Initial commit

For the past plugin history refer to the libuca repository.

1 files changed, 728 insertions, 0 deletions

diff --git a/uca-ufo-camera.c b/uca-ufo-camera.c
new file mode 100644
index 0000000..10a62d9
--- /dev/null
+++ b/uca-ufo-camera.c
@@ -0,0 +1,728 @@
+/* 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 */
+
+#include <gio/gio.h>
+#include <gmodule.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <pcilib.h>
+#include <errno.h>
+#include <math.h>
+#include "uca-ufo-camera.h"
+
+#define PCILIB_SET_ERROR(err, err_type)                 \
+    if (err != 0) {                                     \
+        g_set_error(error, UCA_UFO_CAMERA_ERROR,        \
+                err_type,                               \
+                "%s:%i pcilib: %s (errcode = %d)",      \
+                __FILE__, __LINE__, strerror(err), err);\
+        return;                                         \
+    }
+
+#define PCILIB_SET_ERROR_RETURN_FALSE(err, err_type)    \
+    if (err != 0) {                                     \
+        g_set_error(error, UCA_UFO_CAMERA_ERROR,        \
+                err_type,                               \
+                "%s:%i pcilib: %s (errcode = %d)",      \
+                __FILE__, __LINE__, strerror(err), err);\
+        return FALSE;                                   \
+    }
+
+#define PCILIB_WARN_ON_ERROR(err)                       \
+    if (err != 0) {                                     \
+       g_warning ("%s:%i pcilib: %s (errcode = %d)",    \
+                  __FILE__, __LINE__, strerror(err), err); \
+    }
+
+#define UCA_UFO_CAMERA_GET_PRIVATE(obj) (G_TYPE_INSTANCE_GET_PRIVATE((obj), UCA_TYPE_UFO_CAMERA, UcaUfoCameraPrivate))
+
+static void uca_ufo_camera_initable_iface_init (GInitableIface *iface);
+
+G_DEFINE_TYPE_WITH_CODE (UcaUfoCamera, uca_ufo_camera, UCA_TYPE_CAMERA,
+                         G_IMPLEMENT_INTERFACE (G_TYPE_INITABLE,
+                                                uca_ufo_camera_initable_iface_init))
+
+static const guint SENSOR_WIDTH = 2048;
+static const gdouble EXPOSURE_TIME_SCALE = 2.69e6;
+
+/**
+ * UcaUfoCameraError:
+ * @UCA_UFO_CAMERA_ERROR_INIT: Initializing pcilib failed
+ * @UCA_UFO_CAMERA_ERROR_START_RECORDING: Starting failed
+ * @UCA_UFO_CAMERA_ERROR_STOP_RECORDING: Stopping failed
+ * @UCA_UFO_CAMERA_ERROR_TRIGGER: Triggering a frame failed
+ * @UCA_UFO_CAMERA_ERROR_NEXT_EVENT: No event happened
+ * @UCA_UFO_CAMERA_ERROR_NO_DATA: No data was transmitted
+ * @UCA_UFO_CAMERA_ERROR_MAYBE_CORRUPTED: Data is potentially corrupted
+ */
+GQuark uca_ufo_camera_error_quark()
+{
+    return g_quark_from_static_string("uca-ufo-camera-error-quark");
+}
+
+enum {
+    PROP_SENSOR_TEMPERATURE = N_BASE_PROPERTIES,
+    PROP_FPGA_TEMPERATURE,
+    PROP_UFO_START,
+    N_MAX_PROPERTIES = 512
+};
+
+static gint base_overrideables[] = {
+    PROP_NAME,
+    PROP_SENSOR_WIDTH,
+    PROP_SENSOR_HEIGHT,
+    PROP_SENSOR_BITDEPTH,
+    PROP_EXPOSURE_TIME,
+    PROP_FRAMES_PER_SECOND,
+    PROP_ROI_X,
+    PROP_ROI_Y,
+    PROP_ROI_WIDTH,
+    PROP_ROI_HEIGHT,
+    PROP_HAS_STREAMING,
+    PROP_HAS_CAMRAM_RECORDING,
+    0,
+};
+
+typedef struct _RegisterInfo {
+    gchar  *name;
+    guint   cached_value;
+} RegisterInfo;
+
+static GParamSpec *ufo_properties[N_MAX_PROPERTIES] = { NULL, };
+
+static guint N_PROPERTIES;
+
+struct _UcaUfoCameraPrivate {
+    GError             *construct_error;
+    GHashTable         *property_table; /* maps from prop_id to RegisterInfo* */
+    GThread            *async_thread;
+    pcilib_t           *handle;
+    guint               n_bits;
+    guint               height;
+    enum {
+        FPGA_48MHZ = 0,
+        FPGA_40MHZ
+    }                   frequency;
+};
+
+static void
+error_handler (const char *format, ...)
