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#include <stdlib.h>
#include <string.h>
#include <clser.h>
#include <fgrab_struct.h>
#include <fgrab_prototyp.h>
#include "uca.h"
#include "uca-grabber.h"
struct fg_apc_data {
Fg_Struct *fg;
dma_mem *mem;
uint32_t timeout;
/* End-user related callback variables */
uca_cam_grab_callback callback;
void *meta_data;
void *user;
};
struct uca_sisofg_map_t {
enum uca_grabber_constants uca_prop;
int fg_id;
bool interpret_data; /**< is data a constant or a value? */
};
static struct uca_sisofg_map_t uca_to_fg[] = {
/* properties */
{ UCA_PROP_WIDTH, FG_WIDTH, false },
{ UCA_PROP_HEIGHT, FG_HEIGHT, false },
{ UCA_PROP_X_OFFSET, FG_XOFFSET, false },
{ UCA_PROP_Y_OFFSET, FG_YOFFSET, false },
{ UCA_PROP_EXPOSURE, FG_EXPOSURE, false },
{ UCA_PROP_GRAB_TIMEOUT, FG_TIMEOUT, false },
{ UCA_GRABBER_TRIGGER_MODE, FG_TRIGGERMODE, true},
{ UCA_GRABBER_FORMAT, FG_FORMAT, true},
{ UCA_GRABBER_CAMERALINK_TYPE, FG_CAMERA_LINK_CAMTYP, true },
/* values */
{ UCA_FORMAT_GRAY8, FG_GRAY, false },
{ UCA_FORMAT_GRAY16, FG_GRAY16, false },
{ UCA_CL_8BIT_FULL_8, FG_CL_8BIT_FULL_8, false },
{ UCA_CL_8BIT_FULL_10, FG_CL_8BIT_FULL_10, false },
{ UCA_TRIGGER_FREERUN, FREE_RUN, false },
{ UCA_GRABBER_INVALID, 0, false }
};
#define GET_FG(grabber) (((struct fg_apc_data *) grabber->user)->fg)
#define GET_MEM(grabber) (((struct fg_apc_data *) grabber->user)->mem)
static uint32_t uca_me4_destroy(struct uca_grabber *grabber)
{
if (grabber != NULL) {
Fg_FreeMemEx(GET_FG(grabber), GET_MEM(grabber));
Fg_FreeGrabber(GET_FG(grabber));
}
return UCA_NO_ERROR;
}
static struct uca_sisofg_map_t *uca_me4_find_fg_property(enum uca_grabber_constants property)
{
int i = 0;
/* Find a valid frame grabber id for the property */
while (uca_to_fg[i].uca_prop != UCA_GRABBER_INVALID) {
if (uca_to_fg[i].uca_prop == property)
return &uca_to_fg[i];
i++;
}
return NULL;
}
static struct uca_sisofg_map_t *uca_me4_find_uca_property(int fg_id)
{
int i = 0;
/* Find a valid frame grabber id for the property */
while (uca_to_fg[i].fg_id != 0) {
if (uca_to_fg[i].fg_id == fg_id)
return &uca_to_fg[i];
i++;
}
return NULL;
}
static uint32_t uca_me4_set_property(struct uca_grabber *grabber, int32_t property, void *data)
{
/* Handle all properties not related specifically to the me4 */
union uca_value *v = (union uca_value *) data;
switch (property) {
case UCA_PROP_GRAB_TIMEOUT:
((struct fg_apc_data *) grabber->user)->timeout = v->u32;
break;
case UCA_PROP_GRAB_SYNCHRONOUS:
grabber->synchronous = v->u32 != 0;
return UCA_NO_ERROR;
default:
break;
}
/* Try to find a matching me4 property */
uint32_t err = UCA_ERR_GRABBER | UCA_ERR_PROP;
struct uca_sisofg_map_t *fg_prop = uca_me4_find_fg_property(property);
if (fg_prop == NULL)
return err | UCA_ERR_INVALID;
if (fg_prop->interpret_data) {
/* Data is not a value but a SiSo specific constant that we need to
* translate to Silicon Software speak. Therefore, we try to find it in
* the map. */
struct uca_sisofg_map_t *constant = uca_me4_find_fg_property(*((uint32_t *) data));
if (constant != NULL)
return Fg_setParameter(GET_FG(grabber), fg_prop->fg_id, &constant->fg_id, PORT_A) == FG_OK ? \
UCA_NO_ERROR : err | UCA_ERR_INVALID;
return err | UCA_ERR_INVALID;
}
else
return Fg_setParameter(GET_FG(grabber), fg_prop->fg_id, data, PORT_A) == FG_OK ? \
UCA_NO_ERROR : err | UCA_ERR_INVALID;
}
static uint32_t uca_me4_get_property(struct uca_grabber *grabber, int32_t property, void *data)
{
switch (property) {
case UCA_PROP_GRAB_SYNCHRONOUS:
*((uint32_t *) data) = grabber->synchronous ? 1 : 0;
return UCA_NO_ERROR;
default:
break;
}
uint32_t err = UCA_ERR_GRABBER | UCA_ERR_PROP;
struct uca_sisofg_map_t *fg_prop = uca_me4_find_fg_property(property);
if (fg_prop == NULL)
return err | UCA_ERR_INVALID;
if (fg_prop->interpret_data) {
int constant;
if (Fg_getParameter(GET_FG(grabber), fg_prop->fg_id, &constant, PORT_A) != FG_OK)
return err | UCA_ERR_INVALID;
/* Try to find the constant value */
struct uca_sisofg_map_t *uca_prop = uca_me4_find_uca_property(constant);
