diff options
Diffstat (limited to 'plugins/ufo/uca-ufo-camera.c')
| -rw-r--r-- | plugins/ufo/uca-ufo-camera.c | 510 |
1 files changed, 510 insertions, 0 deletions
diff --git a/plugins/ufo/uca-ufo-camera.c b/plugins/ufo/uca-ufo-camera.c new file mode 100644 index 0000000..2b289a5 --- /dev/null +++ b/plugins/ufo/uca-ufo-camera.c @@ -0,0 +1,510 @@ +/* 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 <gmodule.h> +#include <stdlib.h> +#include <stdio.h> +#include <string.h> +#include <pcilib.h> +#include <errno.h> +#include "uca-camera.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, \ + "pcilib: %s", strerror(err)); \ + return; \ + } + +#define UCA_UFO_CAMERA_GET_PRIVATE(obj) (G_TYPE_INSTANCE_GET_PRIVATE((obj), UCA_TYPE_UFO_CAMERA, UcaUfoCameraPrivate)) + +G_DEFINE_TYPE(UcaUfoCamera, uca_ufo_camera, UCA_TYPE_CAMERA) + +static const guint SENSOR_WIDTH = 2048; +static const guint SENSOR_HEIGHT = 1088; +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_HORIZONTAL_BINNING, + PROP_SENSOR_VERTICAL_BINNING, + PROP_SENSOR_MAX_FRAME_RATE, + PROP_SENSOR_BITDEPTH, + PROP_EXPOSURE_TIME, + PROP_ROI_X, + PROP_ROI_Y, + PROP_ROI_WIDTH, + PROP_ROI_HEIGHT, + PROP_ROI_WIDTH_MULTIPLIER, + PROP_ROI_HEIGHT_MULTIPLIER, + PROP_HAS_STREAMING, + PROP_HAS_CAMRAM_RECORDING, + PROP_TRIGGER_MODE, + 0, +}; + +typedef struct _RegisterInfo { + gchar *name; + guint cached_value; +} RegisterInfo; + +static GParamSpec *ufo_properties[N_MAX_PROPERTIES] = { NULL, }; + +static guint N_PROPERTIES; +static GHashTable *ufo_property_table; /* maps from prop_id to RegisterInfo* */ + +struct _UcaUfoCameraPrivate { + pcilib_t *handle; + pcilib_timeout_t timeout; + guint n_bits; + enum { + FPGA_48MHZ = 0, + FPGA_40MHZ + } frequency; + UcaCameraTrigger trigger; +}; + +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; + + pcilib_read_register(handle, NULL, name, ®_value); + 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) { + pcilib_trigger(priv->handle, PCILIB_EVENT0, 0, NULL); + return PCILIB_STREAMING_CONTINUE; + } + + camera->grab_func(buffer, camera->user_data); + pcilib_return_data(priv->handle, event_id, PCILIB_EVENT_DATA, buffer); + pcilib_trigger(priv->handle, PCILIB_EVENT0, 0, NULL); + + return PCILIB_STREAMING_CONTINUE; +} + +G_MODULE_EXPORT UcaCamera * +uca_camera_impl_new (GError **error) +{ + pcilib_model_t model = PCILIB_MODEL_DETECT; + pcilib_model_description_t *model_description; + pcilib_t *handle = pcilib_open("/dev/fpga0", model); + guint prop = PROP_UFO_START; + guint adc_resolution; + + if (handle == NULL) { + g_set_error(error, UCA_UFO_CAMERA_ERROR, UCA_UFO_CAMERA_ERROR_INIT, + "Initializing pcilib failed"); + return NULL; + } + + pcilib_set_error_handler(&error_handler, &error_handler); + + /* Generate properties from model description */ + model_description = pcilib_get_model_description(handle); + ufo_property_table = g_hash_table_new_full (g_direct_hash, g_direct_equal, NULL, g_free); + + for (guint i = 0; model_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; + + reg = &model_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; + } + + pcilib_read_register (handle, NULL, reg->name, &value); + reg_info = g_new0 (RegisterInfo, 1); + reg_info->name = g_strdup (reg->name); + reg_info->cached_value = (guint32) value; + + g_hash_table_insert (ufo_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); + } + + N_PROPERTIES = prop; + + UcaUfoCamera *camera = g_object_new(UCA_TYPE_UFO_CAMERA, NULL); + UcaUfoCameraPrivate *priv = UCA_UFO_CAMERA_GET_PRIVATE(camera); + + priv->frequency = read_register_value (handle, "bit_mode"); + adc_resolution = read_register_value (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; + } + + priv->handle = handle; + + return UCA_CAMERA (camera); +} + +static void uca_ufo_camera_start_recording(UcaCamera *camera, GError **error) +{ + UcaUfoCameraPrivate *priv; + gdouble exposure_time; + int err; + + g_return_if_fail(UCA_IS_UFO_CAMERA(camera)); + + priv = UCA_UFO_CAMERA_GET_PRIVATE(camera); + err = pcilib_start(priv->handle, PCILIB_EVENT_DATA, PCILIB_EVENT_FLAGS_DEFAULT); + PCILIB_SET_ERROR(err, UCA_UFO_CAMERA_ERROR_START_RECORDING); + + gboolean transfer_async = FALSE; + g_object_get(G_OBJECT(camera), + "transfer-asynchronously", &transfer_async, + "exposure-time", &exposure_time, + "trigger-mode", &priv->trigger, + NULL); + + priv->timeout = ((pcilib_timeout_t) (exposure_time * 1000 + 50.0) * 1000); + + if (transfer_async) { + pcilib_trigger(priv->handle, PCILIB_EVENT0, 0, NULL); + pcilib_stream(priv->handle, &event_callback, camera); + } +} + +static void uca_ufo_camera_stop_recording(UcaCamera *camera, GError **error) +{ + g_return_if_fail(UCA_IS_UFO_CAMERA(camera)); + UcaUfoCameraPrivate *priv = UCA_UFO_CAMERA_GET_PRIVATE(camera); + int err = pcilib_stop(priv->handle, PCILIB_EVENT_FLAGS_DEFAULT); + PCILIB_SET_ERROR(err, UCA_UFO_CAMERA_ERROR_START_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 void uca_ufo_camera_grab(UcaCamera *camera, gpointer *data, GError **error) +{ + g_return_if_fail(UCA_IS_UFO_CAMERA(camera)); + UcaUfoCameraPrivate *priv = UCA_UFO_CAMERA_GET_PRIVATE(camera); + pcilib_event_id_t event_id; + pcilib_event_info_t event_info; + size_t err; + + const gsize size = SENSOR_WIDTH * SENSOR_HEIGHT * sizeof(guint16); + + if (priv->trigger != UCA_CAMERA_TRIGGER_EXTERNAL) { + err = pcilib_trigger(priv->handle, PCILIB_EVENT0, 0, NULL); + PCILIB_SET_ERROR(err, UCA_UFO_CAMERA_ERROR_TRIGGER); + } + + err = pcilib_get_next_event(priv->handle, priv->timeout, &event_id, sizeof(pcilib_event_info_t), &event_info); + PCILIB_SET_ERROR(err, UCA_UFO_CAMERA_ERROR_NEXT_EVENT); + + if (*data == NULL) + *data = g_malloc0(SENSOR_WIDTH * SENSOR_HEIGHT * sizeof(guint16)); + + gpointer src = pcilib_get_data(priv->handle, event_id, PCILIB_EVENT_DATA, &err); + + if (src == NULL) + PCILIB_SET_ERROR(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(err, UCA_UFO_CAMERA_ERROR_MAYBE_CORRUPTED); +} + +static void +uca_ufo_camera_set_property(GObject *object, guint property_id, const GValue *value, GParamSpec *pspec) +{ + UcaUfoCameraPrivate *priv = UCA_UFO_CAMERA_GET_PRIVATE(object); + + switch (property_id) { + case PROP_EXPOSURE_TIME: + { + const guint frequency = priv->frequency == FPGA_40MHZ ? 40 : 48; + pcilib_register_value_t reg_value = (pcilib_register_value_t) 129 / frequency * 1000 * 1000 * g_value_get_double(value); + pcilib_write_register(priv->handle, NULL, "cmosis_exp_time", reg_value); + } + 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; + + case PROP_TRIGGER_MODE: + priv->trigger = g_value_get_enum (value); + break; + + default: + { + RegisterInfo *reg_info = g_hash_table_lookup (ufo_property_table, GINT_TO_POINTER (property_id)); + + if (reg_info != NULL) { + pcilib_register_value_t reg_value; + + reg_value = g_value_get_uint (value); + pcilib_write_register(priv->handle, NULL, reg_info->name, reg_value); + pcilib_read_register (priv->handle, NULL, reg_info->name, ®_value); + 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, SENSOR_HEIGHT); + break; + case PROP_SENSOR_BITDEPTH: + g_value_set_uint (value, priv->n_bits); + break; + case PROP_SENSOR_HORIZONTAL_BINNING: + g_value_set_uint(value, 1); + break; + case PROP_SENSOR_VERTICAL_BINNING: + g_value_set_uint(value, 1); + break; + case PROP_SENSOR_MAX_FRAME_RATE: + g_value_set_float(value, 340.0); + 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") * 129 / frequency / 1000 / 1000 ); + } + 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, SENSOR_HEIGHT); + break; + case PROP_ROI_WIDTH_MULTIPLIER: + g_value_set_uint(value, 1); + break; + case PROP_ROI_HEIGHT_MULTIPLIER: + g_value_set_uint(value, 1); + break; + case PROP_NAME: + g_value_set_string(value, "Ufo Camera w/ CMOSIS CMV2000"); + break; + case PROP_TRIGGER_MODE: + g_value_set_enum (value, priv->trigger); + break; + default: + { + RegisterInfo *reg_info = g_hash_table_lookup (ufo_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 = UCA_UFO_CAMERA_GET_PRIVATE(object); + pcilib_close(priv->handle); + G_OBJECT_CLASS(uca_ufo_camera_parent_class)->finalize(object); +} + +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; + + 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); + + /* + * This automatic property installation includes the properties created + * dynamically in uca_ufo_camera_new(). + */ + for (guint id = N_BASE_PROPERTIES; id < N_PROPERTIES; id++) + g_object_class_install_property(gobject_class, id, ufo_properties[id]); + + g_type_class_add_private(klass, sizeof(UcaUfoCameraPrivate)); +} + +static void uca_ufo_camera_init(UcaUfoCamera *self) +{ + self->priv = UCA_UFO_CAMERA_GET_PRIVATE(self); +} |