gboolean
gst_edt_pdv_sink_start (GstBaseSink * basesink)
{
GstEdtPdvSink *pdvsink = GST_EDT_PDV_SINK (basesink);
GST_DEBUG_OBJECT (pdvsink, "Starting");
pdvsink->dev = pdv_open_channel ("pdv", pdvsink->unit, pdvsink->channel);
if (pdvsink->dev == NULL) {
GST_ELEMENT_ERROR (pdvsink, RESOURCE, OPEN_WRITE,
("Unable to open unit %d, channel %d", pdvsink->unit, pdvsink->channel),
(NULL));
return FALSE;
}
if (!pdv_is_simulator (pdvsink->dev)) {
GST_ELEMENT_ERROR (pdvsink, RESOURCE, OPEN_WRITE,
("EDT unit is not a simulator."), (NULL));
pdv_close (pdvsink->dev);
}
/* FIXME: set timeout to wait forever, shouldn't do this of course */
edt_set_wtimeout (pdvsink->dev, 0);
edt_set_rtimeout (pdvsink->dev, 0);
pdv_flush_fifo (pdvsink->dev);
/* turn off counter data so we can DMA our own image data */
pdv_cls_set_datacnt (pdvsink->dev, 0);
pdvsink->cur_buffer = 0;
return TRUE;
}
gboolean
gst_edt_pdv_sink_stop (GstBaseSink * basesink)
{
GstEdtPdvSink *pdvsink = GST_EDT_PDV_SINK (basesink);
if (pdvsink->dev)
pdv_close (pdvsink->dev);
return TRUE;
}
edt_server::~edt_server()
{
if (d_pdv_p) {
pdv_close((PdvDev*)d_pdv_p);
d_pdv_p = NULL;
}
if (d_swap_buffer) {
delete [] d_swap_buffer;
d_swap_buffer = NULL;
}
}
bool edt_server::open_and_find_parameters(void)
{
char errstr[256];
char *devname = EDT_INTERFACE;
int unit = 0;
int channel = 0;
// Try to open the default device name and unit
d_pdv_p = pdv_open_channel(devname, unit, channel);
if (d_pdv_p == NULL) {
fprintf(stderr,"edt_server::open_and_find_parameters: Could not open camera\n");
sprintf(errstr, "pdv_open_channel(%s%d_%d)", devname, unit, channel);
pdv_perror(errstr);
return false;
}
// Check the parameters.
if (pdv_get_depth((PdvDev*)d_pdv_p) != 8) {
fprintf(stderr,"edt_server::open_and_find_parameters: Can only handle 8-bit cameras\n");
pdv_close((PdvDev*)d_pdv_p);
d_pdv_p = NULL;
return false;
}
_num_columns = pdv_get_width((PdvDev*)d_pdv_p);
_num_rows = pdv_get_height((PdvDev*)d_pdv_p);
_minX = _minY = 0;
_maxX = _num_columns-1;
_maxY = _num_rows-1;
_binning = 1;
// Allocate space to swap a line from the buffer
if ( (d_swap_buffer = new vrpn_uint8[_num_columns]) == NULL) {
fprintf(stderr,"edt_server::open_and_find_parameters: Out of memory\n");
pdv_close((PdvDev*)d_pdv_p);
d_pdv_p = NULL;
return false;
}
/*
* allocate buffers for optimal pdv ring buffer pipeline (reduce if
* memory is at a premium)
*/
pdv_multibuf((PdvDev*)d_pdv_p, d_num_buffers);
// Clear the timeouts value.
d_first_timeouts = d_last_timeouts = pdv_timeouts((PdvDev*)d_pdv_p);
/*
* prestart the first image or images outside the loop to get the
* pipeline going. Start multiple images unless force_single set in
* config file, since some cameras (e.g. ones that need a gap between
* images or that take a serial command to start every image) don't
* tolerate queueing of multiple images
*/
if (((PdvDev*)d_pdv_p)->dd_p->force_single) {
d_started = 1;
pdv_start_image((PdvDev*)d_pdv_p);
} else {
// Request as many images as buffers, so we are always trying to
// fill all of them. If we have gotten all we asked for, we
// may have missed some.
d_started = d_num_buffers;
pdv_start_images((PdvDev*)d_pdv_p, d_started);
}
// Read one frame when we start.
_status = true;
if (read_image_to_memory()) {
return true;
} else {
pdv_close((PdvDev*)d_pdv_p);
d_pdv_p = NULL;
fprintf(stderr, "edt_server::open_and_find_parameters: could not read image to memory\n");
return false;
}
}
bool edt_server::read_image_to_memory(unsigned minX, unsigned maxX,
unsigned minY, unsigned maxY,
double exposure_time_millisecs)
{
u_char *image_p;
struct timeval now;
if (!_status) { return false; }
//---------------------------------------------------------------------
// XXX Set the exposure time.
//---------------------------------------------------------------------
// Set the size of the window to include all pixels if there were not
// any binning. This means adding all but 1 of the binning back at
// the end to cover the pixels that are within that bin.
