bool CvCaptureCAM_Aravis::init_buffers()
{
if(stream) {
g_object_unref(stream);
stream = NULL;
}
if( (stream = arv_camera_create_stream(camera, NULL, NULL)) ) {
g_object_set(stream,
"socket-buffer", ARV_GV_STREAM_SOCKET_BUFFER_AUTO,
"socket-buffer-size", 0, NULL);
g_object_set(stream,
"packet-resend", ARV_GV_STREAM_PACKET_RESEND_NEVER, NULL);
g_object_set(stream,
"packet-timeout", (unsigned) 40000,
"frame-retention", (unsigned) 200000, NULL);
payload = arv_camera_get_payload (camera);
for (int i = 0; i < num_buffers; i++)
arv_stream_push_buffer(stream, arv_buffer_new(payload, NULL));
return true;
}
return false;
}
CamGigE::CamGigE(int id):
Cam(id)
{
mWidth = XSIZE;
mHeight = YSIZE;
xshift = 0;
yshift = 0;
exposure = 2*1000;
gain = 300;
isCapturing = false;
framerate = 15.0f;
mId = id;
g_type_init ();
camera = arv_camera_new(NULL);
if(camera == NULL)
{
throw "No camera found";
}
arv_camera_set_region(camera, xshift, yshift, mWidth, mHeight);
arv_camera_set_exposure_time(camera, exposure);
arv_camera_set_gain(camera, gain);
arv_camera_set_pixel_format(camera, ARV_PIXEL_FORMAT_MONO_8);
//arv_camera_set_pixel_format(camera, ARV_PIXEL_FORMAT_BAYER_BG_8);
width = (int)mWidth;
height = (int)mHeight;
arv_camera_get_region (camera, &xshift, &yshift, &width, &height);
payload = arv_camera_get_payload (camera);
stream = arv_camera_create_stream (camera, NULL, NULL);
if(stream == NULL) {
throw "Cannot create stream";
}
g_object_set(stream, "packet-timeout", (unsigned) 20 * 1000,
"frame-retention", (unsigned) 100 * 1000,
NULL);
for(int i = 0; i < 4; i++)
arv_stream_push_buffer(stream, arv_buffer_new(payload, NULL));
arv_camera_set_acquisition_mode(camera, ARV_ACQUISITION_MODE_CONTINUOUS);
arv_camera_set_frame_rate(camera, framerate);
rawdata = new unsigned char[width*height];
}
static unicap_status_t aravis_capture_start( aravis_handle_t handle )
{
guint payload;
int i;
handle->stream = arv_camera_create_stream( handle->camera, aravis_stream_callback, handle);
arv_camera_set_acquisition_mode (handle->camera, ARV_ACQUISITION_MODE_CONTINUOUS);
arv_camera_start_acquisition (handle->camera);
payload = arv_camera_get_payload (handle->camera);
for (i=0; i < 8; i++)
arv_stream_push_buffer (handle->stream, arv_buffer_new (payload, NULL));
return handle->stream ? STATUS_SUCCESS : STATUS_FAILURE;
}
static void
preallocated_buffer_test (void)
{
ArvBuffer *buffer;
void *data = g_malloc (1024);
buffer = arv_buffer_new (1024, data);
g_assert (ARV_IS_BUFFER (buffer));
g_assert (buffer->data == data);
g_assert (buffer->user_data == NULL);
g_assert (buffer->user_data_destroy_func == NULL);
g_assert (buffer->status == ARV_BUFFER_STATUS_CLEARED);
g_object_unref (buffer);
}
ArvGvStream *CreateStream(void)
{
gboolean bAutoBuffer = FALSE;
gboolean bPacketResend = TRUE;
unsigned int timeoutPacket = 40; // milliseconds
unsigned int timeoutFrameRetention = 200;
ArvGvStream *pStream = (ArvGvStream *)arv_device_create_stream (global.pDevice, NULL, NULL);
if (pStream)
{
ArvBuffer *pBuffer;
gint nbytesPayload;
if (!ARV_IS_GV_STREAM (pStream))
ROS_WARN("Stream is not a GV_STREAM");
if (bAutoBuffer)
g_object_set (pStream,
"socket-buffer",
ARV_GV_STREAM_SOCKET_BUFFER_AUTO,
"socket-buffer-size", 0,
NULL);
if (!bPacketResend)
g_object_set (pStream,
"packet-resend",
bPacketResend ? ARV_GV_STREAM_PACKET_RESEND_ALWAYS : ARV_GV_STREAM_PACKET_RESEND_NEVER,
NULL);
g_object_set (pStream,
"packet-timeout",
(unsigned) timeoutPacket * 1000,
"frame-retention", (unsigned) timeoutFrameRetention * 1000,
NULL);
// Load up some buffers.