+{
+    va_list args;
+    gchar *message;
+
+    va_start (args, format);
+    message = g_strdup_vprintf (format, args);
+    g_warning ("%s", message);
+    va_end (args);
+}
+
+static guint
+read_register_value (pcilib_t *handle, const gchar *name)
+{
+    pcilib_register_value_t reg_value;
+    int err;
+
+    err = pcilib_read_register(handle, NULL, name, &reg_value);
+    PCILIB_WARN_ON_ERROR (err);
+    return (guint) reg_value;
+}
+
+static int
+event_callback(pcilib_event_id_t event_id, pcilib_event_info_t *info, void *user)
+{
+    UcaCamera *camera = UCA_CAMERA(user);
+    UcaUfoCameraPrivate *priv = UCA_UFO_CAMERA_GET_PRIVATE(camera);
+    size_t error = 0;
+
+    void *buffer = pcilib_get_data(priv->handle, event_id, PCILIB_EVENT_DATA, &error);
+
+    if (buffer == NULL)
+        return PCILIB_STREAMING_CONTINUE;
+
+    camera->grab_func (buffer, camera->user_data);
+    pcilib_return_data (priv->handle, event_id, PCILIB_EVENT_DATA, buffer);
+
+    return PCILIB_STREAMING_CONTINUE;
+}
+
+static guint
+update_properties (UcaUfoCameraPrivate *priv)
+{
+    guint prop;
+    pcilib_model_description_t *description;
+
+    prop = PROP_UFO_START;
+    description = pcilib_get_model_description (priv->handle);
+
+    for (guint i = 0; description->registers[i].name != NULL; i++) {
+        GParamFlags flags = 0;
+        RegisterInfo *reg_info;
+        gchar *prop_name;
+        pcilib_register_description_t *reg;
+        pcilib_register_value_t value;
+        gint err;
+
+        reg = &description->registers[i];
+
+        switch (reg->mode) {
+            case PCILIB_REGISTER_R:
+                flags = G_PARAM_READABLE;
+                break;
+            case PCILIB_REGISTER_W:
+            case PCILIB_REGISTER_W1C:
+                flags = G_PARAM_WRITABLE;
+                break;
+            case PCILIB_REGISTER_RW:
+            case PCILIB_REGISTER_RW1C:
+                flags = G_PARAM_READWRITE;
+                break;
+        }
+
+        err = pcilib_read_register (priv->handle, NULL, reg->name, &value);
+        PCILIB_WARN_ON_ERROR (err);
+
+        reg_info = g_new0 (RegisterInfo, 1);
+        reg_info->name = g_strdup (reg->name);
+        reg_info->cached_value = (guint32) value;
+
+        g_hash_table_insert (priv->property_table, GINT_TO_POINTER (prop), reg_info);
+        prop_name = g_strdup_printf ("ufo-%s", reg->name);
+
+        ufo_properties[prop++] = g_param_spec_uint (
+                prop_name, reg->description, reg->description,
+                0, G_MAXUINT, reg->defvalue, flags);
+
+        g_free (prop_name);
+    }
+
+    return prop;
+}
+
+static gboolean
+setup_pcilib (UcaUfoCameraPrivate *priv)
+{
+    pcilib_model_t model;
+    guint adc_resolution;
+
+    model = PCILIB_MODEL_DETECT;
+    priv->handle = pcilib_open("/dev/fpga0", model);
+
+    if (priv->handle == NULL) {
+        g_set_error (&priv->construct_error,
