pylon (basler) camera added

4 files changed, 621 insertions, 0 deletions

diff --git a/src/cameras/pylon_camera.cpp b/src/cameras/pylon_camera.cpp
new file mode 100644
index 0000000..eafcf06
--- /dev/null
+++ b/src/cameras/pylon_camera.cpp
@@ -0,0 +1,232 @@
+
+#include "pylon_camera.h"
+#include <yat/plugin/PlugInManager.h>
+#include <yat/threading/Condition.h>
+#include <baslerpylon/IGrabber.h>
+#include <iostream>
+
+namespace {
+
+  GrabAPI::IGrabber* pGrabber = 0;
+  //yat::Mutex* pImageMutex = NULL;
+  //yat::Condition* pImageCondition = NULL;
+  //yat::Mutex pImageMutex;
+  //yat::Condition pImageCondition(pImageMutex);
+  guint imageCounter = 0;
+  guint currentImage = 0;
+  GrabAPI::Image* image = NULL;
+
+  void handle_image(GrabAPI::Image* newImage)
+  {
+    //g_assert(pImageMutex);
+    //g_assert(pImageCondition);
+    //yat::MutexLock lock(pImageMutex);
+    delete image;
+    image = newImage;
+    imageCounter++;
+    std::cerr << "signal next image ready " << std::endl;
+    //pImageCondition.signal();
+  }
+
+  void yat_exception_to_gerror(const yat::Exception& e, GError** error)
+  {
+    if (e.errors.size() == 2)
+    {
+      g_set_error(error, 0, 0, 
+          "%s : %s : %s\n%s : %s : %s",
+          e.errors[0].reason.c_str(),
+          e.errors[0].desc.c_str(),
+          e.errors[0].origin.c_str(),
+          e.errors[1].reason.c_str(),
+          e.errors[1].desc.c_str(),
+          e.errors[1].origin.c_str());
+      return;
+    }
+    if (e.errors.size() == 3)
+    {
+      g_set_error(error, 0, 0, 
+          "%s : %s : %s\n%s : %s : %s\n%s : %s : %s",
+          e.errors[0].reason.c_str(),
+          e.errors[0].desc.c_str(),
+          e.errors[0].origin.c_str(),
+          e.errors[1].reason.c_str(),
+          e.errors[1].desc.c_str(),
+          e.errors[1].origin.c_str(),
+          e.errors[2].reason.c_str(),
+          e.errors[2].desc.c_str(),
+          e.errors[2].origin.c_str());
+      return;
+    }
+
+    g_set_error(error, 0, 0, 
+        "%s : %s : %s",
+        e.errors[0].reason.c_str(),
+        e.errors[0].desc.c_str(),
+        e.errors[0].origin.c_str());
+  }
+
+}
+
+
+void pylon_camera_new(const char* lib_path, const char* camera_ip, GError** error)
+{
+
+  g_assert(!pGrabber);
+  try {
+
+    //pImageMutex = new yat::Mutex;
+    //pImageCondition = new yat::Condition(*pImageMutex);
+
+    yat::PlugInManager pm;
+    std::pair<yat::IPlugInInfo*, yat::IPlugInFactory*> pp = 
+      pm.load((std::string(lib_path) + "/libbaslerpylon.so").c_str());
+
+    yat::IPlugInObject* plugin_obj = 0;
+    pp.second->create(plugin_obj);
+    pGrabber = static_cast<GrabAPI::IGrabber*>(plugin_obj);
+
+    yat::PlugInPropValues values;
+    values["CameraIP"] = yat::Any(std::string(camera_ip));
+    pGrabber->set_properties(values);
+    pGrabber->initialize();
+    pGrabber->set_image_handler(GrabAPI::ImageHandlerCallback::instanciate(handle_image));
+    pGrabber->open();
+
+  } 
+  catch (const yat::Exception& e) {
+    yat_exception_to_gerror(e, error);
+  }
+}
+
+void pylon_camera_set_exposure_time(gdouble exp_time, GError** error)
+{
+  g_assert(pGrabber);
+  try
+  {
+    pGrabber->set_exposure_time(yat::Any(exp_time));
+  }
+  catch (const yat::Exception& e)
+  {
+    yat_exception_to_gerror(e, error);
+  }
+}
+
+void pylon_camera_get_exposure_time(gdouble* exp_time, GError** error)
+{
+  g_assert(pGrabber);
+  try
+  {
+    yat::Any exp_time_result;