nbytesPayload = arv_camera_get_payload (global.pCamera);
for (int i=0; i<50; i++)
{
pBuffer = arv_buffer_new (nbytesPayload, NULL);
arv_stream_push_buffer ((ArvStream *)pStream, pBuffer);
}
}
return pStream;
} // CreateStream()
static void
simple_buffer_test (void)
{
ArvBuffer *buffer;
buffer = arv_buffer_new (1024, NULL);
g_assert (ARV_IS_BUFFER (buffer));
g_assert (buffer->data != NULL);
g_assert (buffer->size == 1024);
g_assert (buffer->user_data == NULL);
g_assert (buffer->user_data_destroy_func == NULL);
g_assert (buffer->status == ARV_BUFFER_STATUS_CLEARED);
g_object_unref (buffer);
}
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;
}
static gboolean
gst_aravis_set_caps (GstBaseSrc *src, GstCaps *caps)
{
GstAravis* gst_aravis = GST_ARAVIS(src);
GstStructure *structure;
ArvPixelFormat pixel_format;
int height, width;
int bpp, depth;
const GValue *frame_rate;
const char *caps_string;
unsigned int i;
guint32 fourcc;
GST_LOG_OBJECT (gst_aravis, "Requested caps = %" GST_PTR_FORMAT, caps);
arv_camera_stop_acquisition (gst_aravis->camera);
if (gst_aravis->stream != NULL)
g_object_unref (gst_aravis->stream);
structure = gst_caps_get_structure (caps, 0);
gst_structure_get_int (structure, "width", &width);
gst_structure_get_int (structure, "height", &height);
frame_rate = gst_structure_get_value (structure, "framerate");
gst_structure_get_int (structure, "bpp", &bpp);
gst_structure_get_int (structure, "depth", &depth);
if (gst_structure_get_field_type (structure, "format") == G_TYPE_STRING) {
const char *string;
string = gst_structure_get_string (structure, "format");
fourcc = GST_STR_FOURCC (string);
} else if (gst_structure_get_field_type (structure, "format") == GST_TYPE_FOURCC) {
gst_structure_get_fourcc (structure, "format", &fourcc);
} else
fourcc = 0;
pixel_format = arv_pixel_format_from_gst_0_10_caps (gst_structure_get_name (structure), bpp, depth, fourcc);
arv_camera_set_region (gst_aravis->camera, gst_aravis->offset_x, gst_aravis->offset_y, width, height);
arv_camera_set_binning (gst_aravis->camera, gst_aravis->h_binning, gst_aravis->v_binning);
arv_camera_set_pixel_format (gst_aravis->camera, pixel_format);
if (frame_rate != NULL) {
double dbl_frame_rate;
dbl_frame_rate = (double) gst_value_get_fraction_numerator (frame_rate) /
(double) gst_value_get_fraction_denominator (frame_rate);
GST_DEBUG_OBJECT (gst_aravis, "Frame rate = %g Hz", dbl_frame_rate);
arv_camera_set_frame_rate (gst_aravis->camera, dbl_frame_rate);
if (dbl_frame_rate > 0.0)
gst_aravis->buffer_timeout_us = MAX (GST_ARAVIS_BUFFER_TIMEOUT_DEFAULT,
3e6 / dbl_frame_rate);
else
gst_aravis->buffer_timeout_us = GST_ARAVIS_BUFFER_TIMEOUT_DEFAULT;
} else
gst_aravis->buffer_timeout_us = GST_ARAVIS_BUFFER_TIMEOUT_DEFAULT;
GST_DEBUG_OBJECT (gst_aravis, "Buffer timeout = %" G_GUINT64_FORMAT " µs", gst_aravis->buffer_timeout_us);
GST_DEBUG_OBJECT (gst_aravis, "Actual frame rate = %g Hz", arv_camera_get_frame_rate (gst_aravis->camera));
if(gst_aravis->gain_auto) {
arv_camera_set_gain_auto (gst_aravis->camera, ARV_AUTO_CONTINUOUS);
GST_DEBUG_OBJECT (gst_aravis, "Auto Gain = continuous");
} else {
if (gst_aravis->gain >= 0) {
GST_DEBUG_OBJECT (gst_aravis, "Gain = %g", gst_aravis->gain);
arv_camera_set_gain_auto (gst_aravis->camera, ARV_AUTO_OFF);
arv_camera_set_gain (gst_aravis->camera, gst_aravis->gain);
}
GST_DEBUG_OBJECT (gst_aravis, "Actual gain = %g", arv_camera_get_gain (gst_aravis->camera));
}