+                     UCA_UFO_CAMERA_ERROR, UCA_UFO_CAMERA_ERROR_INIT,
+                     "Initializing pcilib failed");
+        return FALSE;
+    }
+
+    pcilib_set_error_handler (&error_handler, &error_handler);
+
+    priv->property_table = g_hash_table_new_full (g_direct_hash, g_direct_equal,
+                                                  NULL, g_free);
+    N_PROPERTIES = update_properties (priv);
+    priv->height = read_register_value (priv->handle, "cmosis_number_lines") + 1;
+    priv->frequency = read_register_value (priv->handle, "control") >> 31;
+    adc_resolution = read_register_value (priv->handle, "adc_resolution");
+
+    switch (adc_resolution) {
+        case 0:
+            priv->n_bits = 10;
+            break;
+        case 1:
+            priv->n_bits = 11;
+            break;
+        case 2:
+            priv->n_bits = 12;
+            break;
+    }
+
+    return TRUE;
+}
+
+static void
+set_control_bit (UcaUfoCameraPrivate *priv, guint bit, gboolean set)
+{
+    static const gchar *name = "control";
+    pcilib_register_value_t flags;
+    pcilib_register_value_t mask;
+    gint err;
+
+    err = pcilib_read_register (priv->handle, NULL, name, &flags);
+    PCILIB_WARN_ON_ERROR (err);
+
+    mask = 1 << bit;
+
+    if (set)
+        flags |= mask;
+    else
+        flags = flags & ~mask;
+
+    err = pcilib_write_register (priv->handle, NULL, name, flags);
+    PCILIB_WARN_ON_ERROR (err);
+}
+
+static gpointer
+stream_async (UcaCamera *camera)
+{
+    UcaUfoCameraPrivate *priv;
+    priv = UCA_UFO_CAMERA_GET_PRIVATE (camera);
+    pcilib_stream (priv->handle, &event_callback, camera);
+
+    return NULL;
+}
+
+static void
+uca_ufo_camera_start_recording (UcaCamera *camera, GError **error)
+{
+    UcaUfoCameraPrivate *priv;
+    UcaCameraTriggerSource trigger_source;
+    UcaCameraTriggerType trigger_type;
+    gdouble exposure_time;
+    gboolean transfer_async;
+    int err;
+
+    g_return_if_fail(UCA_IS_UFO_CAMERA(camera));
+
+    priv = UCA_UFO_CAMERA_GET_PRIVATE(camera);
+
+    g_object_get (G_OBJECT(camera),
+                  "transfer-asynchronously", &transfer_async,
+                  "exposure-time", &exposure_time,
+                  "trigger-source", &trigger_source,
+                  "trigger-type", &trigger_type,
+                  NULL);
+
+    set_control_bit (priv, 3, trigger_source == UCA_CAMERA_TRIGGER_SOURCE_SOFTWARE);
+    set_control_bit (priv, 11, trigger_source == UCA_CAMERA_TRIGGER_SOURCE_AUTO);
+    set_control_bit (priv, 14, trigger_source == UCA_CAMERA_TRIGGER_SOURCE_EXTERNAL);
+    set_control_bit (priv, 15, trigger_type == UCA_CAMERA_TRIGGER_TYPE_EDGE &&
+                               trigger_source == UCA_CAMERA_TRIGGER_SOURCE_EXTERNAL);
+
+    err = pcilib_start (priv->handle, PCILIB_EVENT_DATA, PCILIB_EVENT_FLAGS_DEFAULT);
+
+    if (transfer_async)
+        priv->async_thread = g_thread_create ((GThreadFunc) stream_async, camera, TRUE, error);
+
+    if (err != 0) {
