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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"
/* TODO: REMOVE THIS ASAP */
#define FG_WIDTH 100
#define FG_HEIGHT 200
#define FG_MAXWIDTH 6100
#define FG_MAXHEIGHT 6200
#define FG_ACTIVEPORT 6300
#define FG_XOFFSET 300
#define FG_YOFFSET 400
#define FG_FORMAT 700
#define FG_GRAY 3
#define FG_CAMERA_LINK_CAMTYP 11011
#define FG_CL_8BIT_FULL_8 308
#define FG_TRIGGERMODE 8100
#define FG_EXPOSURE 10020 /**< Exposure Time in us (Brigthness) (float) */
#define set_void(p, type, value) { *((type *) p) = value; }
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 uint32_t uca_pf_acquire_image(struct uca_camera_t *cam, void *buffer)
{
return UCA_NO_ERROR;
}
static uint32_t uca_pf_set_property(struct uca_camera_t *cam, enum uca_property_ids property, void *data)
{
struct uca_grabber_t *grabber = cam->grabber;
TOKEN t = INVALID_TOKEN;
int i = 0;
/* Find a valid pf token for the property */
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);
i++;
}
if (t == INVALID_TOKEN)
return UCA_ERR_PROP_INVALID;
PFValue value;
switch (property) {
case UCA_PROP_WIDTH:
if (grabber->set_property(grabber, FG_WIDTH, (uint32_t *) data) != UCA_NO_ERROR)
return UCA_ERR_PROP_VALUE_OUT_OF_RANGE;
value.value.i = *((uint32_t *) data);
if (pfDevice_SetProperty(0, t, &value) < 0)
return UCA_ERR_PROP_VALUE_OUT_OF_RANGE;
cam->frame_width = value.value.i;
break;
case UCA_PROP_HEIGHT:
if (grabber->set_property(grabber, FG_HEIGHT, (uint32_t *) data) != UCA_NO_ERROR)
return UCA_ERR_PROP_VALUE_OUT_OF_RANGE;
value.value.i = *((uint32_t *) data);
if (pfDevice_SetProperty(0, t, &value) < 0)
return UCA_ERR_PROP_VALUE_OUT_OF_RANGE;
cam->frame_height = value.value.i;
break;
case UCA_PROP_X_OFFSET:
if (grabber->set_property(grabber, FG_XOFFSET, (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, FG_YOFFSET, (uint32_t *) data) != UCA_NO_ERROR)
return UCA_ERR_PROP_VALUE_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, t, &value) < 0)
return UCA_ERR_PROP_VALUE_OUT_OF_RANGE;
break;
default:
return UCA_ERR_PROP_INVALID;
}
return UCA_NO_ERROR;
}
static uint32_t uca_pf_get_property(struct uca_camera_t *cam, enum uca_property_ids property, void *data)
{
struct uca_grabber_t *grabber = cam->grabber;
TOKEN t; /* You gotta love developers who name types capitalized... */
PFValue value;
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_PROP_INVALID;
switch (value.type) {
case PF_INT:
set_void(data, uint32_t, value.value.i);
break;
case PF_FLOAT:
set_void(data, uint32_t, (uint32_t) floor((value.value.f * 1000.0)+0.5));
break;
case PF_STRING:
if (property == UCA_PROP_FRAMERATE) {
set_void(data, uint32_t, (uint32_t) floor(atof(value.value.p)+0.5));
}
else {
strcpy((char *) data, value.value.p);
}
break;
case PF_MODE:
set_void(data, uint32_t, (uint32_t) value.value.i);
break;
}
return UCA_NO_ERROR;
}
i++;
}
/* Handle all special cases */
switch (property) {
case UCA_PROP_BITDEPTH:
set_void(data, uint32_t, 8);
break;
default:
return UCA_ERR_PROP_INVALID;
}
return UCA_NO_ERROR;
}
uint32_t uca_pf_start_recording(struct uca_camera_t *cam)
{
return cam->grabber->acquire(cam->grabber, -1);
}
uint32_t uca_pf_stop_recording(struct uca_camera_t *cam)
{
return UCA_NO_ERROR;
}
uint32_t uca_pf_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 */
memcpy(buffer, frame, cam->frame_width*cam->frame_height);
return UCA_NO_ERROR;
}
static uint32_t uca_pf_destroy(struct uca_camera_t *cam)
{
pfDeviceClose(0);
return UCA_NO_ERROR;
}
uint32_t uca_pf_init(struct uca_camera_t **cam, struct uca_grabber_t *grabber)
{
int num_ports;
if ((grabber == NULL) || (pfPortInit(&num_ports) < 0) || (pfDeviceOpen(0) < 0))
return UCA_ERR_CAM_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_t *uca = (struct uca_camera_t *) malloc(sizeof(struct uca_camera_t));
uca->grabber = grabber;
uca->grabber->asynchronous = true;
/* 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->grab = &uca_pf_grab;
/* Prepare frame grabber for recording */
int val = FG_CL_8BIT_FULL_8;
grabber->set_property(grabber, FG_CAMERA_LINK_CAMTYP, &val);
val = FG_GRAY;
grabber->set_property(grabber, FG_FORMAT, &val);
val = 0;
grabber->set_property(grabber, FG_TRIGGERMODE, &val);
uca_pf_get_property(uca, UCA_PROP_WIDTH, &uca->frame_width);
uca_pf_get_property(uca, UCA_PROP_HEIGHT, &uca->frame_height);
grabber->set_property(grabber, FG_WIDTH, &uca->frame_width);
grabber->set_property(grabber, FG_HEIGHT, &uca->frame_height);
uca->state = UCA_CAM_CONFIGURABLE;
*cam = uca;
return UCA_NO_ERROR;
}
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