if(gst_aravis->exposure_auto) {
arv_camera_set_exposure_time_auto (gst_aravis->camera, ARV_AUTO_CONTINUOUS);
GST_DEBUG_OBJECT (gst_aravis, "Auto Exposure = continuous");
} else {
if (gst_aravis->exposure_time_us > 0.0) {
GST_DEBUG_OBJECT (gst_aravis, "Exposure = %g µs", gst_aravis->exposure_time_us);
arv_camera_set_exposure_time_auto (gst_aravis->camera, ARV_AUTO_OFF);
arv_camera_set_exposure_time (gst_aravis->camera, gst_aravis->exposure_time_us);
}
GST_DEBUG_OBJECT (gst_aravis, "Actual exposure = %g µs", arv_camera_get_exposure_time (gst_aravis->camera));
}
if (gst_aravis->fixed_caps != NULL)
gst_caps_unref (gst_aravis->fixed_caps);
caps_string = arv_pixel_format_to_gst_0_10_caps_string (pixel_format);
if (caps_string != NULL) {
GstStructure *structure;
GstCaps *caps;
caps = gst_caps_new_empty ();
structure = gst_structure_from_string (caps_string, NULL);
gst_structure_set (structure,
"width", G_TYPE_INT, width,
"height", G_TYPE_INT, height,
NULL);
if (frame_rate != NULL)
gst_structure_set_value (structure, "framerate", frame_rate);
gst_caps_append_structure (caps, structure);
gst_aravis->fixed_caps = caps;
} else
gst_aravis->fixed_caps = NULL;
gst_aravis->payload = arv_camera_get_payload (gst_aravis->camera);
gst_aravis->stream = arv_camera_create_stream (gst_aravis->camera, NULL, NULL);
if (ARV_IS_GV_STREAM (gst_aravis->stream) && gst_aravis->packet_resend)
g_object_set (gst_aravis->stream, "packet-resend", ARV_GV_STREAM_PACKET_RESEND_ALWAYS, NULL);
else
g_object_set (gst_aravis->stream, "packet-resend", ARV_GV_STREAM_PACKET_RESEND_NEVER, NULL);
for (i = 0; i < GST_ARAVIS_N_BUFFERS; i++)
arv_stream_push_buffer (gst_aravis->stream,
arv_buffer_new (gst_aravis->payload, NULL));
GST_LOG_OBJECT (gst_aravis, "Start acquisition");
arv_camera_start_acquisition (gst_aravis->camera);
gst_aravis->timestamp_offset = 0;
gst_aravis->last_timestamp = 0;
return TRUE;
}
void *
arv_fake_gv_camera_thread (void *user_data)
{
ArvFakeGvCamera *gv_camera = user_data;
ArvBuffer *image_buffer = NULL;
GError *error = NULL;
GSocketAddress *stream_address = NULL;
void *packet_buffer;
size_t packet_size;
size_t payload = 0;
guint16 block_id;
ptrdiff_t offset;
guint32 gv_packet_size;
packet_buffer = g_malloc (ARV_FAKE_GV_CAMERA_BUFFER_SIZE);
do {
if (arv_fake_camera_get_control_channel_privilege (gv_camera->camera) == 0 ||
arv_fake_camera_get_acquisition_status (gv_camera->camera) == 0) {
if (stream_address != NULL) {
g_object_unref (stream_address);
stream_address = NULL;
g_object_unref (image_buffer);
image_buffer = NULL;
arv_debug_stream_thread ("[FakeGvCamera::stream_thread] Stop stream");
}
g_usleep (100000);
} else {
if (stream_address == NULL) {
GInetAddress *inet_address;
char *inet_address_string;
stream_address = arv_fake_camera_get_stream_address (gv_camera->camera);
inet_address = g_inet_socket_address_get_address
(G_INET_SOCKET_ADDRESS (stream_address));
inet_address_string = g_inet_address_to_string (inet_address);
arv_debug_stream_thread ("[FakeGvCamera::stream_thread] Start stream to %s (%d)",
inet_address_string,
g_inet_socket_address_get_port
(G_INET_SOCKET_ADDRESS (stream_address)));
g_free (inet_address_string);
payload = arv_fake_camera_get_payload (gv_camera->camera);
image_buffer = arv_buffer_new (payload, NULL);
}
arv_fake_camera_wait_for_next_frame (gv_camera->camera);
arv_fake_camera_fill_buffer (gv_camera->camera, image_buffer, &gv_packet_size);
block_id = 0;
