and retrieve properties: 
- *
- * \code
- * uca_camera *cam = uca->cameras;
- * uint32_t val = 5000;
- * uca_cam_set_property(cam, UCA_PROP_EXPOSURE, &val);
- * 
- * uint32_t width, height;
- * uca_cam_get_property(cam, UCA_PROP_WIDTH, &width, NULL);
- * uca_cam_get_property(cam, UCA_PROP_HEIGHT, &height, NULL);
- * \endcode
- *
- * \section properties Property system
- *
- * Each property has a unique id listed in the #uca_property_ids enum.
- * Information about each property is given in a uca_property structure that is
- * mapped with uca_get_full_property(). The description lists the unit, type and
- * access rights.
- * 
- * \section intro_recording Recording
- *
- * To record in synchronous fashion use uca_cam_grab() like
- *
- * \code
- * void *buffer = (void *) malloc(width * height * bytes_per_pixel);
- * uca_cam_start_recording(cam);
- * uca_cam_grab(cam, (char *) buffer, NULL);
- * uca_cam_stop_recording(cam);
- * \endcode
- *
- * Eventually you will have to cleanup the system by calling 
- *
- * \code uca_destroy(u); \endcode
- *
- * \section intro_usage Adding new cameras
- *
- * To add a new camera, add cameras/new-cam.c and cameras/new-cam.h to the
- * source tree and change CMakeLists.txt to include these files.
- * Furthermore, if this camera relies on external dependencies, these have
- * to be found first via the CMake system.
- *
- * The new camera must export exactly one function: uca_new_camera_init() which
- * checks if (given the grabber) the camera is available and sets the function
- * pointers to access the camera accordingly.
- *
- * \section api_reference API reference
- *
- * All function definitions can be found in uca.h.
- *
- */
-
-/* The property IDs must start with 0 and must be continuous. Whenever this
- * library is released, the IDs must not change to guarantee binary compatibility! */
-/**
- * ID of all supported properties
- */
-typedef enum {
-    UCA_PROP_NAME = 0,
-    UCA_PROP_WIDTH,
-    UCA_PROP_WIDTH_MIN,
-    UCA_PROP_WIDTH_MAX,
-    UCA_PROP_HEIGHT,
-    UCA_PROP_HEIGHT_MIN,
-    UCA_PROP_HEIGHT_MAX,
-    UCA_PROP_X_OFFSET,
-    UCA_PROP_X_OFFSET_MIN,
-    UCA_PROP_X_OFFSET_MAX,
-    UCA_PROP_Y_OFFSET,
-    UCA_PROP_Y_OFFSET_MIN,
-    UCA_PROP_Y_OFFSET_MAX,
-    UCA_PROP_BINNING_X,
-    UCA_PROP_BINNING_Y,
-    UCA_PROP_BITDEPTH,
-    UCA_PROP_EXPOSURE,
-    UCA_PROP_EXPOSURE_MIN,
-    UCA_PROP_EXPOSURE_MAX,
-    UCA_PROP_DELAY,
-    UCA_PROP_DELAY_MIN,
-    UCA_PROP_DELAY_MAX,
-    UCA_PROP_FRAMERATE,
-    UCA_PROP_TEMPERATURE_SENSOR,
-    UCA_PROP_TEMPERATURE_CAMERA,
-    UCA_PROP_TRIGGER_MODE,
-    UCA_PROP_TRIGGER_EXPOSURE,
-
-    UCA_PROP_PGA_GAIN,
-    UCA_PROP_PGA_GAIN_MIN,
-    UCA_PROP_PGA_GAIN_MAX,
-    UCA_PROP_PGA_GAIN_STEPS,
-    UCA_PROP_ADC_GAIN,
-    UCA_PROP_ADC_GAIN_MIN,
-    UCA_PROP_ADC_GAIN_MAX,
-    UCA_PROP_ADC_GAIN_STEPS,
-
-    /* grabber specific */
-    UCA_PROP_GRAB_TIMEOUT,
-    UCA_PROP_GRAB_SYNCHRONOUS,
-    UCA_PROP_GRAB_AUTO,
-
-    /* pco.edge specific */
-    UCA_PROP_TIMESTAMP_MODE,
-    UCA_PROP_SCAN_MODE,
-    UCA_PROP_HOTPIXEL_CORRECTION,
-
-    /* IPE camera specific */
-    UCA_PROP_INTERLACE_SAMPLE_RATE,
-    UCA_PROP_INTERLACE_PIXEL_THRESH,
-    UCA_PROP_INTERLACE_ROW_THRESH,
-
-    /* Photon Focus specific */
-    UCA_PROP_CORRECTION_MODE,
-
-    UCA_PROP_LAST
-} uca_property_ids;
-
-/* Possible timestamp modes for UCA_PROP_TIMESTAMP_MODE */
-#define UCA_TIMESTAMP_NONE      0x00
-#define UCA_TIMESTAMP_ASCII     0x01
-#define UCA_TIMESTAMP_BINARY    0x02
-
-/* Trigger mode for UCA_PROP_TRIGGER_MODE */
-#define UCA_TRIGGER_AUTO        0   /**< free-run mode */
-#define UCA_TRIGGER_SOFTWARE    1   /**< software trigger via uca_cam_trigger() */
-#define UCA_TRIGGER_EXTERNAL    2   /**< external hardware trigger */
-#define UCA_TRIGGER_EXTERNAL_EXPOSURE 3     /**< hardware trigger controlling exposure */
-
-#define UCA_TRIGGER_EXP_CAMERA  1   /**< camera-controlled exposure time */
-#define UCA_TRIGGER_EXP_LEVEL   2   /**< level-controlled (trigger signal) exposure time */
-
-/* Correction modes for UCA_PROP_CORRECTION_MODE */
-#define UCA_CORRECT_OFFSET      0x01
-#define UCA_CORRECT_HOTPIXEL    0x02
-#define UCA_CORRECT_GAIN        0x04
-
-/**
- * The physical unit of this property.
