static void
_update_variables (ArvGcSwissKnife *gc_swiss_knife, GError **error)
{
ArvGcNode *node;
GError *local_error = NULL;
GSList *iter;
const char *expression;
if (gc_swiss_knife->formula_node != NULL)
expression = arv_gc_property_node_get_string (gc_swiss_knife->formula_node, &local_error);
else
expression = "";
if (local_error != NULL) {
g_propagate_error (error, local_error);
return;
}
arv_evaluator_set_expression (gc_swiss_knife->formula, expression);
for (iter = gc_swiss_knife->variables; iter != NULL; iter = iter->next) {
ArvGcVariableNode *variable_node = iter->data;
node = arv_gc_property_node_get_linked_node (ARV_GC_PROPERTY_NODE (variable_node));
if (arv_gc_feature_node_get_value_type (ARV_GC_FEATURE_NODE (node)) == G_TYPE_INT64) {
gint64 value;
value = arv_gc_integer_get_value (ARV_GC_INTEGER (node), &local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return;
}
arv_evaluator_set_int64_variable (gc_swiss_knife->formula,
arv_gc_variable_node_get_name (variable_node),
value);
} else if (arv_gc_feature_node_get_value_type (ARV_GC_FEATURE_NODE (node)) == G_TYPE_DOUBLE) {
double value;
value = arv_gc_float_get_value (ARV_GC_FLOAT (node), &local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return;
}
arv_evaluator_set_double_variable (gc_swiss_knife->formula,
arv_gc_variable_node_get_name (variable_node),
value);
}
}
}
static void
arv_gc_feature_node_pre_remove_child (ArvDomNode *self, ArvDomNode *child)
{
ArvGcFeatureNode *node = ARV_GC_FEATURE_NODE (self);
if (ARV_IS_GC_PROPERTY_NODE (child)) {
ArvGcPropertyNode *property_node = ARV_GC_PROPERTY_NODE (child);
switch (arv_gc_property_node_get_node_type (property_node)) {
case ARV_GC_PROPERTY_NODE_TYPE_TOOLTIP:
node->priv->tooltip = NULL;
break;
case ARV_GC_PROPERTY_NODE_TYPE_DESCRIPTION:
node->priv->description = NULL;
break;
case ARV_GC_PROPERTY_NODE_TYPE_DISPLAY_NAME:
node->priv->description = NULL;
break;
case ARV_GC_PROPERTY_NODE_TYPE_P_IS_AVAILABLE:
node->priv->is_available = NULL;
break;
case ARV_GC_PROPERTY_NODE_TYPE_P_IS_IMPLEMENTED:
node->priv->is_implemented = NULL;
break;
case ARV_GC_PROPERTY_NODE_TYPE_P_IS_LOCKED:
node->priv->is_locked = NULL;
break;
default:
break;
}
}
}
const char *
arv_gc_enumeration_get_string_value (ArvGcEnumeration *enumeration)
{
const GSList *iter;
gint64 value;
g_return_val_if_fail (ARV_IS_GC_ENUMERATION (enumeration), NULL);
value = arv_gc_enumeration_get_int_value (enumeration);
for (iter = enumeration->entries; iter != NULL; iter = iter->next) {
if (arv_gc_enum_entry_get_value (iter->data) == value) {
const char *string;
string = arv_gc_feature_node_get_name (iter->data);
arv_log_genicam ("[GcEnumeration::get_string_value] value = %Ld - string = %s",
value, string);
return string;
}
}
arv_warning_genicam ("[GcEnumeration::get_string_value] value = %Ld not found for node %s",
value, arv_gc_feature_node_get_name (ARV_GC_FEATURE_NODE (enumeration)));
return NULL;
}
void
arv_gc_property_node_set_double (ArvGcPropertyNode *node, double v_double, GError **error)
{
ArvDomNode *pvalue_node;
g_return_if_fail (ARV_IS_GC_PROPERTY_NODE (node));
g_return_if_fail (error == NULL || *error == NULL);
pvalue_node = _get_pvalue_node (node);
if (pvalue_node == NULL) {
char buffer[G_ASCII_DTOSTR_BUF_SIZE];
g_ascii_dtostr (buffer, G_ASCII_DTOSTR_BUF_SIZE, v_double);
_set_value_data (node, buffer);
return ;
}
if (ARV_IS_GC_FLOAT (pvalue_node)) {
GError *local_error = NULL;
arv_gc_float_set_value (ARV_GC_FLOAT (pvalue_node), v_double, &local_error);
if (local_error != NULL)
g_propagate_error (error, local_error);
return;
}
arv_warning_genicam ("[GcPropertyNode::set_double] Invalid linked node '%s'",
arv_gc_feature_node_get_name (ARV_GC_FEATURE_NODE (pvalue_node)));
}
double
arv_gc_property_node_get_double (ArvGcPropertyNode *node, GError **error)
{
ArvDomNode *pvalue_node;
g_return_val_if_fail (ARV_IS_GC_PROPERTY_NODE (node), 0.0);
g_return_val_if_fail (error == NULL || *error == NULL, 0.0);
pvalue_node = _get_pvalue_node (node);
if (pvalue_node == NULL)
return g_ascii_strtod (_get_value_data (node), NULL);
if (ARV_IS_GC_FLOAT (pvalue_node)) {
GError *local_error = NULL;
double value;
value = arv_gc_float_get_value (ARV_GC_FLOAT (pvalue_node), &local_error);
if (local_error != NULL)
g_propagate_error (error, local_error);
return value;
}
arv_warning_genicam ("[GcPropertyNode::get_double] Invalid node '%s'",
arv_gc_feature_node_get_name (ARV_GC_FEATURE_NODE (pvalue_node)));
return 0.0;
}
void
arv_gc_property_node_set_int64 (ArvGcPropertyNode *node, gint64 v_int64, GError **error)
{
ArvDomNode *pvalue_node;
g_return_if_fail (ARV_IS_GC_PROPERTY_NODE (node));
g_return_if_fail (error == NULL || *error == NULL);
pvalue_node = _get_pvalue_node (node);
if (pvalue_node == NULL) {
char *buffer;
buffer = g_strdup_printf ("%" G_GINT64_FORMAT, v_int64);
_set_value_data (node, buffer);
g_free (buffer);
return ;
}
if (ARV_IS_GC_INTEGER (pvalue_node)) {
GError *local_error = NULL;
arv_gc_integer_set_value (ARV_GC_INTEGER (pvalue_node), v_int64, &local_error);
if (local_error != NULL)
g_propagate_error (error, local_error);
return;
}
arv_warning_genicam ("[GcPropertyNode::set_int64] Invalid linked node '%s'",
arv_gc_feature_node_get_name (ARV_GC_FEATURE_NODE (pvalue_node)));
}
gint64
arv_gc_property_node_get_int64 (ArvGcPropertyNode *node, GError **error)
