add Basler CMOS support

LocCorr/CMakeLists.txt

@@ -8,22 +8,23 @@ set(VERSION "${MAJOR_VERSION}.${MID_VERSION}.${MINOR_VERSION}")
 project(${PROJ} VERSION ${PROJ_VERSION} LANGUAGES C)
 
 # default flags
-set(CMAKE_C_FLAGS "-O3 -std=gnu99 -march=native")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3 -std=gnu99 -march=native -fdata-sections -ffunction-sections")
+SET(CMAKE_EXE_LINKER_FLAGS "-Wl,--gc-sections")
 
 set(CMAKE_COLOR_MAKEFILE ON)
 
 # here is one of two variants: all .c in directory or .c files in list
 aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR} SOURCES)
 
+set(CMAKE_VERBOSE_MAKEFILE "ON")
+
 # cmake -DEBUG=1 -> debugging
 if(DEFINED EBUG AND EBUG EQUAL 1)
     set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wextra -Wall -Werror -W")
     set(CMAKE_BUILD_TYPE DEBUG)
-    set(CMAKE_VERBOSE_MAKEFILE "ON")
     add_definitions(-DEBUG)
 else()
     set(CMAKE_BUILD_TYPE RELEASE)
-    set(CMAKE_VERBOSE_MAKEFILE "ON")
 endif()
 
 ###### pkgconfig ######
@@ -34,6 +35,7 @@ set(MODULES usefull_macros cfitsio)
 SET(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR})
 find_package(PkgConfig REQUIRED)
 find_package(FLYCAP    REQUIRED)
+find_package(BASLER    REQUIRED)
 pkg_check_modules(${PROJ} REQUIRED ${MODULES})
 
 include(FindOpenMP)
@@ -60,9 +62,9 @@ message("Install dir prefix: ${CMAKE_INSTALL_PREFIX}")
 # exe file
 add_executable(${PROJ} ${SOURCES})
 # -I
-include_directories(${${PROJ}_INCLUDE_DIRS} ${FLYCAP_INCLUDE_DIRS})
+include_directories(${${PROJ}_INCLUDE_DIRS} ${FLYCAP_INCLUDE_DIRS} ${BASLER_INCLUDE_DIRS})
 # -L
-link_directories(${${PROJ}_LIBRARY_DIRS})
+link_directories(${${PROJ}_LIBRARY_DIRS} ${FLYCAP_LIBRARY_DIRS} ${BASLER_LIBRARY_DIRS})
 # -D
 add_definitions(${CFLAGS} -DLOCALEDIR=\"${LOCALEDIR}\"
     -DPACKAGE_VERSION=\"${VERSION}\" -DGETTEXT_PACKAGE=\"${PROJ}\"
@@ -70,7 +72,7 @@ add_definitions(${CFLAGS} -DLOCALEDIR=\"${LOCALEDIR}\"
     -DMAJOR_VERSION=\"${MAJOR_VESION}\" -DTHREAD_NUMBER=${PROCESSOR_COUNT})
 
 # -l
-target_link_libraries(${PROJ} ${${PROJ}_LIBRARIES} ${FLYCAP_LIBRARIES} -lm)
+target_link_libraries(${PROJ} ${${PROJ}_LIBRARIES} ${FLYCAP_LIBRARIES} ${BASLER_LIBRARIES} -lm)
 
 # Installation of the program
 INSTALL(TARGETS ${PROJ} DESTINATION "bin")

LocCorr/FindBASLER.cmake

@@ -0,0 +1,36 @@
+# - Try to find libpylonc.so
+# Once done this will define
+#
+#  BASLER_FOUND - system has lib
+#  BASLER_INCLUDE_DIR - include directory
+#  BASLER_LIBRARIES - Link these to use lib
+
+# Copyright (c) 2021, Edward V. Emelianov <edward.emelianoff@gmail.com>
+#
+# Redistribution and use is allowed according to the terms of the GPLv2/GPLv3.
+
+include(GNUInstallDirs)
+
+find_path(BASLER_INCLUDE_DIR  pylonc/PylonC.h
+    PATHS /usr/pylon/include /opt/pylon/include /usr/local/pylon/include /usr/include /usr/local/include /opt/include /opt/local/include
+)
+find_path(BASLER_LIBRARY_DIR  libpylonc.so
+    PATHS /usr/pylon/lib /opt/pylon/lib /usr/local/pylon/lib /lib /lib64 /usr/lib /usr/lib64 /opt/lib /opt/lib64 /usr/local/lib /usr/local/lib64
+)
+find_library(BASLER_LIBRARY NAMES pylonc
+    PATHS  /opt/pylon/lib /usr/pylon/lib /usr/local/pylon/lib /lib /lib64 /usr/lib /usr/lib64 /opt/lib /opt/lib64 /usr/local/lib /usr/local/lib64
+)
+
+find_package_handle_standard_args(BASLER DEFAULT_MSG BASLER_INCLUDE_DIR BASLER_LIBRARY BASLER_LIBRARY_DIR)
+
+if(BASLER_FOUND)
+    set(BASLER_INCLUDE_DIRS ${BASLER_INCLUDE_DIR})
+    set(BASLER_LIBRARIES ${BASLER_LIBRARY})
+    set(BASLER_LIBRARY_DIRS ${BASLER_LIBRARY_DIR})
+#    message("BASLER include dir = ${BASLER_INCLUDE_DIRS}")
+#    message("BASLER lib = ${BASLER_LIBRARIES}")
+#    message("BASLER libdir = ${BASLER_LIBRARY_DIRS}")
+    mark_as_advanced(BASLER_INCLUDE_DIRS BASLER_LIBRARIES BASLER_LIBRARY_DIRS)
+else()
+    message("BASLER not found")
+endif(BASLER_FOUND)

