prosilica.cpp

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
* 
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
* 
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
* 
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
* 
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

#include "prosilica/prosilica.h"
#include <PvRegIo.h>
#include <cassert>
#include <cstdio>
#include <ctime>
#include <cstring>
#include <arpa/inet.h>

#include <ros/console.h>

#define CHECK_ERR(fnc, amsg)                               \
do {                                                       \
  tPvErr err = fnc;                                        \
  if (err != ePvErrSuccess) {                              \
    char msg[256];                                         \
    snprintf(msg, 256, "%s: %s", amsg, errorStrings[err]); \
    throw ProsilicaException(err, msg);                    \
  }                                                        \
} while (false)

namespace prosilica {

static const unsigned int MAX_CAMERA_LIST = 10;
static const char* autoValues[] = {"Manual", "Auto", "AutoOnce"};
static const char* triggerModes[] = {"Freerun", "SyncIn1", "SyncIn2", "FixedRate", "Software"};
static const char* acquisitionModes[] = {"Continuous","SingleFrame","MultiFrame","Recorder"};
static const char* errorStrings[] = {"No error",
                                     "Unexpected camera fault",
                                     "Unexpected fault in PvApi or driver",
                                     "Camera handle is invalid",
                                     "Bad parameter to API call",
                                     "Sequence of API calls is incorrect",
                                     "Camera or attribute not found",
                                     "Camera cannot be opened in the specified mode",
                                     "Camera was unplugged",
                                     "Setup is invalid (an attribute is invalid)",
                                     "System/network resources or memory not available",
                                     "1394 bandwidth not available",
                                     "Too many frames on queue",
                                     "Frame buffer is too small",
                                     "Frame cancelled by user",
                                     "The data for the frame was lost",
                                     "Some data in the frame is missing",
                                     "Timeout during wait",
                                     "Attribute value is out of the expected range",
                                     "Attribute is not this type (wrong access function)",
                                     "Attribute write forbidden at this time",
                                     "Attribute is not available at this time",
                                     "A firewall is blocking the traffic"};

static tPvCameraInfo cameraList[MAX_CAMERA_LIST];
static unsigned long cameraNum = 0;

void init()
{
  CHECK_ERR( PvInitialize(), "Failed to initialize Prosilica API" );

  // Spend up to 1s trying to find a camera. Finding no camera is not
  // an error; the user may still be able open one by IP address.
  for (int tries = 0; tries < 5; ++tries)
  {
    cameraNum = PvCameraList(cameraList, MAX_CAMERA_LIST, NULL);
    if (cameraNum)
      return;
    usleep(200000);
  }
  
}

void fini()
{
  PvUnInitialize();
}

size_t numCameras()
{
  return cameraNum;
}

uint64_t getGuid(size_t i)
{
  assert(i < MAX_CAMERA_LIST);
  if (i >= cameraNum)
    throw ProsilicaException(ePvErrBadParameter, "No camera at index i");
  return cameraList[i].UniqueId;
}

static void openCamera(boost::function<tPvErr (tPvCameraInfo*)> info_fn,
                       boost::function<tPvErr (tPvAccessFlags)> open_fn)
{
  tPvCameraInfo info;
  CHECK_ERR( info_fn(&info), "Unable to find requested camera" );

  if (!(info.PermittedAccess & ePvAccessMaster))
    throw ProsilicaException(ePvErrAccessDenied,
                             "Unable to open camera as master. "
                             "Another process is already using it.");
  
  CHECK_ERR( open_fn(ePvAccessMaster), "Unable to open requested camera" );
}

Camera::Camera(unsigned long guid, size_t bufferSize)
  : bufferSize_(bufferSize), FSTmode_(None)
{
  openCamera(boost::bind(PvCameraInfo, guid, _1),
             boost::bind(PvCameraOpen, guid, _1, &handle_));
  
  setup();
}

Camera::Camera(const char* ip_address, size_t bufferSize)
  : bufferSize_(bufferSize), FSTmode_(None)
{
  unsigned long addr = inet_addr(ip_address);
  tPvIpSettings settings;
  openCamera(boost::bind(PvCameraInfoByAddr, addr, _1, &settings),
             boost::bind(PvCameraOpenByAddr, addr, _1, &handle_));
  
  setup();
}

void Camera::setup()
{
  // adjust packet size according to the current network capacity
  tPvUint32 maxPacketSize = 9000;
  PvCaptureAdjustPacketSize(handle_, maxPacketSize);

