diff options
Diffstat (limited to 'ipecamera')
-rw-r--r-- | ipecamera/image.c | 151 | ||||
-rw-r--r-- | ipecamera/ipecamera.h | 1 | ||||
-rw-r--r-- | ipecamera/model.h | 1 |
3 files changed, 108 insertions, 45 deletions
diff --git a/ipecamera/image.c b/ipecamera/image.c index 4653dc4..e60bbf2 100644 --- a/ipecamera/image.c +++ b/ipecamera/image.c @@ -9,6 +9,8 @@ #include <pthread.h> #include <assert.h> +#include <ufodecode.h> + #include "../tools.h" #include "../error.h" @@ -26,6 +28,8 @@ #define IPECAMERA_BUG_EXTRA_DATA +#define IPECAMERA_BUG_MULTIFRAME_PACKETS +#define IPECAMERA_BUG_INCOMPLETE_PACKETS #define IPECAMERA_DEFAULT_BUFFER_SIZE 64 //**< should be power of 2 */ #define IPECAMERA_RESERVE_BUFFERS 2 //**< Return Frame is Lost error, if requested frame will be overwritten after specified number of frames @@ -59,18 +63,8 @@ #define IPECAMERA_START_INTERNAL_STIMULI 0x1F1 -#define IPECAMERA_WRITE_RAW -#define IPECAMERA_REORDER_CHANNELS - -#ifdef IPECAMERA_REORDER_CHANNELS -int ipecamera_channel_order[IPECAMERA_MAX_CHANNELS] = { 15, 13, 14, 12, 10, 8, 11, 7, 9, 6, 5, 2, 4, 3, 0, 1 }; -#endif - - - typedef uint32_t ipecamera_payload_t; - typedef struct { pcilib_event_id_t evid; struct timeval timestamp; @@ -78,10 +72,10 @@ typedef struct { struct ipecamera_s { pcilib_context_t event; + ufo_decoder ipedec; -#ifndef IPECAMERA_DMA_ADDRESS char *data; -#endif /* IPECAMERA_DMA_ADDRESS */ + ipecamera_pixel_t *image; size_t size; pcilib_event_callback_t cb; @@ -90,9 +84,7 @@ struct ipecamera_s { pcilib_event_id_t event_id; pcilib_event_id_t reported_id; -#ifdef IPECAMERA_DMA_ADDRESS pcilib_dma_engine_t rdma, wdma; -#endif /* IPECAMERA_DMA_ADDRESS */ pcilib_register_t packet_len_reg; pcilib_register_t control_reg, status_reg; @@ -196,16 +188,8 @@ pcilib_context_t *ipecamera_init(pcilib_t *pcilib) { ctx->buffer_size = IPECAMERA_DEFAULT_BUFFER_SIZE; ctx->dim.bpp = sizeof(ipecamera_pixel_t) * 8; -#ifdef IPECAMERA_DMA_ADDRESS // We need DMA engine initialized to resolve DMA registers // FIND_REG(packet_len_reg, "fpga", "xrawdata_packet_length"); -#else /* IPECAMERA_DMA_ADDRESS */ - ctx->data = pcilib_resolve_data_space(pcilib, 0, &ctx->size); - if (!ctx->data) { - err = -1; - pcilib_error("Unable to resolve the data space"); - } -#endif /* IPECAMERA_DMA_ADDRESS */ FIND_REG(status_reg, "fpga", "status"); FIND_REG(control_reg, "fpga", "control"); @@ -220,7 +204,6 @@ pcilib_context_t *ipecamera_init(pcilib_t *pcilib) { ctx->rdma = PCILIB_DMA_ENGINE_INVALID; ctx->wdma = PCILIB_DMA_ENGINE_INVALID; - if (err) { free(ctx); return NULL; @@ -374,7 +357,7 @@ static inline int ipecamera_new_frame(ipecamera_t *ctx) { ctx->frame_info[ctx->buffer_pos].info.type = PCILIB_EVENT0; ctx->frame_info[ctx->buffer_pos].info.flags = 0; -// memset(ctx->cmask + ctx->buffer_pos * ctx->dim.height, 0, ctx->dim.height * sizeof(ipecamera_change_mask_t)); + ctx->frame_info[ctx->buffer_pos].image_ready = 0; if ((ctx->event_id == ctx->autostop.evid)&&(ctx->event_id)) { ctx->run_reader = 0; @@ -391,9 +374,6 @@ static inline int ipecamera_new_frame(ipecamera_t *ctx) { static uint32_t frame_magic[6] = { 0x51111111, 0x52222222, 0x53333333, 0x54444444, 0x55555555, 0x56666666 }; -#define IPECAMERA_BUG_MULTIFRAME_PACKETS -#define IPECAMERA_BUG_INCOMPLETE_PACKETS - static int ipecamera_data_callback(void *user, pcilib_dma_flags_t flags, size_t bufsize, void *buf) { int eof = 0; @@ -417,10 +397,11 @@ static int ipecamera_data_callback(void *user, pcilib_dma_flags_t flags, size_t #endif /* IPECAMERA_BUG_INCOMPLETE_PACKETS */ if ((bufsize >= 8)&&(!memcmp(buf, frame_magic, sizeof(frame_magic)))) { - //if (ctx->cur_size) ipecamera_new_frame(ctx); -// printf("%lx\n", ((uint32_t*)buf)[7] & 0xF0000000); +/* + // Not implemented in hardware yet ctx->frame_info[ctx->buffer_pos].info.seqnum = ((uint32_t*)buf)[6] & 0xF0000000; ctx->frame_info[ctx->buffer_pos].info.offset = ((uint32_t*)buf)[7] & 0xF0000000; +*/ gettimeofday(&ctx->frame_info[ctx->buffer_pos].info.timestamp, NULL); } else { // pcilib_warning("Frame magic is not found, ignoring broken data..."); @@ -519,8 +500,8 @@ int ipecamera_start(pcilib_context_t *vctx, pcilib_event_t event_mask, pcilib_ev const size_t chan_size = (2 + IPECAMERA_PIXELS_PER_CHANNEL / 3) * sizeof(ipecamera_payload_t); const size_t line_size = (IPECAMERA_MAX_CHANNELS * chan_size); - const size_t header_size = 8; - const size_t footer_size = 8; + const size_t header_size = 8 * sizeof(ipecamera_payload_t); + const size_t footer_size = 8 * sizeof(ipecamera_payload_t); size_t raw_size; size_t padded_blocks; @@ -557,7 +538,7 @@ int ipecamera_start(pcilib_context_t *vctx, pcilib_event_t event_mask, pcilib_ev raw_size = header_size + ctx->dim.height * line_size + footer_size; padded_blocks = raw_size / IPECAMERA_DMA_PACKET_LENGTH + ((raw_size % IPECAMERA_DMA_PACKET_LENGTH)?1:0); - ctx->image_size = ctx->dim.width * ctx->dim.height * sizeof(ipecamera_pixel_t); + ctx->image_size = ctx->dim.width * ctx->dim.height; ctx->raw_size = raw_size; ctx->full_size = padded_blocks * IPECAMERA_DMA_PACKET_LENGTH; @@ -575,6 +556,13 @@ int ipecamera_start(pcilib_context_t *vctx, pcilib_event_t event_mask, pcilib_ev return err; } + ctx->image = (ipecamera_pixel_t*)malloc(ctx->image_size * ctx->buffer_size * sizeof(ipecamera_pixel_t)); + if (!ctx->image) { + err = PCILIB_ERROR_MEMORY; + pcilib_error("Unable to allocate image buffer (%lu bytes)", ctx->image_size * ctx->buffer_size * sizeof(ipecamera_pixel_t)); + return err; + } + ctx->cmask = malloc(ctx->dim.height * ctx->buffer_size * sizeof(ipecamera_change_mask_t)); if (!ctx->cmask) { err = PCILIB_ERROR_MEMORY; @@ -588,8 +576,13 @@ int ipecamera_start(pcilib_context_t *vctx, pcilib_event_t event_mask, pcilib_ev pcilib_error("Unable to allocate frame-info buffer"); return err; } + + ctx->ipedec = ufo_decoder_new(ctx->dim.height, ctx->dim.width, NULL, 0); + if (!ctx->ipedec) { + pcilib_error("Unable to initialize IPECamera decoder library"); + return PCILIB_ERROR_FAILED; + } -#ifdef IPECAMERA_DMA_ADDRESS if (!err) { ctx->rdma = pcilib_find_dma_by_addr(vctx->pcilib, PCILIB_DMA_FROM_DEVICE, IPECAMERA_DMA_ADDRESS); if (ctx->rdma == PCILIB_DMA_ENGINE_INVALID) { @@ -632,8 +625,6 @@ int ipecamera_start(pcilib_context_t *vctx, pcilib_event_t event_mask, pcilib_ev return err; } -#endif /* IPECAMERA_DMA_ADDRESS */ - if (err) { ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT); return err; @@ -699,7 +690,6 @@ int ipecamera_stop(pcilib_context_t *vctx, pcilib_event_flags_t flags) { if (err) pcilib_error("Error joining the reader thread"); } -#ifdef IPECAMERA_DMA_ADDRESS if (ctx->wdma != PCILIB_DMA_ENGINE_INVALID) { pcilib_stop_dma(vctx->pcilib, ctx->wdma, PCILIB_DMA_FLAGS_DEFAULT); ctx->wdma = PCILIB_DMA_ENGINE_INVALID; @@ -709,22 +699,32 @@ int ipecamera_stop(pcilib_context_t *vctx, pcilib_event_flags_t flags) { pcilib_stop_dma(vctx->pcilib, ctx->rdma, PCILIB_DMA_FLAGS_DEFAULT); ctx->rdma = PCILIB_DMA_ENGINE_INVALID; } -#endif /* IPECAMERA_DMA_ADDRESS */ + + if (ctx->ipedec) { + ufo_decoder_free(ctx->ipedec); + ctx->ipedec = NULL; + } if (ctx->frame_info) { free(ctx->frame_info); ctx->frame_info = NULL; } + if (ctx->cmask) { + free(ctx->cmask); + ctx->cmask = NULL; + } + + if (ctx->image) { + free(ctx->image); + ctx->image = NULL; + } + if (ctx->buffer) { free(ctx->buffer); ctx->buffer = NULL; } - if (ctx->cmask) { - free(ctx->cmask); - ctx->cmask = NULL; - } memset(&ctx->autostop, 0, sizeof(ipecamera_autostop_t)); @@ -816,7 +816,6 @@ int ipecamera_stream(pcilib_context_t *vctx, pcilib_event_callback_t callback, v return err; } - int ipecamera_next_event(pcilib_context_t *vctx, pcilib_event_t event_mask, pcilib_timeout_t timeout, pcilib_event_id_t *evid, pcilib_event_info_t **info) { struct timeval tv; ipecamera_t *ctx = (ipecamera_t*)vctx; @@ -852,9 +851,40 @@ int ipecamera_next_event(pcilib_context_t *vctx, pcilib_event_t event_mask, pcil } +inline static int ipecamera_decode_frame(ipecamera_t *ctx, pcilib_event_id_t event_id) { + int err; + uint32_t tmp; + uint16_t *pixels; + + int buf_ptr = (event_id - 1) % ctx->buffer_size; + + if (!ctx->frame_info[buf_ptr].image_ready) { + if (ctx->frame_info[buf_ptr].info.flags&PCILIB_EVENT_INFO_FLAG_BROKEN) return PCILIB_ERROR_INVALID_DATA; + + ufo_decoder_set_raw_data(ctx->ipedec, ctx->buffer + buf_ptr * ctx->padded_size, ctx->raw_size); + + pixels = ctx->image + buf_ptr * ctx->image_size; + memset(ctx->cmask + ctx->buffer_pos * ctx->dim.height, 0, ctx->dim.height * sizeof(ipecamera_change_mask_t)); + err = ufo_decoder_get_next_frame(ctx->ipedec, &pixels, &tmp, &tmp, ctx->cmask + ctx->buffer_pos * ctx->dim.height); + if (err) return PCILIB_ERROR_FAILED; + + ctx->frame_info[buf_ptr].image_ready = 1; + + if (ipecamera_resolve_event_id(ctx, event_id) < 0) { + ctx->frame_info[buf_ptr].image_ready = 0; + return PCILIB_ERROR_TIMEOUT; + } + } + + return 0; +} + void* ipecamera_get(pcilib_context_t *vctx, pcilib_event_id_t event_id, pcilib_event_data_type_t data_type, size_t arg_size, void *arg, size_t *size, void *data) { + int err; int buf_ptr; + size_t