+        g_set_error (&priv->construct_error,
+                     UCA_UFO_CAMERA_ERROR, UCA_UFO_CAMERA_ERROR_INIT,
+                     "pcilib start failed: %s", strerror (err));
+    }
+}
+
+static void
+uca_ufo_camera_stop_recording (UcaCamera *camera, GError **error)
+{
+    UcaUfoCameraPrivate *priv;
+    UcaCameraTriggerSource trigger_source;
+    pcilib_event_id_t event_id;
+    pcilib_event_info_t event_info;
+    int err;
+
+    g_return_if_fail(UCA_IS_UFO_CAMERA(camera));
+
+    priv = UCA_UFO_CAMERA_GET_PRIVATE(camera);
+
+    set_control_bit (priv, 14, FALSE);  /* disable external trigger */
+    set_control_bit (priv, 11, FALSE);  /* disable streaming */
+
+    g_object_get (G_OBJECT (camera), "trigger-source", &trigger_source, NULL);
+
+    if (priv->async_thread) {
+        err = pcilib_stop(priv->handle, PCILIB_EVENT_FLAG_STOP_ONLY);
+        PCILIB_SET_ERROR(err, UCA_UFO_CAMERA_ERROR_STOP_RECORDING);
+        g_thread_join(priv->async_thread);
+        priv->async_thread = NULL;
+    }
+
+    /* read stale frames ... */
+    while (!pcilib_get_next_event (priv->handle, 0, &event_id, sizeof (pcilib_event_info_t), &event_info))
+        ;
+
+    err = pcilib_stop (priv->handle, PCILIB_EVENT_FLAGS_DEFAULT);
+    PCILIB_SET_ERROR(err, UCA_UFO_CAMERA_ERROR_STOP_RECORDING);
+}
+
+static void
+uca_ufo_camera_start_readout(UcaCamera *camera, GError **error)
+{
+    g_return_if_fail(UCA_IS_UFO_CAMERA(camera));
+}
+
+static void
+uca_ufo_camera_stop_readout(UcaCamera *camera, GError **error)
+{
+    g_return_if_fail(UCA_IS_UFO_CAMERA(camera));
+}
+
+static gboolean
+uca_ufo_camera_grab(UcaCamera *camera, gpointer data, GError **error)
+{
+    g_return_val_if_fail (UCA_IS_UFO_CAMERA(camera), FALSE);
+    UcaUfoCameraPrivate *priv = UCA_UFO_CAMERA_GET_PRIVATE(camera);
+    pcilib_event_id_t   event_id;
+    pcilib_event_info_t event_info;
+    int err;
+
+    const gsize size = SENSOR_WIDTH * priv->height * sizeof(guint16);
+
+    err = pcilib_get_next_event (priv->handle, PCILIB_TIMEOUT_INFINITE, &event_id, sizeof(pcilib_event_info_t), &event_info);
+    PCILIB_SET_ERROR_RETURN_FALSE (err, UCA_UFO_CAMERA_ERROR_NEXT_EVENT);
+
+    gpointer src = pcilib_get_data (priv->handle, event_id, PCILIB_EVENT_DATA, (size_t *) &err);
+
+    if (src == NULL)
+        PCILIB_SET_ERROR_RETURN_FALSE (err, UCA_UFO_CAMERA_ERROR_NO_DATA);
+
+    /*
+     * Apparently, we checked that err equals total size in previous version.
+     * This is problematic because errno is positive and size could be equal
+     * even when an error condition is met, e.g. with a very small ROI. However,
+     * we don't know if src will always be NULL when an error occured.
+     */
+    /* assert(err == size); */
+
+    memcpy (data, src, size);
+
+    /*
+     * Another problem here. What does this help us? At this point we have
+     * already overwritten the original buffer but can only know here if the
+     * data is corrupted.
