gentlsrc: add support for FLIR Spinnaker cameras
This also required changing how we read values, as FLIR uses little endian. Timestamps are handled differently as well. We're even more overdue for moving to properly parse the XML, just a matter of if we'll use the GenApi reference implementation or something else like Aravis.
This commit is contained in:
Joshua M. Doe
parent
ddf2f6857e
commit
6c5cbad0ad
@ -64,6 +64,7 @@ initialize_evt_addresses (GstGenTlProducer * producer)
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producer->cti_path =
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g_strdup ("C:\\Program Files\\EVT\\eSDK\\bin\\EmergentGenTL.cti");
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producer->acquisition_mode_value = 0;
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producer->timestamp_control_latch_value = 2;
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producer->width = 0xA000;
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producer->height = 0xA004;
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producer->pixel_format = 0xA008;
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@ -76,6 +77,7 @@ initialize_evt_addresses (GstGenTlProducer * producer)
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producer->timestamp_control_latch = 0x944;
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producer->timestamp_low = 0x094C;
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producer->timestamp_high = 0x0948;
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producer->port_endianness = G_BIG_ENDIAN;
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}
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static void
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@ -93,8 +95,31 @@ initialize_basler_addresses (GstGenTlProducer * producer)
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producer->acquisition_mode = 0x40004;
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producer->acquisition_start = 0x40024;
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producer->acquisition_stop = 0x40044;
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producer->port_endianness = G_BIG_ENDIAN;
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}
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static void
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initialize_flir_addresses (GstGenTlProducer * producer)
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{
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memset (producer, 0, sizeof (producer));
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producer->cti_path =
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g_strdup
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("C:\\Program Files\\FLIR Systems\\Spinnaker\\cti64\\vs2015\\FLIR_GenTL_v140.cti");
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producer->acquisition_mode_value = 0;
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producer->timestamp_control_latch_value = 1;
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producer->width = 0x00081084;
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producer->height = 0x00081064;
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producer->pixel_format = 0x00086008;
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producer->payload_size = 0x20002008;
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producer->acquisition_mode = 0x000C00C8;
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producer->acquisition_start = 0x000C0004;
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producer->acquisition_stop = 0x000C0024;
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producer->timestamp_control_latch = 0x1F8;
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producer->timestamp = 0x1F0;
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producer->port_endianness = G_LITTLE_ENDIAN;
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}
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#define GST_TYPE_GENTLSRC_PRODUCER (gst_gentlsrc_producer_get_type())
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static GType
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gst_gentlsrc_producer_get_type (void)
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@ -103,6 +128,7 @@ gst_gentlsrc_producer_get_type (void)
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static const GEnumValue gentlsrc_producer[] = {
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{GST_GENTLSRC_PRODUCER_BASLER, "Basler producer", "basler"},
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{GST_GENTLSRC_PRODUCER_EVT, "EVT producer", "evt"},
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{GST_GENTLSRC_PRODUCER_FLIR, "FLIR producer", "flir"},
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{0, NULL, NULL},
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};
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@ -135,6 +161,7 @@ static GstFlowReturn gst_gentlsrc_create (GstPushSrc * src, GstBuffer ** buf);
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static gchar *gst_gentlsrc_get_error_string (GstGenTlSrc * src);
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static void gst_gentlsrc_cleanup_tl (GstGenTlSrc * src);
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static gboolean gst_gentlsrc_src_latch_timestamps (GstGenTlSrc * src);
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enum
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{
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@ -775,6 +802,111 @@ gst_gentl_print_device_info (GstGenTlSrc * src, uint32_t index)
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//}
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static guint32
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read_uint32 (GstGenTlSrc * src, guint64 addr, GC_ERROR * ret)
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{
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guint32 value;
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size_t datasize = 4;
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*ret = GTL_GCReadPort (src->hDevPort, addr, &value, &datasize);
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if (*ret != GC_ERR_SUCCESS) {
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GST_ELEMENT_ERROR (src, LIBRARY, FAILED,
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("Failed to read address: %s", gst_gentlsrc_get_error_string (src)),
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(NULL));
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goto error;