_minX = minX * _binning;
_maxX = maxX * _binning + (_binning-1);
_minY = minY * _binning;
_maxY = maxY * _binning + (_binning-1);
//---------------------------------------------------------------------
// If the maxes are greater than the mins, set them to the size of
// the image.
if (_maxX < _minX) {
_minX = 0; _maxX = _num_columns - 1;
}
if (_maxY < _minY) {
_minY = 0; _maxY = _num_rows - 1;
}
//---------------------------------------------------------------------
// Clip collection range to the size of the sensor on the camera.
if (_minX < 0) { _minX = 0; };
if (_minY < 0) { _minY = 0; };
if (_maxX >= _num_columns) { _maxX = _num_columns - 1; };
if (_maxY >= _num_rows) { _maxY = _num_rows - 1; };
// If the in-memory buffers have all been filled up, assume
// that we have missed some unknown number of images. Save this
// so that it can be reported if we're sending VRPN messages.
// Actually, we report this if we drop down to 1 buffer because
// this was where the version running on one of our computers
// hit the floor at and started losing frames.
unsigned outstanding = edt_get_todo((PdvDev*)d_pdv_p) -
edt_done_count((PdvDev*)d_pdv_p);
if ( outstanding <= 1 ) {
d_missed_some_images = true;
}
// Once a second, tell how many buffers have been filled and are waiting
// for us to process.
static struct timeval last = { 0, 0 };
vrpn_gettimeofday(&now, NULL);
if (now.tv_sec > last.tv_sec) {
last = now;
//printf("XXX EDT: %d outstanding buffers\n", outstanding );
}
/*
* get the image and immediately start the next one. Processing
* can then occur in parallel with the next acquisition
*/
unsigned int sec_usec[2];
image_p = pdv_wait_image_timed((PdvDev*)d_pdv_p, sec_usec);
if (image_p == NULL) {
fprintf(stderr,"edt_server::read_image_to_memory(): Failed to read image\n");
pdv_close((PdvDev*)d_pdv_p);
d_pdv_p = NULL;
_status = false;
return false;
}
pdv_start_image((PdvDev*)d_pdv_p);
/*XXX
if (edt_reg_read((PdvDev*)d_pdv_p, PDV_STAT) & PDV_OVERRUN) {
XXX_overrun_check; // http://www.edt.com/api/simple__take_8c-source.html
}
*/
// XXX We might think that we wanted to use the wait_images functions
// rather than wait_image, but we do seem to fill up all of the buffers
// when we can't send data out fast enough. But it may be worth trying
// to use it and ask for one at a time, then only start more reads when
// half of them have been read or something? And do this using a commend
// to start multiple reads? Does it re-start every time we call start?
// If so, what's the point of multiple buffers in the simple_take.c file?
// Google search for pdv_wait_image_timed turned up pointers to their docs.
//---------------------------------------------------------------------
// Time handling: We let the EDT board tell us what time each image
// was put into the DMA buffer. We don't know how this compares to
// the absolute PC clock time, so we record the offset from the first
// time we got an image (clock reading and EDT reading), so that the
// time will be reported relative to the computer's clock.
// If we don't have a nonzero PC time, this is the first time through,
// so get both initial times.
struct timeval edt_now = { sec_usec[0], sec_usec[1] };
if ( d_pc_time_first_image.tv_sec == 0 ) {
vrpn_gettimeofday(&d_pc_time_first_image, NULL);
d_edt_time_first_image = edt_now;
}
struct timeval time_offset = vrpn_TimevalDiff(d_pc_time_first_image, d_edt_time_first_image);
d_timestamp = vrpn_TimevalSum( edt_now, time_offset );
// XXX The EDT-board time handling seems to be broken, so for now we just
// put on the current time for the frame.
vrpn_gettimeofday(&now, NULL);
d_timestamp = now;
// Check for timeouts in image transer from the camera into a memory
// buffer. This does NOT tell us when we ask for more images than will
// fit into buffers, but rather when there was a communication error or
// the system bus was too slow to pull the image off the camera. We'll
// need to look at timestamps to determine whether we missed any images
// due to not having room in the buffers we allocated.
unsigned timeouts = pdv_timeouts((PdvDev*)d_pdv_p);
if (timeouts > d_last_timeouts)
{
/*
* pdv_timeout_cleanup helps recover gracefully after a timeout,
* particularly if multiple buffers were prestarted
*/
if (d_num_buffers > 1)
{
int pending = pdv_timeout_cleanup((PdvDev*)d_pdv_p);
pdv_start_images((PdvDev*)d_pdv_p, pending);
}
d_unreported_timeouts += (timeouts - d_last_timeouts);
d_last_timeouts = timeouts;
}
// If we're supposed to swap every other line, do that here.
// The image lines are swapped in place.
if (d_swap_lines) {
unsigned j; // Indexes into the lines, skipping every other.
for (j = 0; j < _num_rows; j += 2) {
memcpy(d_swap_buffer, image_p + j*_num_columns, _num_columns);
memcpy(image_p + (j+1)*_num_columns, image_p + j*_num_columns, _num_columns);
memcpy(image_p + (j+1)*_num_columns, d_swap_buffer, _num_columns);
}
}
// Point to the image in memory.
d_buffer = image_p;
return true;
}