{
ArvDomNode *pvalue_node;
g_return_val_if_fail (ARV_IS_GC_PROPERTY_NODE (node), 0);
g_return_val_if_fail (error == NULL || *error == NULL, 0);
pvalue_node = _get_pvalue_node (node);
if (pvalue_node == NULL)
return g_ascii_strtoll (_get_value_data (node), NULL, 0);
if (ARV_IS_GC_INTEGER (pvalue_node)) {
GError *local_error = NULL;
gint64 value;
value = arv_gc_integer_get_value (ARV_GC_INTEGER (pvalue_node), &local_error);
if (local_error != NULL)
g_propagate_error (error, local_error);
return value;
}
arv_warning_genicam ("[GcPropertyNode::get_int64] Invalid node '%s'",
arv_gc_feature_node_get_name (ARV_GC_FEATURE_NODE (pvalue_node)));
return 0;
}
void
arv_gc_property_node_set_string (ArvGcPropertyNode *node, const char *string, GError **error)
{
ArvDomNode *pvalue_node;
g_return_if_fail (ARV_IS_GC_PROPERTY_NODE (node));
g_return_if_fail (error == NULL || *error == NULL);
pvalue_node = _get_pvalue_node (node);
if (pvalue_node == NULL) {
_set_value_data (node, string);
return;
}
if (ARV_IS_GC_STRING (pvalue_node)) {
GError *local_error = NULL;
arv_gc_string_set_value (ARV_GC_STRING (pvalue_node), string, &local_error);
if (local_error != NULL)
g_propagate_error (error, local_error);
return;
}
arv_warning_genicam ("[GcPropertyNode::set_string] Invalid linked node '%s'",
arv_gc_feature_node_get_name (ARV_GC_FEATURE_NODE (pvalue_node)));
}
const char *
arv_gc_property_node_get_string (ArvGcPropertyNode *node, GError **error)
{
ArvDomNode *pvalue_node;
g_return_val_if_fail (ARV_IS_GC_PROPERTY_NODE (node), NULL);
g_return_val_if_fail (error == NULL || *error == NULL, NULL);
pvalue_node = _get_pvalue_node (node);
if (pvalue_node == NULL)
return _get_value_data (node);
if (ARV_IS_GC_STRING (pvalue_node)) {
GError *local_error = NULL;
const char *value;
value = arv_gc_string_get_value (ARV_GC_STRING (pvalue_node), &local_error);
if (local_error != NULL)
g_propagate_error (error, local_error);
return value;
}
arv_warning_genicam ("[GcPropertyNode::get_string] Invalid node '%s'",
arv_gc_feature_node_get_name (ARV_GC_FEATURE_NODE (pvalue_node)));
return NULL;
}
static void
arv_gc_feature_node_finalize (GObject *object)
{
ArvGcFeatureNode *node = ARV_GC_FEATURE_NODE(object);
g_free (node->priv->name);
parent_class->finalize (object);
}
static void
_write_cache (ArvGcRegisterNode *gc_register_node, GError **error)
{
GError *local_error = NULL;
gint64 address;
gboolean cachable;
ArvGcNode *port;
arv_gc_feature_node_inc_modification_count (ARV_GC_FEATURE_NODE (gc_register_node));
port = arv_gc_property_node_get_linked_node (gc_register_node->port);
if (!ARV_IS_GC_PORT (port))
return;
_update_cache_size (gc_register_node, &local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return;
}
address = _get_address (gc_register_node, &local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return;
}
arv_gc_port_write (ARV_GC_PORT (port),
gc_register_node->cache,
address,
gc_register_node->cache_size, &local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return;
}
cachable = _get_cachable (gc_register_node, &local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return;
}
if (cachable == ARV_GC_CACHABLE_WRITE_TRHOUGH)
gc_register_node->is_cache_valid = TRUE;
else
gc_register_node->is_cache_valid = FALSE;
}
void arv_gc_float_impose_max (ArvGcFloat *gc_float, double maximum, GError **error)
{
ArvGcFloatInterface *float_interface;
g_return_if_fail (ARV_IS_GC_FLOAT (gc_float));
g_return_if_fail (error == NULL || *error == NULL);
float_interface = ARV_GC_FLOAT_GET_INTERFACE (gc_float);
if (float_interface->impose_max != NULL)
float_interface->impose_max (gc_float, maximum, error);
else
g_set_error (error, ARV_GC_ERROR, ARV_GC_ERROR_PROPERTY_NOT_DEFINED, "<Max> node not found for '%s'",
arv_gc_feature_node_get_name (ARV_GC_FEATURE_NODE (gc_float)));
}
double
arv_gc_float_get_inc (ArvGcFloat *gc_float, GError **error)
{
ArvGcFloatInterface *float_interface;
g_return_val_if_fail (ARV_IS_GC_FLOAT (gc_float), 0.0);
g_return_val_if_fail (error == NULL || *error == NULL, 0.0);
float_interface = ARV_GC_FLOAT_GET_INTERFACE (gc_float);
if (float_interface->get_inc != NULL)
return float_interface->get_inc (gc_float, error);
g_set_error (error, ARV_GC_ERROR, ARV_GC_ERROR_PROPERTY_NOT_DEFINED, "<Inc> node not found for '%s'",
arv_gc_feature_node_get_name (ARV_GC_FEATURE_NODE (gc_float)));
return 1;
}
static const char *
arv_gc_feature_node_get_attribute (ArvDomElement *self, const char *name)
{
ArvGcFeatureNode *node = ARV_GC_FEATURE_NODE (self);
if (strcmp (name, "Name") == 0)
return node->priv->name;
else if (strcmp (name, "NameSpace") == 0)
switch (node->priv->name_space) {
case ARV_GC_NAME_SPACE_STANDARD:
return "Standard";
default:
return "Custom";
}
arv_debug_dom ("[GcFeature::set_attribute] Unknown attribute '%s'", name);
return NULL;
}
const char *
arv_gc_enumeration_get_string_value (ArvGcEnumeration *enumeration, GError **error)
{
const GSList *iter;
GError *local_error = NULL;
gint64 value;
g_return_val_if_fail (ARV_IS_GC_ENUMERATION (enumeration), NULL);
g_return_val_if_fail (error == NULL || *error == NULL, NULL);
value = arv_gc_enumeration_get_int_value (enumeration, &local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return NULL;
}
for (iter = enumeration->entries; iter != NULL; iter = iter->next) {
