BOOL CServiceDeviceInfoFactory::EnumEntry(PNDASUSER_DEVICE_ENUM_ENTRY lpEnumEntry)
{
CDeviceInfo *pObj = NULL;
NDAS_DEVICE_ID deviceID;
BOOL bSuccess = ::ConvertStringIdToRealId(
lpEnumEntry->szDeviceStringId,
&deviceID);
if ( !bSuccess )
{
// TODO : ERROR : Invalid string id
return TRUE; // Skip current device
}
pObj = new CDeviceInfo( lpEnumEntry );
m_listDevice.push_back( CDeviceInfoPtr(pObj) );
pObj->SetServiceInfo(TRUE);
NDAS_UNITDEVICE_STATUS status;
NDAS_UNITDEVICE_ERROR lastError;
BOOL fSuccess = ::NdasQueryDeviceStatus(
lpEnumEntry->SlotNo,
&status,
&lastError);
pObj->SetDeviceStatus(status);
return TRUE;
}
PylonCamera::PylonCamera(CDeviceInfo info, int *pylonInstances, QMutex *pylonInstancesMutex) :
mInfo(info),
mPylonInstances(pylonInstances),
mPylonInstancesMutex(pylonInstancesMutex),
mCam(0)
{
setName(info.GetFriendlyName().c_str());
setGroup(QString("input/pylon/") + info.GetDeviceClass().c_str());
mOut.setName("output");
addOutputPort(mOut);
}
int main(int argc, char* argv[])
{
// The exit code of the sample application.
int exitCode = 0;
// Automagically call PylonInitialize and PylonTerminate to ensure the pylon runtime system
// is initialized during the lifetime of this object.
Pylon::PylonAutoInitTerm autoInitTerm;
try
{
// Declare a local counter used for waiting.
int loopCount = 0;
// Get the transport layer factory.
CTlFactory& tlFactory = CTlFactory::GetInstance();
// Create an instant camera object with the camera device found first.
CInstantCamera camera( tlFactory.CreateFirstDevice());
// Print the camera information.
cout << "Using device " << camera.GetDeviceInfo().GetModelName() << endl;
cout << "Friendly Name: " << camera.GetDeviceInfo().GetFriendlyName() << endl;
cout << "Full Name : " << camera.GetDeviceInfo().GetFullName() << endl;
cout << "SerialNumber : " << camera.GetDeviceInfo().GetSerialNumber() << endl;
cout << endl;
// For demonstration purposes only, register another configuration event handler that handles device removal.
camera.RegisterConfiguration( new CSampleConfigurationEventHandler, RegistrationMode_Append, Cleanup_Delete);
// For demonstration purposes only, add a sample configuration event handler to print out information
// about camera use.
camera.RegisterConfiguration( new CConfigurationEventPrinter, RegistrationMode_Append, Cleanup_Delete);
// Open the camera. Camera device removal is only detected while the camera is open.
camera.Open();
// Now, try to detect that the camera has been removed:
// Ask the user to disconnect a device
loopCount = c_loopCounterInitialValue;
cout << endl << "Please disconnect the device (timeout " << loopCount / 4 << "s) " << endl;
/////////////////////////////////////////////////// don't single step beyond this line (see comments above)
// Before testing the callbacks, we manually set the heartbeat timeout to a short value when using GigE cameras.
// Since for debug versions the heartbeat timeout has been set to 5 minutes, it would take up to 5 minutes
// until detection of the device removal.
CHearbeatHelper heartbeatHelper(camera);
heartbeatHelper.SetValue(1000); // 1000 ms timeout
try
{
// Get a camera parameter using generic parameter access.
GenApi::CIntegerPtr width(camera.GetNodeMap().GetNode("Width"));
// The following loop accesses the camera. It could also be a loop that is
// grabbing images. The device removal is handled in the exception handler.
while ( loopCount > 0)
{
// Print a "." every few seconds to tell the user we're waiting for the callback.
if (--loopCount % 4 == 0)
{
cout << ".";
cout.flush();
}
WaitObject::Sleep(250);
// Change the width value in the camera depending on the loop counter.
