/* Copyright (C) 2011, 2012 Matthias Vogelgesang (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 __UNIFIED_CAMERA_ACCESS_H #define __UNIFIED_CAMERA_ACCESS_H #include #ifdef __cplusplus extern "C" { #endif /** * \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. */ /** * \mainpage * * \section intro_sec Introduction * * libuca is a thin wrapper to make different cameras and their access * interfaces (via CameraLink, PCIe …) accessible in an easy way. * It builds support for cameras, when it can find the necessary dependencies, * so there is no need to have camera SDKs installed when you don't own a * camera. * * \section intro_installation Installation from source * * Check out the code from vogelgesang/libuca or untar the tarball. Make sure to * install CMake and any third party drivers and SDKs that you want to have * accessed by libuca. Now go into some empty build directory and issue * * \verbatim $ cmake PATH_TO_LIBUCA_SOURCE $ make $ make install \endverbatim * * \section intro_quickstart Quick Start * * First of all you have to create a new uca handle to initialize the individual * subsystems * * \code uca *u = uca_init(); \endcode * * and see if uca_init() did not return NULL. If this is the case, no camera or * frame grabber was found. If you build with HAVE_DUMMY_CAMERA, there will * always be at least the dummy camera available. * * You can then iterate through all available cameras using * * \code * uca_camera *i = uca->cameras; * while (i != NULL) { * // do something with i * i = i->next; * } * \endcode * * The uca_camera handle is used to set and retrieve properties: * * \code * uca_camera *cam = uca->cameras; * uint32_t val = 5000; * uca_cam_set_property(cam, UCA_PROP_EXPOSURE, &val); * * uint32_t width, height; * uca_cam_get_property(cam, UCA_PROP_WIDTH, &width, NULL); * uca_cam_get_property(cam, UCA_PROP_HEIGHT, &height, NULL); * \endcode * * \section properties Property system * * Each property has a unique id listed in the #uca_property_ids enum. * Information about each property is given in a uca_property structure that is * mapped with uca_get_full_property(). The description lists the unit, type and * access rights. * * \section intro_recording Recording * * To record in synchronous fashion use uca_cam_grab() like * * \code * void *buffer = (void *) malloc(width * height * bytes_per_pixel); * uca_cam_start_recording(cam); * uca_cam_grab(cam, (char *) buffer, NULL); * uca_cam_stop_recording(cam); * \endcode * * Eventually you will have to cleanup the system by calling * * \code uca_destroy(u); \endcode * * \section intro_usage Adding new cameras * * To add a new camera, add cameras/new-cam.c and cameras/new-cam.h to the * source tree and change CMakeLists.txt to include these files. * Furthermore, if this camera relies on external dependencies, these have * to be found first via the CMake system. * * The new camera must export exactly one function: uca_new_camera_init() which * checks if (given the grabber) the camera is available and sets the function * pointers to access the camera accordingly. * * \section api_reference API reference * * All function definitions can be found in uca.h. * */ /* The property IDs must start with 0 and must be continuous. Whenever this * library is released, the IDs must not change to guarantee binary compatibility! */ /** * ID of all supported properties */ typedef enum { UCA_PROP_NAME = 0, UCA_PROP_WIDTH, UCA_PROP_WIDTH_MIN, UCA_PROP_WIDTH_MAX, UCA_PROP_HEIGHT, UCA_PROP_HEIGHT_MIN, UCA_PROP_HEIGHT_MAX, UCA_PROP_X_OFFSET, UCA_PROP_X_OFFSET_MIN, UCA_PROP_X_OFFSET_MAX, UCA_PROP_Y_OFFSET, UCA_PROP_Y_OFFSET_MIN, UCA_PROP_Y_OFFSET_MAX, UCA_PROP_BINNING_X, UCA_PROP_BINNING_Y, UCA_PROP_BITDEPTH, UCA_PROP_EXPOSURE, UCA_PROP_EXPOSURE_MIN, UCA_PROP_EXPOSURE_MAX, UCA_PROP_DELAY, UCA_PROP_DELAY_MIN, UCA_PROP_DELAY_MAX, UCA_PROP_FRAMERATE, UCA_PROP_TEMPERATURE_SENSOR, UCA_PROP_TEMPERATURE_CAMERA, UCA_PROP_TRIGGER_MODE, UCA_PROP_TRIGGER_EXPOSURE, UCA_PROP_PGA_GAIN, UCA_PROP_PGA_GAIN_MIN, UCA_PROP_PGA_GAIN_MAX, UCA_PROP_PGA_GAIN_STEPS, UCA_PROP_ADC_GAIN, UCA_PROP_ADC_GAIN_MIN, UCA_PROP_ADC_GAIN_MAX, UCA_PROP_ADC_GAIN_STEPS, /* grabber