gint64 enum_value;
enum_value = arv_gc_enum_entry_get_value (iter->data, &local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return NULL;
}
if (enum_value == value) {
const char *string;
string = arv_gc_feature_node_get_name (iter->data);
arv_log_genicam ("[GcEnumeration::get_string_value] value = %Ld - string = %s",
value, string);
return string;
}
}
arv_warning_genicam ("[GcEnumeration::get_string_value] value = %Ld not found for node %s",
value, arv_gc_feature_node_get_name (ARV_GC_FEATURE_NODE (enumeration)));
return NULL;
}
gboolean
_get_cache_validity (ArvGcRegisterNode *gc_register_node)
{
GSList *iter;
gint modification_count;
gint feature_modification_count;
gboolean is_cache_valid = gc_register_node->is_cache_valid;
for (iter = gc_register_node->invalidators; iter != NULL; iter = iter->next) {
ArvGcInvalidatorNode *invalidator = iter->data;
ArvGcNode *node;
modification_count = arv_gc_invalidator_node_get_modification_count (invalidator);
node = arv_gc_property_node_get_linked_node (ARV_GC_PROPERTY_NODE (invalidator));
feature_modification_count = arv_gc_feature_node_get_modification_count (ARV_GC_FEATURE_NODE (node));
arv_gc_invalidator_node_set_modification_count (invalidator, feature_modification_count);
if (modification_count != feature_modification_count)
is_cache_valid = FALSE;
}
return is_cache_valid;
}
static void
arv_gc_feature_node_set_attribute (ArvDomElement *self, const char *name, const char *value)
{
ArvGcFeatureNode *node = ARV_GC_FEATURE_NODE (self);
if (strcmp (name, "Name") == 0) {
ArvGc *genicam;
g_free (node->priv->name);
node->priv->name = g_strdup (value);
genicam = arv_gc_node_get_genicam (ARV_GC_NODE (self));
/* Kludge around ugly Genicam specification (Really, pre-parsing for EnumEntry Name substitution ?) */
if (strcmp (arv_dom_node_get_node_name (ARV_DOM_NODE (node)), "EnumEntry") != 0)
arv_gc_register_feature_node (genicam, node);
} else if (strcmp (name, "NameSpace") == 0) {
if (g_strcmp0 (value, "Standard") == 0)
node->priv->name_space = ARV_GC_NAME_SPACE_STANDARD;
else
node->priv->name_space = ARV_GC_NAME_SPACE_CUSTOM;
} else
arv_debug_dom ("[GcFeature::set_attribute] Unknown attribute '%s'", name);
}
static gboolean
_update_from_variables (ArvGcConverter *gc_converter, ArvGcConverterNodeType node_type, GError **error)
{
ArvGcNode *node = NULL;
GError *local_error = NULL;
GSList *iter;
const char *expression;
if (gc_converter->formula_from_node != NULL)
expression = arv_gc_property_node_get_string (gc_converter->formula_from_node, &local_error);
else
expression = "";
if (local_error != NULL) {
g_propagate_error (error, local_error);
return FALSE;
}
arv_evaluator_set_expression (gc_converter->formula_from, expression);
for (iter = gc_converter->expressions; iter != NULL; iter = iter->next) {
const char *expression;
const char *name;
expression = arv_gc_property_node_get_string (ARV_GC_PROPERTY_NODE (iter->data), &local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return FALSE;
}
name = arv_gc_property_node_get_name (iter->data);
arv_evaluator_set_sub_expression (gc_converter->formula_from, name, expression);
}
for (iter = gc_converter->constants; iter != NULL; iter = iter->next) {
const char *constant;
const char *name;
constant = arv_gc_property_node_get_string (ARV_GC_PROPERTY_NODE (iter->data), &local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return FALSE;
}
name = arv_gc_property_node_get_name (iter->data);
arv_evaluator_set_constant (gc_converter->formula_from, name, constant);
}
for (iter = gc_converter->variables; iter != NULL; iter = iter->next) {
ArvGcPropertyNode *variable_node = iter->data;
node = arv_gc_property_node_get_linked_node (ARV_GC_PROPERTY_NODE (variable_node));
if (arv_gc_feature_node_get_value_type (ARV_GC_FEATURE_NODE (node)) == G_TYPE_INT64) {
gint64 value;
value = arv_gc_integer_get_value (ARV_GC_INTEGER (node), &local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return FALSE;
}
arv_evaluator_set_int64_variable (gc_converter->formula_from,
arv_gc_property_node_get_name (variable_node),
value);
} else if (arv_gc_feature_node_get_value_type (ARV_GC_FEATURE_NODE (node)) == G_TYPE_DOUBLE) {
double value;
value = arv_gc_float_get_value (ARV_GC_FLOAT (node), &local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return FALSE;
}
arv_evaluator_set_double_variable (gc_converter->formula_from,
arv_gc_property_node_get_name (variable_node),
value);
}
}
if (gc_converter->value != NULL) {
node = arv_gc_property_node_get_linked_node (gc_converter->value);
if (arv_gc_feature_node_get_value_type (ARV_GC_FEATURE_NODE (node)) == G_TYPE_INT64) {
gint64 value;
switch (node_type) {
case ARV_GC_CONVERTER_NODE_TYPE_MIN:
value = arv_gc_integer_get_min (ARV_GC_INTEGER (node), &local_error);
break;
case ARV_GC_CONVERTER_NODE_TYPE_MAX:
value = arv_gc_integer_get_max (ARV_GC_INTEGER (node), &local_error);
break;
default:
value = arv_gc_integer_get_value (ARV_GC_INTEGER (node), &local_error);
break;
}
if (local_error != NULL) {
g_propagate_error (error, local_error);
return FALSE;
}
arv_evaluator_set_int64_variable (gc_converter->formula_from, "TO", value);
} else if (arv_gc_feature_node_get_value_type (ARV_GC_FEATURE_NODE (node)) == G_TYPE_DOUBLE) {
double value;
switch (node_type) {