// Any access to the camera like setting parameters or grabbing images
// will fail throwing an exception if the camera has been disconnected.
width->SetValue( width->GetMax() - (width->GetInc() * (loopCount % 2)));
}
}
catch (GenICam::GenericException &e)
{
if ( camera.IsCameraDeviceRemoved())
{
// The camera device has been removed. This caused the exception.
cout << endl;
cout << "The camera has been removed from the PC." << endl;
cout << "The camera device removal triggered an exception:" << endl
<< e.GetDescription() << endl;
}
else
{
// An unexpected error has occurred.
// In this example it is handled by exiting the program.
throw;
}
}
if ( !camera.IsCameraDeviceRemoved())
cout << endl << "Timeout expired" << endl;
/////////////////////////////////////////////////// Safe to use single stepping (see comments above).
// Now try to find the detached camera after it has been attached again:
// Create a device info object for remembering the camera properties.
CDeviceInfo info;
// Remember the camera properties that allow detecting the same camera again.
info.SetDeviceClass( camera.GetDeviceInfo().GetDeviceClass());
info.SetSerialNumber( camera.GetDeviceInfo().GetSerialNumber());
// Destroy the Pylon Device representing the detached camera device.
// It cannot be used anymore.
camera.DestroyDevice();
// Ask the user to connect the same device.
loopCount = c_loopCounterInitialValue;
cout << endl << "Please connect the same device to the PC again (timeout " << loopCount / 4 << "s) " << endl;
// Create a filter containing the CDeviceInfo object info which describes the properties of the device we are looking for.
DeviceInfoList_t filter;
filter.push_back( info);
for ( ; loopCount > 0; --loopCount)
{
// Print a . every few seconds to tell the user we're waiting for the camera to be attached
if ( loopCount % 4 == 0)
{
cout << ".";
cout.flush();
}
// Try to find the camera we are looking for.
DeviceInfoList_t devices;
if ( tlFactory.EnumerateDevices(devices, filter) > 0 )
{
// Print two new lines, just for improving printed output.
cout << endl << endl;
// The camera has been found. Create and attach it to the Instant Camera object.
camera.Attach( tlFactory.CreateDevice( devices[0]));
//Exit waiting
break;
}
WaitObject::Sleep(250);
}
// If the camera has been found.
if ( camera.IsPylonDeviceAttached())
{
// Print the camera information.
cout << endl;
cout << "Using device " << camera.GetDeviceInfo().GetModelName() << endl;
cout << "Friendly Name: " << camera.GetDeviceInfo().GetFriendlyName() << endl;
cout << "Full Name : " << camera.GetDeviceInfo().GetFullName() << endl;
cout << "SerialNumber : " << camera.GetDeviceInfo().GetSerialNumber() << endl;
cout << endl;
// All configuration objects and other event handler objects are still registered.
// The configuration objects will parameterize the camera device and the instant
// camera will be ready for operation again.
// Open the camera.
camera.Open();
// Now the Instant Camera object can be used as before.
}
else // Timeout
{
cout << endl << "Timeout expired." << endl;
}
}
catch (GenICam::GenericException &e)
{
// Error handling.
cerr << "An exception occurred." << endl
<< e.GetDescription() << endl;
exitCode = 1;
}
// Comment the following two lines to disable waiting on exit.