- *
- * This is important in order to let the camera drivers know, how to convert
- * the values into their respective target value. It is also used for human
- * interfaces.
- */
-typedef enum {
-    uca_pixel,  /**< number of pixels */
-    uca_bits,   /**< number of bits */
-    uca_ns,     /**< nanoseconds */
-    uca_us,     /**< microseconds */
-    uca_ms,     /**< milliseconds */
-    uca_s,      /**< seconds */
-    uca_rows,   /**< number of rows */
-    uca_fps,    /**< frames per second */
-    uca_dc,     /**< degree celsius */
-    uca_bool,   /**< 1 or 0 for true and false */
-    uca_na      /**< no unit available (for example modes) */
-} uca_unit;
-
-/**
- * The data type of this property.
- *
- * When using uca_cam_set_property() and uca_cam_get_property() this field
- * must be respected and correct data transfered, as the values are
- * interpreted like defined here.
- */
-typedef enum {
-    uca_uint32t,
-    uca_uint8t,
-    uca_string
-} uca_types;
-
-/**
- * Access rights determine if uca_cam_get_property() and/or
- * uca_cam_set_property() can be used with this property.
- */
-typedef enum {
-    uca_read = 0x01,                /**< property can be read */
-    uca_write = 0x02,               /**< property can be written */
-    uca_readwrite = 0x01 | 0x02     /**< property can be read and written */
-} uca_access_rights;
-
-/**
- * Describes the current state of the camera.
- *
- * \see uca_cam_get_state()
- */
-typedef enum {
-    UCA_CAM_CONFIGURABLE,   /**< Camera can be configured and is not recording */
-    UCA_CAM_ARMED,          /**< Camera is ready for recording */
-    UCA_CAM_RECORDING,      /**< Camera is currently recording */
-    UCA_CAM_READOUT         /**< Camera recorded and is currently in readout mode */
-} uca_cam_state;
-
-/**
- * Specify if the callback function keeps the buffer and will call
- * ufo_cam_release_buffer() at later time or if after returning the buffer can
- * be released automatically.
- *
- * \since 0.5
- */
-typedef enum {
-    UCA_BUFFER_KEEP,        /**< Keep the buffer and call ufo_cam_release_buffer() manually */
-    UCA_BUFFER_RELEASE      /**< Buffer is released upon return */
-} uca_buffer_status;
-
-/**
- * A uca_property_t describes a vendor-independent property used by cameras and
- * frame grabbers. It basically consists of a human-readable name, a physical
- * unit, a type and some access rights.
- * \see uca_get_full_property()
- */
-typedef struct {
-    /**
-     * A human-readable string for this property.
-     *
-     * A name is defined in a tree-like structure, to build some form of
-     * hierarchical namespace. To define a parent-child-relationship a dot '.'
-     * is used. For example "image.width.min" might be the name for the minimal
-     * acceptable frame width.
-     */
-    const char *name;
-
-    uca_unit unit;  /**< Physical unit of this property */
-    uca_types type; /**< Type of this property */
-    uca_access_rights access; /**< Access rights of this property */
-
-} uca_property;
-
-union uca_value {
-    uint32_t u32;
-    uint8_t u8;
-    char *string;
-};
-
-
-/**
- * Grab callback.
- * 
- * Register such a callback function with uca_cam_register_callback() to
- * receive data as soon as it is delivered.
- *
- * \param[in] image_number Current frame number
- * \param[in] buffer Image data.
- * \param[in] meta_data Meta data provided by the camera specifying per-frame
- *   data.