+     */
+    err = pcilib_return_data (priv->handle, event_id, PCILIB_EVENT_DATA, data);
+    PCILIB_SET_ERROR_RETURN_FALSE (err, UCA_UFO_CAMERA_ERROR_MAYBE_CORRUPTED);
+
+    return TRUE;
+}
+
+static void
+uca_ufo_camera_trigger (UcaCamera *camera, GError **error)
+{
+    UcaUfoCameraPrivate *priv;
+    int err;
+    g_return_if_fail (UCA_IS_UFO_CAMERA(camera));
+
+    priv = UCA_UFO_CAMERA_GET_PRIVATE(camera);
+
+    /* XXX: What is PCILIB_EVENT0? */
+    err = pcilib_trigger (priv->handle, PCILIB_EVENT0, 0, NULL);
+    PCILIB_SET_ERROR (err, UCA_UFO_CAMERA_ERROR_TRIGGER);
+}
+
+static gdouble
+total_readout_time (UcaUfoCamera *camera)
+{
+    gdouble clock_period, foo;
+    gdouble exposure_time, image_readout_time, overhead_time;
+    guint output_mode;
+    guint roi_height;
+
+    g_object_get (G_OBJECT (camera),
+                  "exposure-time", &exposure_time,
+                  "ufo-cmosis-output-mode", &output_mode,
+                  "roi-height", &roi_height,
+                  NULL);
+
+    clock_period = camera->priv->frequency == FPGA_40MHZ ? 1 / 40.0 : 1 / 48.0;
+    foo = pow (2, output_mode);
+    image_readout_time = (129 * clock_period * foo) * roi_height;
+    overhead_time = (10 /* reg73 */ + 2 * foo) * 129 * clock_period;
+
+    return exposure_time + (overhead_time + image_readout_time) / 1000 / 1000;
+}
+
+static void
+uca_ufo_camera_set_property(GObject *object, guint property_id, const GValue *value, GParamSpec *pspec)
+{
+    g_return_if_fail (UCA_IS_UFO_CAMERA (object));
+    UcaUfoCameraPrivate *priv = UCA_UFO_CAMERA_GET_PRIVATE (object);
+
+    if (uca_camera_is_recording (UCA_CAMERA (object)) && !uca_camera_is_writable_during_acquisition (UCA_CAMERA (object), pspec->name)) {
+        g_warning ("Property '%s' cant be changed during acquisition", pspec->name);
+        return;
+    }
+
+    switch (property_id) {
+        case PROP_EXPOSURE_TIME:
+            {
+                const guint frequency = priv->frequency == FPGA_40MHZ ? 40 : 48;
+                const gdouble user_exposure_time = g_value_get_double(value);
+                gint err;
+
+                pcilib_register_value_t reg_value = (pcilib_register_value_t) (1e6 * user_exposure_time * frequency / 129.0 - 0.43 * 10);
+                err = pcilib_write_register(priv->handle, NULL, "cmosis_exp_time", reg_value);
+                PCILIB_WARN_ON_ERROR (err);
+            }
+            break;
+        case PROP_FRAMES_PER_SECOND:
+            {
+                gdouble readout_time;
+                gdouble frame_period;
+                guint32 trigger_period;
+
+                frame_period = 1.0 / g_value_get_double (value);
+                readout_time = total_readout_time (UCA_UFO_CAMERA (object));
+
+                if (frame_period < readout_time) {
+                    g_warning ("Frame period higher than readout time %f\n", readout_time);
+                    break;
+                }
+
+                trigger_period = (guint32) ((frame_period - readout_time) / (8.0 * 1e-9));
+                g_object_set (object, "ufo-trigger-period", trigger_period, NULL);
+            }
+            break;
+        case PROP_ROI_X:
+        case PROP_ROI_Y:
+        case PROP_ROI_WIDTH:
+        case PROP_ROI_HEIGHT:
+            g_debug("ROI feature not implemented yet");
+            break;
+
+        default:
+            {
+                RegisterInfo *reg_info;
+
+                reg_info = g_hash_table_lookup (priv->property_table,
+                                                GINT_TO_POINTER (property_id));
+
+                if (reg_info != NULL) {
+                    pcilib_register_value_t reg_value = 0;
+                    gint err;
+
+                    reg_value = g_value_get_uint (value);
