add Basler CMOS support

LocCorr/grasshopper.c

@@ -24,22 +24,20 @@
 #include <string.h>
 #include <usefull_macros.h>
 
-#include "cmdlnopts.h"
 #include "config.h"
-#include "fits.h"
 #include "grasshopper.h"
 #include "imagefile.h"
-#include "improc.h"
 
 static fc2Context context;
 static fc2PGRGuid guid;
 static fc2Error err = FC2_ERROR_OK;
-static float gain = 20.;
-static float exptime = 100.;
-static float brightness = 0.;
 
 #define FC2FN(fn, ...) do{err = FC2_ERROR_OK; if(FC2_ERROR_OK != (err=fn(context __VA_OPT__(,) __VA_ARGS__))){ \
-    WARNX(#fn "(): %s", fc2ErrorToDescription(err)); return 0;}}while(0)
+    WARNX(#fn "(): %s", fc2ErrorToDescription(err)); return FALSE;}}while(0)
+
+static void disconnect(){
+    fc2DestroyContext(context);
+}
 
 /**
  * @brief setfloat - set absolute property value (float)
@@ -58,21 +56,21 @@ static int setfloat(fc2PropertyType t, float f){
     if(prop.autoManualMode){
         if(!i.manualSupported){
             WARNX("Can't set auto-only property");
-            return 0;
+            return FALSE;
         }
         prop.autoManualMode = false;
     }
     if(!prop.absControl){
         if(!i.absValSupported){
             WARNX("Can't set non-absolute property to absolute value");
-            return 0;
+            return FALSE;
         }
         prop.absControl = true;
     }
     if(!prop.onOff){
         if(!i.onOffSupported){
             WARNX("Can't set property ON");
-            return 0;
+            return FALSE;
         }
         prop.onOff = true;
     }
@@ -84,12 +82,24 @@ static int setfloat(fc2PropertyType t, float f){
     FC2FN(fc2GetProperty, &prop);
     if(fabsf(prop.absValue - f) > 0.02f){
         WARNX("Can't set property! Got %g instead of %g.", prop.absValue, f);
-        return 0;
+        return FALSE;
     }
-    return 1;
+    return TRUE;
 }
 
-int propOnOff(fc2PropertyType t, BOOL onOff){
+static int setbrightness(float b){
+    return setfloat(FC2_BRIGHTNESS, b);
+}
+static int setexp(float e){
+    return setfloat(FC2_SHUTTER, e);
+}
+static int setgain(float e){
+    return setfloat(FC2_GAIN, e);
+}
+// TODO: +set saturation, hue, sharpness ?
+
+
+static int propOnOff(fc2PropertyType t, BOOL onOff){
     fc2Property prop = {0};
     prop.type = t;
     fc2PropertyInfo i = {0};
@@ -118,56 +128,63 @@ int propOnOff(fc2PropertyType t, BOOL onOff){
 #define trigModeOff()       propOnOff(FC2_TRIGGER_MODE, false)
 #define trigDelayOff()      propOnOff(FC2_TRIGGER_DELAY, false)
 #define frameRateOff()      propOnOff(FC2_FRAME_RATE, false)
-// +set: saturation, hue, sharpness
-#define setbrightness(b)    setfloat(FC2_BRIGHTNESS, b)
-#define setexp(e)           setfloat(FC2_SHUTTER, e)
-#define setgain(g)          setfloat(FC2_GAIN, g)
 
-static int connected = 0;
-void disconnectGrasshopper(){
-    if(!connected) return;
-    connected = 0;
-    fc2DestroyContext(context);
+static int geometrylimits(frameformat *max, frameformat *step){
+    fc2Format7Info f = {.mode = FC2_MODE_0};
+    BOOL b;
+    fc2Format7Info i = {0};
+    FC2FN(fc2GetFormat7Info, &i, &b);
+    if(!b || !max || !step) return FALSE;
+    max->h = f.maxHeight; max->w = f.maxWidth;
+    max->xoff = f.maxWidth - f.offsetHStepSize;
+    max->yoff = f.maxHeight - f.offsetVStepSize;
+    step->w = f.imageHStepSize;
+    step->h = f.imageVStepSize;
+    step->xoff = f.offsetHStepSize;
+    step->yoff = f.offsetVStepSize;
+    return TRUE;
 }
 