packet_size = ARV_FAKE_GV_CAMERA_BUFFER_SIZE;
arv_gvsp_packet_new_data_leader (image_buffer->frame_id,
block_id,
image_buffer->timestamp_ns,
image_buffer->pixel_format,
image_buffer->width, image_buffer->height,
image_buffer->x_offset, image_buffer->y_offset,
packet_buffer, &packet_size);
g_socket_send_to (gv_camera->gvsp_socket, stream_address,
packet_buffer, packet_size, NULL, &error);
if (error != NULL) {
arv_warning_stream_thread ("[ArvFakeGvCamera::stream_thread] Socket send error [%s]",
error->message);
g_error_free (error);
error = NULL;
}
block_id++;
offset = 0;
while (offset < payload) {
size_t data_size;
data_size = MIN (gv_packet_size - ARV_GVSP_PACKET_PROTOCOL_OVERHEAD,
payload - offset);
packet_size = ARV_FAKE_GV_CAMERA_BUFFER_SIZE;
arv_gvsp_packet_new_data_block (image_buffer->frame_id, block_id,
data_size, ((char *) image_buffer->data) + offset,
packet_buffer, &packet_size);
g_socket_send_to (gv_camera->gvsp_socket, stream_address,
packet_buffer, packet_size, NULL, NULL);
offset += data_size;
block_id++;
}
packet_size = ARV_FAKE_GV_CAMERA_BUFFER_SIZE;
arv_gvsp_packet_new_data_trailer (image_buffer->frame_id, block_id,
packet_buffer, &packet_size);
g_socket_send_to (gv_camera->gvsp_socket, stream_address,
packet_buffer, packet_size, NULL, NULL);
}
} while (!cancel);
if (stream_address != NULL)
g_object_unref (stream_address);
if (image_buffer != NULL)
g_object_unref (image_buffer);
g_free (packet_buffer);
return NULL;
}
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 gboolean
gst_aravis_set_caps (GstBaseSrc *src, GstCaps *caps)
{
GstAravis* gst_aravis = GST_ARAVIS(src);
GstStructure *structure;
ArvPixelFormat pixel_format;
int height, width;
int bpp, depth;
const GValue *frame_rate;
const char *caps_string;
unsigned int i;
guint32 fourcc;
GST_LOG_OBJECT (gst_aravis, "Requested caps = %" GST_PTR_FORMAT, caps);
arv_camera_stop_acquisition (gst_aravis->camera);
if (gst_aravis->stream != NULL)
g_object_unref (gst_aravis->stream);
structure = gst_caps_get_structure (caps, 0);
gst_structure_get_int (structure, "width", &width);
gst_structure_get_int (structure, "height", &height);
frame_rate = gst_structure_get_value (structure, "framerate");
gst_structure_get_fourcc (structure, "format", &fourcc);
gst_structure_get_int (structure, "bpp", &bpp);
gst_structure_get_int (structure, "depth", &depth);
pixel_format = arv_pixel_format_from_gst_caps (gst_structure_get_name (structure), bpp, depth, fourcc);
arv_camera_set_region (gst_aravis->camera, 0, 0, width, height);
arv_camera_set_binning (gst_aravis->camera, gst_aravis->h_binning, gst_aravis->v_binning);
arv_camera_set_pixel_format (gst_aravis->camera, pixel_format);
if (frame_rate != NULL) {
double dbl_frame_rate;
dbl_frame_rate = (double) gst_value_get_fraction_numerator (frame_rate) /
(double) gst_value_get_fraction_denominator (frame_rate);
GST_DEBUG_OBJECT (gst_aravis, "Frame rate = %g Hz", dbl_frame_rate);
arv_camera_set_frame_rate (gst_aravis->camera, dbl_frame_rate);
if (dbl_frame_rate > 0.0)
gst_aravis->buffer_timeout_us = MAX (GST_ARAVIS_BUFFER_TIMEOUT_DEFAULT,
3e6 / dbl_frame_rate);
else
gst_aravis->buffer_timeout_us = GST_ARAVIS_BUFFER_TIMEOUT_DEFAULT;
} else
gst_aravis->buffer_timeout_us = GST_ARAVIS_BUFFER_TIMEOUT_DEFAULT;
GST_DEBUG_OBJECT (gst_aravis, "Buffer timeout = %Ld µs", gst_aravis->buffer_timeout_us);
GST_DEBUG_OBJECT (gst_aravis, "Actual frame rate = %g Hz", arv_camera_get_frame_rate (gst_aravis->camera));
