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#include "pylon_camera.h"
#include <yat/plugin/PlugInManager.h>
#include <yat/threading/Condition.h>
#include <baslerpylon/IGrabber.h>
#include <iostream>
namespace {
GrabAPI::IGrabber* pGrabber = 0;
yat::Mutex pImageMutex;
yat::Condition pImageCondition(pImageMutex);
guint imageCounter = 0;
guint currentImage = 0;
GrabAPI::Image* image = NULL;
guint bytesPerPixel = 0;
void handle_image(GrabAPI::Image* newImage)
{
yat::MutexLock lock(pImageMutex);
delete image;
image = newImage;
imageCounter++;
pImageCondition.signal();
}
void yat_exception_to_gerror(const yat::Exception& e, GError** error)
{
if (e.errors.size() == 2)
{
g_set_error(error, 0, 0,
"%s : %s : %s\n%s : %s : %s",
e.errors[0].reason.c_str(),
e.errors[0].desc.c_str(),
e.errors[0].origin.c_str(),
e.errors[1].reason.c_str(),
e.errors[1].desc.c_str(),
e.errors[1].origin.c_str());
return;
}
if (e.errors.size() == 3)
{
g_set_error(error, 0, 0,
"%s : %s : %s\n%s : %s : %s\n%s : %s : %s",
e.errors[0].reason.c_str(),
e.errors[0].desc.c_str(),
e.errors[0].origin.c_str(),
e.errors[1].reason.c_str(),
e.errors[1].desc.c_str(),
e.errors[1].origin.c_str(),
e.errors[2].reason.c_str(),
e.errors[2].desc.c_str(),
e.errors[2].origin.c_str());
return;
}
g_set_error(error, 0, 0,
"%s : %s : %s",
e.errors[0].reason.c_str(),
e.errors[0].desc.c_str(),
e.errors[0].origin.c_str());
}
}
void pylon_camera_new(const char* lib_path, const char* camera_ip, GError** error)
{
g_assert(!pGrabber);
try {
yat::PlugInManager pm;
std::pair<yat::IPlugInInfo*, yat::IPlugInFactory*> pp =
pm.load((std::string(lib_path) + "/libbaslerpylon.so").c_str());
yat::IPlugInObject* plugin_obj = 0;
pp.second->create(plugin_obj);
pGrabber = static_cast<GrabAPI::IGrabber*>(plugin_obj);
yat::PlugInPropValues values;
values["CameraIP"] = yat::Any(std::string(camera_ip));
pGrabber->set_properties(values);
pGrabber->initialize();
pGrabber->set_image_handler(GrabAPI::ImageHandlerCallback::instanciate(handle_image));
pGrabber->open();
}
catch (const yat::Exception& e) {
yat_exception_to_gerror(e, error);
}
}
void pylon_camera_set_exposure_time(gdouble exp_time, GError** error)
{
g_assert(pGrabber);
try
{
pGrabber->set_exposure_time(yat::Any(exp_time));
}
catch (const yat::Exception& e)
{
yat_exception_to_gerror(e, error);
}
}
void pylon_camera_get_exposure_time(gdouble* exp_time, GError** error)
{
g_assert(pGrabber);
try
{
yat::Any exp_time_result;
pGrabber->get_exposure_time(exp_time_result);
*exp_time = yat::any_cast<gdouble>(exp_time_result);
}
catch (const yat::Exception& e)
{
yat_exception_to_gerror(e, error);
}
}
void pylon_camera_get_sensor_size(guint* width, guint* height, GError** error)
{
g_assert(pGrabber);
try
{
yat::Any w, h;
pGrabber->get_sensor_width(w);
pGrabber->get_sensor_height(h);
*width = yat::any_cast<yat_int32_t>(w);
*height = yat::any_cast<yat_int32_t>(h);
}
catch (const yat::Exception& e)
{
yat_exception_to_gerror(e, error);
}
}
void pylon_camera_get_bit_depth(guint* depth, GError** error)
{
g_assert(pGrabber);
try
{
yat::Any bit_depth_result;
pGrabber->get_bit_depth(bit_depth_result);
*depth = yat::any_cast<yat_int32_t>(bit_depth_result);
}
catch (const yat::Exception& e)
{
yat_exception_to_gerror(e, error);
}
}
void pylon_camera_get_roi(guint16* roi_x, guint16* roi_y, guint16* roi_width, guint16* roi_height, GError** error)
{
g_assert(pGrabber);
g_assert(roi_x);
g_assert(roi_y);
g_assert(roi_width);
g_assert(roi_height);
try
{
GrabAPI::ROI roi = pGrabber->get_roi();
*roi_x = roi.x;
*roi_y = roi.y;
*roi_width = roi.width;
*roi_height = roi.height;
}
catch (const yat::Exception& e)
{
yat_exception_to_gerror(e, error);
}
}
void pylon_camera_set_roi(guint16 roi_x, guint16 roi_y, guint16 roi_width, guint16 roi_height, GError** error)
{
g_assert(pGrabber);
try
{
GrabAPI::ROI roi(roi_x, roi_y, roi_width, roi_height);
pGrabber->set_roi(roi);
}
catch (const yat::Exception& e)
{
yat_exception_to_gerror(e, error);
}
}
void pylon_camera_get_gain(gint* gain, GError** error)
{
g_assert(pGrabber);
try
{
yat::Any gain_result;
pGrabber->get_gain(gain_result);
*gain = yat::any_cast<gint>(gain_result);
}
catch (const yat::Exception& e)
{
yat_exception_to_gerror(e, error);
}
}
void pylon_camera_set_gain(gint gain, GError** error)
{
g_assert(pGrabber);
try
{
pGrabber->set_gain(yat::Any(gain));
}
catch (const yat::Exception& e)
{
yat_exception_to_gerror(e, error);
}
}
void pylon_camera_start_acquision(GError** error)
{
g_assert(pGrabber);
guint bit_depth = 0;
pylon_camera_get_bit_depth(&bit_depth, error);
bytesPerPixel = 1;
if (bit_depth > 8) bytesPerPixel = 2;
if (bit_depth > 16) bytesPerPixel = 3;
if (bit_depth > 24) bytesPerPixel = 4;
try
{
{
yat::MutexLock lock(pImageMutex);
imageCounter = 0;
currentImage = 0;
}
pGrabber->start();
}
catch (const yat::Exception& e)
{
yat_exception_to_gerror(e, error);
}
}
void pylon_camera_stop_acquision(GError** error)
{
g_assert(pGrabber);
try
{
pGrabber->stop();
}
catch (const yat::Exception& e)
{
yat_exception_to_gerror(e, error);
}
}
void pylon_camera_grab(gpointer *data, GError** error)
{
g_assert(pGrabber);
try
{
yat::MutexLock lock(pImageMutex);
g_assert(currentImage <= imageCounter);
while (currentImage == imageCounter)
{
std::cerr << "wait for next image... " << currentImage << std::endl;
pImageCondition.wait();
}
std::cerr << "grab next image " << currentImage << ", " << imageCounter
<< "; width: " << image->width() / bytesPerPixel << ", height: " << image->height() << std::endl;
g_assert(currentImage < imageCounter);
currentImage = imageCounter;
memcpy(*data, image->base(), image->width() * image->height());
}
catch (const yat::Exception& e)
{
yat_exception_to_gerror(e, error);
}
}
void pylon_camera_delete()
{
if (!pGrabber)
return;
pGrabber->close();
pGrabber->uninitialize();
delete pGrabber;
}
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