raw_size; ipecamera_t *ctx = (ipecamera_t*)vctx; + uint16_t *pixels; if (!ctx) { pcilib_error("IPECamera imaging is not initialized"); @@ -867,12 +897,43 @@ void* ipecamera_get(pcilib_context_t *vctx, pcilib_event_id_t event_id, pcilib_e switch ((ipecamera_data_type_t)data_type) { case IPECAMERA_RAW_DATA: - if (size) *size = ctx->frame_info[buf_ptr].raw_size; + raw_size = ctx->frame_info[buf_ptr].raw_size; + if (data) { + if ((!size)||(*size < raw_size)) return NULL; + memcpy(data, ctx->buffer + buf_ptr * ctx->padded_size, raw_size); + if (ipecamera_resolve_event_id(ctx, event_id) < 0) return NULL; + *size = raw_size; + return data; + } + if (size) *size = raw_size; return ctx->buffer + buf_ptr * ctx->padded_size; case IPECAMERA_IMAGE_DATA: - if (size) *size = ctx->dim.width * ctx->dim.height * sizeof(ipecamera_pixel_t); - return ctx->buffer + buf_ptr * ctx->dim.width * ctx->dim.height; + err = ipecamera_decode_frame(ctx, event_id); + if (err) return NULL; + + if (data) { + if ((!size)||(*size < ctx->image_size * sizeof(ipecamera_pixel_t))) return NULL; + memcpy(data, ctx->image + buf_ptr * ctx->image_size, ctx->image_size * sizeof(ipecamera_pixel_t)); + if (ipecamera_resolve_event_id(ctx, event_id) < 0) return NULL; + *size = ctx->image_size * sizeof(ipecamera_pixel_t); + return data; + } + + if (size) *size = ctx->image_size * sizeof(ipecamera_pixel_t); + return ctx->image + buf_ptr * ctx->image_size; case IPECAMERA_CHANGE_MASK: + err = ipecamera_decode_frame(ctx, event_id); + if (err) return NULL; + + if (data) { + if ((!size)||(*size < ctx->dim.height * sizeof(ipecamera_change_mask_t))) return NULL; + memcpy(data, ctx->image + buf_ptr * ctx->dim.height, ctx->dim.height * sizeof(ipecamera_change_mask_t)); + if (ipecamera_resolve_event_id(ctx, event_id) < 0) return NULL; + *size = ctx->dim.height * sizeof(ipecamera_change_mask_t); + + return data; + } + if (size) *size = ctx->dim.height * sizeof(ipecamera_change_mask_t); return ctx->cmask + buf_ptr * ctx->dim.height; case IPECAMERA_DIMENSIONS: diff --git a/ipecamera/ipecamera.h b/ipecamera/ipecamera.h index b923b1f..3abcf25 100644 --- a/ipecamera/ipecamera.h +++ b/ipecamera/ipecamera.h @@ -26,6 +26,7 @@ typedef uint16_t ipecamera_pixel_t; typedef struct { pcilib_event_info_t info; size_t raw_size; /**< Indicates the actual size of raw data */ + int image_ready; /**< Indicates if image data is parsed */ } ipecamera_event_info_t; int ipecamera_set_buffer_size(ipecamera_t *ctx, int size); diff --git a/ipecamera/model.h b/ipecamera/model.h index 615494a..b9c3b32 100644 --- a/ipecamera/model.h +++ b/ipecamera/model.h @@ -103,6 +103,7 @@ pcilib_event_description_t ipecamera_events[] = { pcilib_event_data_type_description_t ipecamera_data_types[] = { {IPECAMERA_IMAGE_DATA, PCILIB_EVENT0, "image", "16 bit pixel data" }, {IPECAMERA_RAW_DATA, PCILIB_EVENT0, "raw", "raw data from camera" }, + {IPECAMERA_CHANGE_MASK, PCILIB_EVENT0, "cmask", "change mask" }, {0, 0, NULL, NULL} }; 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