#include "wge100_camera/wge100lib.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/time.h>
#include <errno.h>
#include <unistd.h>
#include <stdbool.h>
#include <net/if.h>
#include <ifaddrs.h>
#include "wge100_camera/host_netutil.h"
#include "wge100_camera/ipcam_packet.h"

Include dependency graph for wge100lib.c:

Macros
#define	LINE_NUMBER_MASK 0x3FF

#define	MAX_HORIZ_RESOLUTION 752

#define	STD_REPLY_TIMEOUT SEC_TO_USEC(0.2)
	Amount of time in microseconds that the host should wait for packet replies. More...

#define	STOP_REPLY_TIMEOUT SEC_TO_USEC(0.001)

Functions
int	wge100Configure (IpCamList camInfo, const char ipAddress, unsigned wait_us)

int	wge100ConfigureBoard (const IpCamList camInfo, uint32_t serial, MACAddress mac)

int	wge100Discover (const char ifName, IpCamList ipCamList, const char *ipAddress, unsigned wait_us)

static int	wge100DiscoverSend (const char ifName, const char ipAddress)

int	wge100FindByUrl (const char url, IpCamList camera, unsigned wait_us, const char **errmsg)

int	wge100FlashRead (const IpCamList camInfo, uint32_t address, uint8_t pageDataOut)

int	wge100FlashWrite (const IpCamList camInfo, uint32_t address, const uint8_t pageDataIn)

int	wge100GetTimer (const IpCamList camInfo, uint64_t time_us)

int	wge100ImagerModeSelect (const IpCamList *camInfo, uint32_t mode)

int	wge100ImagerSetRes (const IpCamList *camInfo, uint16_t horizontal, uint16_t vertical)

int	wge100libVersion ()

int	wge100ReconfigureFPGA (IpCamList *camInfo)

int	wge100ReliableFlashRead (const IpCamList camInfo, uint32_t address, uint8_t pageDataOut, int *retries)

int	wge100ReliableFlashWrite (const IpCamList camInfo, uint32_t address, const uint8_t pageDataIn, int *retries)

int	wge100ReliableSensorRead (const IpCamList camInfo, uint8_t reg, uint16_t data, int *retries)

int	wge100ReliableSensorWrite (const IpCamList camInfo, uint8_t reg, uint16_t data, int retries)

int	wge100Reset (IpCamList *camInfo)

int	wge100SensorRead (const IpCamList camInfo, uint8_t reg, uint16_t data)

int	wge100SensorSelect (const IpCamList *camInfo, uint8_t index, uint32_t reg)

int	wge100SensorWrite (const IpCamList *camInfo, uint8_t reg, uint16_t data)

int	wge100StartVid (const IpCamList camInfo, const uint8_t mac[6], const char ipAddress, uint16_t port)

int	wge100StatusWait (int s, uint32_t wait_us, uint32_t type, uint32_t code)

int	wge100StopVid (const IpCamList *camInfo)

int	wge100TriggerControl (const IpCamList *camInfo, uint32_t triggerType)

int	wge100VidReceive (const char ifName, uint16_t port, size_t height, size_t width, FrameHandler frameHandler, void userData)

int	wge100VidReceiveAuto (IpCamList camera, size_t height, size_t width, FrameHandler frameHandler, void userData)

int	wge100VidReceiveSocket (int s, size_t height, size_t width, FrameHandler frameHandler, void *userData)

static void	xormem (uint8_t dst, uint8_t src, size_t w)

Macro Definition Documentation

#define LINE_NUMBER_MASK 0x3FF

Definition at line 1593 of file wge100lib.c.

#define MAX_HORIZ_RESOLUTION 752

Definition at line 1592 of file wge100lib.c.

#define STD_REPLY_TIMEOUT SEC_TO_USEC(0.2)

Amount of time in microseconds that the host should wait for packet replies.

Definition at line 50 of file wge100lib.c.

#define STOP_REPLY_TIMEOUT SEC_TO_USEC(0.001)

Definition at line 51 of file wge100lib.c.

Function Documentation

int wge100Configure	(	IpCamList *	camInfo,
		const char *	ipAddress,
		unsigned	wait_us
	)

Configures the IP address of one specific camera.