case ARV_GC_CONVERTER_NODE_TYPE_MIN:
value = arv_gc_float_get_min (ARV_GC_FLOAT (node), &local_error);
break;
case ARV_GC_CONVERTER_NODE_TYPE_MAX:
value = arv_gc_float_get_max (ARV_GC_FLOAT (node), &local_error);
break;
default:
value = arv_gc_float_get_value (ARV_GC_FLOAT (node), &local_error);
break;
}
if (local_error != NULL) {
g_propagate_error (error, local_error);
return FALSE;
}
arv_evaluator_set_double_variable (gc_converter->formula_from, "TO", value);
} else {
arv_warning_genicam ("[GcConverter::set_value] Invalid pValue node '%s'",
gc_converter->value);
g_set_error (error, ARV_GC_ERROR, ARV_GC_ERROR_INVALID_PVALUE,
"pValue node '%s' of '%s' is invalid",
arv_gc_property_node_get_string (gc_converter->value, NULL),
arv_gc_feature_node_get_name (ARV_GC_FEATURE_NODE (gc_converter)));
return FALSE;
}
} else {
g_set_error (error, ARV_GC_ERROR, ARV_GC_ERROR_PVALUE_NOT_DEFINED,
"pValue node of '%s' converter is not defined",
arv_gc_feature_node_get_name (ARV_GC_FEATURE_NODE (gc_converter)));
return FALSE;
}
return TRUE;
}
int main(int argc, char *argv[])
{
ArvDevice *device;
ArvStream *stream;
ArvCamera *camera;
ArvGcFeatureNode *feature;
guint64 n_completed_buffers;
guint64 n_failures;
guint64 n_underruns;
GOptionContext *context;
GError *error = NULL;
void (*old_sigint_handler)(int);
int i, payload;
arv_g_thread_init (NULL);
arv_g_type_init ();
context = g_option_context_new (NULL);
g_option_context_set_summary (context, "Test of heartbeat robustness while continuously changing a feature.");
g_option_context_add_main_entries (context, arv_option_entries, NULL);
if (!g_option_context_parse (context, &argc, &argv, &error)) {
g_option_context_free (context);
g_print ("Option parsing failed: %s\n", error->message);
g_error_free (error);
return EXIT_FAILURE;
}
g_option_context_free (context);
arv_debug_enable (arv_option_debug_domains);
camera = arv_camera_new (arv_option_camera_name);
if (!ARV_IS_CAMERA (camera)) {
printf ("Device not found\n");
return EXIT_FAILURE;
}
device = arv_camera_get_device (camera);
stream = arv_camera_create_stream (camera, NULL, NULL);
if (!ARV_IS_STREAM (stream)) {
printf ("Invalid device\n");
} else {
payload = arv_camera_get_payload (camera);
if (ARV_IS_GV_STREAM (stream)) {
g_object_set (stream,
//"socket-buffer", ARV_GV_STREAM_SOCKET_BUFFER_AUTO,
"socket-buffer", ARV_GV_STREAM_SOCKET_BUFFER_FIXED,
"socket-buffer-size", payload*6,
"packet-timeout", 1000 * 1000,
"frame-retention", 100 * 1000,
"packet-resend", ARV_GV_STREAM_PACKET_RESEND_ALWAYS,
NULL);
}
for (i = 0; i < 100; i++)
arv_stream_push_buffer(stream, arv_buffer_new(payload, NULL));
arv_camera_set_acquisition_mode(camera, ARV_ACQUISITION_MODE_CONTINUOUS);
feature = ARV_GC_FEATURE_NODE (arv_device_get_feature (device, arv_option_feature_name));
arv_camera_start_acquisition (camera);
old_sigint_handler = signal (SIGINT, set_cancel);
while (!cancel) {
ArvBuffer *buffer = arv_stream_timeout_pop_buffer(stream, 2000000);
if (buffer) {
usleep(10);
arv_stream_push_buffer (stream, buffer);
}
if (!(++i%5)) {
char *value;
if ((i/100) % 2 == 0)
value = g_strdup_printf ("%d", arv_option_min);
else
value = g_strdup_printf ("%d", arv_option_max);
fprintf (stderr, "Setting %s from %s to %s\n",
arv_option_feature_name,
arv_gc_feature_node_get_value_as_string (feature, NULL),
value);
arv_gc_feature_node_set_value_from_string (feature, value, NULL);
g_free (value);
}
}
signal (SIGINT, old_sigint_handler);
arv_stream_get_statistics (stream, &n_completed_buffers, &n_failures, &n_underruns);
printf ("\nCompleted buffers = %Lu\n", (unsigned long long) n_completed_buffers);
printf ("Failures = %Lu\n", (unsigned long long) n_failures);
printf ("Underruns = %Lu\n", (unsigned long long) n_underruns);
arv_camera_stop_acquisition (camera);
}
g_object_unref (camera);
return 0;
}
// WriteCameraFeaturesFromRosparam()
// Read ROS parameters from this node's namespace, and see if each parameter has a similarly named & typed feature in the camera. Then set the
// camera feature to that value. For example, if the parameter camnode/Gain is set to 123.0, then we'll write 123.0 to the Gain feature
// in the camera.
//
// Note that the datatype of the parameter *must* match the datatype of the camera feature, and this can be determined by
// looking at the camera's XML file. Camera enum's are string parameters, camera bools are false/true parameters (not 0/1),
// integers are integers, doubles are doubles, etc.
//
void WriteCameraFeaturesFromRosparam(void)
{
XmlRpc::XmlRpcValue xmlrpcParams;
XmlRpc::XmlRpcValue::iterator iter;
ArvGcNode *pGcNode;
GError *error=NULL;
global.phNode->getParam (ros::this_node::getName(), xmlrpcParams);
if (xmlrpcParams.getType() == XmlRpc::XmlRpcValue::TypeStruct)
{
for (iter=xmlrpcParams.begin(); iter!=xmlrpcParams.end(); iter++)
{
std::string key = iter->first;
pGcNode = arv_device_get_feature (global.pDevice, key.c_str());
if (pGcNode && arv_gc_feature_node_is_implemented (ARV_GC_FEATURE_NODE (pGcNode), &error))
{
// unsigned long typeValue = arv_gc_feature_node_get_value_type((ArvGcFeatureNode *)pGcNode);
// ROS_INFO("%s cameratype=%lu, rosparamtype=%d", key.c_str(), typeValue, static_cast<int>(iter->second.getType()));
// We'd like to check the value types too, but typeValue is often given as G_TYPE_INVALID, so ignore it.