cerr << endl << "Press Enter to exit." << endl;
while( cin.get() != '\n');
return exitCode;
}
extern "C" int main(int argc, char* argv[] )
{
argc = argc;
argv = argv;
InitLogging(LF_ALWAYS, LL_INFO1);
LogFacilityOff(LF_THREADING);
printf("KW-Software embedded CLR Version %s for Linux.ARM\n", ECLR_VERSION_STRING);
#ifdef PLATFORM_THREADING_SUPPORT
//setPriorityScheme();
#endif
if (ClrController::Create("Default", loc_object_heap, sizeof(loc_object_heap)) == NULL)
{
printf("setup controller failed\n");
return -1;
}
CDeviceInfo* pDeviceInfo = ClrController::getDeviceInfo();
pDeviceInfo->setAttribute(CDeviceInfo::Manufacturer, "KW");
pDeviceInfo->setAttribute(CDeviceInfo::ProductName, "eCLR2.2 for Linux-ARM");
pDeviceInfo->setAttribute(CDeviceInfo::HardwareVersion, "1.0");
pDeviceInfo->setAttribute(CDeviceInfo::FirmwareVersion, "1.0");
pDeviceInfo->setAttribute(CDeviceInfo::MaxApplRetainDataSize, (uint32)0);
// pDeviceInfo->setAttribute(CDeviceInfo::TimerResolution, 1000);
// pDeviceInfo->setAttribute(CDeviceInfo::ScheduleInterval, 1000);
//ClrAppDomain* pAppDomain = ClrController::CreateDomain("Default", ClrAppDomain::CreationDefault);
ClrAppDomain* pAppDomain = ClrController::CreateDomain("Default", ClrAppDomain::DownloadChangeSupport);
if (pAppDomain == NULL)
{
printf("vorher setup default domain failed\n");
return -1;
}
pAppDomain->SetDataMemory(loc_data_heap, sizeof(loc_data_heap));
pAppDomain->SetCodeMemory(loc_code_heap, sizeof(loc_code_heap));
pAppDomain->SetImageStream(&appImgFile);
CPcosDomain* pPcosDomain = pcoslib::CreateDomain(pAppDomain);
if (pPcosDomain == NULL)
{
printf("setup default domain failed\n");
return -1;
}
#ifdef PLATFORM_THREADING_SUPPORT
//pPcosDomain->SetTicksPerSecond(0); // scheduler is working with time base of EclrEnvironment
#endif
#if 0
pPcosDomain->SetCPUCapacity(1000, // int calcFreq_ms
30, // int minCPULoadPerCent
80, // int maxCPULoadPerCent
4 ); // int minFreeTicks
#endif
//liyamin begin
// set the application retentive memory space (simulated by volatile ram)
pPcosDomain->AnnounceRetentiveMemory(&g_retain, sizeof(g_retain));
// set a specific ProConOS callback to handle ProConOS state changes
//pPcosDomain->setCallback(&myPcosCB);
//liyamin end
//LIYAMIN_BEGIN
//function library loading
// GT_LIB10::init();
// GT_LIB10::loadLibrary();
// //share memory loading
// CONSEN_SHM::init();
// CONSEN_SHM::loadLibrary();
//
// //driver library loading
// CONSEN_IO::init();
// CONSEN_IO::loadLibrary();
//LIYAMIN END//
// pPcosDomain->WarmStartBootReq();
pPcosDomain->ColdStartBootReq();
// pPcosDomain->AnnounceRetentiveMemory(g_pCshmInterface->m_pMapAddr, 2048);
BsdSocket* pBsdSocket = new BsdSocket();
if (pBsdSocket != NULL)
{
if (pBsdSocket->Open(BsdSocket::Stream, CRemotingDeamon::ClrServerPort) == true)
{
CRemotingDeamon::addSocket(pBsdSocket);
}
pBsdSocket->release();
}
// start remoting
CRemotingDeamon::start();
// change the scheduling policy and priority of this thread
struct sched_param zSchedParam;
int policy;
int nResult;
nResult = pthread_getschedparam(pthread_self(), &policy, &zSchedParam);
assert(nResult == 0);
zSchedParam.sched_priority = SCHEDULER_PRIO;
nResult = pthread_setschedparam(pthread_self(), SCHED_FIFO, &zSchedParam);
assert(nResult == 0);
while (true)
{
ClrController::Process();
usleep(1 * 1000);
//check_timer_overflow();
}
return 0;
}
int main(int argc, char* argv[])
{
// The exit code of the sample application.
int exitCode = 0;
// Automagically call PylonInitialize and PylonTerminate to ensure the pylon runtime system
// is initialized during the lifetime of this object.
Pylon::PylonAutoInitTerm autoInitTerm;
try
{
// Only look for cameras supported by Camera_t
CDeviceInfo info;
info.SetDeviceClass( Camera_t::DeviceClass());
// Create an instant camera object with the first found camera device matching the specified device class.
Camera_t camera( CTlFactory::GetInstance().CreateFirstDevice( info));
// Print the model name of the camera.
cout << "Using device " << camera.GetDeviceInfo().GetModelName() << endl;
cout << "Opening camera...";
// Open the camera.
camera.Open();
cout << "done" << endl;
cout << "Writing LUT....";
// Select the lookup table using the LUTSelector.
camera.LUTSelector.SetValue( LUTSelector_Luminance );
// Some cameras have 10 bit and others have 12 bit lookup tables, so determine
// the type of the lookup table for the current device.
const int nValues = (int) camera.LUTIndex.GetMax() + 1;
int inc;
if ( nValues == 4096 ) // 12 bit LUT.
inc = 8;
else if ( nValues == 1024 ) // 10 bit LUT.
inc = 2;
else
{
throw RUNTIME_EXCEPTION( "Type of LUT is not supported by this sample.");
}
// Use LUTIndex and LUTValue parameter to access the lookup table values.
