From 9d29847ed1c2c3a7689151852ec957f789320685 Mon Sep 17 00:00:00 2001
From: Matthias Vogelgesang <matthias.vogelgesang@ipe.fzk.de>
Date: Wed, 23 Feb 2011 09:47:34 +0100
Subject: Add a bit of documentation and frame grabber initialization

---
 src/cameras/uca_pco.c | 18 ++++++++++++++++--
 src/uca.c             | 10 +++++++++-
 src/uca.h             | 41 ++++++++++++++++++++++++++++++++++++-----
 3 files changed, 61 insertions(+), 8 deletions(-)

diff --git a/src/cameras/uca_pco.c b/src/cameras/uca_pco.c
index fd63139..413d389 100644
--- a/src/cameras/uca_pco.c
+++ b/src/cameras/uca_pco.c
@@ -62,7 +62,6 @@ uint32_t uca_pco_init(struct uca_t *uca)
 {
     uca->user = (struct pco_cam_t *) malloc(sizeof(struct pco_cam_t));
 
-
     struct pco_cam_t *pco_cam = uca->user;
     struct pco_edge_t *pco = pco_cam->pco = pco_init();
 
@@ -86,11 +85,26 @@ uint32_t uca_pco_init(struct uca_t *uca)
     /* ... and some properties */
     pco_get_actual_size(pco, &uca->image_width, &uca->image_height);
 
-    /* Prepare camera for recording. */
+    /* Prepare camera for recording */
     pco_set_rec_state(pco, 0);
     pco_set_timestamp_mode(pco, 2);
     pco_set_timebase(pco, 1, 1); 
     pco_arm_camera(pco);
 
+    /* Prepare frame grabber for recording */
+    int val = FG_CL_8BIT_FULL_10;
+    Fg_setParameter(fg, FG_CAMERA_LINK_CAMTYP, &val, PORT_A);
+
+    val = FG_GRAY;
+    Fg_setParameter(fg, FG_FORMAT, &val, PORT_A);
+
+    val = FREE_RUN;
+    Fg_setParameter(fg, FG_TRIGGERMODE, &val, PORT_A);
+
+    Fg_setParameter(fg, FG_WIDTH, &uca->image_width, PORT_A);
+    Fg_setParameter(fg, FG_HEIGHT, &uca->image_height, PORT_A);
+
+    pco_set_rec_state(pco, 1);
+
     return 0;
 }
diff --git a/src/uca.c b/src/uca.c
index af934c8..facccb4 100644
--- a/src/uca.c
+++ b/src/uca.c
@@ -30,6 +30,14 @@ struct uca_t *uca_init()
 #endif
     NULL };
 
+    /* Set all function pointers to NULL and thus make the class abstract */
+    uca->cam_destroy = NULL;
+    uca->cam_set_dimensions = NULL;
+    uca->cam_set_bitdepth = NULL;
+    uca->cam_set_delay = NULL;
+    uca->cam_set_exposure = NULL;
+    uca->cam_acquire_image = NULL;
+
     int i = 0;
     while (inits[i] != NULL) {
         uca_cam_init init = inits[i];
@@ -38,7 +46,7 @@ struct uca_t *uca_init()
         i++;
     }
 
-    /* No camera found then return nothing */
+    /* No camera found then indicate error */
     free(uca);
     return NULL;
 }
diff --git a/src/uca.h b/src/uca.h
index 0f3261e..bf0c249 100644
--- a/src/uca.h
+++ b/src/uca.h
@@ -1,42 +1,73 @@
 #ifndef __UNIFIED_CAMERA_ACCESS_H
 #define __UNIFIED_CAMERA_ACCESS_H
 
+/**
+ * \file uca.h
+ * \brief Abstract camera model
+ *
+ * The uca_t structure represents a common interface for cameras regardless of
+ * their connectivity. Each camera that adheres to this model must provide an
+ * initialization function that probes the device and sets all function pointers
+ * to their respective implementation.
+ */
+
 #include <stdint.h>
 
 struct uca_t;
 
-/*
+/**
  * \brief Camera probing and initialization
- * \return 0 if camera is not found or could not be initialized
+ * \return UCA_ERR_INIT_NOT_FOUND if camera is not found or could not be initialized
  */
 typedef uint32_t (*uca_cam_init) (struct uca_t *uca);
 
+/**
+ * \brief Free camera resouces
+ */
 typedef uint32_t (*uca_cam_destroy) (struct uca_t *uca);
 
+/**
+ * \brief Set dimension of grabbed images
+ * \param[in] width Width of the image
+ * \param[in] height Height of the image
+ * \note input parameters might be changed if dimensions couldn't be set
+ */
 typedef uint32_t (*uca_cam_set_dimensions) (struct uca_t *uca, uint32_t *width, uint32_t *height);
 
+/**
+ * \brief Set bitdepth of grabbed images
+ */
 typedef uint32_t (*uca_cam_set_bitdepth) (struct uca_t *uca, uint8_t *bitdepth);
 
+/**
+ * \brief Set exposure time in milliseconds
+ */
 typedef uint32_t (*uca_cam_set_exposure) (struct uca_t *uca, uint32_t *exposure);
 
+/**
+ * \brief Set delay time in milliseconds
+ */
 typedef uint32_t (*uca_cam_set_delay) (struct uca_t *uca, uint32_t *delay);
 
+/**
+ * \brief Acquire one frame
+ */
 typedef uint32_t (*uca_cam_acquire_image) (struct uca_t *uca, void *buffer);
 
 
+#define UCA_NO_ERROR                    0
 
-#define UCA_ERR_INIT_NOT_FOUND          1   /**< camera probing failed */
+#define UCA_ERR_INIT_NOT_FOUND          1   /**< camera probing or initialization failed */
 
 #define UCA_ERR_DIMENSION_NOT_SUPPORTED 1
 
 #define UCA_ERR_BITDEPTH_NOT_SUPPORTED  1
 
-
 #define UCA_BIG_ENDIAN      1
 #define UCA_LITTLE_ENDIAN   2
 
 struct uca_t {
-    /* These must be written by uca_cam_init() */
+    /* These must be set by uca_*_init() */
     unsigned int image_width;
     unsigned int image_height;
     unsigned int image_bitdepth;
-- 
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