switch (iter->second.getType())
{
case XmlRpc::XmlRpcValue::TypeBoolean://if ((iter->second.getType()==XmlRpc::XmlRpcValue::TypeBoolean))// && (typeValue==G_TYPE_INT64))
{
int value = (bool)iter->second;
arv_device_set_integer_feature_value(global.pDevice, key.c_str(), value);
ROS_INFO("Read parameter (bool) %s: %d", key.c_str(), value);
}
break;
case XmlRpc::XmlRpcValue::TypeInt: //if ((iter->second.getType()==XmlRpc::XmlRpcValue::TypeInt))// && (typeValue==G_TYPE_INT64))
{
int value = (int)iter->second;
arv_device_set_integer_feature_value(global.pDevice, key.c_str(), value);
ROS_INFO("Read parameter (int) %s: %d", key.c_str(), value);
}
break;
case XmlRpc::XmlRpcValue::TypeDouble: //if ((iter->second.getType()==XmlRpc::XmlRpcValue::TypeDouble))// && (typeValue==G_TYPE_DOUBLE))
{
double value = (double)iter->second;
arv_device_set_float_feature_value(global.pDevice, key.c_str(), value);
ROS_INFO("Read parameter (float) %s: %f", key.c_str(), value);
}
break;
case XmlRpc::XmlRpcValue::TypeString: //if ((iter->second.getType()==XmlRpc::XmlRpcValue::TypeString))// && (typeValue==G_TYPE_STRING))
{
std::string value = (std::string)iter->second;
arv_device_set_string_feature_value(global.pDevice, key.c_str(), value.c_str());
ROS_INFO("Read parameter (string) %s: %s", key.c_str(), value.c_str());
}
break;
case XmlRpc::XmlRpcValue::TypeInvalid:
case XmlRpc::XmlRpcValue::TypeDateTime:
case XmlRpc::XmlRpcValue::TypeBase64:
case XmlRpc::XmlRpcValue::TypeArray:
case XmlRpc::XmlRpcValue::TypeStruct:
default:
ROS_WARN("Unhandled rosparam type in WriteCameraFeaturesFromRosparam()");
}
}
}
}
} // WriteCameraFeaturesFromRosparam()
int main(int argc, char** argv)
{
char *pszGuid = NULL;
char szGuid[512];
int nInterfaces = 0;
int nDevices = 0;
int i = 0;
const char *pkeyAcquisitionFrameRate[2] = {"AcquisitionFrameRate", "AcquisitionFrameRateAbs"};
ArvGcNode *pGcNode;
GError *error=NULL;
global.bCancel = FALSE;
global.config = global.config.__getDefault__();
global.idSoftwareTriggerTimer = 0;
ros::init(argc, argv, "camera");
global.phNode = new ros::NodeHandle();
// Service callback for firing nuc's.
// Needed since we cannot open another connection to cameras while streaming.
ros::NodeHandle nh;
ros::ServiceServer NUCservice = nh.advertiseService("FireNUC", NUCService_callback);
//g_type_init ();
// Print out some useful info.
ROS_INFO ("Attached cameras:");
arv_update_device_list();
nInterfaces = arv_get_n_interfaces();
ROS_INFO ("# Interfaces: %d", nInterfaces);
nDevices = arv_get_n_devices();
ROS_INFO ("# Devices: %d", nDevices);
for (i=0; i<nDevices; i++)
ROS_INFO ("Device%d: %s", i, arv_get_device_id(i));
if (nDevices>0)
{
// Get the camera guid from either the command-line or as a parameter.
if (argc==2)
{
strcpy(szGuid, argv[1]);
pszGuid = szGuid;
}
else
{
if (global.phNode->hasParam(ros::this_node::getName()+"/guid"))
{
std::string stGuid;
global.phNode->getParam(ros::this_node::getName()+"/guid", stGuid);
strcpy (szGuid, stGuid.c_str());
pszGuid = szGuid;
}
else
pszGuid = NULL;
}
// Open the camera, and set it up.
ROS_INFO("Opening: %s", pszGuid ? pszGuid : "(any)");
while (TRUE)
{
global.pCamera = arv_camera_new(pszGuid);
if (global.pCamera)
break;
else
{
ROS_WARN ("Could not open camera %s. Retrying...", pszGuid);
ros::Duration(1.0).sleep();
ros::spinOnce();
}
}
global.pDevice = arv_camera_get_device(global.pCamera);
ROS_INFO("Opened: %s-%s", arv_device_get_string_feature_value (global.pDevice, "DeviceVendorName"), arv_device_get_string_feature_value (global.pDevice, "DeviceID"));
// See if some basic camera features exist.
pGcNode = arv_device_get_feature (global.pDevice, "AcquisitionMode");
global.isImplementedAcquisitionMode = ARV_GC_FEATURE_NODE (pGcNode) ? arv_gc_feature_node_is_implemented (ARV_GC_FEATURE_NODE (pGcNode), &error) : FALSE;
pGcNode = arv_device_get_feature (global.pDevice, "GainRaw");
global.isImplementedGain = ARV_GC_FEATURE_NODE (pGcNode) ? arv_gc_feature_node_is_implemented (ARV_GC_FEATURE_NODE (pGcNode), &error) : FALSE;
pGcNode = arv_device_get_feature (global.pDevice, "Gain");
global.isImplementedGain |= ARV_GC_FEATURE_NODE (pGcNode) ? arv_gc_feature_node_is_implemented (ARV_GC_FEATURE_NODE (pGcNode), &error) : FALSE;
pGcNode = arv_device_get_feature (global.pDevice, "ExposureTimeAbs");
global.isImplementedExposureTimeAbs = ARV_GC_FEATURE_NODE (pGcNode) ? arv_gc_feature_node_is_implemented (ARV_GC_FEATURE_NODE (pGcNode), &error) : FALSE;
pGcNode = arv_device_get_feature (global.pDevice, "ExposureAuto");
global.isImplementedExposureAuto = ARV_GC_FEATURE_NODE (pGcNode) ? arv_gc_feature_node_is_implemented (ARV_GC_FEATURE_NODE (pGcNode), &error) : FALSE;
pGcNode = arv_device_get_feature (global.pDevice, "GainAuto");
global.isImplementedGainAuto = ARV_GC_FEATURE_NODE (pGcNode) ? arv_gc_feature_node_is_implemented (ARV_GC_FEATURE_NODE (pGcNode), &error) : FALSE;
pGcNode = arv_device_get_feature (global.pDevice, "TriggerSelector");
global.isImplementedTriggerSelector = ARV_GC_FEATURE_NODE (pGcNode) ? arv_gc_feature_node_is_implemented (ARV_GC_FEATURE_NODE (pGcNode), &error) : FALSE;
pGcNode = arv_device_get_feature (global.pDevice, "TriggerSource");
global.isImplementedTriggerSource = ARV_GC_FEATURE_NODE (pGcNode) ? arv_gc_feature_node_is_implemented (ARV_GC_FEATURE_NODE (pGcNode), &error) : FALSE;
pGcNode = arv_device_get_feature (global.pDevice, "TriggerMode");
global.isImplementedTriggerMode = ARV_GC_FEATURE_NODE (pGcNode) ? arv_gc_feature_node_is_implemented (ARV_GC_FEATURE_NODE (pGcNode), &error) : FALSE;
pGcNode = arv_device_get_feature (global.pDevice, "FocusPos");
global.isImplementedFocusPos = ARV_GC_FEATURE_NODE (pGcNode) ? arv_gc_feature_node_is_implemented (ARV_GC_FEATURE_NODE (pGcNode), &error) : FALSE;
pGcNode = arv_device_get_feature (global.pDevice, "GevSCPSPacketSize");
global.isImplementedMtu = ARV_GC_FEATURE_NODE (pGcNode) ? arv_gc_feature_node_is_implemented (ARV_GC_FEATURE_NODE (pGcNode), &error) : FALSE;
pGcNode = arv_device_get_feature (global.pDevice, "AcquisitionFrameRateEnable");
global.isImplementedAcquisitionFrameRateEnable = ARV_GC_FEATURE_NODE (pGcNode) ? arv_gc_feature_node_is_implemented (ARV_GC_FEATURE_NODE (pGcNode), &error) : FALSE;
// Find the key name for framerate.