Parameters

camInfo	Structure describing the camera to configure
ipAddress	An ASCII string containing the new IP address to assign (e.g., "192.168.0.5"). If it is NULL or empty, the address in camInfo is used, and the configure packet is not broadcast.
wait_us	The number of microseconds to wait for a reply from the camera

Returns: Returns -1 with errno set for system call failures. Returns 0 for success Returns ERR_TIMEOUT if no reply is received before the timeout expires

Definition at line 532 of file wge100lib.c.

int wge100ConfigureBoard	(	const IpCamList *	camInfo,
		uint32_t	serial,
		MACAddress *	mac
	)

Sets the permanent serial number and MAC configuration for one camera

Warning: : This command can only be sent once per camera. The changes are permanent.

Parameters

camInfo	Describes the camera to connect to
serial	Is the 32-bit unique serial number to assign (the product ID portion is already fixed)
mac	Is the 48-bit unique MAC address to assign to the board

Returns: Returns 0 for success Returns -1 for system error Returns 1 for protocol error

Definition at line 1194 of file wge100lib.c.

int wge100Discover	(	const char *	ifName,
		IpCamList *	ipCamList,
		const char *	ipAddress,
		unsigned	wait_us
	)

Discovers all WGE100 cameras that are connected to the 'ifName' ethernet interface and adds new ones to the 'ipCamList' list.

Parameters

ifName	The ethernet interface name to use. Null terminated string (e.g., "eth0"). Empty means to query all interfaces.
ipCamList	The list to which the new cameras should be added
wait_us	The number of microseconds to wait for replies

Returns: Returns -1 with errno set for system call errors. Otherwise returns number of new cameras found.

Definition at line 372 of file wge100lib.c.

static int wge100DiscoverSend	(	const char *	ifName,
		const char *	ipAddress
	)

static

Todo:: We guess an IP by flipping the host bits of the local IP. Horrible, but won't usually be a problem even if we hit an IP that is already in use.

Definition at line 314 of file wge100lib.c.

int wge100FindByUrl	(	const char *	url,
		IpCamList *	camera,
		unsigned	wait_us,
		const char **	errmsg
	)

Finds a camera matching the given name

Names are of the form:

name://camera_name[@camera_ip][#local_interface]
serial://serial_number[@camera_ip][#local_interface]
any://[@camera_ip][#local_interface]

A name URL indicates the name of the camera to be found. A serial URL indicates the serial number of the camera to be found. An any URL will match any camera, but if more than one camera is found, it will fail.

Optionally, the ip address that the camera should be set to can be specified by prefixing it with a @ sign, and the interface through which to access the camera can be specified by prefixing it with a # sign.

When an ip address is specified, it will be copied into the camera struct.

Parameters

url	The url of the camera to find
camera	The structure to fill the camera information into
wait_us	The number of microseconds to wait before timing out
errmsg	String containing a descriptive parse error message

Returns: Returns 0 if a camera was found, -1 and sets errmsg if an error occurred.

Definition at line 94 of file wge100lib.c.

int wge100FlashRead	(	const IpCamList *	camInfo,
		uint32_t	address,
		uint8_t *	pageDataOut
	)

Reads one FLASH_PAGE_SIZE byte page of the camera's onboard Atmel dataflash.

Parameters

camInfo	Describes the camera to connect to.
address	Specifies the 12-bit flash page address to read (0-4095)
pageDataOut	Points to at least FLASH_PAGE_SIZE bytes of storage in which to place the flash data.
retries	Indicates the maximum allowed number of retries.

Returns: Returns 0 for success Returns -1 for system error Returns 1 for protocol error

Definition at line 940 of file wge100lib.c.

int wge100FlashWrite	(	const IpCamList *	camInfo,
		uint32_t	address,
		const uint8_t *	pageDataIn
	)

Writes one FLASH_PAGE_SIZE byte page to the camera's onboard Atmel dataflash.

Parameters

camInfo	Describes the camera to connect to.
address	Specifies the 12-bit flash page address to write (0-4095)
pageDataOut	Points to at least FLASH_PAGE_SIZE bytes of storage from which to get the flash data.

Returns: Returns 0 for success Returns -1 for system error Returns 1 for protocol error

Definition at line 1077 of file wge100lib.c.

int wge100GetTimer	(	const IpCamList *	camInfo,
		uint64_t *	time_us
	)

Gets the system time of a specified camera.

In the camera, system time is tracked as a number of clock 'ticks' since the last hard reset. This function receives the number of 'ticks' as well as a 'ticks_per_sec' conversion factor to return a 64-bit time result in microseconds.

Parameters

camInfo	Describes the camera to connect to
time_us	Points to the location to store the system time in us

Returns: Returns 0 for success, -1 for system error, or 1 for protocol error.