if (uca_prop == NULL)
return err | UCA_ERR_INVALID;
*((uint32_t *) data) = uca_prop->uca_prop;
return UCA_NO_ERROR;
}
return Fg_getParameter(GET_FG(grabber), fg_prop->fg_id, data, PORT_A) == FG_OK ? \
UCA_NO_ERROR : err | UCA_ERR_INVALID;
}
static uint32_t uca_me4_alloc(struct uca_grabber *grabber, uint32_t pixel_size, uint32_t n_buffers)
{
dma_mem *mem = GET_MEM(grabber);
/* If buffers are already allocated, we are freeing every buffer and start
* again. */
if (mem != NULL)
Fg_FreeMemEx(GET_FG(grabber), mem);
uint32_t width, height;
uca_me4_get_property(grabber, UCA_PROP_WIDTH, &width);
uca_me4_get_property(grabber, UCA_PROP_HEIGHT, &height);
mem = Fg_AllocMemEx(GET_FG(grabber), n_buffers*width*height*pixel_size, n_buffers);
if (mem != NULL) {
((struct fg_apc_data *) grabber->user)->mem = mem;
return UCA_NO_ERROR;
}
return UCA_ERR_GRABBER | UCA_ERR_NO_MEMORY;
}
static uint32_t uca_me4_acquire(struct uca_grabber *grabber, int32_t n_frames)
{
if (GET_MEM(grabber) == NULL)
return UCA_ERR_GRABBER | UCA_ERR_NO_MEMORY;
n_frames = n_frames < 0 ? GRAB_INFINITE : n_frames;
if (Fg_AcquireEx(GET_FG(grabber), 0, n_frames, ACQ_STANDARD, GET_MEM(grabber)) == FG_OK)
return UCA_NO_ERROR;
return UCA_ERR_GRABBER | UCA_ERR_ACQUIRE;
}
static uint32_t uca_me4_stop_acquire(struct uca_grabber *grabber)
{
if (GET_MEM(grabber) != NULL)
if (Fg_stopAcquireEx(GET_FG(grabber), 0, GET_MEM(grabber), STOP_SYNC) != FG_OK)
return UCA_ERR_GRABBER | UCA_ERR_ACQUIRE;
return UCA_NO_ERROR;
}
static uint32_t uca_me4_grab(struct uca_grabber *grabber, void **buffer, uint64_t *frame_number)
{
static frameindex_t last_frame = 0;
struct fg_apc_data *me4 = (struct fg_apc_data *) grabber->user;
if (grabber->synchronous)
last_frame = Fg_getLastPicNumberBlockingEx(me4->fg, last_frame+1, PORT_A, me4->timeout, me4->mem);
else
last_frame = Fg_getLastPicNumberEx(me4->fg, PORT_A, me4->mem);
if (last_frame <= 0)
return UCA_ERR_GRABBER | UCA_ERR_FRAME_TRANSFER;
*frame_number = (uint64_t) last_frame;
*buffer = Fg_getImagePtrEx(me4->fg, last_frame, PORT_A, me4->mem);
return UCA_NO_ERROR;
}
static int uca_me4_callback(frameindex_t frame, struct fg_apc_data *apc)
{
apc->callback(frame, Fg_getImagePtrEx(apc->fg, frame, PORT_A, apc->mem), apc->meta_data, apc->user);
return 0;
}
static uint32_t uca_me4_register_callback(struct uca_grabber *grabber, uca_cam_grab_callback callback, void *meta_data, void *user)
{
if (GET_MEM(grabber) == NULL)
return UCA_ERR_GRABBER | UCA_ERR_CALLBACK | UCA_ERR_NO_MEMORY;
if (grabber->callback == NULL) {
grabber->callback = callback;
struct fg_apc_data *apc_data = (struct fg_apc_data *) grabber->user;
apc_data->callback = callback;
apc_data->meta_data = meta_data;
apc_data->user = user;
struct FgApcControl ctrl;
ctrl.version = 0;
ctrl.data = (struct fg_apc_data *) grabber->user;
ctrl.func = &uca_me4_callback;
ctrl.flags = FG_APC_DEFAULTS;
ctrl.timeout = 1;
if (Fg_registerApcHandler(GET_FG(grabber), PORT_A, &ctrl, FG_APC_CONTROL_BASIC) != FG_OK)
return UCA_ERR_GRABBER | UCA_ERR_CALLBACK;
}
else
return UCA_ERR_GRABBER | UCA_ERR_CALLBACK;
return UCA_NO_ERROR;
}
uint32_t uca_me4_init(struct uca_grabber **grabber)
{
Fg_Struct *fg = Fg_Init("libFullAreaGray8.so", 0);
if (fg == NULL)
return UCA_ERR_GRABBER | UCA_ERR_NOT_FOUND;
struct uca_grabber *uca = (struct uca_grabber *) malloc(sizeof(struct uca_grabber));
memset(uca, 0, sizeof(struct uca_grabber));
struct fg_apc_data *me4 = (struct fg_apc_data *) malloc(sizeof(struct fg_apc_data));
memset(me4, 0, sizeof(struct fg_apc_data));
me4->fg = fg;
Fg_getParameter(fg, FG_TIMEOUT, &me4->timeout, PORT_A);
uca->user = me4;
uca->destroy = &uca_me4_destroy;
uca->set_property = &uca_me4_set_property;
uca->get_property = &uca_me4_get_property;
uca->alloc = &uca_me4_alloc;
uca->acquire = &uca_me4_acquire;
uca->stop_acquire = &uca_me4_stop_acquire;
uca->grab = &uca_me4_grab;
uca->register_callback = &uca_me4_register_callback;
*grabber = uca;
return UCA_NO_ERROR;
}
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