// The following lookup table causes an inversion of the sensor values.
for ( int i = 0; i < nValues; i += inc )
{
camera.LUTIndex.SetValue( i );
camera.LUTValue.SetValue( nValues - 1 - i );
}
cout << "done" << endl;
// Enable the lookup table.
camera.LUTEnable.SetValue( true );
// Grab and process images here.
// ...
// Disable the lookup table.
camera.LUTEnable.SetValue( false );
// Close the camera.
camera.Close();
}
catch (GenICam::GenericException &e)
{
// Error handling.
cerr << "An exception occurred." << endl
<< e.GetDescription() << endl;
exitCode = 1;
}
// Comment the following two lines to disable waiting on exit
cerr << endl << "Press Enter to exit." << endl;
while( cin.get() != '\n');
return exitCode;
}
int main (int argc, char **argv)
{
if(argc < 2)
{
fprintf(stdout,"Usage:\n\t%s <conf_file>\n", argv[0]);
return 1;
}
ConfigFile& cf = ConfigFile::GetInstance();
if(!cf.LoadConf(argv[1]))
{
fprintf(stdout,"load conf file %s error", argv[1]);
return 2;
}
std::string logfile = cf.Value("Global", "LogFile", "./log");
std::string ip = cf.Value("CasdConfig", "Address", "127.0.0.1");
std::string port = cf.Value("CasdConfig", "Port", "12345");
int is_top_camara = atoi(cf.Value("Global", "IsTopCamara", "0").c_str());
int bottom_image_num = atoi(cf.Value("Global", "BottomImageNum", "1").c_str());
int side_image_num = atoi(cf.Value("Global", "SideImageNum", "4").c_str());
casd_client.AddProtocol(PROTOCOL_ID_CSETCAMARASEQREQ, new CSetCamaraSeqReq());
casd_client.AddProtocol(PROTOCOL_ID_CSENDIMAGEPROCESSDATAREQ, new CSendImageProcessDataReq());
if(is_top_camara > 0)
{
// 非顶部相机需要设置连接回调, 每个物品需要拍摄底部照片和侧边照片
casd_client.SetConnectCB(ConnectCasdCB, &casd_client);
gImagesNumPerObj = bottom_image_num + side_image_num;
}
else
{
// 顶部相机每个物品只拍摄一张图片, 无需设置连接回调, 当前图片序号永远是固定的
gImagesNumPerObj = 1;
gCurImageSeq = atoi(cf.Value("Global", "TopImageSeq", "5").c_str());
}
// TODO: 居然还未在tcpclient中加入clog
// UVNET::TCPServer::StartLog(LL_DEBUG, "casd", logfile.c_str());
if(!casd_client.Connect(ip.c_str(), atoi(port.c_str())))
{
fprintf(stdout, "connect error:%s\n", casd_client.GetLastErrMsg());
}
int exitcode = 0;
// Before using any pylon methods, the pylon runtime must be initialized.
PylonInitialize();
try
{
CTlFactory& TlFactory = CTlFactory::GetInstance();
CDeviceInfo di;
di.SetSerialNumber( "20399956" );
di.SetDeviceClass( BaslerGigEDeviceClass );
IPylonDevice* device = TlFactory.CreateDevice( di );
// Create an instant camera object for the camera device found first.
// CInstantCamera camera( CTlFactory::GetInstance().CreateFirstDevice());
CInstantCamera camera( device );
// For demonstration purposes only, register another image event handler.
camera.RegisterImageEventHandler( new CSampleImageEventHandler, RegistrationMode_Append, Cleanup_Delete);
// Open the camera device.
camera.Open();
// Can the camera device be queried whether it is ready to accept the next frame trigger?
if (camera.CanWaitForFrameTriggerReady())
{
// Start the grabbing using the grab loop thread, by setting the grabLoopType parameter
// to GrabLoop_ProvidedByInstantCamera. The grab results are delivered to the image event handlers.
// The GrabStrategy_OneByOne default grab strategy is used.
camera.StartGrabbing( GrabStrategy_OneByOne, GrabLoop_ProvidedByInstantCamera);
cerr << endl << "Enter \"t\" to trigger the camera or \"e\" to exit and press enter? (t/e)" << endl << endl;
// Wait for user input to trigger the camera or exit the program.
// The grabbing is stopped, the device is closed and destroyed automatically when the camera object goes out of scope.
char key;
do
{
cin.get(key);
if ( (key == 't' || key == 'T'))
{
// Execute the software trigger. Wait up to 500 ms for the camera to be ready for trigger.
if ( camera.WaitForFrameTriggerReady( 500, TimeoutHandling_ThrowException))
{
camera.ExecuteSoftwareTrigger();
}
}
}
while ( (key != 'e') && (key != 'E'));
}
else
{
// See the documentation of CInstantCamera::CanWaitForFrameTriggerReady() for more information.
cout << endl;
cout << "This sample can only be used with cameras that can be queried whether they are ready to accept the next frame trigger.";
cout << endl;
cout << endl;
}
}
catch (const GenericException &e)
{
// Error handling.
cerr << "An exception occurred." << endl
<< e.GetDescription() << endl;
exitcode = 1;
// Remove left over characters from input buffer.
cin.ignore(cin.rdbuf()->in_avail());
}
// Comment the following two lines to disable waiting on exit.
cerr << endl << "Press Enter to exit." << endl;
while( cin.get() != '\n');
// Releases all pylon resources.
PylonTerminate();
return exitcode;
}
int main(int argc, char* argv[])
{
int exitCode = 0;
Pylon::PylonAutoInitTerm autoInitTerm;
CDeviceInfo info;
info.SetDeviceClass(Camera_t::DeviceClass());
CTlFactory& tlFactory = CTlFactory::GetInstance();
DeviceInfoList_t devices;
if (tlFactory.EnumerateDevices(devices) == 0)
{
throw RUNTIME_EXCEPTION("No camera present.");
}
int cam_num = devices.size();
cameras = new CBaslerUsbInstantCameraArray(min(devices.size(), c_maxCamerasToUse));
// Create and attach all Pylon Devices.
for (size_t i = 0; i < cameras->GetSize(); ++i)
{
cameras->operator[](i).Attach(tlFactory.CreateDevice(devices[i]));
cameras->operator[](i).RegisterConfiguration(new CSoftwareTriggerConfiguration, RegistrationMode_Append, Cleanup_Delete);
cameras->operator[](i).RegisterImageEventHandler(new CSampleImageEventHandler, RegistrationMode_Append, Cleanup_Delete);
cameras->operator[](i).Open();
_ImageBuffers[i] = new MyBufferFactory();
cameras->operator[](i).SetBufferFactory(_ImageBuffers[i], Cleanup_None);
CDeviceInfo & diRef = devices[i];
if (diRef.GetModelName().find(GenICam::gcstring("acA2500-14uc")) != GenICam::gcstring::_npos())
{
_IsCameraBW[i] = false;
cameras->operator[](i).PixelFormat.SetValue(PixelFormat_BayerGB12);
}
else if (diRef.GetModelName().find(GenICam::gcstring("acA2500-14um")) != GenICam::gcstring::_npos())
{
_IsCameraBW[i] = true;
cameras->operator[](i).PixelFormat.SetValue(PixelFormat_Mono12);
}
//cameras->operator[](i).PixelFormat.SetValue(PixelFormat_Mono12);
//cameras->operator[](i).Gain.SetValue(0);
if (_IsCameraBW[i])
cameras->operator[](i).ExposureTime.SetValue(Exposure);
else
cameras->operator[](i).ExposureTime.SetValue(Exposure*ColorExposureMultiplier);
cout << "Using device " << cameras->operator[](i).GetDeviceInfo().GetModelName() << endl;
if (GenApi::IsWritable(cameras->operator[](i).ChunkModeActive))
{
cameras->operator[](i).ChunkModeActive.SetValue(true);
}
else
{
throw RUNTIME_EXCEPTION("The camera doesn't support chunk features");
}
cameras->operator[](i).ChunkSelector.SetValue(ChunkSelector_Timestamp);
cameras->operator[](i).ChunkEnable.SetValue(true);
}
try
{
char key;
ProcessMessage(Action);
do
{
cin.get(key);
Action = ParseKey(key);
ProcessMessage(Action);
} while (Action != Quit);
}
catch (GenICam::GenericException &e)
{
// Error handling.