global.keyAcquisitionFrameRate = NULL;
for (i=0; i<2; i++)
{
pGcNode = arv_device_get_feature (global.pDevice, pkeyAcquisitionFrameRate[i]);
global.isImplementedAcquisitionFrameRate = pGcNode ? arv_gc_feature_node_is_implemented (ARV_GC_FEATURE_NODE (pGcNode), &error) : FALSE;
if (global.isImplementedAcquisitionFrameRate)
{
global.keyAcquisitionFrameRate = pkeyAcquisitionFrameRate[i];
break;
}
}
// Get parameter bounds.
arv_camera_get_exposure_time_bounds (global.pCamera, &global.configMin.ExposureTimeAbs, &global.configMax.ExposureTimeAbs);
arv_camera_get_gain_bounds (global.pCamera, &global.configMin.Gain, &global.configMax.Gain);
arv_camera_get_sensor_size (global.pCamera, &global.widthSensor, &global.heightSensor);
arv_camera_get_width_bounds (global.pCamera, &global.widthRoiMin, &global.widthRoiMax);
arv_camera_get_height_bounds (global.pCamera, &global.heightRoiMin, &global.heightRoiMax);
if (global.isImplementedFocusPos)
{
gint64 focusMin64, focusMax64;
arv_device_get_integer_feature_bounds (global.pDevice, "FocusPos", &focusMin64, &focusMax64);
global.configMin.FocusPos = focusMin64;
global.configMax.FocusPos = focusMax64;
}
else
{
global.configMin.FocusPos = 0;
global.configMax.FocusPos = 0;
}
global.configMin.AcquisitionFrameRate = 0.0;
global.configMax.AcquisitionFrameRate = 1000.0;
// Initial camera settings.
if (global.isImplementedExposureTimeAbs)
arv_device_set_float_feature_value(global.pDevice, "ExposureTimeAbs", global.config.ExposureTimeAbs);
if (global.isImplementedGain)
arv_camera_set_gain(global.pCamera, global.config.Gain);
//arv_device_set_integer_feature_value(global.pDevice, "GainRaw", global.config.GainRaw);
if (global.isImplementedAcquisitionFrameRateEnable)
arv_device_set_integer_feature_value(global.pDevice, "AcquisitionFrameRateEnable", 1);
if (global.isImplementedAcquisitionFrameRate)
arv_device_set_float_feature_value(global.pDevice, global.keyAcquisitionFrameRate, global.config.AcquisitionFrameRate);
// Set up the triggering.
if (global.isImplementedTriggerMode)
{
if (global.isImplementedTriggerSelector && global.isImplementedTriggerMode)
{
arv_device_set_string_feature_value(global.pDevice, "TriggerSelector", "AcquisitionStart");
arv_device_set_string_feature_value(global.pDevice, "TriggerMode", "Off");
arv_device_set_string_feature_value(global.pDevice, "TriggerSelector", "FrameStart");
arv_device_set_string_feature_value(global.pDevice, "TriggerMode", "Off");
}
}
WriteCameraFeaturesFromRosparam ();
#ifdef TUNING
ros::Publisher pubInt64 = global.phNode->advertise<std_msgs::Int64>(ros::this_node::getName()+"/dt", 100);
global.ppubInt64 = &pubInt64;
#endif
// Grab the calibration file url from the param server if exists
std::string calibrationURL = ""; // Default looks in .ros/camera_info
if (!(ros::param::get(std::string("calibrationURL").append(arv_device_get_string_feature_value (global.pDevice, "DeviceID")), calibrationURL)))
{
ROS_ERROR("ERROR: Could not read calibrationURL from parameter server");
}
// Start the camerainfo manager.
global.pCameraInfoManager = new camera_info_manager::CameraInfoManager(ros::NodeHandle(ros::this_node::getName()), arv_device_get_string_feature_value (global.pDevice, "DeviceID"), calibrationURL);
// Start the dynamic_reconfigure server.
dynamic_reconfigure::Server<Config> reconfigureServer;
dynamic_reconfigure::Server<Config>::CallbackType reconfigureCallback;
reconfigureCallback = boost::bind(&RosReconfigure_callback, _1, _2);
reconfigureServer.setCallback(reconfigureCallback);
ros::Duration(2.0).sleep();
// Get parameter current values.
global.xRoi=0; global.yRoi=0; global.widthRoi=0; global.heightRoi=0;
arv_camera_get_region (global.pCamera, &global.xRoi, &global.yRoi, &global.widthRoi, &global.heightRoi);
global.config.ExposureTimeAbs = global.isImplementedExposureTimeAbs ? arv_device_get_float_feature_value (global.pDevice, "ExposureTimeAbs") : 0;
global.config.Gain = global.isImplementedGain ? arv_camera_get_gain (global.pCamera) : 0.0;
global.pszPixelformat = g_string_ascii_down(g_string_new(arv_device_get_string_feature_value(global.pDevice, "PixelFormat")))->str;
global.nBytesPixel = ARV_PIXEL_FORMAT_BYTE_PER_PIXEL(arv_device_get_integer_feature_value(global.pDevice, "PixelFormat"));
global.config.FocusPos = global.isImplementedFocusPos ? arv_device_get_integer_feature_value (global.pDevice, "FocusPos") : 0;
// Print information.
