// Get the sibling and the sibling's sibling, where <p___> indicates an indirection.
NODEEX GetGcNextSibling(ArvGc *pGenicam, NODEEX nodeex)
{
const char *szName=0;
// Go to the sibling.
nodeex.pNode = nodeex.pNodeSibling;
if (nodeex.pNode)
{
nodeex.szName = arv_dom_node_get_node_name(nodeex.pNode);
nodeex.pNodeSibling = arv_dom_node_get_next_sibling(nodeex.pNode);
// Do the indirection.
if (nodeex.szName[0]=='p' && strcmp("pInvalidator", nodeex.szName))
{
szName = arv_dom_node_get_node_value(arv_dom_node_get_first_child(nodeex.pNode));
nodeex.pNode = (ArvDomNode *)arv_gc_get_node(pGenicam, szName);
nodeex.szTag = nodeex.pNode ? arv_dom_node_get_node_name(nodeex.pNode) : NULL;
}
else
{
nodeex.szTag = nodeex.szName;
}
}
else
{
nodeex.szName = NULL;
nodeex.szTag = NULL;
nodeex.pNodeSibling = NULL;
}
//ROS_INFO("GNS name=%s, node=%p, sib=%p", nodeex.szName, nodeex.pNode, nodeex.pNodeSibling);
return nodeex;
} // GetGcNextSibling()
double
arv_camera_get_frame_rate (ArvCamera *camera)
{
ArvGcNode *feature;
g_return_val_if_fail (ARV_IS_CAMERA (camera), -1.0);
switch (camera->priv->vendor) {
case ARV_CAMERA_VENDOR_BASLER:
case ARV_CAMERA_VENDOR_PROSILICA:
return arv_device_get_float_feature_value (camera->priv->device, "AcquisitionFrameRateAbs");
case ARV_CAMERA_VENDOR_TIS:
feature = arv_device_get_feature (camera->priv->device, "FPS");
if (ARV_IS_GC_FEATURE_NODE (feature) &&
g_strcmp0 (arv_dom_node_get_node_name (ARV_DOM_NODE (feature)), "Enumeration") == 0) {
gint64 i;
i = arv_gc_enumeration_get_int_value (ARV_GC_ENUMERATION (feature), NULL);
if (i > 0)
return (int)((10000000/(double) i) * 100 + 0.5) / 100.0;
else
return 0;
} else
return arv_device_get_float_feature_value (camera->priv->device, "FPS");
case ARV_CAMERA_VENDOR_DALSA:
case ARV_CAMERA_VENDOR_UNKNOWN:
return arv_device_get_float_feature_value (camera->priv->device,
camera->priv->use_acquisition_frame_rate_abs ?
"AcquisitionFrameRateAbs":
"AcquisitionFrameRate");
}
return -1.0;
}
// Walk the DOM tree, i.e. the tree represented by the XML file in the camera, and that contains all the various features, parameters, etc.
void PrintDOMTree(ArvGc *pGenicam, NODEEX nodeex, int nIndent)
{
char *szIndent=0;
const char *szFeature=0;
const char *szDomName=0;
const char *szFeatureValue=0;
szIndent = new char[nIndent+1];
memset(szIndent,' ',nIndent);
szIndent[nIndent]=0;
nodeex = GetGcFirstChild(pGenicam, nodeex);
if (nodeex.pNode)
{
do
{
if (ARV_IS_GC_FEATURE_NODE((ArvGcFeatureNode *)nodeex.pNode))
{
szDomName = arv_dom_node_get_node_name(nodeex.pNode);
szFeature = arv_gc_feature_node_get_name((ArvGcFeatureNode *)nodeex.pNode);
szFeatureValue = arv_gc_feature_node_get_value_as_string((ArvGcFeatureNode *)nodeex.pNode, NULL);
if (szFeature && szFeatureValue && szFeatureValue[0])
ROS_INFO("FeatureName: %s%s, %s=%s", szIndent, szDomName, szFeature, szFeatureValue);
}
PrintDOMTree(pGenicam, nodeex, nIndent+4);
// Go to the next sibling.