  // set data rate to the max
  unsigned long max_data_rate = getMaxDataRate();
  if (max_data_rate < GIGE_MAX_DATA_RATE) {
    ROS_WARN("Detected max data rate is %lu bytes/s, typical maximum data rate for a "
             "GigE port is %lu bytes/s. Are you using a GigE network card and cable?\n",
             max_data_rate, GIGE_MAX_DATA_RATE);
  }
  setAttribute("StreamBytesPerSecond", max_data_rate);

  // capture whole frame by default
  setBinning();
  setRoiToWholeFrame();
  
  // query for attributes (TODO: more)
  CHECK_ERR( PvAttrUint32Get(handle_, "TotalBytesPerFrame", &frameSize_),
             "Unable to retrieve frame size" );
  
  // allocate frame buffers
  frames_ = new tPvFrame[bufferSize_];
  memset(frames_, 0, sizeof(tPvFrame) * bufferSize_);
  for (unsigned int i = 0; i < bufferSize_; ++i)
  {
    frames_[i].ImageBuffer = new char[frameSize_];
    frames_[i].ImageBufferSize = frameSize_;
    frames_[i].Context[0] = (void*)this; // for frameDone callback
  }
}

Camera::~Camera()
{
  stop();
  
  PvCameraClose(handle_);

  if (frames_)
  {
    for (unsigned int i = 0; i < bufferSize_; ++i)
      delete[] (char*)frames_[i].ImageBuffer;
    delete[] frames_;
  }
}

void Camera::setFrameCallback(boost::function<void (tPvFrame*)> callback)
{
  userCallback_ = callback;
}

void Camera::start(FrameStartTriggerMode fmode, AcquisitionMode amode)
{
  assert( FSTmode_ == None && fmode != None );
  assert( fmode == SyncIn1 || fmode == SyncIn2 || fmode == Software || !userCallback_.empty() );
  
  // set camera in acquisition mode
  CHECK_ERR( PvCaptureStart(handle_), "Could not start capture");

  if (fmode == Freerun || fmode == SyncIn1 || fmode == SyncIn2)
    for (unsigned int i = 0; i < bufferSize_; ++i)
      PvCaptureQueueFrame(handle_, frames_ + i, Camera::frameDone);

  // start capture after setting acquisition and trigger modes
  try {
    CHECK_ERR( PvAttrEnumSet(handle_, "AcquisitionMode", acquisitionModes[amode]),
               "Could not set acquisition mode" );
    CHECK_ERR( PvAttrEnumSet(handle_, "FrameStartTriggerMode", triggerModes[fmode]),
               "Could not set trigger mode" );
    CHECK_ERR( PvCommandRun(handle_, "AcquisitionStart"),
               "Could not start acquisition" );
  } 
  catch (ProsilicaException& e) {
    PvCaptureEnd(handle_); // reset to non capture mode
    throw; // rethrow
  }
  FSTmode_ = fmode;
  Amode_ = amode;
}

void Camera::stop()
{
  if (FSTmode_ == None)
    return;
  
  PvCommandRun(handle_, "AcquisitionStop");
  PvCaptureEnd(handle_);
  PvCaptureQueueClear(handle_);
  FSTmode_ = None;
}

tPvFrame* Camera::grab(unsigned long timeout_ms)
{
  assert( FSTmode_ == Software );
  
  unsigned long time_so_far = 0;
  while (time_so_far < timeout_ms)
  {
    boost::this_thread::sleep(boost::posix_time::millisec(400));

    // Queue up a single frame
    tPvFrame* frame = &frames_[0];
    CHECK_ERR( PvCaptureQueueFrame(handle_, frame, NULL), "Couldn't queue frame" );
    
    // Trigger the camera
    CHECK_ERR( PvCommandRun(handle_, "FrameStartTriggerSoftware"),
               "Couldn't trigger capture" );

    // Wait for frame capture to finish. The wait call may timeout in less
    // than the allotted time, so we keep trying until we exceed it.
    tPvErr e = ePvErrSuccess;
    do
    {
      try
      {
        if (e != ePvErrSuccess)
          ROS_DEBUG("Retrying CaptureWait due to error: %s", errorStrings[e]);
        clock_t start_time = clock();
        e = PvCaptureWaitForFrameDone(handle_, frame, timeout_ms - time_so_far);
        if (timeout_ms != PVINFINITE)
          time_so_far += ((clock() - start_time) * 1000) / CLOCKS_PER_SEC;
      } 
      catch (prosilica::ProsilicaException &e) {
        ROS_ERROR("Prosilica exception during grab, will retry: %s\n", e.what());
      }
    } while (e == ePvErrTimeout && time_so_far < timeout_ms);

    if (e != ePvErrSuccess)
      return NULL; // Something bad happened (camera unplugged?)
    
    if (frame->Status == ePvErrSuccess)
      return frame; // Yay!