LocCorr/FindFLYCAP.cmake

@@ -15,9 +15,9 @@ find_path(FLYCAP_INCLUDE_DIR  FlyCapture2.h
     PATH_SUFFIXES libflycapture flycapture
     PATHS /usr/include /usr/local/include /opt/include /opt/local/include
 )
-#find_path(FLYCAP_LIBRARY_DIR  libflycapture.so
+find_path(FLYCAP_LIBRARY_DIR  libflycapture.so
-#    PATHS /lib /lib64 /usr/lib /usr/lib64 /opt/lib /opt/lib64 /usr/local/lib /usr/local/lib64
+    PATHS /lib /lib64 /usr/lib /usr/lib64 /opt/lib /opt/lib64 /usr/local/lib /usr/local/lib64
-#)
+)
 find_library(FLYCAP_LIBRARY NAMES flycapture
     PATHS /lib /lib64 /usr/lib /usr/lib64 /opt/lib /opt/lib64 /usr/local/lib /usr/local/lib64
 )
@@ -25,12 +25,12 @@ find_library(FLYCAP_LIBRARYC NAMES flycapture-c
     PATHS /lib /lib64 /usr/lib /usr/lib64 /opt/lib /opt/lib64 /usr/local/lib /usr/local/lib64
 )
 
-find_package_handle_standard_args(FLYCAP DEFAULT_MSG FLYCAP_INCLUDE_DIR FLYCAP_LIBRARY FLYCAP_LIBRARYC)
+find_package_handle_standard_args(FLYCAP DEFAULT_MSG FLYCAP_INCLUDE_DIR FLYCAP_LIBRARY FLYCAP_LIBRARYC FLYCAP_LIBRARY_DIR)
 
 if(FLYCAP_FOUND)
     set(FLYCAP_INCLUDE_DIRS ${FLYCAP_INCLUDE_DIR})
     set(FLYCAP_LIBRARIES ${FLYCAP_LIBRARY} ${FLYCAP_LIBRARYC})
-##    set(FLYCAP_LIBRARY_DIRS ${FLYCAP_LIBRARY_DIR})
+    set(FLYCAP_LIBRARY_DIRS ${FLYCAP_LIBRARY_DIR})
 #    message("FLYCAP include dir = ${FLYCAP_INCLUDE_DIRS}")
 #    message("FLYCAP lib = ${FLYCAP_LIBRARIES}")
 #    message("FLYCAP libdir = ${FLYCAP_LIBRARY_DIRS}")

LocCorr/basler.c

@@ -0,0 +1,334 @@
+/*
+ * This file is part of the loccorr project.
+ * Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <usefull_macros.h>
+#include <pylonc/PylonC.h>
+
+#include "basler.h"
+#include "imagefile.h"
+
+static PYLON_DEVICE_HANDLE hDev;
+static int isopened = FALSE;
+static size_t payloadsize = 0; // size of imgBuf
+static unsigned char *imgBuf = NULL;
+static float expostime = 0.; // current exposition time
+static PYLON_DEVICECALLBACK_HANDLE hCb;
+
+typedef struct{
+    int64_t min;
+    int64_t max;
+    int64_t incr;
+    int64_t val;
+} int64_values;
+
+typedef struct{
+    double min;
+    double max;
+    double val;
+} float_values;
+
+static char* describeError(GENAPIC_RESULT reserr){
+    static char buf[1024];
+    char* errMsg, *bptr = buf;
+    size_t length, l = 1023;
+    GenApiGetLastErrorMessage(NULL, &length);
+    errMsg = MALLOC(char, length);
+    GenApiGetLastErrorMessage(errMsg, &length);
+    size_t ll = snprintf(bptr, l, "%s (%d); ", errMsg, (int)reserr);
+    if(ll > 0){l -= ll; bptr += ll;}
+    FREE(errMsg);
+    GenApiGetLastErrorDetail(NULL, &length);
+    errMsg = MALLOC(char, length);
+    GenApiGetLastErrorDetail(errMsg, &length);
+    snprintf(bptr, l, "%s", errMsg);
+    FREE(errMsg);
+    return buf;
+}
+
+#define PYLONFN(fn, ...) do{register GENAPIC_RESULT reserr; if(GENAPI_E_OK != (reserr=fn(__VA_ARGS__))){ \
+    WARNX(#fn "(): %s", describeError(reserr)); return FALSE;}}while(0)
+
+static void disconnect(){
+    FNAME();
+    if(!isopened) return;
+    FREE(imgBuf);
+    PylonDeviceDeregisterRemovalCallback(hDev, hCb);
+    PylonDeviceClose(hDev);
+    PylonDestroyDevice(hDev);
+    PylonTerminate();
+    isopened = FALSE;
+}
+
+// get node & check it for read/write
+/**
+ * @brief chkNode - get node & check it for read/write
+ * @param phNode (io) - pointer to node
+ * @param nodeType    - type of node
+ * @param wr          - ==TRUE if need to check for writeable
+ * @return TRUE if node found & checked
+ */
+static int chkNode(NODE_HANDLE *phNode, const char *featureName, EGenApiNodeType nodeType, int wr){
+    if(!isopened || !phNode || !featureName) return FALSE;
+    NODEMAP_HANDLE hNodeMap;
+    EGenApiNodeType nt;
+    _Bool bv;
+    PYLONFN(PylonDeviceGetNodeMap, hDev, &hNodeMap);
+    PYLONFN(GenApiNodeMapGetNode, hNodeMap, featureName, phNode);
+    if(*phNode == GENAPIC_INVALID_HANDLE) return FALSE;
+    PYLONFN(GenApiNodeGetType, *phNode, &nt);
+    if(nodeType != nt) return FALSE;
+    PYLONFN(GenApiNodeIsReadable, *phNode, &bv);
+    if(!bv) return FALSE; // not readable
+    if(wr){
+        PYLONFN(GenApiNodeIsWritable, *phNode, &bv);
+        if(!bv) return FALSE; // not writeable
+    }
+    return TRUE;
+}
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-function"
+
+// getters of different types of data
+static int getBoolean(const char *featureName, _Bool *val){
+    if(!isopened || !featureName) return FALSE;
+    NODE_HANDLE hNode;
+    if(!chkNode(&hNode, featureName, BooleanNode, FALSE)) return FALSE;
+    if(!val) return TRUE;
+    PYLONFN(GenApiBooleanGetValue, hNode, val);
+    DBG("Get boolean: %s = %s", featureName, val ? "true" : "false");
+    return TRUE;
+}
+static int getInt(char *featureName, int64_values *val){
+    if(!isopened || !featureName) return FALSE;
+    NODE_HANDLE hNode;
+    if(!chkNode(&hNode, featureName, IntegerNode, FALSE)) return FALSE;
+    if(!val) return TRUE;
+    PYLONFN(GenApiIntegerGetMin, hNode, &val->min);
+    PYLONFN(GenApiIntegerGetMax, hNode, &val->max);
+    PYLONFN(GenApiIntegerGetInc, hNode, &val->incr);
+    PYLONFN(GenApiIntegerGetValue, hNode, &val->val);
+    DBG("Get integer %s = %ld: min = %ld, max = %ld, incr = %ld", featureName, val->val, val->min, val->max, val->incr);
+    return TRUE;
+}
+static int getFloat(char *featureName, float_values *val){
+    if(!isopened || !featureName) return FALSE;
+    NODE_HANDLE hNode;
+    if(!chkNode(&hNode, featureName, FloatNode, FALSE)) return FALSE;
+    if(!val) return TRUE;
+    PYLONFN(GenApiFloatGetMin, hNode, &val->min);
+    PYLONFN(GenApiFloatGetMax, hNode, &val->max);
+    PYLONFN(GenApiFloatGetValue, hNode, &val->val);
+    DBG("Get float %s = %g: min = %g, max = %g", featureName, val->val, val->min, val->max);
+    return TRUE;
+}
+
+// setters of different types of data
+static int setBoolean(char *featureName, _Bool val){
+    if(!isopened || !featureName) return FALSE;
+    NODE_HANDLE hNode;
+    if(!chkNode(&hNode, featureName, BooleanNode, TRUE)) return FALSE;
+    PYLONFN(GenApiBooleanSetValue, hNode, val);
+}
+static int setInt(char *featureName, int64_t val){
+    if(!isopened || !featureName) return FALSE;
+    NODE_HANDLE hNode;
+    if(!chkNode(&hNode, featureName, IntegerNode, TRUE)) return FALSE;
+    PYLONFN(GenApiIntegerSetValue, hNode, val);
+    return TRUE;
+}
+static int setFloat(char *featureName, float val){
+    if(!isopened || !featureName) return FALSE;
+    NODE_HANDLE hNode;
+    if(!chkNode(&hNode, featureName, FloatNode, TRUE)) return FALSE;
+    PYLONFN(GenApiFloatSetValue, hNode, val);
+    return TRUE;
+}
+#pragma GCC diagnostic pop
+
+static void disableauto(){
+    if(!isopened) return;
+    const char *features[] = {"EnumEntry_TriggerSelector_AcquisitionStart",
+                              "EnumEntry_TriggerSelector_FrameBurstStart",
+                              "EnumEntry_TriggerSelector_FrameStart"};
+    const char *triggers[] = {"AcquisitionStart", "FrameBurstStart", "FrameStart"};
+    for(int i = 0; i < 3; ++i){
+        if(PylonDeviceFeatureIsAvailable(hDev, features[i])){
+            PylonDeviceFeatureFromString(hDev, "TriggerSelector", triggers[i]);
+            PylonDeviceFeatureFromString(hDev, "TriggerMode", "Off");
+        }
+    }
+    PylonDeviceFeatureFromString(hDev, "GainAuto", "Off");
+    PylonDeviceFeatureFromString(hDev, "ExposureAuto", "Off");
+    PylonDeviceFeatureFromString(hDev, "ExposureMode", "Timed");
+    PylonDeviceFeatureFromString(hDev, "SequencerMode", "Off");
+}
+
+static void GENAPIC_CC removalCallbackFunction(_U_ PYLON_DEVICE_HANDLE hDevice){
+    disconnect();
+}
+
+static int connect(){
+    FNAME();
+    size_t numDevices;
+    disconnect();
+    PylonInitialize();
+    PYLONFN(PylonEnumerateDevices, &numDevices);
+    if(!numDevices){
+        WARNX("No cameras found");
+        return FALSE;
+    }
+    PYLONFN(PylonCreateDeviceByIndex, 0, &hDev);
+    isopened = TRUE;
+    PYLONFN(PylonDeviceOpen, hDev, PYLONC_ACCESS_MODE_CONTROL | PYLONC_ACCESS_MODE_STREAM | PYLONC_ACCESS_MODE_EXCLUSIVE);
+    disableauto();
+    PYLONFN(PylonDeviceFeatureFromString, hDev, "PixelFormat", "Mono8");
+    PYLONFN(PylonDeviceFeatureFromString, hDev, "CameraOperationMode", "LongExposure");
+    PYLONFN(PylonDeviceFeatureFromString, hDev, "UserSetSelector", "HighGain"); // set high gain selector
+    PYLONFN(PylonDeviceFeatureFromString, hDev, "AcquisitionMode", "SingleFrame");
+    PYLONFN(PylonDeviceExecuteCommandFeature, hDev, "UserSetLoad"); // load high gain mode
+    PYLON_STREAMGRABBER_HANDLE hGrabber;
+    PYLONFN(PylonDeviceGetStreamGrabber, hDev, 0, &hGrabber);
+    PYLONFN(PylonStreamGrabberOpen, hGrabber);
+//    PYLON_WAITOBJECT_HANDLE hWaitStream;
+//    PYLONFN(PylonStreamGrabberGetWaitObject, hStreamGrabber, &hWaitStream);
+    PYLONFN(PylonStreamGrabberGetPayloadSize, hDev, hGrabber, &payloadsize);
+    PylonStreamGrabberClose(hGrabber);
+    PylonDeviceRegisterRemovalCallback(hDev, removalCallbackFunction, &hCb);
+    imgBuf = MALLOC(unsigned char, payloadsize);
+    //PYLONFN(PylonDeviceExecuteCommandFeature, hDev, "AcquisitionStart");
+    return TRUE;
+}
+
+static Image *capture(){
+    FNAME();
+    static int toohot = FALSE;
+    if(!isopened || !imgBuf) return NULL;
+    float_values f;
+    if(!getFloat("DeviceTemperature", &f)) WARNX("Can't get temperature");
+    else{
+        DBG("Temperature: %.1f", f.val);
+        if(f.val > 80.){
+            WARNX("Device too hot");
+            if(!toohot){
+                LOGWARN("Device too hot");
+                toohot = TRUE;
+            }
+        }else if(toohot && f.val < 75.){
+            LOGMSG("Device temperature is normal");
+            toohot = FALSE;
+        }
+    }
+    PylonGrabResult_t grabResult;
+    _Bool bufferReady;
+    GENAPIC_RESULT res = PylonDeviceGrabSingleFrame(hDev, 0, imgBuf, payloadsize,
+                                                    &grabResult, &bufferReady, 500 + (uint32_t)expostime);
+    if(res != GENAPI_E_OK || !bufferReady){
+        WARNX("res != GENAPI_E_OK || !bufferReady");
+        return NULL;
+    }
+    if(grabResult.Status != Grabbed){
+        WARNX("grabResult.Status != Grabbed");
+        return NULL;
+    }
+    Image *oIma = u8toImage(imgBuf, grabResult.SizeX, grabResult.SizeY, grabResult.SizeX + grabResult.PaddingX);
+    return oIma;
+}
+
+// Basler have no "brightness" parameter
+static int setbrightness(_U_ float b){
+    FNAME();
+    return TRUE;
+}
+
+static int setexp(float e){
+    FNAME();
+    if(!isopened) return FALSE;
+    e *= 1000.;
+    if(!setFloat("ExposureTime", e)){
+       LOGWARN("Can't set expose time %g", e);
+       WARNX("Can't set expose time %g", e);
+       return FALSE;
+    }
+    float_values f;
+    if(!getFloat("ExposureTime", &f)) return FALSE;
+    expostime = (float)f.val / 1000.;
+    return TRUE;
+}
+
+static int setgain(_U_ float e){
+    FNAME();
+    if(!isopened) return FALSE;
+    if(!setFloat("Gain", e)){
+       LOGWARN("Can't set gain %g", e);
+       WARNX("Can't set gain %g", e);
+       return FALSE;
+    }
+    return TRUE;
+}
+
+static int changeformat(frameformat *fmt){
+    FNAME();
+    if(!isopened) return FALSE;
+    if(!setInt("Width", fmt->w)) return FALSE;
+    if(!setInt("Height", fmt->h)) return FALSE;
+    if(!setInt("OffsetX", fmt->xoff)) return FALSE;
+    if(!setInt("OffsetY", fmt->yoff)) return FALSE;
+    int64_values i;
+    if(getInt("Width", &i)) fmt->w = i.val;
+    if(getInt("Height", &i)) fmt->h = i.val;
+    if(getInt("OffsetX", &i)) fmt->xoff = i.val;
+    if(getInt("OffsetY", &i)) fmt->yoff = i.val;
+    return TRUE;
+}
+
+static int geometrylimits(frameformat *max, frameformat *step){
+    FNAME();
+    if(!isopened || !max || !step) return FALSE;
+    int64_values i;
+    if(!getInt("Width", &i)) return FALSE;
+    max->w = i.max; step->w = i.incr;
+    if(!getInt("Height", &i)) return FALSE;
+    max->h = i.max; step->h = i.incr;
+    if(!getInt("OffsetX", &i)) return FALSE;
+    max->xoff = i.max; step->xoff = i.incr;
+    if(!getInt("OffsetY", &i)) return FALSE;
+    max->yoff = i.max; step->yoff = i.incr;
+    return TRUE;
+}
+
+static float gainmax(){
+    FNAME();
+    float_values v;
+    if(!getFloat("Gain", &v)) return 0.;
+    return (float)v.max;
+}
+
+// exported object
+camera Basler = {
+    .disconnect = disconnect,
+    .connect = connect,
+    .capture = capture,
+    .setbrightness = setbrightness,
+    .setexp = setexp,
+    .setgain = setgain,
+    .setgeometry = changeformat,
+    .getgeomlimits = geometrylimits,
+    .getmaxgain = gainmax,
+};
+

LocCorr/basler.h

@@ -0,0 +1,27 @@
+/*
+ * This file is part of the loccorr project.
+ * Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+#ifndef BASLER_H__
+#define BASLER_H__
+
+#include "cameracapture.h" // `camera`
+#define BASLER_CAPT_NAME        "basler"
+
+extern camera Basler;
+
+#endif // BASLER_H__

LocCorr/cameracapture.c

@@ -0,0 +1,261 @@
+/*
+ * This file is part of the loccorr project.
+ * Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <float.h> // FLT_EPSILON
+#include <math.h>
+#include <stdio.h>
+#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"
+
+// pointer to selected camera
+static camera *theCam = NULL;
+
+static float gain = 0., gainmax = 0.;
+static float exptime = 100.;
+static float brightness = 0.;
+static int connected = FALSE;
+
+static frameformat curformat;
+static frameformat maxformat;
+static frameformat stepformat;
+
+static void changeformat(){
+    if(!theCam) return;
+    if(maxformat.h < 1 || maxformat.w < 1){
+        WARNX("Bad max format data");
+        LOGWARN("Bad max format data");
+        return;
+    }
+    if(stepformat.h < 1 || stepformat.w < 1){
+        WARNX("Bad step format data");
+        LOGWARN("Bad step format data");
+        return;
+    }
+    if(stepformat.xoff < 1) stepformat.xoff = 1;
+    if(stepformat.yoff < 1) stepformat.yoff = 1;
+    curformat.h = (theconf.height < maxformat.h) ? theconf.height : maxformat.h;
+    curformat.h -= curformat.h % stepformat.h;
+    curformat.w = (theconf.width < maxformat.w) ? theconf.width : maxformat.w;
+    curformat.w -= curformat.w % stepformat.w;
+    curformat.xoff = (theconf.xoff + curformat.w <= maxformat.w) ? theconf.xoff : maxformat.w - curformat.w;
+    curformat.xoff -= curformat.xoff % stepformat.xoff;
+    curformat.yoff = (theconf.yoff + curformat.h <= maxformat.h) ? theconf.yoff : maxformat.h - curformat.h;
+    curformat.yoff -= curformat.yoff % stepformat.yoff;
+    if(theCam->setgeometry(&curformat)){ // now we can change config values to real
+        theconf.height = curformat.h;
+        theconf.width = curformat.w;
+        theconf.xoff = curformat.xoff;
+        theconf.yoff = curformat.yoff;
+    }
+}
+
+/**
+ * @brief setCamera - set active camera & initialize it
+ * @param cptr - pointer to new camera
+ * @return FALSE if failed
+ */
+int setCamera(camera *cptr){
+    camdisconnect();
+    theCam = cptr;
+    connected = theCam->connect();
+    if(!connected) return FALSE;
+    gainmax = theCam->getmaxgain();
+    gain = theconf.gain;
+    brightness = theconf.brightness;
+    if(!theCam->getgeomlimits(&maxformat, &stepformat)){
+        WARNX("Can't detect camera format limits");
+        LOGWARN("Can't detect camera format limits");
+        return TRUE;
+    }
+    changeformat();
+    LOGMSG("Camera connected, max gain: %.1f, max (W,H): (%d,%d)", gainmax, maxformat.w, maxformat.h);
+    return TRUE;
+}
+
+void camdisconnect(){
+    if(!connected) return;
+    connected = FALSE;
+    if(theCam) theCam->disconnect();
+}
+
+static void calcexpgain(float newexp){
+    DBG("recalculate exposition: oldexp=%g, oldgain=%g, newexp=%g", exptime, gain, newexp);
+    if(newexp*1.25 > theconf.minexp){
+        if(gain < gainmax - 1.){ // increase gain first
+            gain += 1.;
+            newexp /= 1.25;
+        }
+    }else{ // make gain lower
+        if(1.25*newexp < theconf.maxexp && gain > 1.){
+            gain -= 1.;
+            newexp *= 1.25;
+        }
+    }
+    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(Image *I){
+    // check if user changed exposition values
+    if(exptime < theconf.minexp){
+        exptime = theconf.minexp;
+        return;
+    }
+    else if(exptime > theconf.maxexp){
+        exptime = theconf.maxexp;
+        return;
+    }
+    if(I->minval < 0. || I->maxval > 255.1){
+        DBG("Bad image data: min=%g, max=%g", I->minval, I->maxval);
+        return;
+    }
+    int wh = I->width * I->height;
+    int histogram[256] = {0};
+    // algorythm works only with 8bit images!
+    #pragma omp parallel
+    {
+        int histogram_private[256] = {0};
+        #pragma omp for nowait
+        for(int i = 0; i < wh; ++i){
+            ++histogram_private[(int)I->data[i]];
+        }
+        #pragma omp critical
+        {
+            for(int i=0; i<256; ++i) histogram[i] += histogram_private[i];
+        }
+    }
+    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 camcapture(void (*process)(Image*)){
+    FNAME();
+    static float oldexptime = 0.;
+    static float oldgain = -1.;
+    static float oldbrightness = -1.;
+    Image *oIma = NULL;
+    while(1){
+        if(stopwork){
+            DBG("STOP");
+            break;
+        }
+        if(!theCam){ // wait until camera be powered on
+            LOGERR("camcapture(): camera not initialized");
+            ERRX("Not initialized");
+        }
+        if(!connected){
+            DBG("Disconnected");
+            connected = theCam->connect();
+            sleep(1);
+            continue;
+        }
+        if(fabsf(oldbrightness - brightness) > FLT_EPSILON){ // new brightness
+            DBG("Change brightness to %g", brightness);
+            if(theCam->setbrightness(brightness)){
+                oldbrightness = brightness;
+            }else{
+                WARNX("Can't change brightness to %g", brightness);
+            }
+        }
+        if(exptime > theconf.maxexp) exptime = theconf.maxexp;
+        else if(exptime < theconf.minexp) exptime = theconf.minexp;
+        if(fabsf(oldexptime - exptime) > FLT_EPSILON){ // new exsposition value
+            DBG("Change exptime to %.2fms\n", exptime);
+            if(theCam->setexp(exptime)){
+                oldexptime = exptime;
+            }else{
+                WARNX("Can't change exposition time to %gms", exptime);
+            }
+        }
+        if(gain > gainmax) gain = gainmax;
+        if(fabsf(oldgain - gain) > FLT_EPSILON){ // change gain
+            DBG("Change gain to %g\n", gain);
+            if(theCam->setgain(gain)){
+                oldgain = gain;
+            }else{
+                WARNX("Can't change gain to %g", gain);
+            }
+        }
+        // change format
+        if(abs(curformat.h - theconf.height) || abs(curformat.w - theconf.width) || abs(curformat.xoff - theconf.xoff) || abs(curformat.yoff - theconf.yoff)){
+            changeformat();
+        }
+        if(!(oIma = theCam->capture())){
+            WARNX("Can't grab image");
+            camdisconnect();
+            continue;
+        }
+        if(theconf.expmethod == EXPAUTO) recalcexp(oIma);
+        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){
+            process(oIma);
+        }
+        FREE(oIma->data);
+        FREE(oIma);
+    }
+    camdisconnect();
+    DBG("CAMCAPTURE: out");
+    return 1;
+}
+
+// return JSON with image status
+char *camstatus(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;
+}

LocCorr/cameracapture.h

@@ -0,0 +1,52 @@
+/*
+ * This file is part of the loccorr project.
+ * Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+#ifndef CAMERACAPTURE_H__
+#define CAMERACAPTURE_H__
+#include "fits.h" // Image*
+
+// format of single frame
+typedef struct{
+    int w; int h;           // width & height
+    int xoff; int yoff;     // X and Y offset
+} frameformat;
+
+typedef struct{
+    void (*disconnect)();   // disconnect & cleanup
+    int (*connect)();       // connect & init
+    Image* (*capture)();    // capture an image
+    // setters: brightness, exptime, gain
+    int (*setbrightness)(float b);
+    int (*setexp)(float e);
+    int (*setgain)(float g);
+    float (*getmaxgain)();  // get max available gain value
+    // geometry (if TRUE, all args are changed to suitable values)
+    int (*setgeometry)(frameformat *fmt);
+    // get limits of geometry: maximal values and steps
+    int (*getgeomlimits)(frameformat *max, frameformat *step);
+    //int (*getgeometry)(frameformat *fmt);
+} camera;
+
+int setCamera(camera *cptr);
+void camdisconnect();
+int camcapture(void (*process)(Image *));
+char *camstatus(const char *messageid, char *buf, int buflen);
+
+
+#endif // CAMERACAPTURE_H__

LocCorr/config.c

@@ -217,11 +217,11 @@ confparam *chk_keyval(const char *key, const char *val, key_value *result){
     confparam *par = parvals;
     while(par->name){
         if(strcmp(key, par->name) == 0){
-            DBG("key='%s', par->name='%s'", key, par->name);
+            //DBG("key='%s', par->name='%s'", key, par->name);
             result->type = par->type;
             switch(par->type){
                 case PAR_INT:
-                    DBG("INTEGER");
+                    //DBG("INTEGER");
                     if(!str2int(&result->val.intval, val)){
                         WARNX("Wrong integer value '%s' of parameter '%s'", val, key);
                         return NULL;
@@ -232,12 +232,12 @@ confparam *chk_keyval(const char *key, const char *val, key_value *result){
                                result->val.intval, par->name, par->minval, par->maxval);
                 break;
                 case PAR_DOUBLE:
-                    DBG("DOUBLE");
+                    //DBG("DOUBLE");
                     if(!str2double(&result->val.dblval, val)){
                         WARNX("Wrong double value '%s' of parameter '%s'", val, key);
                         return NULL;
                     }
-                    DBG("val: %g, min: %g, max: %g", result->val.dblval, par->minval, par->maxval);
+                    //DBG("val: %g, min: %g, max: %g", result->val.dblval, par->minval, par->maxval);
                     if(result->val.dblval > par->minval && result->val.dblval < par->maxval)
                         return par;
                     else WARNX("Value (%g) of parameter %s out of range %g..%g",
@@ -300,7 +300,7 @@ int chkconfig(const char *confname){
     int found = 0;
     par = parvals;
     while(par->name){
-        DBG("parvals[]={%s, %d, %d(%g), %d}", par->name, par->type, *((int*)par->ptr), *((double*)par->ptr), par->got);
+        //DBG("parvals[]={%s, %d, %d(%g), %d}", par->name, par->type, *((int*)par->ptr), *((double*)par->ptr), par->got);
         int k = par->got;
         if(!k){
             ++par;

LocCorr/config.h

@@ -38,9 +38,9 @@
 #define EXPOS_MIN       (0.1)
 #define EXPOS_MAX       (4001.)
 #define GAIN_MIN        (0.)
-#define GAIN_MAX        (33.)
+#define GAIN_MAX        (100.)
 #define BRIGHT_MIN      (0.)
-#define BRIGHT_MAX      (1000.)
+#define BRIGHT_MAX      (10.)
 // max average images counter
 #define NAVER_MAX       (50)
 // coefficients to convert dx,dy to du,dv

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;
+static int geometrylimits(frameformat *max, frameformat *step){
-void disconnectGrasshopper(){
+    fc2Format7Info f = {.mode = FC2_MODE_0};
-    if(!connected) return;
+    BOOL b;
-    connected = 0;
+    fc2Format7Info i = {0};
-    fc2DestroyContext(context);
+    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.offsetX = fmt->xoff;
-    f7.offsetY = (theconf.yoff < (int)f7i.maxHeight && theconf.yoff > -1) ? theconf.yoff : 0;
+    f7.offsetY = fmt->yoff;
-    f7.width = (f7.offsetX+theconf.width <= f7i.maxWidth && theconf.width > 1) ? (unsigned int)theconf.width : f7i.maxWidth - f7.offsetX;
+    f7.width = fmt->w;
-    f7.height = (f7.offsetY+theconf.height <= f7i.maxHeight && theconf.height > 1) ? (unsigned int)theconf.height : f7i.maxHeight - f7.offsetY;
+    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();
+        camdisconnect();
-        return 0;
+        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");
+    return TRUE;
-    connected = 1;
-    return 1;
 }
 
 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){
+// capture image, memory allocated HERE
-    DBG("recalculate exposition: oldexp=%g, oldgain=%g, newexp=%g", exptime, gain, newexp);
+static Image *capture(){
-    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*)){
     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 NULL;
-        return 0;
-    }
-    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();
+        return NULL;
-            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);
-        }
-    }
     fc2DestroyImage(&convertedImage);
-    disconnectGrasshopper();
+    return oIma;
-    DBG("GRASSHOPPER: out");
-    return 1;
 }
 
-// return JSON with image status
+static float maxgain(){
-char *gsimagestatus(const char *messageid, char *buf, int buflen){
+    return GAIN_MAX;
-    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;
 }
+
+// exported object
+camera GrassHopper = {
+    .disconnect = disconnect,
+    .connect = connect,
+    .capture = capture,
+    .setbrightness = setbrightness,
+    .setexp = setexp,
+    .setgain = setgain,
+    .setgeometry = changeformat,
+    .getgeomlimits = geometrylimits,
+    .getmaxgain = maxgain,
+};

LocCorr/grasshopper.h

@@ -19,12 +19,10 @@
 #ifndef GRASSHOPPER_H__
 #define GRASSHOPPER_H__
 
-#include "fits.h" // Image*
+#include "cameracapture.h" // `camera`
 
 #define GRASSHOPPER_CAPT_NAME   "grasshopper"
 
-void disconnectGrasshopper();
+extern camera GrassHopper;
-int capture_grasshopper(void (*process)(Image *));
-char *gsimagestatus(const char *messageid, char *buf, int buflen);
 
 #endif // GRASSHOPPER_H__

LocCorr/imagefile.c

@@ -27,6 +27,8 @@
 #include <stb/stb_image.h>
 #include <stb/stb_image_write.h>
 
+#include "basler.h"
+#include "cameracapture.h"
 #include "cmdlnopts.h"
 #include "config.h"
 #include "draw.h"
@@ -96,6 +98,7 @@ static InputType imtype(FILE *f){
 InputType chkinput(const char *name){
     DBG("input name: %s", name);
     if(0 == strcmp(name, GRASSHOPPER_CAPT_NAME)) return T_CAPT_GRASSHOPPER;
+    else if(0 == strcmp(name, BASLER_CAPT_NAME)) return T_CAPT_BASLER;
     struct stat fd_stat;
     stat(name, &fd_stat);
     if(S_ISDIR(fd_stat.st_mode)){
@@ -120,6 +123,7 @@ InputType chkinput(const char *name){
 }
 
 Image *u8toImage(uint8_t *data, int width, int height, int stride){
+    FNAME();
     Image *outp = MALLOC(Image, 1);
     outp->width = width;
     outp->height = height;

LocCorr/imagefile.h

@@ -33,7 +33,8 @@ typedef enum{
     T_GIF,
     T_JPEG,
     T_PNG,
-    T_CAPT_GRASSHOPPER // capture grasshopper
+    T_CAPT_GRASSHOPPER, // capture grasshopper
+    T_CAPT_BASLER
 } InputType;
 
 void Image_minmax(Image *I);

LocCorr/improc.c

@@ -23,7 +23,9 @@
 #include <time.h>
 #include <usefull_macros.h>
 
+#include "basler.h"
 #include "binmorph.h"
+#include "cameracapture.h"
 #include "cmdlnopts.h"
 #include "config.h"
 #include "draw.h"
@@ -163,6 +165,7 @@ process_corrections:
 }
 
 void process_file(Image *I){
+    FNAME();
     static double lastTproc = 0.;
 /*
 #ifdef EBUG
@@ -187,7 +190,7 @@ void process_file(Image *I){
     //DELTA("Save original");
     Imtype bk;
     if(calc_background(I, &bk)){
-        //DBG("backgr = %g", bk);
+        DBG("backgr = %g", bk);
         DELTA("Got background");
         uint8_t *ibin = Im2bin(I, bk);
         DELTA("Made binary");
@@ -290,40 +293,17 @@ void process_file(Image *I){
                         }
                     }
                     FREE(tmpnm);
-                    ++ImNumber;
-                    if(lastTproc > 1.) FPS = 1. / (dtime() - lastTproc);
-                    lastTproc = dtime();
                     FREE(outp);
                 }
                 FREE(Objects);
-                /*
-                Image *c = ST2Im(S, W, H);
-                DELTA("conv size_t -> Ima");
-                save_fits(c, "size_t.fits");
-                Image_free(&c);
-                DELTA("Save size_t");
-                */
-                /*
-                Image *obj = Image_sim(I);
-                OMP_FOR()
-                for(int y = 0; y < H; ++y){
-                    size_t idx = y*W;
-                    Imtype *optr = &obj->data[idx];
-                    Imtype *iptr = &I->data[idx];
-                    size_t *mask = &S[idx];
-                    for(int x = 0; x < W; ++x, ++mask, ++iptr, ++optr){
-                        if(*mask) *optr = *iptr - bk;
-                    }
-                }
-                Image_minmax(obj);
-                save_fits(obj, "object.fits");
-                Image_free(&obj);
-                */
             }else Image_write_jpg(I, GP->outputjpg, theconf.equalize);
             FREE(S);
             FREE(cc);
         }
-    }
+    }else Image_write_jpg(I, GP->outputjpg, theconf.equalize);
+    ++ImNumber;
+    if(lastTproc > 1.) FPS = 1. / (dtime() - lastTproc);
+    lastTproc = dtime();
     DELTA("End");
 }
 