specific */ UCA_PROP_GRAB_TIMEOUT, UCA_PROP_GRAB_SYNCHRONOUS, UCA_PROP_GRAB_AUTO, /* pco.edge specific */ UCA_PROP_TIMESTAMP_MODE, UCA_PROP_SCAN_MODE, UCA_PROP_HOTPIXEL_CORRECTION, /* IPE camera specific */ UCA_PROP_INTERLACE_SAMPLE_RATE, UCA_PROP_INTERLACE_PIXEL_THRESH, UCA_PROP_INTERLACE_ROW_THRESH, /* Photon Focus specific */ UCA_PROP_CORRECTION_MODE, UCA_PROP_LAST } uca_property_ids; /* Possible timestamp modes for UCA_PROP_TIMESTAMP_MODE */ #define UCA_TIMESTAMP_NONE 0x00 #define UCA_TIMESTAMP_ASCII 0x01 #define UCA_TIMESTAMP_BINARY 0x02 /* Trigger mode for UCA_PROP_TRIGGER_MODE */ #define UCA_TRIGGER_AUTO 0 /**< free-run mode */ #define UCA_TRIGGER_SOFTWARE 1 /**< software trigger via uca_cam_trigger() */ #define UCA_TRIGGER_EXTERNAL 2 /**< external hardware trigger */ #define UCA_TRIGGER_EXTERNAL_EXPOSURE 3 /**< hardware trigger controlling exposure */ #define UCA_TRIGGER_EXP_CAMERA 1 /**< camera-controlled exposure time */ #define UCA_TRIGGER_EXP_LEVEL 2 /**< level-controlled (trigger signal) exposure time */ /* Correction modes for UCA_PROP_CORRECTION_MODE */ #define UCA_CORRECT_OFFSET 0x01 #define UCA_CORRECT_HOTPIXEL 0x02 #define UCA_CORRECT_GAIN 0x04 /** * The physical unit of this property. * * This is important in order to let the camera drivers know, how to convert * the values into their respective target value. It is also used for human * interfaces. */ typedef enum { uca_pixel, /**< number of pixels */ uca_bits, /**< number of bits */ uca_ns, /**< nanoseconds */ uca_us, /**< microseconds */ uca_ms, /**< milliseconds */ uca_s, /**< seconds */ uca_rows, /**< number of rows */ uca_fps, /**< frames per second */ uca_dc, /**< degree celsius */ uca_bool, /**< 1 or 0 for true and false */ uca_na /**< no unit available (for example modes) */ } uca_unit; /** * The data type of this property. * * When using uca_cam_set_property() and uca_cam_get_property() this field * must be respected and correct data transfered, as the values are * interpreted like defined here. */ typedef enum { uca_uint32t, uca_uint8t, uca_string } uca_types; /** * Access rights determine if uca_cam_get_property() and/or * uca_cam_set_property() can be used with this property. */ typedef enum { uca_read = 0x01, /**< property can be read */ uca_write = 0x02, /**< property can be written */ uca_readwrite = 0x01 | 0x02 /**< property can be read and written */ } uca_access_rights; /** * Describes the current state of the camera. * * \see uca_cam_get_state() */ typedef enum { UCA_CAM_CONFIGURABLE, /**< Camera can be configured and is not recording */ UCA_CAM_ARMED, /**< Camera is ready for recording */ UCA_CAM_RECORDING, /**< Camera is currently recording */ UCA_CAM_READOUT /**< Camera recorded and is currently in readout mode */ } uca_cam_state; /** * Specify if the callback function keeps the buffer and will call * ufo_cam_release_buffer() at later time or if after returning the buffer can * be released automatically. * * \since 0.5 */ typedef enum { UCA_BUFFER_KEEP, /**< Keep the buffer and call ufo_cam_release_buffer() manually */ UCA_BUFFER_RELEASE /**< Buffer is released upon return */ } uca_buffer_status; /** * A uca_property_t describes a vendor-independent property used by cameras and * frame grabbers. It basically consists of a human-readable name, a physical * unit, a type and some access rights. * \see uca_get_full_property() */ typedef struct { /** * A human-readable string for this property. * * A name is defined in a tree-like structure, to build some form of * hierarchical namespace. To define a parent-child-relationship a dot '.' * is used. For example "image.width.min" might be the name for the minimal * acceptable frame width. */ const char *name; uca_unit unit; /**< Physical unit of this property */ uca_types type; /**< Type of this property */ uca_access_rights access; /**< Access rights of this property */ } uca_property; union uca_value { uint32_t u32; uint8_t u8; char *string; }; /** * Grab callback. * * Register such a callback function with uca_cam_register_callback() to * receive data as soon as it is delivered. * * \param[in] image_number