    ROS_DEBUG("Error in frame: %s", errorStrings[frame->Status]);

    // Retry if data was lost in transmission. Probably no hope on other errors.
    if (frame->Status != ePvErrDataMissing && frame->Status != ePvErrDataLost)
      return NULL;
  }
  
  return NULL;
}

void Camera::setExposure(unsigned int val, AutoSetting isauto)
{
  CHECK_ERR( PvAttrEnumSet(handle_, "ExposureMode", autoValues[isauto]),
             "Couldn't set exposure mode" );

  if (isauto == Manual)
    CHECK_ERR( PvAttrUint32Set(handle_, "ExposureValue", val),
               "Couldn't set exposure value" );
}

void Camera::setGain(unsigned int val, AutoSetting isauto)
{
  if (PvAttrIsAvailable(handle_, "GainMode") == ePvErrSuccess)
  {
    CHECK_ERR( PvAttrEnumSet(handle_, "GainMode", autoValues[isauto]),
               "Couldn't set gain mode" );
  }

  if (isauto == Manual)
    CHECK_ERR( PvAttrUint32Set(handle_, "GainValue", val),
               "Couldn't set gain value" );
}

void Camera::setWhiteBalance(unsigned int blue, unsigned int red, AutoSetting isauto)
{
  if (PvAttrIsAvailable(handle_, "WhitebalMode") == ePvErrSuccess)
  {
    CHECK_ERR( PvAttrEnumSet(handle_, "WhitebalMode", autoValues[isauto]),
               "Couldn't set white balance mode" );
  }

  if (isauto == Manual && PvAttrIsAvailable(handle_, "WhitebalValueBlue"))
  {
    CHECK_ERR( PvAttrUint32Set(handle_, "WhitebalValueBlue", blue),
               "Couldn't set white balance blue value" );
    CHECK_ERR( PvAttrUint32Set(handle_, "WhitebalValueRed", red),
               "Couldn't set white balance red value" );
  }
}

void Camera::setRoi(unsigned int x, unsigned int y,
                    unsigned int width, unsigned int height)
{
  CHECK_ERR( PvAttrUint32Set(handle_, "RegionX", x),
             "Couldn't set region x (left edge)" );
  CHECK_ERR( PvAttrUint32Set(handle_, "RegionY", y),
             "Couldn't set region y (top edge)" );
  CHECK_ERR( PvAttrUint32Set(handle_, "Width", width),
             "Couldn't set region width" );
  CHECK_ERR( PvAttrUint32Set(handle_, "Height", height),
             "Couldn't set region height" );
}

void Camera::setRoiToWholeFrame()
{
  tPvUint32 min_val, max_val;
  CHECK_ERR( PvAttrUint32Set(handle_, "RegionX", 0),
             "Couldn't set region x (left edge)" );
  CHECK_ERR( PvAttrUint32Set(handle_, "RegionY", 0),
             "Couldn't set region y (top edge)" );
  CHECK_ERR( PvAttrRangeUint32(handle_, "Width", &min_val, &max_val),
             "Couldn't get range of Width attribute" );
  CHECK_ERR( PvAttrUint32Set(handle_, "Width", max_val),
             "Couldn't set region width" );
  CHECK_ERR( PvAttrRangeUint32(handle_, "Height", &min_val, &max_val),
             "Couldn't get range of Height attribute" );
  CHECK_ERR( PvAttrUint32Set(handle_, "Height", max_val),
             "Couldn't set region height" );
}

void Camera::setBinning(unsigned int binning_x, unsigned int binning_y)
{
  // Permit setting to "no binning" on cameras without binning support
  if (!hasAttribute("BinningX") && binning_x == 1 && binning_y == 1)
    return;
  
  CHECK_ERR( PvAttrUint32Set(handle_, "BinningX", binning_x),
             "Couldn't set horizontal binning" );
  CHECK_ERR( PvAttrUint32Set(handle_, "BinningY", binning_y),
             "Couldn't set vertical binning" );
}

bool Camera::hasAttribute(const std::string &name)
{
  return (PvAttrIsAvailable(handle_, name.c_str()) == ePvErrSuccess);
}

static void getStringValuedAttribute(std::string &value,
  boost::function<tPvErr (char*, unsigned long, unsigned long*)> get_fn)
{
  if (value.size() == 0)
    value.resize(32);

  unsigned long actual_size;
  CHECK_ERR( get_fn(&value[0], value.size(), &actual_size),
             "Couldn't get attribute" );

  if (actual_size >= value.size()) {
    value.resize(actual_size + 1);
    CHECK_ERR( get_fn(&value[0], value.size(), &actual_size),
               "Couldn't get attribute" );
  }
}

void Camera::getAttributeEnum(const std::string &name, std::string &value)
{
  getStringValuedAttribute(value,
    boost::bind(PvAttrEnumGet, handle_, name.c_str(), _1, _2, _3));
}

void Camera::getAttribute(const std::string &name, tPvUint32 &value)
{
  std::string err_msg = "Couldn't get attribute " + name;
  CHECK_ERR( PvAttrUint32Get(handle_, name.c_str(), &value),
             err_msg.c_str());
             