+    pGrabber->get_exposure_time(exp_time_result);
+    *exp_time = yat::any_cast<gdouble>(exp_time_result);
+  }
+  catch (const yat::Exception& e)
+  {
+    yat_exception_to_gerror(e, error);
+  }
+}
+
+
+void pylon_camera_get_sensor_size(guint* width, guint* height, GError** error)
+{
+  g_assert(pGrabber);
+  try
+  {
+    yat::Any w, h;
+    pGrabber->get_sensor_width(w);
+    pGrabber->get_sensor_height(h);
+    *width = yat::any_cast<yat_int32_t>(w);
+    *height = yat::any_cast<yat_int32_t>(h);
+  }
+  catch (const yat::Exception& e)
+  {
+    yat_exception_to_gerror(e, error);
+  }
+}
+
+void pylon_camera_get_bit_depth(guint* depth, GError** error)
+{
+  g_assert(pGrabber);
+  try
+  {
+    yat::Any bit_depth_result;
+    pGrabber->get_bit_depth(bit_depth_result);
+    *depth = yat::any_cast<yat_int32_t>(bit_depth_result);
+  }
+  catch (const yat::Exception& e)
+  {
+    yat_exception_to_gerror(e, error);
+  }
+}
+
+void pylon_camera_start_acquision(GError** error)
+{
+  g_assert(pGrabber);
+  //g_assert(pImageMutex);
+  try
+  {
+    {
+      //yat::MutexLock lock(pImageMutex);
+      imageCounter = 0;
+      currentImage = 0;
+    }
+    pGrabber->start();
+  }
+  catch (const yat::Exception& e)
+  {
+    yat_exception_to_gerror(e, error);
+  }
+}
+
+void pylon_camera_stop_acquision(GError** error)
+{
+  g_assert(pGrabber);
+  try
+  {
+    pGrabber->stop();
+  }
+  catch (const yat::Exception& e)
+  {
+    yat_exception_to_gerror(e, error);
+  }
+}
+
+void pylon_camera_grab(gpointer *data, GError** error)
+{
+  g_assert(pGrabber);
+  //g_assert(pImageMutex);
+  //g_assert(pImageCondition);
+  sleep(1);
+  try
+  {
+      //yat::MutexLock lock(pImageMutex);
+      g_assert(currentImage <= imageCounter);
+
+      while (currentImage == imageCounter)
+      {
+        std::cerr << "wait for next image... " << currentImage << std::endl;
+        //pImageCondition.wait();
+      }
+
+      std::cerr << "grab next image " << currentImage << ", " << imageCounter << std::endl;
+      g_assert(currentImage < imageCounter);
+      currentImage = imageCounter;
+      //memcpy(*data, image->base(), image->width() * image->height() * 2);
+
+  }
+  catch (const yat::Exception& e)
+  {
+    yat_exception_to_gerror(e, error);
+  }
+}
+
+void pylon_camera_delete()
+{
+  if (!pGrabber)
+    return;
+
+  pGrabber->close();
+  pGrabber->uninitialize();
+  delete pGrabber;
+}
+
diff --git a/src/cameras/pylon_camera.h b/src/cameras/pylon_camera.h
new file mode 100644
index 0000000..8a474aa
--- /dev/null
+++ b/src/cameras/pylon_camera.h
@@ -0,0 +1,26 @@
+
+#ifndef _PYLON_CAMERA_H_
+#define _PYLON_CAMERA_H_
+
+#include <glib.h>
+
+G_BEGIN_DECLS
+
+void pylon_camera_new(const gchar* lib_path, const gchar* camera_ip, GError** error);
+
+void pylon_camera_set_exposure_time(gdouble exp_time, GError** error);
+void pylon_camera_get_exposure_time(gdouble* exp_time, GError** error);
+
+void pylon_camera_get_sensor_size(guint* width, guint* height, GError** error);
+void pylon_camera_get_bit_depth(guint* depth, GError** error);
+
+void pylon_camera_start_acquision(GError** error);
+void pylon_camera_stop_acquision(GError** error);
+void pylon_camera_grab(gpointer *data, GError** error);
+
+void pylon_camera_delete();
+
+G_END_DECLS
+
+#endif
+
diff --git a/src/cameras/uca-pylon-camera.c b/src/cameras/uca-pylon-camera.c
new file mode 100644
index 0000000..82380bc
--- /dev/null
+++ b/src/cameras/uca-pylon-camera.c
@@ -0,0 +1,288 @@