- * \param[in] user User data registered in uca_cam_register_callback()
- * \return Value from uca_buffer_status. If #UCA_BUFFER_KEEP is returned, the
- * callee must make sure to call uca_cam_release_buffer(). On the other hand, if
- * #UCA_BUFFER_RELEASE is returned this is done by the caller.
- *
- * \note The meta data parameter is not yet specified but just a place holder.
- */
-typedef uca_buffer_status (*uca_cam_grab_callback) (uint64_t image_number, void *buffer, void *meta_data, void *user);
-
-extern const char *uca_unit_map[];      /**< maps unit numbers to corresponding strings */
-
-
-/**
- * An error code is a 32 bit integer with the following format (x:y means x bits
- * for purpose y):
- *
- *    [ 31 (MSB) ...                     ... 0 (LSB) ]
- *    [ 4:lvl | 4:rsv | 4:class | 4:source | 16:code ]
- *
- * where
- *
- *  - lvl describes severity such as warning or failure,
- *  - rsv is reserved,
- *  - class describes the general class of the error,
- *  - source describes where the error occured and
- *  - code is the actual error condition
- *
- * UCA_ERR_MASK_*s can be used to mask the desired field of the error code.
- * 
- */
-
-#define UCA_NO_ERROR            0x00000000
-
-#define UCA_ERR_MASK_CODE       0xF000FFFF
-#define UCA_ERR_MASK_SOURCE     0x000F0000
-#define UCA_ERR_MASK_TYPE       0x00F00000
-#define UCA_ERR_MASK_RESRV      0x0F000000
-#define UCA_ERR_MASK_LEVEL      0xF0000000
-
-#define UCA_ERR_GRABBER         0x00010000
-#define UCA_ERR_CAMERA          0x00020000
-
-#define UCA_ERR_INIT            0x00100000  /**< error during initialization */
-#define UCA_ERR_PROP            0x00200000  /**< error while setting/getting property */
-#define UCA_ERR_CALLBACK        0x00300000  /**< callback-related errors */
-#define UCA_ERR_TRIGGER         0x00400000  /**< errors concerning trigger */
-#define UCA_ERR_CONFIGURATION   0x00500000  /**< errors related to configuration steps */
-
-#define UCA_ERR_FAILURE         0x10000000
-#define UCA_ERR_WARNING         0x20000000
-
-#define UCA_ERR_UNCLASSIFIED    0x10000001
-#define UCA_ERR_NOT_FOUND       0x10000002
-#define UCA_ERR_INVALID         0x10000003
-#define UCA_ERR_NO_MEMORY       0x10000004
-#define UCA_ERR_OUT_OF_RANGE    0x10000005
-#define UCA_ERR_ACQUIRE         0x10000006
-#define UCA_ERR_IS_RECORDING    0x10000007 /**< error because device is recording */
-#define UCA_ERR_NOT_RECORDING   0x10000008
-#define UCA_ERR_FRAME_TRANSFER  0x10000009
-#define UCA_ERR_ALREADY_REGISTERED 0x1000000A
-#define UCA_ERR_NOT_IMPLEMENTED 0x1000000B
-#define UCA_ERR_NO_MORE_IMAGES  0x1000000C
-
-struct uca_camera_priv;
-/**
- * uca_camera is an opaque structure that is only accessed with the uca_cam_*
- * methods.
- */
-typedef struct uca_camera {
-    struct uca_camera *next;
-    struct uca_camera_priv* priv;
-} uca_camera;
-
-struct uca_grabber_priv;
-typedef struct uca_grabber {
-    struct uca_grabber *next;
-    struct uca_grabber_priv* priv;
-} uca_grabber;
-
-/**
- * Keeps a list of cameras and grabbers.
- */
-typedef struct {
-    uca_camera *cameras;    /**< Root of detected camera list */
-    uca_grabber *grabbers;  /**< Root of detected grabber list */
-} uca;
-
-/**
- * Initialize the unified camera access interface.
- *
- * \param[in] config_filename Configuration file in JSON format for cameras
- *   relying on external calibration data. It is ignored when no JSON parser can
- *   be found at compile time or config_filename is NULL.
- *
- * \return Pointer to a #uca structure
- *
- * \note uca_init() is thread-safe if a Pthread-implementation is available.
- */
-uca *uca_init(const char *config_filename);
-
-/**
- * Free resources of the unified camera access interface
- *
- * \note uca_destroy() is thread-safe if a Pthread-implementation is available.