@@ -344,13 +324,19 @@ static char *watchfl(const char *messageid, char *buf, int buflen){
 }
 
 int process_input(InputType tp, char *name){
-    //DBG("process_input(%d, %s)", tp, name);
+    DBG("process_input(%d, %s)", tp, name);
     if(tp == T_DIRECTORY){
         imagedata = watchdr;
         return watch_directory(name, process_file);
-    }else if(tp == T_CAPT_GRASSHOPPER){
+    }else if(tp == T_CAPT_GRASSHOPPER || tp == T_CAPT_BASLER){
-        imagedata = gsimagestatus;
+        camera *cam = &GrassHopper;
-        return capture_grasshopper(process_file);
+        if(tp == T_CAPT_BASLER) cam = &Basler;
+        if(!setCamera(cam)){
+            WARNX("The camera disconnected");
+            LOGWARN("The camera disconnected");
+        }
+        imagedata = camstatus;
+        return camcapture(process_file);
     }
     imagedata = watchfl;
     return watch_file(name, process_file);

LocCorr/main.c

@@ -58,7 +58,7 @@ void iffound_default(pid_t pid){
     ERRX("Another copy of this process found, pid=%d. Exit.", pid);
 }
 
-void *procinp_thread(_U_ void* arg){
+static void *procinp_thread(_U_ void* arg){
     int p = process_input(tp, GP->inputname);
     LOGDBG("process_input=%d", p);
     return NULL;
@@ -94,6 +94,9 @@ static InputType chk_inp(const char *name){
         case T_CAPT_GRASSHOPPER:
             printf("capture grasshopper camera");
         break;
+        case T_CAPT_BASLER:
+            printf("capture basler camera");
+        break;
         default:
             printf("Unsupported type\n");
             return T_WRONG;

LocCorr/median.c

@@ -444,9 +444,10 @@ int get_stat(const Image *in, int seed, Image **mean, Image **std){
  * @return 0 if error
  */
 int calc_background(Image *img, Imtype *bk){
+    //DBG("image: min=%g, max=%g", img->minval, img->maxval);
     if(img->maxval - img->minval < DBL_EPSILON){
         WARNX("Zero image!");
-        return 0;
+        return FALSE;
     }
     int w = img->width, h = img->height, wh = w*h;
     Imtype min = img->minval, ampl = img->maxval - min;
@@ -472,24 +473,13 @@ int calc_background(Image *img, Imtype *bk){
             modeidx = i;
         }
     //DBG("Mode=%g @ idx%d (N=%d)", ((Imtype)modeidx / 255.)*ampl, modeidx, modeval);
-/*
-    int diff[256] = {0};
-    for(int i = 1; i < 255; ++i) diff[i] = (histogram[i+1]-histogram[i-1])/2;
-    if(modeidx == 0) modeidx = 1;
-    if(modeidx > 253) return NULL; // very bad image: overilluminated
-    int borderidx = modeidx;
-    green("1\n");
-    for(int i = modeidx; i < 255; ++i){ // search bend-point by first derivate
-        printf("%d: %d, %d\n", i, diff[i], diff[i+1]);
-        if(diff[i] >= 0 && diff[i+1] >=0){
-            borderidx = i; break;
-        }
-    }
-*/
     int diff2[256] = {0};
     for(int i = 2; i < 254; ++i) diff2[i] = (histogram[i+2]+histogram[i-2]-2*histogram[i])/4;
     if(modeidx < 2) modeidx = 2;
-    if(modeidx > 253) return 0; // very bad image: overilluminated
+    if(modeidx > 253){
+        WARNX("Overilluminated image");
+        return FALSE; // very bad image: overilluminated
+    }
     int borderidx = modeidx;
    // green("2\n");
     for(int i = modeidx; i < 254; ++i){ // search bend-point by second derivate
@@ -502,8 +492,8 @@ int calc_background(Image *img, Imtype *bk){
     //borderidx = (borderidx + modeidx) / 2;
     Imtype borderval = ((Imtype)borderidx / 255.)*ampl + min;
     if(bk) *bk = borderval;
-    //green("HISTO:\n");
+//    green("HISTO:\n");
-    //for(int i = 0; i < 256; ++i) printf("%d:\t%d\t%d\n", i, histogram[i], diff2[i]);
+//    for(int i = 0; i < 256; ++i) printf("%d:\t%d\t%d\n", i, histogram[i], diff2[i]);
     // calculate values of upper 2% border
 #if 0
     Image *out = Image_sim(img);
@@ -515,5 +505,5 @@ int calc_background(Image *img, Imtype *bk){
     }
     Image_minmax(out);
 #endif
-    return 1;
+    return TRUE;
 }