}

void Camera::getAttribute(const std::string &name, tPvFloat32 &value)
{
std::string err_msg = "Couldn't get attribute " + name;
  CHECK_ERR( PvAttrFloat32Get(handle_, name.c_str(), &value),
             err_msg.c_str());
}

void Camera::getAttribute(const std::string &name, std::string &value)
{
  getStringValuedAttribute(value,
    boost::bind(PvAttrStringGet, handle_, name.c_str(), _1, _2, _3));
}

void Camera::setAttributeEnum(const std::string &name, const std::string &value)
{
  std::string err_msg = "Couldn't get attribute " + name;
  CHECK_ERR( PvAttrEnumSet(handle_, name.c_str(), value.c_str()),
             err_msg.c_str());
}

void Camera::setAttribute(const std::string &name, tPvUint32 value)
{
  std::string err_msg = "Couldn't set attribute " + name;
  CHECK_ERR( PvAttrUint32Set(handle_, name.c_str(), value),
             err_msg.c_str());
}

void Camera::setAttribute(const std::string &name, tPvFloat32 value)
{
  std::string err_msg = "Couldn't set attribute " + name;
  CHECK_ERR( PvAttrFloat32Set(handle_, name.c_str(), value),
             err_msg.c_str());
}

void Camera::setAttribute(const std::string &name, const std::string &value)
{
  std::string err_msg = "Couldn't set attribute " + name;
  CHECK_ERR( PvAttrStringSet(handle_, name.c_str(), value.c_str()),
             err_msg.c_str());
}

void Camera::runCommand(const std::string& name)
{
  std::string err_msg = "Couldn't run command " + name;
  CHECK_ERR( PvCommandRun(handle_, name.c_str()), err_msg.c_str());
}

unsigned long Camera::guid()
{
  unsigned long id;
  CHECK_ERR( PvAttrUint32Get(handle_, "UniqueId", &id),
             "Couldn't retrieve unique id" );
  return id;
}

unsigned long Camera::getMaxDataRate()
{
  tPvUint32 min_data_rate, max_data_rate;
  CHECK_ERR( PvAttrRangeUint32(handle_, "StreamBytesPerSecond", &min_data_rate, &max_data_rate),
             "Couldn't get range of attribute StreamBytesPerSecond" );
  return max_data_rate;
}

static const unsigned long USER_ADDRESS = 0x17200;

void Camera::writeUserMemory(const char* data, size_t size)
{
  assert(size <= USER_MEMORY_SIZE);

  unsigned char buffer[USER_MEMORY_SIZE] = {0};
  memcpy(buffer, data, size);

  unsigned long written;
  CHECK_ERR( PvMemoryWrite(handle_, USER_ADDRESS, USER_MEMORY_SIZE, buffer, &written),
             "Couldn't write to user memory" );
}

void Camera::readUserMemory(char* data, size_t size)
{
  assert(size <= USER_MEMORY_SIZE);

  unsigned char buffer[USER_MEMORY_SIZE];
  
  CHECK_ERR( PvMemoryRead(handle_, USER_ADDRESS, USER_MEMORY_SIZE, buffer),
             "Couldn't read from user memory" );

  memcpy(data, buffer, size);
}

void Camera::frameDone(tPvFrame* frame)
{
  // don't requeue if capture has stopped
  if (frame->Status == ePvErrUnplugged || frame->Status == ePvErrCancelled)
    return;

  Camera* camPtr = (Camera*) frame->Context[0];
  if (frame->Status == ePvErrSuccess && camPtr && !camPtr->userCallback_.empty()) {
    // TODO: thread safety OK here?
    boost::lock_guard<boost::mutex> guard(camPtr->frameMutex_);
    camPtr->userCallback_(frame);
  }
  else if (frame->Status == ePvErrDataMissing) {
    // Avoid warning spew; lots of dropped packets will show up in the diagnostics.
    ROS_DEBUG("Error in frame: %s\n", errorStrings[frame->Status]);
  }
  else {
    ROS_WARN("Error in frame: %s\n", errorStrings[frame->Status]);
  }
  
  PvCaptureQueueFrame(camPtr->handle_, frame, Camera::frameDone);
}

tPvHandle Camera::handle()
{
  return handle_;
}

} // namespace prosilica