GST_DEBUG_OBJECT (gst_aravis, "Gain = %d", gst_aravis->gain);
arv_camera_set_gain (gst_aravis->camera, gst_aravis->gain);
GST_DEBUG_OBJECT (gst_aravis, "Actual gain = %d", arv_camera_get_gain (gst_aravis->camera));
GST_DEBUG_OBJECT (gst_aravis, "Exposure = %g µs", gst_aravis->exposure_time_us);
arv_camera_set_exposure_time (gst_aravis->camera, gst_aravis->exposure_time_us);
GST_DEBUG_OBJECT (gst_aravis, "Actual exposure = %g µs", arv_camera_get_exposure_time (gst_aravis->camera));
if (gst_aravis->fixed_caps != NULL)
gst_caps_unref (gst_aravis->fixed_caps);
caps_string = arv_pixel_format_to_gst_caps_string (pixel_format);
if (caps_string != NULL) {
GstStructure *structure;
GstCaps *caps;
caps = gst_caps_new_empty ();
structure = gst_structure_from_string (caps_string, NULL);
gst_structure_set (structure,
"width", G_TYPE_INT, width,
"height", G_TYPE_INT, height,
NULL);
if (frame_rate != NULL)
gst_structure_set_value (structure, "framerate", frame_rate);
gst_caps_append_structure (caps, structure);
gst_aravis->fixed_caps = caps;
} else
gst_aravis->fixed_caps = NULL;
gst_aravis->payload = arv_camera_get_payload (gst_aravis->camera);
gst_aravis->stream = arv_camera_create_stream (gst_aravis->camera, NULL, NULL);
for (i = 0; i < GST_ARAVIS_N_BUFFERS; i++)
arv_stream_push_buffer (gst_aravis->stream,
arv_buffer_new (gst_aravis->payload, NULL));
GST_LOG_OBJECT (gst_aravis, "Start acquisition");
arv_camera_start_acquisition (gst_aravis->camera);
gst_aravis->timestamp_offset = 0;
gst_aravis->last_timestamp = 0;
return TRUE;
}
bool CameraGigeAravis::grabInitialization(){
frameCounter = 0;
payload = arv_camera_get_payload (camera);
BOOST_LOG_SEV(logger, notification) << "Camera payload : " << payload;
pixFormat = arv_camera_get_pixel_format(camera);
arv_camera_get_exposure_time_bounds (camera, &exposureMin, &exposureMax);
BOOST_LOG_SEV(logger, notification) << "Camera exposure bound min : " << exposureMin;
BOOST_LOG_SEV(logger, notification) << "Camera exposure bound max : " << exposureMax;
arv_camera_get_gain_bounds (camera, &gainMin, &gainMax);
BOOST_LOG_SEV(logger, notification) << "Camera gain bound min : " << gainMin;
BOOST_LOG_SEV(logger, notification) << "Camera gain bound max : " << gainMax;
arv_camera_set_frame_rate(camera, 30);
fps = arv_camera_get_frame_rate(camera);
BOOST_LOG_SEV(logger, notification) << "Camera frame rate : " << fps;
capsString = arv_pixel_format_to_gst_caps_string(pixFormat);
BOOST_LOG_SEV(logger, notification) << "Camera format : " << capsString;
gain = arv_camera_get_gain(camera);
BOOST_LOG_SEV(logger, notification) << "Camera gain : " << gain;
exp = arv_camera_get_exposure_time(camera);
BOOST_LOG_SEV(logger, notification) << "Camera exposure : " << exp;
cout << endl;
cout << "DEVICE SELECTED : " << arv_camera_get_device_id(camera) << endl;
cout << "DEVICE NAME : " << arv_camera_get_model_name(camera) << endl;
cout << "DEVICE VENDOR : " << arv_camera_get_vendor_name(camera) << endl;
cout << "PAYLOAD : " << payload << endl;
cout << "Width : " << mWidth << endl
<< "Height : " << mHeight << endl;
cout << "Exp Range : [" << exposureMin << " - " << exposureMax << "]" << endl;
cout << "Exp : " << exp << endl;
cout << "Gain Range : [" << gainMin << " - " << gainMax << "]" << endl;
cout << "Gain : " << gain << endl;
cout << "Fps : " << fps << endl;
cout << "Type : " << capsString << endl;
cout << endl;
// Create a new stream object. Open stream on Camera.