nodeex = GetGcNextSibling(pGenicam, nodeex);
} while (nodeex.pNode && nodeex.pNodeSibling);
}
} //PrintDOMTree()
ArvDomNode *
arv_dom_node_append_child (ArvDomNode* self, ArvDomNode* new_child)
{
ArvDomNodeClass *node_class;
if (new_child == NULL)
return NULL;
g_return_val_if_fail (ARV_IS_DOM_NODE (new_child), NULL);
if (!ARV_IS_DOM_NODE (self)) {
g_critical ("%s: self is not a ArvDomNode", G_STRFUNC);
g_object_unref (new_child);
return NULL;
}
if (new_child->parent_node != NULL)
arv_dom_node_remove_child (self, new_child);
if (!ARV_DOM_NODE_GET_CLASS (self)->can_append_child (self, new_child)) {
arv_log_dom ("[ArvDomNode::append_child] Can't append '%s' to '%s'",
arv_dom_node_get_node_name (new_child),
arv_dom_node_get_node_name (self));
g_object_unref (new_child);
return NULL;
}
if (self->first_child == NULL)
self->first_child = new_child;
if (self->last_child != NULL)
self->last_child->next_sibling = new_child;
new_child->parent_node = self;
new_child->next_sibling = NULL;
new_child->previous_sibling = self->last_child;
self->last_child = new_child;
node_class = ARV_DOM_NODE_GET_CLASS (self);
if (node_class->post_new_child)
node_class->post_new_child (self, new_child);
arv_dom_node_changed (self);
return new_child;
}
void
arv_camera_get_frame_rate_bounds (ArvCamera *camera, double *min, double *max)
{
ArvGcNode *feature;
g_return_if_fail (ARV_IS_CAMERA (camera));
switch (camera->priv->vendor) {
case ARV_CAMERA_VENDOR_TIS:
feature = arv_device_get_feature (camera->priv->device, "FPS");
if (ARV_IS_GC_FEATURE_NODE (feature) &&
g_strcmp0 (arv_dom_node_get_node_name (ARV_DOM_NODE (feature)), "Enumeration") == 0) {
gint64 *values;
guint n_values;
guint i;
if (min != NULL)
*min = 0;
if (max != NULL)
*max = 0;
values = arv_gc_enumeration_get_available_int_values (ARV_GC_ENUMERATION (feature), &n_values, NULL);
for (i = 0; i < n_values; i++) {
if (values[i] > 0) {
double s;
s = (int)((10000000/(double) values[i]) * 100 + 0.5) / 100.0;
if (s > *max && max != NULL)
*max = s;
if ((*min == 0 || *min > s) && min != NULL)
*min = s;
}
}
g_free (values);
} else
arv_device_get_float_feature_bounds (camera->priv->device, "FPS", min, max);
break;
case ARV_CAMERA_VENDOR_BASLER:
case ARV_CAMERA_VENDOR_PROSILICA:
arv_device_get_float_feature_bounds (camera->priv->device, "AcquisitionFrameRateAbs", min, max);
break;
case ARV_CAMERA_VENDOR_DALSA:
case ARV_CAMERA_VENDOR_UNKNOWN:
arv_device_get_float_feature_bounds (camera->priv->device,
camera->priv->use_exposure_time_abs ?