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}
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if (src->producer.port_endianness == G_BIG_ENDIAN)
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value = GUINT32_FROM_BE (value);
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else
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value = GUINT32_FROM_LE (value);
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return value;
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error:
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return 0;
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}
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static gboolean
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write_uint32 (GstGenTlSrc * src, guint64 addr, guint32 value)
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{
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GC_ERROR ret;
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size_t datasize = 4;
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if (src->producer.port_endianness == G_BIG_ENDIAN)
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value = GUINT32_TO_BE (value);
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else
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value = GUINT32_TO_LE (value);
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ret = GTL_GCWritePort (src->hDevPort, addr, &value, &datasize);
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HANDLE_GTL_ERROR ("Failed to write address");
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return ret;
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error:
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return ret;
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}
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static guint64
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read_uint64_single (GstGenTlSrc * src, guint64 addr, GC_ERROR * ret)
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{
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guint64 value;
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size_t datasize = 8;
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*ret = GTL_GCReadPort (src->hDevPort, addr, &value, &datasize);
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if (*ret != GC_ERR_SUCCESS) {
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GST_ELEMENT_ERROR (src, LIBRARY, FAILED,
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("Failed to read address: %s", gst_gentlsrc_get_error_string (src)),
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(NULL));
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goto error;
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}
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if (src->producer.port_endianness == G_BIG_ENDIAN)
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value = GUINT64_FROM_BE (value);
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else
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value = GUINT64_FROM_LE (value);
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return value;
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error:
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return 0;
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}
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static guint64
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read_uint64 (GstGenTlSrc * src, guint64 low_addr, guint64 high_addr,
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GC_ERROR * ret)
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{
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guint32 low, high;
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size_t datasize = 4;
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guint64 value;
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*ret = GTL_GCReadPort (src->hDevPort, low_addr, &low, &datasize);
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if (*ret != GC_ERR_SUCCESS) {
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GST_ELEMENT_ERROR (src, LIBRARY, FAILED,
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("Failed to read lower address: %s",
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gst_gentlsrc_get_error_string (src)), (NULL));
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goto error;
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}
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*ret = GTL_GCReadPort (src->hDevPort, high_addr, &high, &datasize);
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if (*ret != GC_ERR_SUCCESS) {
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GST_ELEMENT_ERROR (src, LIBRARY, FAILED,
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("Failed to read upper address: %s",
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gst_gentlsrc_get_error_string (src)), (NULL));
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goto error;
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}
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if (src->producer.port_endianness == G_BIG_ENDIAN)
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value = GUINT64_FROM_BE ((guint64) low << 32 | high);
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else
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value = GUINT64_FROM_LE ((guint64) low << 32 | high);
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return value;
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error:
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return 0;
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}
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static size_t
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gst_gentlsrc_get_payload_size (GstGenTlSrc * src)
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{
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@ -798,13 +930,9 @@ gst_gentlsrc_get_payload_size (GstGenTlSrc * src)
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payload_size);
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} else {
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guint32 val = 0;
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size_t datasize = 4;
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// TODO: use node map
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ret =
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GTL_GCReadPort (src->hDevPort, src->producer.payload_size, &val,
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&datasize);