stream = arv_camera_create_stream(camera, NULL, NULL);
if(stream == NULL){
BOOST_LOG_SEV(logger, critical) << "Fail to create stream with arv_camera_create_stream()";
return false;
}
if (ARV_IS_GV_STREAM(stream)){
bool arv_option_auto_socket_buffer = true;
bool arv_option_no_packet_resend = true;
unsigned int arv_option_packet_timeout = 20;
unsigned int arv_option_frame_retention = 100;
if(arv_option_auto_socket_buffer){
g_object_set(stream,
// ARV_GV_STREAM_SOCKET_BUFFER_FIXED : socket buffer is set to a given fixed value.
// ARV_GV_STREAM_SOCKET_BUFFER_AUTO: socket buffer is set with respect to the payload size.
"socket-buffer", ARV_GV_STREAM_SOCKET_BUFFER_AUTO,
// Socket buffer size, in bytes.
// Allowed values: >= G_MAXULONG
// Default value: 0
"socket-buffer-size", 0, NULL);
}
if(arv_option_no_packet_resend){
// # packet-resend : Enables or disables the packet resend mechanism
// If packet resend is disabled and a packet has been lost during transmission,
// the grab result for the returned buffer holding the image will indicate that
// the grab failed and the image will be incomplete.
//
// If packet resend is enabled and a packet has been lost during transmission,
// a request is sent to the camera. If the camera still has the packet in its
// buffer, it will resend the packet. If there are several lost packets in a
// row, the resend requests will be combined.
g_object_set(stream,
// ARV_GV_STREAM_PACKET_RESEND_NEVER: never request a packet resend
// ARV_GV_STREAM_PACKET_RESEND_ALWAYS: request a packet resend if a packet was missing
// Default value: ARV_GV_STREAM_PACKET_RESEND_ALWAYS
"packet-resend", ARV_GV_STREAM_PACKET_RESEND_NEVER, NULL);
}
g_object_set(stream,
// # packet-timeout
// The Packet Timeout parameter defines how long (in milliseconds) we will wait for
// the next expected packet before it initiates a resend request.
// Packet timeout, in µs.
// Allowed values: [1000,10000000]
// Default value: 40000
"packet-timeout",/* (unsigned) arv_option_packet_timeout * 1000*/(unsigned)40000,
// # frame-retention
// The Frame Retention parameter sets the timeout (in milliseconds) for the
// frame retention timer. Whenever detection of the leader is made for a frame,
// the frame retention timer starts. The timer resets after each packet in the
// frame is received and will timeout after the last packet is received. If the
// timer times out at any time before the last packet is received, the buffer for
// the frame will be released and will be indicated as an unsuccessful grab.
// Packet retention, in µs.
// Allowed values: [1000,10000000]
// Default value: 200000
"frame-retention", /*(unsigned) arv_option_frame_retention * 1000*/(unsigned) 200000,NULL);
}else
return false;
// Push 50 buffer in the stream input buffer queue.