+
+                    err = pcilib_write_register (priv->handle, NULL, reg_info->name, reg_value);
+                    PCILIB_WARN_ON_ERROR (err);
+
+                    err = pcilib_read_register (priv->handle, NULL, reg_info->name, &reg_value);
+                    PCILIB_WARN_ON_ERROR (err);
+
+                    reg_info->cached_value = (guint) reg_value;
+                }
+                else
+                    G_OBJECT_WARN_INVALID_PROPERTY_ID(object, property_id, pspec);
+            }
+            return;
+    }
+}
+
+static void
+uca_ufo_camera_get_property(GObject *object, guint property_id, GValue *value, GParamSpec *pspec)
+{
+    UcaUfoCameraPrivate *priv = UCA_UFO_CAMERA_GET_PRIVATE(object);
+
+    switch (property_id) {
+        case PROP_SENSOR_WIDTH:
+            g_value_set_uint (value, SENSOR_WIDTH);
+            break;
+        case PROP_SENSOR_HEIGHT:
+            g_value_set_uint (value, priv->height);
+            break;
+        case PROP_SENSOR_BITDEPTH:
+            g_value_set_uint (value, priv->n_bits);
+            break;
+        case PROP_SENSOR_TEMPERATURE:
+            {
+                const double a = priv->frequency == FPGA_48MHZ ? 0.3 : 0.25;
+                const double b = priv->frequency == FPGA_48MHZ ? 1000 : 1200;
+                guint32 temperature;
+
+                temperature = read_register_value (priv->handle, "sensor_temperature");
+                g_value_set_double (value, a * (temperature - b));
+            }
+            break;
+        case PROP_FPGA_TEMPERATURE:
+            {
+                const double a = 503.975 / 1024.0;
+                const double b = 273.15;
+                guint32 temperature;
+
+                temperature = read_register_value (priv->handle, "fpga_temperature");
+                g_value_set_double (value, a * temperature - b);
+            }
+            break;
+        case PROP_EXPOSURE_TIME:
+            {
+                const gdouble frequency = priv->frequency == FPGA_40MHZ ? 40.0 : 48.0;
+                g_value_set_double (value, (read_register_value (priv->handle, "cmosis_exp_time") + 0.43 * 10) * 129.0 / frequency / 1e6);
+            }
+            break;
+        case PROP_FRAMES_PER_SECOND:
+            {
+                gdouble delay_time;
+                gdouble framerate;
+                guint32 trigger_period;
+
+                g_object_get (object, "ufo-trigger-period", &trigger_period, NULL);
+
+                delay_time = trigger_period * 8.0 * 1e-9;
+                framerate = 1.0 / (total_readout_time (UCA_UFO_CAMERA (object)) + delay_time);
+                g_value_set_double(value, framerate);
+            }
+            break;
+        case PROP_HAS_STREAMING:
+            g_value_set_boolean (value, TRUE);
+            break;
+        case PROP_HAS_CAMRAM_RECORDING:
+            g_value_set_boolean (value, FALSE);
+            break;
+        case PROP_ROI_X:
+            g_value_set_uint (value, 0);
+            break;
+        case PROP_ROI_Y:
+            g_value_set_uint (value, 0);
+            break;
+        case PROP_ROI_WIDTH:
+            g_value_set_uint (value, SENSOR_WIDTH);
+            break;
+        case PROP_ROI_HEIGHT:
+            g_value_set_uint (value, priv->height);
+            break;
+        case PROP_NAME:
+            g_value_set_string (value, "Ufo Camera w/ CMOSIS CMV2000");
+            break;
+        default:
+            {
+                RegisterInfo *reg_info = g_hash_table_lookup (priv->property_table, GINT_TO_POINTER (property_id));
+
+                if (reg_info != NULL)
+                    g_value_set_uint (value, reg_info->cached_value);
+                else