Definition at line 832 of file wge100lib.c.

int wge100ImagerModeSelect	(	const IpCamList *	camInfo,
		uint32_t	mode
	)

Selects one of the 10 pre-programmed imager modes in the specified camera.

Parameters

camInfo	Describes the camera to connect to
mode	The mode number to select, range (0..9)

Returns: Returns 0 for success Returns -1 for system error Returns 1 for protocol error

Definition at line 1491 of file wge100lib.c.

int wge100ImagerSetRes	(	const IpCamList *	camInfo,
		uint16_t	horizontal,
		uint16_t	vertical
	)

Provides for manually setting non-standard imager modes. Use only with extreme caution.

Warning: The imager frame size set by I2C must match the one used by the firmware, or system failure could result.

Parameters

camInfo	Describes the camera to connect to
horizontal	The number of 8-bit image pixels per line of video. Maximum value 752.
vertical	The number of video lines per frame.

Returns: Returns 0 for success Returns -1 for system error Returns 1 for protocol error

Definition at line 1548 of file wge100lib.c.

int wge100libVersion ( )

Returns the version information for the library

Returns: Returns the the library as an integer 0x0000MMNN, where MM = Major version and NN = Minor version

Definition at line 59 of file wge100lib.c.

int wge100ReconfigureFPGA ( IpCamList * camInfo )

Instructs one camera to reconfigure its FPGA.

Parameters

camInfo Describes the camera that should reconfigure its FPGA.

Returns: Returns 0 for success Returns -1 for system errors

Definition at line 750 of file wge100lib.c.

int wge100ReliableFlashRead	(	const IpCamList *	camInfo,
		uint32_t	address,
		uint8_t *	pageDataOut,
		int *	retries
	)

Reads one FLASH_PAGE_SIZE byte page of the camera's onboard Atmel dataflash. Does repeated attempts if an error occurs.

Parameters

camInfo	Describes the camera to connect to.
address	Specifies the 12-bit flash page address to read (0-4095)
pageDataOut	Points to at least FLASH_PAGE_SIZE bytes of storage in which to place the flash data.
retries	Maximum number of retries. Decremented for each retry. NULL does 10 retries.

Returns: Returns 0 for success Returns -2 for out of retries Returns -1 for system error Returns 1 for protocol error

Definition at line 906 of file wge100lib.c.

int wge100ReliableFlashWrite	(	const IpCamList *	camInfo,
		uint32_t	address,
		const uint8_t *	pageDataIn,
		int *	retries
	)

Writes one FLASH_PAGE_SIZE byte page to the camera's onboard Atmel dataflash. Repeats the write until the written value matches, and reads back the written page to check that it has been correctly written.

Parameters

camInfo	Describes the camera to connect to.
address	Specifies the 12-bit flash page address to write (0-4095)
pageDataOut	Points to at least FLASH_PAGE_SIZE bytes of storage from which to get the flash data.
retries	Maximum number of retries. Decremented for each retry. NULL does 10 retries.

Returns: Returns 0 for success Returns -2 for out of retries Returns -1 for system error Returns 1 for protocol error

Definition at line 1014 of file wge100lib.c.

int wge100ReliableSensorRead	(	const IpCamList *	camInfo,
		uint8_t	reg,
		uint16_t *	data,
		int *	retries
	)

Reads the value of one image sensor I2C register on one camera. Retries if there are any errors.

Parameters

camInfo	Describes the camera to connect to
reg	The 8-bit register address to read from data Pointer to 16 bits of storage to write the value to
retries	Maximum number of retries. Decremented for each retry. NULL does 10 retries.

Returns: Returns 0 for success Returns -2 for out of retries Returns -1 for system error Returns 1 for protocol error

Definition at line 1349 of file wge100lib.c.

int wge100ReliableSensorWrite	(	const IpCamList *	camInfo,
		uint8_t	reg,
		uint16_t	data,
		int *	retries
	)

Writes to one image sensor I2C register on one camera. Repeats reads and reads back written value until it gets a match.

Parameters

camInfo	Describes the camera to connect to
reg	The 8-bit register address to write into data 16-bit value to write into the register
retries	Maximum number of retries. Decremented for each retry. NULL does 10 retries.

Returns: Returns 0 for success Returns -2 for out of retries Returns -1 for system error Returns 1 for protocol error

Definition at line 1252 of file wge100lib.c.

int wge100Reset ( IpCamList * camInfo )

Instructs one camera to execute a soft reset.

Parameters

camInfo Describes the camera to reset.