for (int i = 0; i < 50; i++)
arv_stream_push_buffer(stream, arv_buffer_new(payload, NULL));
return true;
}
void *
_thread (void *user_data)
{
ArvGvFakeCamera *gv_fake_camera = user_data;
ArvBuffer *image_buffer = NULL;
GError *error = NULL;
GSocketAddress *stream_address = NULL;
void *packet_buffer;
size_t packet_size;
size_t payload = 0;
guint16 block_id;
ptrdiff_t offset;
guint32 gv_packet_size;
GInputVector input_vector;
int n_events;
gboolean is_streaming = FALSE;
input_vector.buffer = g_malloc0 (ARV_GV_FAKE_CAMERA_BUFFER_SIZE);
input_vector.size = ARV_GV_FAKE_CAMERA_BUFFER_SIZE;
packet_buffer = g_malloc (ARV_GV_FAKE_CAMERA_BUFFER_SIZE);
do {
guint64 next_timestamp_us;
guint64 sleep_time_us;
if (is_streaming) {
sleep_time_us = arv_fake_camera_get_sleep_time_for_next_frame (gv_fake_camera->priv->camera, &next_timestamp_us);
} else {
sleep_time_us = 100000;
next_timestamp_us = g_get_real_time () + sleep_time_us;
}
do {
gint timeout_ms;
timeout_ms = MIN (100, (next_timestamp_us - g_get_real_time ()) / 1000LL);
if (timeout_ms < 0)
timeout_ms = 0;
n_events = g_poll (gv_fake_camera->priv->gvcp_fds, 2, timeout_ms);
if (n_events > 0) {
GSocketAddress *remote_address = NULL;
int count;
count = g_socket_receive_message (gv_fake_camera->priv->gvcp_socket,
&remote_address, &input_vector, 1, NULL, NULL,
NULL, NULL, NULL);
if (count > 0) {
if (handle_control_packet (gv_fake_camera, gv_fake_camera->priv->gvcp_socket,
remote_address, input_vector.buffer, count))
arv_debug_device ("[GvFakeCamera::thread] Control packet received");
}
g_clear_object (&remote_address);
if (gv_fake_camera->priv->discovery_socket != NULL) {
count = g_socket_receive_message (gv_fake_camera->priv->discovery_socket,
&remote_address, &input_vector, 1, NULL, NULL,
NULL, NULL, NULL);
if (count > 0) {
if (handle_control_packet (gv_fake_camera, gv_fake_camera->priv->discovery_socket,
remote_address, input_vector.buffer, count))
arv_debug_device ("[GvFakeCamera::thread]"
" Control packet received on discovery socket\n");
}
g_clear_object (&remote_address);
}
if (arv_fake_camera_get_control_channel_privilege (gv_fake_camera->priv->camera) == 0 ||
arv_fake_camera_get_acquisition_status (gv_fake_camera->priv->camera) == 0) {
if (stream_address != NULL) {
g_object_unref (stream_address);
stream_address = NULL;
g_object_unref (image_buffer);
image_buffer = NULL;
arv_debug_stream_thread ("[GvFakeCamera::thread] Stop stream");
}
is_streaming = FALSE;
}
}
} while (!g_atomic_int_get (&gv_fake_camera->priv->cancel) && g_get_real_time () < next_timestamp_us);
if (arv_fake_camera_get_control_channel_privilege (gv_fake_camera->priv->camera) != 0 &&
arv_fake_camera_get_acquisition_status (gv_fake_camera->priv->camera) != 0) {
if (stream_address == NULL) {
GInetAddress *inet_address;
char *inet_address_string;
stream_address = arv_fake_camera_get_stream_address (gv_fake_camera->priv->camera);
inet_address = g_inet_socket_address_get_address
(G_INET_SOCKET_ADDRESS (stream_address));
inet_address_string = g_inet_address_to_string (inet_address);
arv_debug_stream_thread ("[GvFakeCamera::thread] Start stream to %s (%d)",
inet_address_string,
g_inet_socket_address_get_port
(G_INET_SOCKET_ADDRESS (stream_address)));
g_free (inet_address_string);
payload = arv_fake_camera_get_payload (gv_fake_camera->priv->camera);
image_buffer = arv_buffer_new (payload, NULL);
}
arv_fake_camera_fill_buffer (gv_fake_camera->priv->camera, image_buffer, &gv_packet_size);
arv_debug_stream_thread ("[GvFakeCamera::thread] Send frame %d", image_buffer->priv->frame_id);
block_id = 0;
packet_size = ARV_GV_FAKE_CAMERA_BUFFER_SIZE;
arv_gvsp_packet_new_data_leader (image_buffer->priv->frame_id,
block_id,
image_buffer->priv->timestamp_ns,
image_buffer->priv->pixel_format,
image_buffer->priv->width, image_buffer->priv->height,