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payload_size = read_uint32 (src, src->producer.payload_size, &ret);
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HANDLE_GTL_ERROR ("Failed to get payload size");
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payload_size = GUINT32_FROM_BE (val);
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GST_DEBUG_OBJECT (src, "Payload size defined by node map: %d",
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payload_size);
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@ -860,66 +988,79 @@ gst_gentlsrc_get_gev_tick_frequency (GstGenTlSrc * src)
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{
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GC_ERROR ret;
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if (!src->producer.tick_frequency_high || !src->producer.tick_frequency_low)
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if (!src->producer.tick_frequency_high || !src->producer.tick_frequency_low) {
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// latch timestamps once
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if (gst_gentlsrc_src_latch_timestamps (src)) {
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GST_DEBUG_OBJECT (src, "Assuming timestamps are in nanoseconds");
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return GST_SECOND;
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} else {
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GST_ERROR_OBJECT (src, "Tick frequency addresses aren't defined");
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return 0;
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}
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}
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guint32 freq_low, freq_high;
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size_t datasize = 4;
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ret = GTL_GCReadPort (src->hDevPort, src->producer.tick_frequency_low, &freq_low, &datasize); // GevTimestampTickFrequencyLow
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HANDLE_GTL_ERROR ("Failed to get GevTimestampTickFrequencyLow");
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ret = GTL_GCReadPort (src->hDevPort, src->producer.tick_frequency_high, &freq_high, &datasize); // GevTimestampTickFrequencyHigh
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HANDLE_GTL_ERROR ("Failed to get GevTimestampTickFrequencyHigh");
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guint64 tick_frequency =
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GUINT64_FROM_BE ((guint64) freq_low << 32 | freq_high);
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guint64 tick_frequency = read_uint64 (src, src->producer.tick_frequency_low,
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src->producer.tick_frequency_high, &ret);
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GST_DEBUG_OBJECT (src, "GEV Timestamp tick frequency is %llu",
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tick_frequency);
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return tick_frequency;
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error:
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return 0;
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}
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static guint64
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gst_gentlsrc_get_gev_timestamp_ticks (GstGenTlSrc * src)
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gst_gentlsrc_get_gev_timestamp_ns (GstGenTlSrc * src)
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{
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GC_ERROR ret;
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size_t datasize = 4;
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guint32 val, ts_low, ts_high;
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guint64 timestamp_ns;
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val = GUINT32_TO_BE (2);
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datasize = sizeof (val);
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ret = GTL_GCWritePort (src->hDevPort, src->producer.timestamp_control_latch, &val, &datasize); // GevTimestampControlLatch
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ret =
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write_uint32 (src, src->producer.timestamp_control_latch,
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src->producer.timestamp_control_latch_value);
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HANDLE_GTL_WARNING ("Failed to latch timestamp GevTimestampControlLatch");
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ret = GTL_GCReadPort (src->hDevPort, src->producer.timestamp_low, &ts_low, &datasize); // GevTimestampValueLow
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HANDLE_GTL_WARNING ("Failed to get GevTimestampValueLow");
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ret = GTL_GCReadPort (src->hDevPort, src->producer.timestamp_high, &ts_high, &datasize); // GevTimestampValueHigh
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HANDLE_GTL_WARNING ("Failed to get GevTimestampValueHigh");
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guint64 ticks = GUINT64_FROM_BE ((guint64) ts_low << 32 | ts_high);
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if (src->producer.timestamp) {
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timestamp_ns = read_uint64_single (src, src->producer.timestamp, &ret);
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HANDLE_GTL_WARNING ("Failed to read device timestamp");
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} else {
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guint64 ticks = read_uint64 (src, src->producer.timestamp_low,
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src->producer.timestamp_high, &ret);
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HANDLE_GTL_WARNING ("Failed to read timestamp ticks");
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GST_LOG_OBJECT (src, "Timestamp ticks are %llu", ticks);
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return ticks;
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if (src->tick_frequency == 0) {
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GST_WARNING_OBJECT (src,
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"Tick frequency undefined, can't timestamp accurately");
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goto error;
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}
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timestamp_ns = ((guint64)
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(ticks * ((double) GST_SECOND / src->tick_frequency)));;
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}
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GST_LOG_OBJECT (src, "Device timestamp in ns is %llu", timestamp_ns);
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return timestamp_ns;
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error:
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return 0;
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}
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static void
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static gboolean
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gst_gentlsrc_src_latch_timestamps (GstGenTlSrc * src)
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{
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guint64 unix_ts, gev_ts;
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unix_ts = get_unix_ns ();
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gev_ts = gst_gentlsrc_get_gev_timestamp_ticks (src);
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gev_ts = gst_gentlsrc_get_gev_timestamp_ns (src);
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if (gev_ts != 0) {
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src->unix_latched_ns = unix_ts;
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src->gentl_latched_ns = ((gint64)
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(gev_ts * ((double)GST_SECOND / src->tick_frequency)));;
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src->gentl_latched_ns = gev_ts;
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GST_LOG_OBJECT (src, "Latched system time: %llu", src->unix_latched_ns);
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GST_LOG_OBJECT (src, "Latched GenTL time : %llu", src->gentl_latched_ns);
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return TRUE;
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} else {
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GST_WARNING_OBJECT (src, "Failed to latch GEV time, using old latch value");
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return FALSE;
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}
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}
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@ -928,8 +1069,6 @@ gst_gentlsrc_set_attributes (GstGenTlSrc * src)
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{
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gchar **pairs;
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int i;
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guint32 val;
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size_t datasize;
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GC_ERROR ret;
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if (!src->attributes || src->attributes == 0) {
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@ -956,11 +1095,7 @@ gst_gentlsrc_set_attributes (GstGenTlSrc * src)
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GST_DEBUG_OBJECT (src, "Setting attribute, '%s'='%s'", pair[0], pair[1]);
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val = GUINT32_TO_BE (atoi (pair[1]));
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datasize = sizeof (val);
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ret =
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GTL_GCWritePort (src->hDevPort, strtol (pair[0], NULL, 16), &val,
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&datasize);
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ret = write_uint32 (src, strtol (pair[0], NULL, 16), atoi (pair[1]));
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if (ret != GC_ERR_SUCCESS) {
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GST_WARNING_OBJECT (src, "Failed to set attribute: %s",
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gst_gentlsrc_get_error_string (src));
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@ -1067,8 +1202,7 @@ gst_gentlsrc_start (GstBaseSrc * bsrc)
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GstGenTlSrcClass *klass = GST_GENTL_SRC_GET_CLASS (src);
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GC_ERROR ret;
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uint32_t i, num_devs;
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guint32 width, height, stride;
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GstVideoInfo vinfo;
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guint32 width, height;
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GST_DEBUG_OBJECT (src, "start");
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@ -1076,6 +1210,8 @@ gst_gentlsrc_start (GstBaseSrc * bsrc)
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initialize_basler_addresses (&src->producer);
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} else if (src->producer_prop == GST_GENTLSRC_PRODUCER_EVT) {
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initialize_evt_addresses (&src->producer);
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} else if (src->producer_prop == GST_GENTLSRC_PRODUCER_FLIR) {
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initialize_flir_addresses (&src->producer);
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} else {
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g_assert_not_reached ();
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}
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@ -1309,28 +1445,19 @@ gst_gentlsrc_start (GstBaseSrc * bsrc)
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}
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}
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src->tick_frequency = gst_gentlsrc_get_gev_tick_frequency (src);
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gst_gentlsrc_set_attributes (src);
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{
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// TODO: use GenTl node map for this
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guint32 val = 0;
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size_t datasize = 4;
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ret = GTL_GCReadPort (src->hDevPort, src->producer.width, &val, &datasize);
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width = read_uint32 (src, src->producer.width, &ret);
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HANDLE_GTL_ERROR ("Failed to get width");
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width = GUINT32_FROM_BE (val);