cerr << "An exception occurred." << endl
<< e.GetDescription() << endl;
exitCode = 1;
}
// Comment the following two lines to disable waiting on exit.
cerr << endl << "Press Enter to exit." << endl;
while( cin.get() != '\n');
return exitCode;
}
int main(int argc, char* argv[])
{
// Exit code of the sample application.
int exitCode = 0;
// Before using any pylon methods, the pylon runtime must be initialized.
PylonInitialize();
try
{
// Create the event handler.
CEventHandler eventHandler;
// Only look for cameras supported by Camera_t.
CDeviceInfo info;
info.SetDeviceClass( Camera_t::DeviceClass());
// Create an instant camera object with the first found camera device matching the specified device class.
Camera_t camera( CTlFactory::GetInstance().CreateFirstDevice( info));
// For demonstration purposes only, add sample configuration event handlers to print out information
// about camera use and image grabbing.
camera.RegisterConfiguration( new CConfigurationEventPrinter, RegistrationMode_Append, Cleanup_Delete); // Camera use.
// Register the event handler.
camera.RegisterImageEventHandler( &eventHandler, RegistrationMode_Append, Cleanup_None);
camera.RegisterCameraEventHandler( &eventHandler, "EventExposureEndData", eMyExposureEndEvent, RegistrationMode_ReplaceAll, Cleanup_None);
camera.RegisterCameraEventHandler( &eventHandler, "EventFrameStartOvertriggerData", eMyFrameStartOvertrigger, RegistrationMode_Append, Cleanup_None);
// Camera event processing must be activated first, the default is off.
camera.GrabCameraEvents = true;
// Open the camera for setting parameters.
camera.Open();
// Check if the device supports events.
if ( !IsAvailable( camera.EventSelector))
{
throw RUNTIME_EXCEPTION( "The device doesn't support events.");
}
// Enable the sending of Exposure End events.
// Select the event to be received.
camera.EventSelector.SetValue(EventSelector_ExposureEnd);
// Enable it.
camera.EventNotification.SetValue(EventNotification_On);
// Enable the sending of Frame Start Overtrigger events.
if ( IsAvailable( camera.EventSelector.GetEntry(EventSelector_FrameStartOvertrigger)))
{
camera.EventSelector.SetValue(EventSelector_FrameStartOvertrigger);
camera.EventNotification.SetValue(EventNotification_On);
}
// Start the grabbing of c_countOfImagesToGrab images.
// The camera device is parameterized with a default configuration which
// sets up free-running continuous acquisition.
camera.StartGrabbing( c_countOfImagesToGrab);
// This smart pointer will receive the grab result data.
CGrabResultPtr ptrGrabResult;
// Camera.StopGrabbing() is called automatically by the RetrieveResult() method
// when c_countOfImagesToGrab images have been retrieved.
while ( camera.IsGrabbing())
{
// Retrieve grab results and notify the camera event and image event handlers.
camera.RetrieveResult( 5000, ptrGrabResult, TimeoutHandling_ThrowException);
// Nothing to do here with the grab result, the grab results are handled by the registered event handlers.
}
// Disable the sending of Exposure End events.
camera.EventSelector = EventSelector_ExposureEnd;
camera.EventNotification.SetValue(EventNotification_Off);
// Disable the sending of Frame Start Overtrigger events.
if ( IsAvailable( camera.EventSelector.GetEntry(EventSelector_FrameStartOvertrigger)))
{
camera.EventSelector.SetValue(EventSelector_FrameStartOvertrigger);
camera.EventNotification.SetValue(EventNotification_Off);
}
// Print the recorded log showing the timing of events and images.
eventHandler.PrintLog();
}
catch (const GenericException &e)
{
// Error handling.
cerr << "An exception occurred." << endl
<< e.GetDescription() << endl;
exitCode = 1;
}
// Comment the following two lines to disable waiting on exit.
cerr << endl << "Press Enter to exit." << endl;
while( cin.get() != '\n');
// Releases all pylon resources.
PylonTerminate();
return exitCode;
}