Returns: Returns 0 for success Returns -1 for system errors

Definition at line 788 of file wge100lib.c.

int wge100SensorRead	(	const IpCamList *	camInfo,
		uint8_t	reg,
		uint16_t *	data
	)

Reads the value of one image sensor I2C register on one camera.

Parameters

camInfo	Describes the camera to connect to
reg	The 8-bit register address to read from data Pointer to 16 bits of storage to write the value to

Returns: Returns 0 for success Returns -1 for system error Returns 1 for protocol error

Definition at line 1378 of file wge100lib.c.

int wge100SensorSelect	(	const IpCamList *	camInfo,
		uint8_t	index,
		uint32_t	reg
	)

Sets the address of one of the four automatically read I2C registers on one camera.

Parameters

camInfo	Describes the camera to connect to
index	The index (0..3) of the register to set
reg	The 8-bit address of the register to read at position 'index', or I2C_AUTO_REG_UNUSED.

Returns: Returns 0 for success Returns -1 for system error Returns 1 for protocol error

Definition at line 1438 of file wge100lib.c.

int wge100SensorWrite	(	const IpCamList *	camInfo,
		uint8_t	reg,
		uint16_t	data
	)

Writes to one image sensor I2C register on one camera.

Parameters

camInfo	Describes the camera to connect to
reg	The 8-bit register address to write into data 16-bit value to write into the register

Returns: Returns 0 for success Returns -1 for system error Returns 1 for protocol error

Definition at line 1291 of file wge100lib.c.

int wge100StartVid	(	const IpCamList *	camInfo,
		const uint8_t	mac[6],
		const char *	ipAddress,
		uint16_t	port
	)

Instructs one camera to begin streaming video to the host/port specified.

Parameters

camInfo	Structure that describes the camera to contact
mac	Contains the MAC address of the host that will receive the video
ipAddress	An ASCII string in dotted quad form containing the IP address of the host that will receive the video (e.g., "192.168.0.5")
port	The port number that the video should be sent to. Host byte order.

Returns: Returns -1 with errno set for system call failures Returns 0 for success Returns 1 for protocol failures (timeout, etc)

Definition at line 638 of file wge100lib.c.

int wge100StatusWait	(	int	s,
		uint32_t	wait_us,
		uint32_t *	type,
		uint32_t *	code
	)

Waits for a WGE100 StatusPacket on the specified socket for a specified duration.

The Status type and code will be reported back to the called via the 'type' & 'code' arguments. If the timeout expires before a valid status packet is received, then the function will still return zero but will indicate that a TIMEOUT error has occurred.

Parameters

s	The open, bound & 'connected' socket to listen on
wait_us	The number of microseconds to wait before timing out
type	Points to the location to store the type of status packet
code	Points to the location to store the subtype/error code

Returns: Returns 0 if no system errors occured. -1 with errno set otherwise.

Definition at line 287 of file wge100lib.c.

int wge100StopVid ( const IpCamList * camInfo )

Instructs one camera to stop sending video.

Parameters

camInfo Describes the camera to send the stop to.

Returns: Returns 0 for success Returns -1 with errno set for system errors Returns 1 for protocol errors

Definition at line 700 of file wge100lib.c.

int wge100TriggerControl	(	const IpCamList *	camInfo,
		uint32_t	triggerType
	)

Sets the trigger type (internal or external) for one camera.

Parameters

camInfo	Describes the camera to connect to
triggerType	Can be either TRIG_STATE_INTERNAL or TRIG_STATE_EXTERNAL

Returns: Returns 0 for success Returns -1 for system error Returns 1 for protocol error

Definition at line 1135 of file wge100lib.c.

int wge100VidReceive	(	const char *	ifName,
		uint16_t	port,
		size_t	height,
		size_t	width,
		FrameHandler	frameHandler,
		void *	userData
	)

Definition at line 1889 of file wge100lib.c.

int wge100VidReceiveAuto	(	IpCamList *	camera,
		size_t	height,
		size_t	width,
		FrameHandler	frameHandler,
		void *	userData
	)

Definition at line 1908 of file wge100lib.c.

int wge100VidReceiveSocket	(	int	s,
		size_t	height,
		size_t	width,
		FrameHandler	frameHandler,
		void *	userData
	)

Definition at line 1595 of file wge100lib.c.

static void xormem	(	uint8_t *	dst,
		uint8_t *	src,
		size_t	w
	)

static

Definition at line 308 of file wge100lib.c.

Macros

Functions

Macro Definition Documentation

Function Documentation