- */
-void uca_destroy(uca *u);
-
-/**
- * Convert a property string to the corresponding ID
- *
- * \param[in] property_name Name of the property
- * \param[out] prop_id Resulting property ID
- * \return Error code
- */
-uint32_t uca_get_property_id(const char *property_name, uca_property_ids *prop_id);
-
-/**
- * Convert a property ID to the corresponding string 
- *
- * \param property_id ID of a property 
- * \return If property is found name of the property else NULL
- */
-const char* uca_get_property_name(uca_property_ids property_id);
-
-/**
- * Return the full property structure for a given ID
- *
- * \param property_id ID of a property
- * \return Property description or NULL if property is not found
- */
-uca_property *uca_get_full_property(uca_property_ids property_id);
-
-/**
- * Allocates buffer memory for the internal frame grabber.
- *
- * The allocation is just a hint to the underlying camera driver. It might
- * ignore this or pass this information on to a related frame grabber.
- *
- * \param[in] cam A uca_camera object
- * \param[in] n_buffers Number of sub-buffers with size frame_width*frame_height.
- * \return Error code
- */
-uint32_t uca_cam_alloc(uca_camera *cam, uint32_t n_buffers);
-
-/**
- * Retrieve current state of the camera.
- *
- * \param[in] cam A uca_camera object
- * \return A value from the uca_cam_state enum representing the current state of
- *   the camera.
- */
-uca_cam_state uca_cam_get_state(uca_camera *cam);
-
-
-/**
- * Set a camera property.
- *
- * \param[in] cam The camera whose properties are to be set.
- * \param[in] cam A uca_camera object
- * \param[in] property ID of the property as defined in XXX
- * \param[out] data Where to read the property's value from
- *
- * \return UCA_ERR_PROP_INVALID if property is not supported on the camera or
- *   UCA_ERR_PROP_VALUE_OUT_OF_RANGE if value cannot be set.
- */
-uint32_t uca_cam_set_property(uca_camera *cam, uca_property_ids property, void *data);
-
-/**
- * Get a property.
- *
- * \param[in] cam A uca_camera object
- * \param[in] property ID of the property as defined in XXX
- * \param[out] data Where to store the property's value
- * \param[in] num Number of bytes of string storage. Ignored for uca_uint8t
- *   and uca_uint32t properties.
- *
- * \return UCA_ERR_PROP_INVALID if property is not supported on the camera
- */
-uint32_t uca_cam_get_property(uca_camera *cam, uca_property_ids property, void *data, size_t num);
-
-/**
- * Begin recording.
- *
- * Usually this also involves the frame acquisition of the frame grabber but is
- * hidden by this function.
- *
- * \param[in] cam A uca_camera object
- * \return Error code
- */
-uint32_t uca_cam_start_recording(uca_camera *cam);
-
-/**
- * Stop recording.
- *
- * \param[in] cam A uca_camera object
- * \return Error code
- */
-uint32_t uca_cam_stop_recording(uca_camera *cam);
-
-/**
- * Send a software trigger signal to start a sensor read-out.
- *
- * This method is only useful when #UCA_PROP_TRIGGER_MODE is set to
- * #UCA_TRIGGER_SOFTWARE.
- *
- * \param[in] cam A uca_camera object
- * \return Error code
- */
-uint32_t uca_cam_trigger(uca_camera *cam);
-
-/**
- * Register callback for given frame grabber. To actually start receiving
- * frames, call uca_grabber_acquire().
- *
- * \param[in] cam A uca_camera object
- * \param[in] callback Callback function for when a frame arrived
- * \param[in] user User data that is passed to the callback function
- * \return Error code
- */
-uint32_t uca_cam_register_callback(uca_camera *cam, uca_cam_grab_callback callback, void *user);
-
-/**
- * Release the buffer that was given in the grab callback.
- *
- * \param[in] cam A uca_camera object
- * \param[in] buffer The buffer that was passed to the callback
- *
- * \see uca_cam_register_callback(), uca_cam_grab_callback
- * \since 0.5
- */
-uint32_t uca_cam_release_buffer(uca_camera *cam, void *buffer);
-
-/**
- * \brief Grab one image from the camera
- * 
- * The grabbing involves a memory copy because we might have to decode the image
- * coming from the camera, which the frame grabber is not able to do.
- *
- * \param[in] cam A uca_camera object
- * \param[in] buffer Destination buffer
- * \param[in] meta_data Meta data provided by the camera specifying per-frame
- *   data.
- * \return Error code
- *
- * \note The meta data parameter is not yet specified but just a place holder.
- *
- */
-uint32_t uca_cam_grab(uca_camera *cam, char *buffer, void *meta_data);
-
-/**
- * \brief Initiate read out for recording based cameras like pco.dimax or
- * Photron SAx
- *
- * This function merely starts read out and requires that recording has stopped
- * with uca_cam_stop_recording. To retrieve the image data, you have still have
- * to use uca_cam_grab.
- *
- * \param[in] cam A uca_camera object
- * \return Error code
- */
-uint32_t uca_cam_readout(uca_camera *cam);
-
-#define uca_set_void(p, type, value) { *((type *) p) = (type) value; }
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif