path: root/src/cameras/uca-pco-camera.c

/* 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 <libpco/libpco.h>
#include <libpco/sc2_defs.h>
#include <fgrab_struct.h>
#include <fgrab_prototyp.h>
#include "uca-camera.h"
#include "uca-pco-camera.h"

#define UCA_PCO_CAMERA_GET_PRIVATE(obj) (G_TYPE_INSTANCE_GET_PRIVATE((obj), UCA_TYPE_PCO_CAMERA, UcaPcoCameraPrivate))

static void uca_pco_camera_interface_init(UcaCameraInterface *iface);

G_DEFINE_TYPE_WITH_CODE(UcaPcoCamera, uca_pco_camera, G_TYPE_OBJECT,
                        G_IMPLEMENT_INTERFACE(UCA_TYPE_CAMERA,
                                              uca_pco_camera_interface_init));

/**
 * UcaPcoCameraError:
 * @UCA_PCO_CAMERA_ERROR_LIBPCO_INIT: Initializing libpco failed
 * @UCA_PCO_CAMERA_ERROR_UNSUPPORTED: Camera type is not supported
 * @UCA_PCO_CAMERA_ERROR_FG_INIT: Framegrabber initialization failed
 * @UCA_PCO_CAMERA_ERROR_FG_ERROR: Framegrabber error
 */
GQuark uca_pco_camera_error_quark()
{
    return g_quark_from_static_string("uca-pco-camera-error-quark");
}

enum {
    PROP_0,
    PROP_SENSOR_WIDTH,
    PROP_SENSOR_HEIGHT,
    PROP_SENSOR_BITDEPTH,
    N_INTERFACE_PROPERTIES,

    PROP_NAME,
    N_PROPERTIES
};

static const gchar *pco_overrideables[N_PROPERTIES] = {
    "sensor-width",
    "sensor-height",
    "sensor-bitdepth"
};

static GParamSpec *pco_properties[N_PROPERTIES - N_INTERFACE_PROPERTIES - 1] = { NULL, };

typedef struct {
    int camera_type;
    const char *so_file;
    int cl_type;
    int cl_format;
} pco_cl_map_entry;

static pco_cl_map_entry pco_cl_map[] = { 
    { CAMERATYPE_PCO_EDGE,       "libFullAreaGray8.so",  FG_CL_8BIT_FULL_10,        FG_GRAY },
    { CAMERATYPE_PCO4000,        "libDualAreaGray16.so", FG_CL_SINGLETAP_16_BIT,    FG_GRAY16 },
    { CAMERATYPE_PCO_DIMAX_STD,  "libFullAreaGray16.so", FG_CL_SINGLETAP_8_BIT,     FG_GRAY16 },
    { 0, NULL, 0, 0}
};

static pco_cl_map_entry *get_pco_cl_map_entry(int camera_type)
{
    pco_cl_map_entry *entry = pco_cl_map;

    while (entry->camera_type != 0) {
        if (entry->camera_type == camera_type)
            return entry;
        entry++; 
    }
    return NULL;
}

struct _UcaPcoCameraPrivate {
    pco_handle pco;

    Fg_Struct *fg;
    guint fg_port;
    dma_mem *fg_mem;

    guint16 width;
    guint16 height;
};

UcaPcoCamera *uca_pco_camera_new(GError **error)
{
    /* TODO: find a good way to handle libpco and fg errors */
    pco_handle pco = pco_init();

    if (pco == NULL) {
        g_set_error(error, UCA_PCO_CAMERA_ERROR, UCA_PCO_CAMERA_ERROR_LIBPCO_INIT,
                "Initializing libpco failed");
        return NULL;
    }

    UcaPcoCamera *camera = g_object_new(UCA_TYPE_PCO_CAMERA, NULL);
    UcaPcoCameraPrivate *priv = UCA_PCO_CAMERA_GET_PRIVATE(camera);
    priv->pco = pco;

    guint16 camera_type, camera_subtype;
    pco_get_camera_type(priv->pco, &camera_type, &camera_subtype);
    pco_cl_map_entry *map_entry = get_pco_cl_map_entry(camera_type);

    if (map_entry == NULL) {
        g_set_error(error, UCA_PCO_CAMERA_ERROR, UCA_PCO_CAMERA_ERROR_UNSUPPORTED,
                "Camera type is not supported");
        g_object_unref(camera);
        return NULL;
    }

    priv->fg_port = PORT_A;
    priv->fg = Fg_Init(map_entry->so_file, priv->fg_port);

    if (priv->fg == NULL) {
        g_set_error(error, UCA_PCO_CAMERA_ERROR, UCA_PCO_CAMERA_ERROR_UNSUPPORTED,
                "Initializing framegrabber failed");
        g_object_unref(camera);
        return NULL;
    }

    guint16 width_ex, height_ex;
    pco_get_resolution(priv->pco, &priv->width, &priv->height, &width_ex, &height_ex);
    const guint num_buffers = 2;
    guint fg_width = camera_type == CAMERATYPE_PCO_EDGE ? priv->width * 2 : priv->width;
    priv->fg_mem = Fg_AllocMemEx(priv->fg, fg_width * priv->height * sizeof(uint16_t), num_buffers);

    if (priv->fg_mem == NULL) {
        g_set_error(error, UCA_PCO_CAMERA_ERROR, UCA_PCO_CAMERA_ERROR_UNSUPPORTED,
                "Framegrabber could not allocate DMA buffers");
        g_object_unref(camera);
        return NULL;
    }

    Fg_setParameter(priv->fg, FG_CAMERA_LINK_CAMTYP, &map_entry->cl_type, priv->fg_port);
    Fg_setParameter(priv->fg, FG_FORMAT, &map_entry->cl_format, priv->fg_port);
    Fg_setParameter(priv->fg, FG_WIDTH, &fg_width, priv->fg_port);
    Fg_setParameter(priv->fg, FG_HEIGHT, &priv->height, priv->fg_port);

    int val = FREE_RUN;
    Fg_setParameter(priv->fg, FG_TRIGGERMODE, &val, priv->fg_port);

    return camera;
}

static void uca_pco_camera_start_recording(UcaCamera *camera, GError **error)
{
    g_return_if_fail(UCA_IS_PCO_CAMERA(camera));
    pco_start_recording(UCA_PCO_CAMERA_GET_PRIVATE(camera)->pco);
}

static void uca_pco_camera_stop_recording(UcaCamera *camera, GError **error)
{
    g_return_if_fail(UCA_IS_PCO_CAMERA(camera));
    pco_stop_recording(UCA_PCO_CAMERA_GET_PRIVATE(camera)->pco);
}

static void uca_pco_camera_grab(UcaCamera *camera, gchar *data, GError **error)
{
    g_return_if_fail(UCA_IS_PCO_CAMERA(camera));
}

static void uca_pco_camera_set_property(GObject *object, guint property_id, const GValue *value, GParamSpec *pspec)
{
    UcaPcoCameraPrivate *priv = UCA_PCO_CAMERA_GET_PRIVATE(object);

    switch (property_id) {
        default:
            G_OBJECT_WARN_INVALID_PROPERTY_ID(object, property_id, pspec);
            break;
    }
}

static void uca_pco_camera_get_property(GObject *object, guint property_id, GValue *value, GParamSpec *pspec)
{
    UcaPcoCameraPrivate *priv = UCA_PCO_CAMERA_GET_PRIVATE(object);

    switch (property_id) {
        case PROP_SENSOR_WIDTH: 
            g_value_set_uint(value, priv->width);
            break;
        case PROP_SENSOR_HEIGHT: 
            g_value_set_uint(value, priv->height);
            break;
        case PROP_NAME: 
            {
                char *name = NULL;
                pco_get_name(priv->pco, &name);
                g_value_set_string(value, name);
                free(name);
            }
            break;
        default:
            G_OBJECT_WARN_INVALID_PROPERTY_ID(object, property_id, pspec);
            break;
    }
}

static void uca_pco_camera_finalize(GObject *object)
{
    UcaPcoCameraPrivate *priv = UCA_PCO_CAMERA_GET_PRIVATE(object);

    if (priv->fg) {
        if (priv->fg_mem)
            Fg_FreeMemEx(priv->fg, priv->fg_mem);

        Fg_FreeGrabber(priv->fg);
    }

    if (priv->pco)
        pco_destroy(priv->pco);

    G_OBJECT_CLASS(uca_pco_camera_parent_class)->finalize(object);
}

static void uca_pco_camera_interface_init(UcaCameraInterface *iface)
{
    iface->start_recording = uca_pco_camera_start_recording;
    iface->stop_recording = uca_pco_camera_stop_recording;
    iface->grab = uca_pco_camera_grab;
}

static void uca_pco_camera_class_init(UcaPcoCameraClass *klass)
{
    GObjectClass *gobject_class = G_OBJECT_CLASS(klass);
    gobject_class->set_property = uca_pco_camera_set_property;
    gobject_class->get_property = uca_pco_camera_get_property;
    gobject_class->finalize = uca_pco_camera_finalize;

    for (guint id = PROP_0 + 1; id < N_INTERFACE_PROPERTIES; id++)
        g_object_class_override_property(gobject_class, id, pco_overrideables[id-1]);

    pco_properties[PROP_NAME] = 
        g_param_spec_string("name",
            "Name of the camera",
            "Name of the camera",
            "", G_PARAM_READABLE);

    for (guint id = N_INTERFACE_PROPERTIES + 1; id < N_PROPERTIES; id++)
        g_object_class_install_property(gobject_class, id, pco_properties[id]);

    g_type_class_add_private(klass, sizeof(UcaPcoCameraPrivate));
}

static void uca_pco_camera_init(UcaPcoCamera *self)
{
    self->priv = UCA_PCO_CAMERA_GET_PRIVATE(self);
    self->priv->fg = NULL;
    self->priv->fg_mem = NULL;
    self->priv->pco = NULL;
}