ROS_INFO (" Using Camera Configuration:");
ROS_INFO (" ---------------------------");
ROS_INFO (" Vendor name = %s", arv_device_get_string_feature_value (global.pDevice, "DeviceVendorName"));
ROS_INFO (" Model name = %s", arv_device_get_string_feature_value (global.pDevice, "DeviceModelName"));
ROS_INFO (" Device id = %s", arv_device_get_string_feature_value (global.pDevice, "DeviceID"));
ROS_INFO (" Sensor width = %d", global.widthSensor);
ROS_INFO (" Sensor height = %d", global.heightSensor);
ROS_INFO (" ROI x,y,w,h = %d, %d, %d, %d", global.xRoi, global.yRoi, global.widthRoi, global.heightRoi);
ROS_INFO (" Pixel format = %s", global.pszPixelformat);
ROS_INFO (" BytesPerPixel = %d", global.nBytesPixel);
ROS_INFO (" Acquisition Mode = %s", global.isImplementedAcquisitionMode ? arv_device_get_string_feature_value (global.pDevice, "AcquisitionMode") : "(not implemented in camera)");
ROS_INFO (" Trigger Mode = %s", global.isImplementedTriggerMode ? arv_device_get_string_feature_value (global.pDevice, "TriggerMode") : "(not implemented in camera)");
ROS_INFO (" Trigger Source = %s", global.isImplementedTriggerSource ? arv_device_get_string_feature_value(global.pDevice, "TriggerSource") : "(not implemented in camera)");
ROS_INFO (" Can set FrameRate: %s", global.isImplementedAcquisitionFrameRate ? "True" : "False");
if (global.isImplementedAcquisitionFrameRate)
{
global.config.AcquisitionFrameRate = arv_device_get_float_feature_value (global.pDevice, global.keyAcquisitionFrameRate);
ROS_INFO (" AcquisitionFrameRate = %g hz", global.config.AcquisitionFrameRate);
}
ROS_INFO (" Can set Exposure: %s", global.isImplementedExposureTimeAbs ? "True" : "False");
if (global.isImplementedExposureTimeAbs)
{
ROS_INFO (" Can set ExposureAuto: %s", global.isImplementedExposureAuto ? "True" : "False");
ROS_INFO (" Exposure = %g us in range [%g,%g]", global.config.ExposureTimeAbs, global.configMin.ExposureTimeAbs, global.configMax.ExposureTimeAbs);
}
ROS_INFO (" Can set Gain: %s", global.isImplementedGain ? "True" : "False");
if (global.isImplementedGain)
{
ROS_INFO (" Can set GainAuto: %s", global.isImplementedGainAuto ? "True" : "False");
ROS_INFO (" Gain = %f %% in range [%f,%f]", global.config.Gain, global.configMin.Gain, global.configMax.Gain);
}
ROS_INFO (" Can set FocusPos: %s", global.isImplementedFocusPos ? "True" : "False");
if (global.isImplementedMtu)
ROS_INFO (" Network mtu = %lu", arv_device_get_integer_feature_value(global.pDevice, "GevSCPSPacketSize"));
ROS_INFO (" ---------------------------");
// // Print the tree of camera features, with their values.
// ROS_INFO (" ----------------------------------------------------------------------------------");
// NODEEX nodeex;
// ArvGc *pGenicam=0;
// pGenicam = arv_device_get_genicam(global.pDevice);
//
// nodeex.szName = "Root";
// nodeex.pNode = (ArvDomNode *)arv_gc_get_node(pGenicam, nodeex.szName);
// nodeex.pNodeSibling = NULL;
// PrintDOMTree(pGenicam, nodeex, 0);
// ROS_INFO (" ----------------------------------------------------------------------------------");
ArvGvStream *pStream = NULL;
while (TRUE)
{
pStream = CreateStream();
if (pStream)
break;
else
{
ROS_WARN("Could not create image stream for %s. Retrying...", pszGuid);
ros::Duration(1.0).sleep();
ros::spinOnce();
}
}
ApplicationData applicationdata;
applicationdata.nBuffers=0;
applicationdata.main_loop = 0;
// Set up image_raw.
image_transport::ImageTransport *pTransport = new image_transport::ImageTransport(*global.phNode);
global.publisher = pTransport->advertiseCamera(ros::this_node::getName()+"/image_raw", 1);
// Connect signals with callbacks.
g_signal_connect (pStream, "new-buffer", G_CALLBACK (NewBuffer_callback), &applicationdata);
g_signal_connect (global.pDevice, "control-lost", G_CALLBACK (ControlLost_callback), NULL);
g_timeout_add_seconds (1, PeriodicTask_callback, &applicationdata);
arv_stream_set_emit_signals ((ArvStream *)pStream, TRUE);
void (*pSigintHandlerOld)(int);
pSigintHandlerOld = signal (SIGINT, set_cancel);
arv_device_execute_command (global.pDevice, "AcquisitionStart");
applicationdata.main_loop = g_main_loop_new (NULL, FALSE);
g_main_loop_run (applicationdata.main_loop);
if (global.idSoftwareTriggerTimer)
{
g_source_remove(global.idSoftwareTriggerTimer);
global.idSoftwareTriggerTimer = 0;
}
signal (SIGINT, pSigintHandlerOld);
g_main_loop_unref (applicationdata.main_loop);
guint64 n_completed_buffers;
guint64 n_failures;
guint64 n_underruns;
guint64 n_resent;
guint64 n_missing;
arv_stream_get_statistics ((ArvStream *)pStream, &n_completed_buffers, &n_failures, &n_underruns);
ROS_INFO ("Completed buffers = %Lu", (unsigned long long) n_completed_buffers);
ROS_INFO ("Failures = %Lu", (unsigned long long) n_failures);
ROS_INFO ("Underruns = %Lu", (unsigned long long) n_underruns);
arv_gv_stream_get_statistics (pStream, &n_resent, &n_missing);
ROS_INFO ("Resent buffers = %Lu", (unsigned long long) n_resent);
ROS_INFO ("Missing = %Lu", (unsigned long long) n_missing);
arv_device_execute_command (global.pDevice, "AcquisitionStop");
g_object_unref (pStream);
}
else
ROS_ERROR ("No cameras detected.");
delete global.phNode;
return 0;
} // main()
int main (int argc, char **argv)
{
ArvCamera * camera;
ArvStream *stream;
ArvBuffer *buffer;
GOptionContext *context;
GError *error = NULL;
char memory_buffer[100000];
int i;
arv_g_thread_init (NULL);
arv_g_type_init ();
context = g_option_context_new (NULL);
g_option_context_add_main_entries (context, arv_option_entries, NULL);
if (!g_option_context_parse (context, &argc, &argv, &error)) {
g_option_context_free (context);
g_print ("Option parsing failed: %s\n", error->message);
g_error_free (error);
return EXIT_FAILURE;
}
g_option_context_free (context);
if (arv_option_max_frames < 0)
arv_option_max_errors_before_abort = -1;
save_buffer_fn = GetSaveBufferFn(arv_option_save_type);
arv_debug_enable (arv_option_debug_domains);
if (arv_option_camera_name == NULL)
g_print ("Looking for the first available camera\n");
else
g_print ("Looking for camera '%s'\n", arv_option_camera_name);
camera = arv_camera_new (arv_option_camera_name);
int errors = 0;
if (camera == NULL)
{
g_print("No device found");
return 1;
}