Current frame number * \param[in] buffer Image data. * \param[in] meta_data Meta data provided by the camera specifying per-frame * data. * \param[in] user User data registered in uca_cam_register_callback() * \return Value from uca_buffer_status. If #UCA_BUFFER_KEEP is returned, the * callee must make sure to call uca_cam_release_buffer(). On the other hand, if * #UCA_BUFFER_RELEASE is returned this is done by the caller. * * \note The meta data parameter is not yet specified but just a place holder. */ typedef uca_buffer_status (*uca_cam_grab_callback) (uint64_t image_number, void *buffer, void *meta_data, void *user); extern const char *uca_unit_map[]; /**< maps unit numbers to corresponding strings */ /** * An error code is a 32 bit integer with the following format (x:y means x bits * for purpose y): * * [ 31 (MSB) ... ... 0 (LSB) ] * [ 4:lvl | 4:rsv | 4:class | 4:source | 16:code ] * * where * * - lvl describes severity such as warning or failure, * - rsv is reserved, * - class describes the general class of the error, * - source describes where the error occured and * - code is the actual error condition * * UCA_ERR_MASK_*s can be used to mask the desired field of the error code. * */ #define UCA_NO_ERROR 0x00000000 #define UCA_ERR_MASK_CODE 0xF000FFFF #define UCA_ERR_MASK_SOURCE 0x000F0000 #define UCA_ERR_MASK_TYPE 0x00F00000 #define UCA_ERR_MASK_RESRV 0x0F000000 #define UCA_ERR_MASK_LEVEL 0xF0000000 #define UCA_ERR_GRABBER 0x00010000 #define UCA_ERR_CAMERA 0x00020000 #define UCA_ERR_INIT 0x00100000 /**< error during initialization */ #define UCA_ERR_PROP 0x00200000 /**< error while setting/getting property */ #define UCA_ERR_CALLBACK 0x00300000 /**< callback-related errors */ #define UCA_ERR_TRIGGER 0x00400000 /**< errors concerning trigger */ #define UCA_ERR_CONFIGURATION 0x00500000 /**< errors related to configuration steps */ #define UCA_ERR_FAILURE 0x10000000 #define UCA_ERR_WARNING 0x20000000 #define UCA_ERR_UNCLASSIFIED 0x10000001 #define UCA_ERR_NOT_FOUND 0x10000002 #define UCA_ERR_INVALID 0x10000003 #define UCA_ERR_NO_MEMORY 0x10000004 #define UCA_ERR_OUT_OF_RANGE 0x10000005 #define UCA_ERR_ACQUIRE 0x10000006 #define UCA_ERR_IS_RECORDING 0x10000007 /**< error because device is recording */ #define UCA_ERR_NOT_RECORDING 0x10000008 #define UCA_ERR_FRAME_TRANSFER 0x10000009 #define UCA_ERR_ALREADY_REGISTERED 0x1000000A #define UCA_ERR_NOT_IMPLEMENTED 0x1000000B #define UCA_ERR_NO_MORE_IMAGES 0x1000000C struct uca_camera_priv; /** * uca_camera is an opaque structure that is only accessed with the uca_cam_* * methods. */ typedef struct uca_camera { struct uca_camera *next; struct uca_camera_priv* priv; } uca_camera; struct uca_grabber_priv; typedef struct uca_grabber { struct uca_grabber *next; struct uca_grabber_priv* priv; } uca_grabber; /** * Keeps a list of cameras and grabbers. */ typedef struct { uca_camera *cameras; /**< Root of detected camera list */ uca_grabber *grabbers; /**< Root of detected grabber list */ } uca; /** * Initialize the unified camera access interface. * * \param[in] config_filename Configuration file in JSON format for cameras * relying on external calibration data. It is ignored when no JSON parser can * be found at compile time or config_filename is NULL. * * \return Pointer to a #uca structure * * \note uca_init() is thread-safe if a Pthread-implementation is available. */ uca *uca_init(const char *config_filename); /** * Free resources of the unified camera access interface * * \note uca_destroy() is thread-safe if a Pthread-implementation is available. */ void uca_destroy(uca *u); /** * Convert a property string to the corresponding ID * * \param[in] property_name Name of the property * \param[out] prop_id Resulting property ID * \return Error code */ uint32_t uca_get_property_id(const char *property_name, uca_property_ids *prop_id); /** * Convert a property ID to the corresponding string * * \param property_id ID of a property * \return If property is found name of the property else NULL */ const char* uca_get_property_name(uca_property_ids property_id); /** * Return the full property structure for a