+/* 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 <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include "uca-camera.h"
+#include "uca-pylon-camera.h"
+#include "pylon_camera.h"
+
+
+/*#define HANDLE_PYLON_ERROR(err)                       \
+    if ((err) != PYLON_NOERROR) {                     \
+        g_set_error(error, UCA_PYLON_CAMERA_ERROR,    \
+                UCA_PYLON_CAMERA_ERROR_LIBPYLON_GENERAL,\
+                "libpylon error %i", err);            \
+        return;                                     \
+    }*/
+    
+#define UCA_PYLON_CAMERA_GET_PRIVATE(obj) (G_TYPE_INSTANCE_GET_PRIVATE((obj), UCA_TYPE_PYLON_CAMERA, UcaPylonCameraPrivate))
+
+G_DEFINE_TYPE(UcaPylonCamera, uca_pylon_camera, UCA_TYPE_CAMERA)
+
+/**
+ * UcapylonCameraError:
+ * @UCA_PYLON_CAMERA_ERROR_LIBPYLON_INIT: Initializing libpylon failed
+ * @UCA_PYLON_CAMERA_ERROR_LIBPYLON_GENERAL: General libpylon error
+ * @UCA_PYLON_CAMERA_ERROR_UNSUPPORTED: Camera type is not supported
+ * @UCA_PYLON_CAMERA_ERROR_FG_INIT: Framegrabber initialization failed
+ * @UCA_PYLON_CAMERA_ERROR_FG_GENERAL: General framegrabber error
+ * @UCA_PYLON_CAMERA_ERROR_FG_ACQUISITION: Framegrabber acquisition error
+ */
+GQuark uca_pylon_camera_error_quark()
+{
+    return g_quark_from_static_string("uca-pylon-camera-error-quark");
+}
+
+enum {
+    PROP_NAME = N_BASE_PROPERTIES,
+    N_PROPERTIES
+};
+
+static gint base_overrideables[] = {
+    PROP_SENSOR_WIDTH,
+    PROP_SENSOR_HEIGHT,
+    PROP_SENSOR_BITDEPTH,
+//    PROP_SENSOR_HORIZONTAL_BINNING,
+//    PROP_SENSOR_HORIZONTAL_BINNINGS,
+//    PROP_SENSOR_VERTICAL_BINNING,
+//    PROP_SENSOR_VERTICAL_BINNINGS,
+//    PROP_SENSOR_MAX_FRAME_RATE,
+//    PROP_ROI_X,
+//    PROP_ROI_Y,
+//    PROP_ROI_WIDTH,
+//    PROP_ROI_HEIGHT,
+//    PROP_HAS_STREAMING,
+//    PROP_HAS_CAMRAM_RECORDING,
+    0
+};
+
+
+static GParamSpec *pylon_properties[N_PROPERTIES] = { NULL, };
+
+
+struct _UcaPylonCameraPrivate {
+    guint frame_width;
+    guint frame_height;
+    guint bit_depth;
+    gsize num_bytes;
+
+    guint width;
+    guint height;
+};
+
+
+
+UcaPylonCamera *uca_pylon_camera_new(GError **error)
+{
+  UcaPylonCamera *camera = g_object_new(UCA_TYPE_PYLON_CAMERA, NULL);
+  UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(camera);
+
+  pylon_camera_new("/usr/local/lib64", "141.52.111.110", error);
+  if (*error) {
+    g_print("Error when calling pylon_camera_new %s\n", (*error)->message);
+    return NULL;
+  }
+
+  return camera;
+}
+
+static void uca_pylon_camera_start_recording(UcaCamera *camera, GError **error)
+{
+    g_return_if_fail(UCA_IS_PYLON_CAMERA(camera));
+    UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(camera);
+
+    priv->num_bytes = 2;
+    pylon_camera_start_acquision(error);
+
+}
+
+static void uca_pylon_camera_stop_recording(UcaCamera *camera, GError **error)
+{
+    g_return_if_fail(UCA_IS_PYLON_CAMERA(camera));
+    UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(camera);
+    pylon_camera_stop_acquision(error);
+}
+
+static void uca_pylon_camera_grab(UcaCamera *camera, gpointer *data, GError **error)
+{
+    g_return_if_fail(UCA_IS_PYLON_CAMERA(camera));
+    UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(camera);
+
+    if (*data == NULL) {
+        *data = g_malloc0(priv->frame_width * priv->frame_height * priv->num_bytes); 
+    }
+    pylon_camera_grab(data, error);
+}
+