guint payload_size = arv_camera_get_payload(camera);
g_print ("payload size = %d (0x%x)\n", payload_size, payload_size);
stream = arv_camera_create_stream (camera, NULL, NULL);
if (arv_option_auto_buffer)
{
g_object_set (stream,"socket-buffer", ARV_GV_STREAM_SOCKET_BUFFER_AUTO,"socket-buffer-size", 0,NULL);
}
for (i = 0; i < 30; i++)
{
arv_stream_push_buffer (stream, arv_buffer_new (payload_size, NULL));
}
arv_camera_stop_acquisition(camera);
// set the bit depth
ArvDevice * device = arv_camera_get_device(camera);
ArvGcNode * feature = arv_device_get_feature(device, "PixelFormat");
char * pix_format = "Mono8";
if (arv_option_pixel_format == 14)
pix_format = "Mono14";
arv_gc_feature_node_set_value_from_string(ARV_GC_FEATURE_NODE(feature), pix_format, NULL);
if (arv_option_pixel_format == 14)
{
feature = arv_device_get_feature(device, "CMOSBitDepth");
arv_gc_feature_node_set_value_from_string(ARV_GC_FEATURE_NODE(feature), "bit14bit", NULL);
}
signal (SIGINT, set_cancel);
signal (SIGQUIT, set_cancel);
int captured_frames = 0;
guint64 timeout=1000000;
#define _CAN_STOP (arv_option_max_frames > 0 && captured_frames >= arv_option_max_frames)
arv_camera_start_acquisition(camera);
do {
g_usleep (100000);
do {
buffer = arv_stream_timeout_pop_buffer (stream, timeout);
if (buffer == NULL) break;
ArvBufferStatus status = arv_buffer_get_status(buffer);
fprintf(stderr, "Status is %d\n", status);
if (status == ARV_BUFFER_STATUS_SUCCESS)
{
if (timeout > 100000) timeout -= 1000;
errors = 0;
if (save_buffer_fn != NULL)
{
struct timespec timestamp;
clock_gettime(CLOCK_REALTIME, ×tamp);
char filename[BUFSIZ];
if (strcmp(arv_option_save_prefix,"") != 0)
{
sprintf(filename, "%s/%s%d.%s", arv_option_save_dir,arv_option_save_prefix, captured_frames, arv_option_save_type);
}
else
{
sprintf(filename, "%s/%d.%03ld.%s", arv_option_save_dir, (int)timestamp.tv_sec, (long)(timestamp.tv_nsec/1.0e6), arv_option_save_type);
}
if ((*save_buffer_fn)(buffer, filename) == false)
{
g_print("Couldn't save frame %d to %s\n", captured_frames, filename);
set_cancel(SIGQUIT);
}
g_print("Saved frame %d to %s\n", captured_frames, filename);
char latest[] = "latest.png";
sprintf(latest, "latest.%s", arv_option_save_type);
unlink(latest);
symlink(filename, latest);
}
captured_frames++;
g_usleep(arv_option_sample_period);
}
else
{
if (timeout < 10000000) timeout+=1000;
fprintf(stderr, "%d errors out of %d allowed\n", errors, arv_option_max_errors_before_abort);
arv_camera_stop_acquisition(camera);
if (++errors > arv_option_max_errors_before_abort && arv_option_max_errors_before_abort >= 0)
{
set_cancel(SIGQUIT);
}
else
{
arv_camera_start_acquisition(camera);
}
}
arv_stream_push_buffer (stream, buffer);
} while (!cancel && buffer != NULL && !_CAN_STOP);
} while (!cancel && !_CAN_STOP);
arv_camera_stop_acquisition(camera);
guint64 n_processed_buffers; guint64 n_failures; guint64 n_underruns;
arv_stream_get_statistics (stream, &n_processed_buffers, &n_failures, &n_underruns);
g_print ("Processed buffers = %Lu\n", (unsigned long long) n_processed_buffers);
g_print ("Failures = %Lu\n", (unsigned long long) n_failures);
g_print ("Underruns = %Lu\n", (unsigned long long) n_underruns);
g_object_unref (stream);
g_object_unref (camera);
return (errors > 0);
}
static void
_update_to_variables (ArvGcConverter *gc_converter, GError **error)
{
ArvGcNode *node;
GError *local_error = NULL;
GSList *iter;
const char *expression;
if (gc_converter->formula_to_node != NULL)
expression = arv_gc_property_node_get_string (gc_converter->formula_to_node, &local_error);
else
expression = "";
if (local_error != NULL) {
g_propagate_error (error, local_error);
return;
}
arv_evaluator_set_expression (gc_converter->formula_to, expression);
for (iter = gc_converter->expressions; iter != NULL; iter = iter->next) {
const char *expression;
const char *name;
expression = arv_gc_property_node_get_string (ARV_GC_PROPERTY_NODE (iter->data), &local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return;
}
name = arv_gc_property_node_get_name (iter->data);
arv_evaluator_set_sub_expression (gc_converter->formula_to, name, expression);
}
for (iter = gc_converter->constants; iter != NULL; iter = iter->next) {
const char *constant;
const char *name;
constant = arv_gc_property_node_get_string (ARV_GC_PROPERTY_NODE (iter->data), &local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return;
}
name = arv_gc_property_node_get_name (iter->data);
arv_evaluator_set_constant (gc_converter->formula_to, name, constant);
}
for (iter = gc_converter->variables; iter != NULL; iter = iter->next) {
ArvGcPropertyNode *variable_node = iter->data;
node = arv_gc_property_node_get_linked_node (ARV_GC_PROPERTY_NODE (variable_node));
if (arv_gc_feature_node_get_value_type (ARV_GC_FEATURE_NODE (node)) == G_TYPE_INT64) {
gint64 value;
value = arv_gc_integer_get_value (ARV_GC_INTEGER (node), &local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return;
}
arv_evaluator_set_int64_variable (gc_converter->formula_to,
arv_gc_property_node_get_name (variable_node),
value);
} else if (arv_gc_feature_node_get_value_type (ARV_GC_FEATURE_NODE (node)) == G_TYPE_DOUBLE) {
double value;
value = arv_gc_float_get_value (ARV_GC_FLOAT (node), &local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return;
}
arv_evaluator_set_double_variable (gc_converter->formula_to,
arv_gc_property_node_get_name (variable_node),
value);
}
}
if (gc_converter->value != NULL) {
node = arv_gc_property_node_get_linked_node (gc_converter->value);
if (arv_gc_feature_node_get_value_type (ARV_GC_FEATURE_NODE (node)) == G_TYPE_INT64) {
arv_gc_integer_set_value (ARV_GC_INTEGER (node),
arv_evaluator_evaluate_as_double (gc_converter->formula_to, NULL),
&local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return;
}
} else if (arv_gc_feature_node_get_value_type (ARV_GC_FEATURE_NODE (node)) == G_TYPE_DOUBLE) {
arv_gc_float_set_value (ARV_GC_FLOAT (node),
arv_evaluator_evaluate_as_double (gc_converter->formula_to, NULL),
&local_error);
if (local_error != NULL) {
g_propagate_error (error, local_error);
return;
}
} else
arv_warning_genicam ("[GcConverter::set_value] Invalid pValue node '%s'",
gc_converter->value);
}
}