given ID * * \param property_id ID of a property * \return Property description or NULL if property is not found */ uca_property *uca_get_full_property(uca_property_ids property_id); /** * Allocates buffer memory for the internal frame grabber. * * The allocation is just a hint to the underlying camera driver. It might * ignore this or pass this information on to a related frame grabber. * * \param[in] cam A uca_camera object * \param[in] n_buffers Number of sub-buffers with size frame_width*frame_height. * \return Error code */ uint32_t uca_cam_alloc(uca_camera *cam, uint32_t n_buffers); /** * Retrieve current state of the camera. * * \param[in] cam A uca_camera object * \return A value from the uca_cam_state enum representing the current state of * the camera. */ uca_cam_state uca_cam_get_state(uca_camera *cam); /** * Set a camera property. * * \param[in] cam The camera whose properties are to be set. * \param[in] cam A uca_camera object * \param[in] property ID of the property as defined in XXX * \param[out] data Where to read the property's value from * * \return UCA_ERR_PROP_INVALID if property is not supported on the camera or * UCA_ERR_PROP_VALUE_OUT_OF_RANGE if value cannot be set. */ uint32_t uca_cam_set_property(uca_camera *cam, uca_property_ids property, void *data); /** * Get a property. * * \param[in] cam A uca_camera object * \param[in] property ID of the property as defined in XXX * \param[out] data Where to store the property's value * \param[in] num Number of bytes of string storage. Ignored for uca_uint8t * and uca_uint32t properties. * * \return UCA_ERR_PROP_INVALID if property is not supported on the camera */ uint32_t uca_cam_get_property(uca_camera *cam, uca_property_ids property, void *data, size_t num); /** * Begin recording. * * Usually this also involves the frame acquisition of the frame grabber but is * hidden by this function. * * \param[in] cam A uca_camera object * \return Error code */ uint32_t uca_cam_start_recording(uca_camera *cam); /** * Stop recording. * * \param[in] cam A uca_camera object * \return Error code */ uint32_t uca_cam_stop_recording(uca_camera *cam); /** * Send a software trigger signal to start a sensor read-out. * * This method is only useful when #UCA_PROP_TRIGGER_MODE is set to * #UCA_TRIGGER_SOFTWARE. * * \param[in] cam A uca_camera object * \return Error code */ uint32_t uca_cam_trigger(uca_camera *cam); /** * Register callback for given frame grabber. To actually start receiving * frames, call uca_grabber_acquire(). * * \param[in] cam A uca_camera object * \param[in] callback Callback function for when a frame arrived * \param[in] user User data that is passed to the callback function * \return Error code */ uint32_t uca_cam_register_callback(uca_camera *cam, uca_cam_grab_callback callback, void *user); /** * Release the buffer that was given in the grab callback. * * \param[in] cam A uca_camera object * \param[in] buffer The buffer that was passed to the callback * * \see uca_cam_register_callback(), uca_cam_grab_callback * \since 0.5 */ uint32_t uca_cam_release_buffer(uca_camera *cam, void *buffer); /** * \brief Grab one image from the camera * * The grabbing involves a memory copy because we might have to decode the image * coming from the camera, which the frame grabber is not able to do. * * \param[in] cam A uca_camera object * \param[in] buffer Destination buffer * \param[in] meta_data Meta data provided by the camera specifying per-frame * data. * \return Error code * * \note The meta data parameter is not yet specified but just a place holder. * */ uint32_t uca_cam_grab(uca_camera *cam, char *buffer, void *meta_data); /** * \brief Initiate read out for recording based cameras like pco.dimax or * Photron SAx * * This function merely starts read out and requires that recording has stopped * with uca_cam_stop_recording. To retrieve the image data, you have still have * to use uca_cam_grab. * * \param[in] cam A uca_camera object * \return Error code */ uint32_t uca_cam_readout(uca_camera *cam); #define uca_set_void(p, type, value) { *((type *) p) = (type) value; } #ifdef __cplusplus } #endif #endif