image_buffer->priv->x_offset, image_buffer->priv->y_offset,
packet_buffer, &packet_size);
g_socket_send_to (gv_fake_camera->priv->gvsp_socket, stream_address,
packet_buffer, packet_size, NULL, &error);
if (error != NULL) {
arv_warning_stream_thread ("[GvFakeCamera::thread] Failed to send leader for frame %d: %s",
image_buffer->priv->frame_id, error->message);
g_clear_error (&error);
}
block_id++;
offset = 0;
while (offset < payload) {
size_t data_size;
data_size = MIN (gv_packet_size - ARV_GVSP_PACKET_PROTOCOL_OVERHEAD,
payload - offset);
packet_size = ARV_GV_FAKE_CAMERA_BUFFER_SIZE;
arv_gvsp_packet_new_data_block (image_buffer->priv->frame_id, block_id,
data_size, ((char *) image_buffer->priv->data) + offset,
packet_buffer, &packet_size);
g_socket_send_to (gv_fake_camera->priv->gvsp_socket, stream_address,
packet_buffer, packet_size, NULL, &error);
if (error != NULL) {
arv_debug_stream_thread ("[GvFakeCamera::thread] Failed to send frame block %d for frame: %s",
block_id,
image_buffer->priv->frame_id,
error->message);
g_clear_error (&error);
}
offset += data_size;
block_id++;
}
packet_size = ARV_GV_FAKE_CAMERA_BUFFER_SIZE;
arv_gvsp_packet_new_data_trailer (image_buffer->priv->frame_id, block_id,
packet_buffer, &packet_size);
g_socket_send_to (gv_fake_camera->priv->gvsp_socket, stream_address,
packet_buffer, packet_size, NULL, &error);
if (error != NULL) {
arv_debug_stream_thread ("[GvFakeCamera::thread] Failed to send trailer for frame %d: %s",
image_buffer->priv->frame_id,
error->message);
g_clear_error (&error);
}
is_streaming = TRUE;
}
} while (!g_atomic_int_get (&gv_fake_camera->priv->cancel));
if (stream_address != NULL)
g_object_unref (stream_address);
if (image_buffer != NULL)
g_object_unref (image_buffer);
g_free (packet_buffer);
g_free (input_vector.buffer);
return NULL;
}
int
main (int argc, char **argv)
{
ApplicationData data;
ArvCamera *camera;
ArvStream *stream;
ArvBuffer *buffer;
int i;
data.buffer_count = 0;
/* Mandatory glib type system initialization */
arv_g_type_init ();
/* Instantiation of the first available camera */
camera = arv_camera_new (NULL);
if (camera != NULL) {
void (*old_sigint_handler)(int);
gint payload;
guint software_trigger_source = 0;
/* Set region of interrest to a 200x200 pixel area */
arv_camera_set_region (camera, 0, 0, 200, 200);
/* Set frame rate to 10 Hz */
arv_camera_set_frame_rate (camera, 10.0);
/* retrieve image payload (number of bytes per image) */
payload = arv_camera_get_payload (camera);
/* Create a new stream object */
stream = arv_camera_create_stream (camera, NULL, NULL);
if (stream != NULL) {
/* Push 50 buffer in the stream input buffer queue */
for (i = 0; i < 50; i++)
arv_stream_push_buffer (stream, arv_buffer_new (payload, NULL));
/* Start the video stream */
arv_camera_start_acquisition (camera);
/* Connect the new-buffer signal */
g_signal_connect (stream, "new-buffer", G_CALLBACK (new_buffer_cb), &data);
/* And enable emission of this signal (it's disabled by default for performance reason) */
arv_stream_set_emit_signals (stream, TRUE);
/* Connect the control-lost signal */
g_signal_connect (arv_camera_get_device (camera), "control-lost",
G_CALLBACK (control_lost_cb), NULL);
/* Install the callback for frame rate display */
g_timeout_add_seconds (1, periodic_task_cb, &data);
/* Create a new glib main loop */
data.main_loop = g_main_loop_new (NULL, FALSE);
old_sigint_handler = signal (SIGINT, set_cancel);
/* Run the main loop */
g_main_loop_run (data.main_loop);
signal (SIGINT, old_sigint_handler);
g_main_loop_unref (data.main_loop);
/* Stop the video stream */
arv_camera_stop_acquisition (camera);
g_object_unref (stream);
} else
printf ("Can't create stream thread (check if the device is not already used)\n");
g_object_unref (camera);
} else
printf ("No camera found\n");
return 0;
}