+static void uca_pylon_camera_set_property(GObject *object, guint property_id, const GValue *value, GParamSpec *pspec)
+{
+    UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(object);
+
+    switch (property_id) {
+        default:
+            G_OBJECT_WARN_INVALID_PROPERTY_ID(object, property_id, pspec);
+            return;
+    }
+}
+
+static void uca_pylon_camera_get_property(GObject *object, guint property_id, GValue *value, GParamSpec *pspec)
+{
+  printf("pylon_get_property\n");
+    UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(object);
+    GError* error = NULL;
+
+    switch (property_id) {
+      
+        case PROP_SENSOR_WIDTH: 
+            pylon_camera_get_sensor_size(&priv->width, &priv->height, &error);
+            g_value_set_uint(value, priv->width);
+            printf("pylon_get_property sensor width %d\n", priv->width);
+            break;
+
+        case PROP_SENSOR_HEIGHT: 
+            pylon_camera_get_sensor_size(&priv->width, &priv->height, &error);
+            g_value_set_uint(value, priv->height);
+            printf("pylon_get_property sensor height %d\n", priv->height);
+            break;
+
+            /*
+        case PROP_SENSOR_MAX_FRAME_RATE:
+            g_value_set_float(value, priv->camera_description->max_frame_rate);
+            break;
+            */
+
+        case PROP_SENSOR_BITDEPTH:
+            pylon_camera_get_bit_depth(&priv->bit_depth, &error);
+            g_value_set_uint(value, priv->bit_depth);
+            printf("pylon_get_property depth %d\n", priv->bit_depth);
+            break;
+
+            /*
+        case PROP_HAS_STREAMING:
+            g_value_set_boolean(value, TRUE);
+            break;
+
+        case PROP_HAS_CAMRAM_RECORDING:
+            g_value_set_boolean(value, priv->camera_description->has_camram);
+            break;
+
+        case PROP_ROI_X:
+            {
+              guint16 roi[4] = {0};
+              guint err = pylon_get_roi(priv->pylon, roi);
+              g_value_set_uint(value, roi[0]);
+            }
+            break;
+
+        case PROP_ROI_Y:
+            {
+              guint16 roi[4] = {0};
+              guint err = pylon_get_roi(priv->pylon, roi);
+              g_value_set_uint(value, roi[1]);
+            }
+            break;
+
+        case PROP_ROI_WIDTH:
+            {
+              guint16 roi[4] = {0};
+              guint err = pylon_get_roi(priv->pylon, roi);
+              g_value_set_uint(value, (roi[2] - roi[0]));
+            }
+            break;
+
+        case PROP_ROI_HEIGHT:
+            {
+              guint16 roi[4] = {0};
+              guint err = pylon_get_roi(priv->pylon, roi);
+              g_value_set_uint(value, (roi[3] - roi[1]));
+            }
+            break;
+*/
+        case PROP_NAME: 
+            {
+                //char *name = NULL;
+                //pylon_get_name(priv->pylon, &name);
+                g_value_set_string(value, "TestName");
+                //free(name);
+            }
+            break;
+
+        default:
+            G_OBJECT_WARN_INVALID_PROPERTY_ID(object, property_id, pspec);
+            break;
+    }
+}
+
+static void uca_pylon_camera_finalize(GObject *object)
+{
+    /*UcaPylonCameraPrivate *priv = UCA_PYLON_CAMERA_GET_PRIVATE(object);
+
+    if (priv->horizontal_binnings)
+        g_value_array_free(priv->horizontal_binnings);
+
+    if (priv->vertical_binnings)
+        g_value_array_free(priv->vertical_binnings);
+
+    if (priv->fg) {
+        if (priv->fg_mem)