-static int changeformat(){
+static int getformat(frameformat *fmt){
+    unsigned int packsz; float pc;
+    fc2Format7ImageSettings f7;
+    FC2FN(fc2GetFormat7Configuration, &f7, &packsz, &pc);
+    fmt->h = f7.height; fmt->w = f7.width;
+    fmt->xoff = f7.offsetX; fmt->yoff = f7.offsetY;
+    return TRUE;
+}
+
+static int changeformat(frameformat *fmt){
     FNAME();
     BOOL b;
-    fc2Format7Info f7i = {.mode = FC2_MODE_0};
-    FC2FN(fc2GetFormat7Info, &f7i, &b);
-    if(!b) return 0;
     fc2Format7ImageSettings f7;
-/*    unsigned int packSz; float perc;
-    FC2FN(fc2GetFormat7Configuration, &f7, &packSz, &perc);
-    DBG("packsz=%u, perc=%f, off=%d/%d, HW=%d/%d", packSz, perc, f7.offsetX, f7.offsetY, f7.height, f7.width);
-    */
     f7.mode = FC2_MODE_0;
-    f7.offsetX = (theconf.xoff < (int)f7i.maxWidth && theconf.xoff > -1) ? theconf.xoff : 0;
-    f7.offsetY = (theconf.yoff < (int)f7i.maxHeight && theconf.yoff > -1) ? theconf.yoff : 0;
-    f7.width = (f7.offsetX+theconf.width <= f7i.maxWidth && theconf.width > 1) ? (unsigned int)theconf.width : f7i.maxWidth - f7.offsetX;
-    f7.height = (f7.offsetY+theconf.height <= f7i.maxHeight && theconf.height > 1) ? (unsigned int)theconf.height : f7i.maxHeight - f7.offsetY;
+    f7.offsetX = fmt->xoff;
+    f7.offsetY = fmt->yoff;
+    f7.width = fmt->w;
+    f7.height = fmt->h;
     DBG("offx=%d, offy=%d, w=%d, h=%d ", f7.offsetX, f7.offsetY, f7.width, f7.height);
     f7.pixelFormat = FC2_PIXEL_FORMAT_MONO8;
     fc2Format7PacketInfo f7p;
     FC2FN(fc2ValidateFormat7Settings, &f7, &b, &f7p);
-    if(!b) return 0; // invalid
+    if(!b) return FALSE; // invalid
     FC2FN(fc2SetFormat7Configuration, &f7, f7p.recommendedBytesPerPacket);
-    return 1;
+    getformat(fmt); // change values to currently used
+    return TRUE;
 }
 
 static int connect(){
-    if(connected) return 1;
     FNAME();
     unsigned int numCameras = 0;
     if(FC2_ERROR_OK != (err = fc2CreateContext(&context))){
         WARNX("fc2CreateContext(): %s", fc2ErrorToDescription(err));
-        return 0;
+        return FALSE;
     }
     FC2FN(fc2GetNumOfCameras, &numCameras);
     if(numCameras == 0){
         WARNX("No cameras detected!");
-        disconnectGrasshopper();
-        return 0;
+        camdisconnect();
+        return FALSE;
     }
     DBG("Found %d camera[s]", numCameras);
     if(numCameras > 1){
@@ -182,14 +199,12 @@ static int connect(){
     trigModeOff();
     trigDelayOff();
     frameRateOff();
-    if(!changeformat()) WARNX("Can't change camera format");
-    connected = 1;
-    return 1;
+    return TRUE;
 }
 
 static int GrabImage(fc2Image *convertedImage){
     //FNAME();
-    int ret = 0;
+    int ret = FALSE;
     fc2Image rawImage;
     // start capture
     FC2FN(fc2StartCapture);
@@ -210,166 +225,45 @@ static int GrabImage(fc2Image *convertedImage){
         WARNX("Error in fc2ConvertImageTo: %s", fc2ErrorToDescription(err));
         goto rtn;
     }
-    ret = 1;
+    ret = TRUE;
 rtn:
     fc2StopCapture(context);
     fc2DestroyImage(&rawImage);
     return ret;
 }
 
-static void calcexpgain(float newexp){
-    DBG("recalculate exposition: oldexp=%g, oldgain=%g, newexp=%g", exptime, gain, newexp);
-    if(newexp < exptime){ // first we should make gain lower
-        if(10.*newexp < theconf.maxexp){
-            if(gain > 10.){
-                gain = 10.;
-                newexp *= 10.;
-            }else if(gain > 0.){
-                gain = 0.;
-                newexp *= 10.;
-            }
-        }
-    }else{ // if new exposition too large, increase gain
-        if(newexp > theconf.maxexp){
-            if(gain < 19.){
-                gain += 10.;
-                newexp /= 10.;
-            }
-        }
-    }
-    if(newexp < theconf.minexp) newexp = theconf.minexp;
-    else if(newexp > theconf.maxexp) newexp = theconf.maxexp;
-    exptime = newexp;
-    DBG("New values: exp=%g, gain=%g", exptime, gain);
-}
-
-//convertedImage.pData, convertedImage.cols, convertedImage.rows, convertedImage.stride
-static void recalcexp(fc2Image *img){
-    // check if user changed exposition values
-    if(exptime < theconf.minexp){
-        exptime = theconf.minexp;
-        return;
-    }
-    else if(exptime > theconf.maxexp){
-        exptime = theconf.maxexp;
-        return;
-    }
-    uint8_t *data = img->pData;
-    int W = img->cols, H = img->rows, S = img->stride;
-    int histogram[256] = {0};
-    DBG("W=%d, H=%d, S=%d", W, H, S);
-    for(int y = 0; y < H; ++y){
-        uint8_t *ptr = &data[y*S];
-        for(int x = 0; x < W; ++x, ++ptr)
-            ++histogram[*ptr];
-    }
-    int idx100, sum100 = 0;
-    for(idx100 = 255; idx100 >= 0; --idx100){
-        sum100 += histogram[idx100];
-        if(sum100 > 100) break;
-    }
-    DBG("Sum100=%d, idx100=%d", sum100, idx100);
-    if(idx100 > 200 && idx100 < 250) return; // good values
-    if(idx100 > 250){ // exposure too long
-        calcexpgain(0.7*exptime);
-    }else{ // exposure too short
-        if(idx100 > 5)
-            calcexpgain(exptime * 210. / (float)idx100);
-        else
-            calcexpgain(exptime * 50.);
-    }
-}
-
-int capture_grasshopper(void (*process)(Image*)){
+// capture image, memory allocated HERE
+static Image *capture(){
     FNAME();
-    static float oldexptime = 0.;
-    static float oldgain = -1.;
-    static float oldbrightness = -1.;
     Image *oIma = NULL;
     fc2Image convertedImage;
     err = fc2CreateImage(&convertedImage);
     if(err != FC2_ERROR_OK){
         WARNX("capture_grasshopper(): can't create image, %s", fc2ErrorToDescription(err));
-        disconnectGrasshopper();
-        return 0;
+        return NULL;
     }
-    while(1){
-        if(stopwork){
-            DBG("STOP");
-            break;
-        }
-        if(!connect()){ // wait until camera be powered on
-            DBG("Disconnected");
-            sleep(1);
-            continue;
-        }
-        if(fabsf(oldbrightness - brightness) > FLT_EPSILON){ // new brightness
-            DBG("Change brightness to %g", brightness);
-            if(setbrightness(brightness)){
-                oldbrightness = brightness;
-            }else{
-                WARNX("Can't change brightness to %g", brightness);
-            }
-        }
-        if(fabsf(oldexptime - exptime) > FLT_EPSILON){ // new exsposition value
-            DBG("Change exptime to %.2fms\n", exptime);
-            if(setexp(exptime)){
-                oldexptime = exptime;
-            }else{
-                WARNX("Can't change exposition time to %gms", exptime);
-            }
-        }
-        if(fabsf(oldgain - gain) > FLT_EPSILON){ // change gain
-            DBG("Change gain to %g\n", gain);
-            if(setgain(gain)){
-                oldgain = gain;
-            }else{
-                WARNX("Can't change gain to %g", gain);
-            }
-        }
-        if(!GrabImage(&convertedImage)){
-            WARNX("Can't grab image");
-            disconnectGrasshopper();
-            continue;
-        }
-        if(theconf.expmethod == EXPAUTO) recalcexp(&convertedImage);
-        else{
-            if(fabs(theconf.fixedexp - exptime) > FLT_EPSILON)
-                exptime = theconf.fixedexp;
-            if(fabs(theconf.gain - gain) > FLT_EPSILON)
-                gain = theconf.gain;
-            if(fabs(theconf.brightness - brightness) > FLT_EPSILON)
-                brightness = theconf.brightness;
-        }
-        if(!process){
-            continue;
-        }
-        oIma = u8toImage(convertedImage.pData, convertedImage.cols, convertedImage.rows, convertedImage.stride);
-        if(oIma){
-            process(oIma);
-            FREE(oIma->data);
-            FREE(oIma);
-        }
+    if(!GrabImage(&convertedImage)){
+        WARNX("Can't grab image");
+        return NULL;
     }
+    oIma = u8toImage(convertedImage.pData, convertedImage.cols, convertedImage.rows, convertedImage.stride);
     fc2DestroyImage(&convertedImage);
-    disconnectGrasshopper();
-    DBG("GRASSHOPPER: out");
-    return 1;
+    return oIma;
 }
 
-// return JSON with image status
-char *gsimagestatus(const char *messageid, char *buf, int buflen){
-    static char *impath = NULL;
-    if(!impath){
-        if(!(impath = realpath(GP->outputjpg, impath))){
-            WARN("realpath() (%s)", impath);
-            impath = strdup(GP->outputjpg);
-        }
-        DBG("path: %s", impath);
-    }
-    snprintf(buf, buflen, "{ \"%s\": \"%s\", \"camstatus\": \"%sconnected\", \"impath\": \"%s\", \"imctr\": %llu, "
-             "\"fps\": %.3f, \"expmethod\": \"%s\", \"exposition\": %g, \"gain\": %g, \"brightness\": %g }\n",
-             MESSAGEID, messageid, connected ? "" : "dis", impath, ImNumber, getFramesPerS(),
-             (theconf.expmethod == EXPAUTO) ? "auto" : "manual", exptime, gain, brightness);
-    return buf;
+static float maxgain(){
+    return GAIN_MAX;
 }
+
+// exported object
+camera GrassHopper = {
+    .disconnect = disconnect,
+    .connect = connect,
+    .capture = capture,
+    .setbrightness = setbrightness,
+    .setexp = setexp,
+    .setgain = setgain,
+    .setgeometry = changeformat,
+    .getgeomlimits = geometrylimits,
+    .getmaxgain = maxgain,
+};