+                    G_OBJECT_WARN_INVALID_PROPERTY_ID(object, property_id, pspec);
+            }
+            break;
+    }
+}
+
+static void
+uca_ufo_camera_finalize(GObject *object)
+{
+    UcaUfoCameraPrivate *priv;
+
+    priv = UCA_UFO_CAMERA_GET_PRIVATE (object);
+
+    int err = pcilib_stop (priv->handle, PCILIB_EVENT_FLAGS_DEFAULT);
+    PCILIB_WARN_ON_ERROR (err);
+
+    pcilib_close (priv->handle);
+    g_clear_error (&priv->construct_error);
+
+    G_OBJECT_CLASS (uca_ufo_camera_parent_class)->finalize (object);
+}
+
+static gboolean
+ufo_ufo_camera_initable_init (GInitable *initable,
+                              GCancellable *cancellable,
+                              GError **error)
+{
+    UcaUfoCamera *camera;
+    UcaUfoCameraPrivate *priv;
+
+    g_return_val_if_fail (UCA_IS_UFO_CAMERA (initable), FALSE);
+
+    if (cancellable != NULL) {
+        g_set_error_literal (error, G_IO_ERROR, G_IO_ERROR_NOT_SUPPORTED,
+                             "Cancellable initialization not supported");
+        return FALSE;
+    }
+
+    camera = UCA_UFO_CAMERA (initable);
+    priv = camera->priv;
+
+    if (priv->construct_error != NULL) {
+        if (error)
+            *error = g_error_copy (priv->construct_error);
+
+        return FALSE;
+    }
+
+    return TRUE;
+}
+
+static void
+uca_ufo_camera_initable_iface_init (GInitableIface *iface)
+{
+    iface->init = ufo_ufo_camera_initable_init;
+}
+
+static void
+uca_ufo_camera_class_init(UcaUfoCameraClass *klass)
+{
+    GObjectClass *gobject_class = G_OBJECT_CLASS(klass);
+    gobject_class->set_property = uca_ufo_camera_set_property;
+    gobject_class->get_property = uca_ufo_camera_get_property;
+    gobject_class->finalize = uca_ufo_camera_finalize;
+
+    UcaCameraClass *camera_class = UCA_CAMERA_CLASS(klass);
+    camera_class->start_recording = uca_ufo_camera_start_recording;
+    camera_class->stop_recording = uca_ufo_camera_stop_recording;
+    camera_class->start_readout = uca_ufo_camera_start_readout;
+    camera_class->stop_readout = uca_ufo_camera_stop_readout;
+    camera_class->grab = uca_ufo_camera_grab;
+    camera_class->trigger = uca_ufo_camera_trigger;
+
+    for (guint i = 0; base_overrideables[i] != 0; i++)
+        g_object_class_override_property(gobject_class, base_overrideables[i], uca_camera_props[base_overrideables[i]]);
+
+    ufo_properties[PROP_SENSOR_TEMPERATURE] =
+        g_param_spec_double("sensor-temperature",
+            "Temperature of the sensor",
+            "Temperature of the sensor in degree Celsius",
+            -G_MAXDOUBLE, G_MAXDOUBLE, 0.0,
+            G_PARAM_READABLE);
+
+    ufo_properties[PROP_FPGA_TEMPERATURE] =
+        g_param_spec_double("fpga-temperature",
+            "Temperature of the FPGA",
+            "Temperature of the FPGA in degree Celsius",
+            -G_MAXDOUBLE, G_MAXDOUBLE, 0.0,
+            G_PARAM_READABLE);
+
+    g_type_class_add_private(klass, sizeof(UcaUfoCameraPrivate));
+}
+
+static void
+uca_ufo_camera_init(UcaUfoCamera *self)
+{
+    UcaCamera *camera;
+    UcaUfoCameraPrivate *priv;
+    GObjectClass *oclass;
+
+    self->priv = priv = UCA_UFO_CAMERA_GET_PRIVATE(self);
+    priv->construct_error = NULL;
+    priv->async_thread = NULL;
+
+    if (!setup_pcilib (priv))
+        return;
+
+    oclass = G_OBJECT_GET_CLASS (self);
+
+    for (guint id = N_BASE_PROPERTIES; id < N_PROPERTIES; id++)
+        g_object_class_install_property(oclass, id, ufo_properties[id]);
+
+    camera = UCA_CAMERA (self);
+    uca_camera_register_unit (camera, "sensor-temperature", UCA_UNIT_DEGREE_CELSIUS);
+    uca_camera_register_unit (camera, "fpga-temperature", UCA_UNIT_DEGREE_CELSIUS);
+}
+
+G_MODULE_EXPORT GType
+uca_camera_get_type (void)
+{
+    return UCA_TYPE_UFO_CAMERA;
+}