+            Fg_FreeMem(priv->fg, priv->fg_port);
+
+        Fg_FreeGrabber(priv->fg);
+    }
+
+    if (priv->pylon)
+        pylon_destroy(priv->pylon);
+        */
+
+    G_OBJECT_CLASS(uca_pylon_camera_parent_class)->finalize(object);
+}
+
+static void uca_pylon_camera_class_init(UcaPylonCameraClass *klass)
+{
+    GObjectClass *gobject_class = G_OBJECT_CLASS(klass);
+    gobject_class->set_property = uca_pylon_camera_set_property;
+    gobject_class->get_property = uca_pylon_camera_get_property;
+    gobject_class->finalize = uca_pylon_camera_finalize;
+
+    UcaCameraClass *camera_class = UCA_CAMERA_CLASS(klass);
+    camera_class->start_recording = uca_pylon_camera_start_recording;
+    camera_class->stop_recording = uca_pylon_camera_stop_recording;
+    camera_class->grab = uca_pylon_camera_grab;
+
+    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]]);
+
+    pylon_properties[PROP_NAME] = 
+        g_param_spec_string("name",
+            "Name of the camera",
+            "Name of the camera",
+            "", G_PARAM_READABLE);
+
+
+    for (guint id = N_BASE_PROPERTIES; id < N_PROPERTIES; id++)
+        g_object_class_install_property(gobject_class, id, pylon_properties[id]);
+
+    g_type_class_add_private(klass, sizeof(UcaPylonCameraPrivate));
+}
+
+static void uca_pylon_camera_init(UcaPylonCamera *self)
+{
+    self->priv = UCA_PYLON_CAMERA_GET_PRIVATE(self);
+}
+
diff --git a/src/cameras/uca-pylon-camera.h b/src/cameras/uca-pylon-camera.h
new file mode 100644
index 0000000..2f441dc
--- /dev/null
+++ b/src/cameras/uca-pylon-camera.h
@@ -0,0 +1,75 @@
+/* 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 __UCA_PYLON_CAMERA_H
+#define __UCA_PYLON_CAMERA_H
+
+#include <glib-object.h>
+
+#include "uca-camera.h"
+
+G_BEGIN_DECLS
+
+#define UCA_TYPE_PYLON_CAMERA             (uca_pylon_camera_get_type())
+#define UCA_PYLON_CAMERA(obj)             (G_TYPE_CHECK_INSTANCE_CAST((obj), UCA_TYPE_PYLON_CAMERA, UcaPylonCamera))
+#define UCA_IS_PYLON_CAMERA(obj)          (G_TYPE_CHECK_INSTANCE_TYPE((obj), UCA_TYPE_PYLON_CAMERA))
+#define UCA_PYLON_CAMERA_CLASS(klass)     (G_TYPE_CHECK_CLASS_CAST((klass), UFO_TYPE_PYLON_CAMERA, UfoPylonCameraClass))
+#define UCA_IS_PYLON_CAMERA_CLASS(klass)  (G_TYPE_CHECK_CLASS_TYPE((klass), UCA_TYPE_PYLON_CAMERA))
+#define UCA_PYLON_CAMERA_GET_CLASS(obj)   (G_TYPE_INSTANCE_GET_CLASS((obj), UCA_TYPE_PYLON_CAMERA, UcaPylonCameraClass))
+
+#define UCA_PYLON_CAMERA_ERROR uca_pylon_camera_error_quark()
+typedef enum {
+    UCA_PYLON_CAMERA_ERROR_LIBPYLON_INIT,
+    UCA_PYLON_CAMERA_ERROR_LIBPYLON_GENERAL,
+    UCA_PYLON_CAMERA_ERROR_UNSUPPORTED,
+} UcaPylonCameraError;
+
+typedef struct _UcaPylonCamera           UcaPylonCamera;
+typedef struct _UcaPylonCameraClass      UcaPylonCameraClass;
+typedef struct _UcaPylonCameraPrivate    UcaPylonCameraPrivate;
+
+/**
+ * UcaPylonCamera:
+ *
+ * Creates #UcaPylonCamera instances by loading corresponding shared objects. The
+ * contents of the #UcaPylonCamera structure are private and should only be
+ * accessed via the provided API.
+ */
+struct _UcaPylonCamera {
+    /*< private >*/
+    UcaCamera parent;
+
+    UcaPylonCameraPrivate *priv;
+};
+
+/**
+ * UcaPylonCameraClass:
+ *
+ * #UcaPylonCamera class
+ */
+struct _UcaPylonCameraClass {
+    /*< private >*/
+    UcaCameraClass parent;
+};
+
+UcaPylonCamera *uca_pylon_camera_new(GError **error);
+
+GType uca_pylon_camera_get_type(void);
+
+G_END_DECLS
+
+#endif