"AcquisitionFrameRateAbs":
"AcquisitionFrameRate",
min, max);
break;
}
}
//! Serialize the tree, used by QArvCamera stream operators.
void
QArvCamera::QArvFeatureTree::recursiveSerialization(
QTextStream& out, QArvCamera* camera, QArvCamera::QArvFeatureTree* tree)
{
auto node = arv_gc_get_node(camera->genicam, tree->feature());
if (tree->children().count() != 0) {
if (QString("Root") != tree->feature())
out << "Category: " << tree->feature() << endl;
foreach (auto child, tree->children()) {
recursiveSerialization(out, camera, child);
}
return;
}
if (ARV_IS_GC_COMMAND(node))
return;
out << "\t" << tree->feature() << "\t";
if (ARV_IS_GC_REGISTER_NODE(node) &&
QString(arv_dom_node_get_node_name(ARV_DOM_NODE(node))) == "IntReg") {
QArvRegister r;
r.length = arv_gc_register_get_length(ARV_GC_REGISTER(node), NULL);
r.value = QByteArray(r.length, 0);
arv_gc_register_get(ARV_GC_REGISTER(node), r.value.data(), r.length, NULL);
out << "Register\t" << QString::number(r.length) << "\t"
<< QString("0x") + r.value.toHex() << endl;
} else if (ARV_IS_GC_ENUMERATION(node)) {
out << "Enumeration\t"
<< arv_gc_enumeration_get_string_value(ARV_GC_ENUMERATION(node), NULL)
<< endl;
} else if (ARV_IS_GC_STRING(node)) {
out << "String\t" << arv_gc_string_get_value(ARV_GC_STRING(node), NULL)
<< endl;
} else if (ARV_IS_GC_FLOAT(node)) {
out << "Float\t" << arv_gc_float_get_value(ARV_GC_FLOAT(node), NULL) << "\t"
<< arv_gc_float_get_unit(ARV_GC_FLOAT(node), NULL) << endl;
} else if (ARV_IS_GC_BOOLEAN(node)) {
out << "Boolean\t" << arv_gc_boolean_get_value(ARV_GC_BOOLEAN(node), NULL)
<< endl;
} else if (ARV_IS_GC_INTEGER(node)) {
out << "Integer\t" << arv_gc_integer_get_value(ARV_GC_INTEGER(node), NULL)
<< endl;
}
}
void
arv_gc_register_feature_node (ArvGc *genicam, ArvGcFeatureNode *node)
{
const char *name;
g_return_if_fail (ARV_IS_GC (genicam));
g_return_if_fail (ARV_IS_GC_FEATURE_NODE (node));
name = arv_gc_feature_node_get_name (node);
if (name == NULL)
return;
g_object_ref (node);
g_hash_table_remove (genicam->nodes, (char *) name);
g_hash_table_insert (genicam->nodes, (char *) name, node);
arv_log_genicam ("[Gc::register_feature_node] Register node '%s' [%s]", name,
arv_dom_node_get_node_name (ARV_DOM_NODE (node)));
}
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);
}
void
arv_camera_set_frame_rate (ArvCamera *camera, double frame_rate)
{
ArvGcNode *feature;
double minimum;
double maximum;
g_return_if_fail (ARV_IS_CAMERA (camera));
if (frame_rate <= 0.0)
return;
arv_camera_get_frame_rate_bounds(camera, &minimum, &maximum);
if (frame_rate < minimum)
frame_rate = minimum;
if (frame_rate > maximum)
frame_rate = maximum;
switch (camera->priv->vendor) {
case ARV_CAMERA_VENDOR_BASLER:
arv_device_set_string_feature_value (camera->priv->device, "TriggerSelector",
"AcquisitionStart");
arv_device_set_string_feature_value (camera->priv->device, "TriggerMode", "Off");
arv_device_set_string_feature_value (camera->priv->device, "TriggerSelector",
"FrameStart");
arv_device_set_string_feature_value (camera->priv->device, "TriggerMode", "Off");
arv_device_set_integer_feature_value (camera->priv->device, "AcquisitionFrameRateEnable",
1);
arv_device_set_float_feature_value (camera->priv->device, "AcquisitionFrameRateAbs",
frame_rate);
break;
case ARV_CAMERA_VENDOR_PROSILICA:
arv_device_set_string_feature_value (camera->priv->device, "TriggerSelector",
"FrameStart");
arv_device_set_string_feature_value (camera->priv->device, "TriggerMode", "Off");
arv_device_set_float_feature_value (camera->priv->device, "AcquisitionFrameRateAbs",
frame_rate);
break;
case ARV_CAMERA_VENDOR_TIS:
arv_device_set_string_feature_value (camera->priv->device, "TriggerSelector",
"FrameStart");
arv_device_set_string_feature_value (camera->priv->device, "TriggerMode", "Off");
feature = arv_device_get_feature (camera->priv->device, "FPS");
if (ARV_IS_GC_FEATURE_NODE (feature) &&
g_strcmp0 (arv_dom_node_get_node_name (ARV_DOM_NODE (feature)), "Enumeration") == 0) {
gint64 *values;
guint n_values;
guint i;
values = arv_gc_enumeration_get_available_int_values (ARV_GC_ENUMERATION (feature), &n_values, NULL);
for (i = 0; i < n_values; i++) {
if (values[i] > 0) {
double e;
e = (int)((10000000/(double) values[i]) * 100 + 0.5) / 100.0;
if (e == frame_rate) {
arv_gc_enumeration_set_int_value (ARV_GC_ENUMERATION (feature), values[i], NULL);
break;
}
}
}
g_free (values);
} else
arv_device_set_float_feature_value (camera->priv->device, "FPS", frame_rate);
break;
case ARV_CAMERA_VENDOR_DALSA:
case ARV_CAMERA_VENDOR_UNKNOWN:
arv_device_set_string_feature_value (camera->priv->device, "TriggerSelector",
"FrameStart");
arv_device_set_string_feature_value (camera->priv->device, "TriggerMode", "Off");
arv_device_set_float_feature_value (camera->priv->device,
camera->priv->use_acquisition_frame_rate_abs ?
"AcquisitionFrameRateAbs":
"AcquisitionFrameRate", frame_rate);
break;
}
}
ArvDomNode*
arv_dom_node_insert_before (ArvDomNode* self, ArvDomNode* new_child, ArvDomNode* ref_child)
{
ArvDomNodeClass *node_class;
if (ref_child == NULL)
arv_dom_node_append_child (self, new_child);
g_return_val_if_fail (ARV_IS_DOM_NODE (new_child), NULL);
if (new_child->parent_node != NULL)
arv_dom_node_remove_child (self, new_child);
if (!ARV_IS_DOM_NODE (self)) {
g_critical ("%s: self is not a ArvDomNode", G_STRFUNC);
g_object_unref (new_child);
return NULL;
}
if (!ARV_IS_DOM_NODE (ref_child)) {
g_critical ("%s: ref_child is not a ArvDomNode", G_STRFUNC);
g_object_unref (new_child);
return NULL;
}
if (ref_child->parent_node != self) {
arv_debug_dom ("[ArvDomNode::insert_before] Ref child '%s' doesn't belong to '%s'",
arv_dom_node_get_node_name (ref_child),
arv_dom_node_get_node_name (self));
g_object_unref (new_child);
return NULL;
}
if (!ARV_DOM_NODE_GET_CLASS (self)->can_append_child (self, new_child)) {
arv_log_dom ("[ArvDomNode::insert_before] Can't append '%s' to '%s'",
arv_dom_node_get_node_name (new_child),
arv_dom_node_get_node_name (self));
g_object_unref (new_child);
return NULL;
}
new_child->parent_node = self;
new_child->next_sibling = ref_child;
new_child->previous_sibling = ref_child->previous_sibling;
if (ref_child->previous_sibling == NULL)
self->first_child = new_child;
else
ref_child->previous_sibling->next_sibling = new_child;
ref_child->previous_sibling = new_child;
node_class = ARV_DOM_NODE_GET_CLASS (self);
if (node_class->post_new_child)
node_class->post_new_child (self, new_child);
arv_dom_node_changed (self);
return new_child;
}