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ret = GTL_GCReadPort (src->hDevPort, src->producer.height, &val, &datasize);
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height = read_uint32 (src, src->producer.height, &ret);
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HANDLE_GTL_ERROR ("Failed to get height");
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height = GUINT32_FROM_BE (val);
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GST_DEBUG_OBJECT (src, "Width and height %dx%d", width, height);
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ret =
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GTL_GCReadPort (src->hDevPort, src->producer.pixel_format, &val,
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&datasize);
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HANDLE_GTL_ERROR ("Failed to get height");
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guint32 pixfmt_enum = read_uint32 (src, src->producer.pixel_format, &ret);
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HANDLE_GTL_ERROR ("Failed to get pixel format");
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const char *genicam_pixfmt;
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guint32 pixfmt_enum = GUINT32_FROM_BE (val);
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switch (pixfmt_enum) {
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case 0x1: // Basler Ace
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case 0x01080001:
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@ -1407,25 +1534,17 @@ gst_gentlsrc_start (GstBaseSrc * bsrc)
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{
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// TODO: use GenTl node map for this
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guint32 val;
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size_t datasize;
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/* set AcquisitionMode to Continuous */
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// TODO: "Continuous" value can have different integer values, we need
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// to look it up in the node map (EVT is 0, Basler is 2)
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val = GUINT32_TO_BE (src->producer.acquisition_mode_value);
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datasize = sizeof (val);
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ret =
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GTL_GCWritePort (src->hDevPort, src->producer.acquisition_mode, &val,
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&datasize);
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write_uint32 (src, src->producer.acquisition_mode,
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src->producer.acquisition_mode_value);
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HANDLE_GTL_ERROR ("Failed to start device acquisition");
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/* send AcquisitionStart command */
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val = GUINT32_TO_BE (1);
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datasize = sizeof (val);
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ret =
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GTL_GCWritePort (src->hDevPort, src->producer.acquisition_start, &val,
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&datasize);
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ret = write_uint32 (src, src->producer.acquisition_start, 1);
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HANDLE_GTL_ERROR ("Failed to start device acquisition");
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}
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@ -1436,6 +1555,8 @@ gst_gentlsrc_start (GstBaseSrc * bsrc)
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src->acq_start_time =
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gst_clock_get_time (gst_element_get_clock (GST_ELEMENT (src)));
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src->tick_frequency = gst_gentlsrc_get_gev_tick_frequency (src);
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return TRUE;
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error:
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@ -1490,11 +1611,8 @@ gst_gentlsrc_stop (GstBaseSrc * bsrc)
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if (src->hDS) {
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/* command AcquisitionStop */
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guint32 val = GUINT32_TO_BE (1);
|
||||
gsize datasize = sizeof (val);
|
||||
GC_ERROR ret =
|
||||
GTL_GCWritePort (src->hDevPort, src->producer.acquisition_stop, &val,
|
||||
&datasize);
|
||||
GC_ERROR ret;
|
||||
ret = write_uint32 (src, src->producer.acquisition_stop, 1);
|
||||
|
||||
GTL_DSStopAcquisition (src->hDS, ACQ_STOP_FLAGS_DEFAULT);
|
||||
GTL_DSFlushQueue (src->hDS, ACQ_QUEUE_INPUT_TO_OUTPUT);
|
||||
@ -1557,10 +1675,22 @@ gst_gentlsrc_set_caps (GstBaseSrc * bsrc, GstCaps * caps)
|
||||
|
||||
GST_DEBUG_OBJECT (src, "The caps being set are %" GST_PTR_FORMAT, caps);
|
||||
|
||||
|
||||
GST_ERROR ("Stride is %d", src->gst_stride);
|
||||
gst_video_info_from_caps (&vinfo, caps);
|
||||
|
||||
if (GST_VIDEO_INFO_FORMAT (&vinfo) != GST_VIDEO_FORMAT_UNKNOWN) {
|
||||
src->gst_stride = GST_VIDEO_INFO_COMP_STRIDE (&vinfo, 0);
|
||||
int endianness;
|
||||
const char *genicam_pixfmt =
|
||||
gst_genicam_pixel_format_from_caps (caps, &endianness);
|
||||
GST_ERROR ("Format is %s, Stride is %d", genicam_pixfmt, src->gst_stride);
|
||||
if (genicam_pixfmt)
|
||||
src->gst_stride =
|
||||
gst_genicam_pixel_format_get_stride (genicam_pixfmt, G_LITTLE_ENDIAN,
|
||||
vinfo.width);
|
||||
else
|
||||
goto unsupported_caps;
|
||||
GST_ERROR ("Format is %s, Stride is %d", genicam_pixfmt, src->gst_stride);
|
||||
} else {
|
||||
goto unsupported_caps;
|
||||
}
|
||||
@ -1655,7 +1785,8 @@ gst_gentlsrc_get_buffer (GstGenTlSrc * src)
|
||||
HANDLE_GTL_ERROR ("Failed to get buffer timestamp");
|
||||
buf_timestamp_ns = (gint64)
|
||||
(buf_timestamp_ticks * ((double) GST_SECOND / src->tick_frequency));
|
||||
GST_LOG_OBJECT(src, "Buffer GentTL timestamp: %llu ticks, %llu ns", buf_timestamp_ticks, buf_timestamp_ns);
|
||||
GST_LOG_OBJECT (src, "Buffer GentTL timestamp: %llu ticks, %llu ns",
|
||||
buf_timestamp_ticks, buf_timestamp_ns);
|
||||
}
|
||||
|
||||
datasize = sizeof (frame_id);
|
||||
@ -1787,9 +1918,6 @@ gst_gentlsrc_create (GstPushSrc * psrc, GstBuffer ** buf)
|
||||
}
|
||||
|
||||
return GST_FLOW_OK;
|
||||
|
||||
error:
|
||||
return GST_FLOW_ERROR;
|
||||
}
|
||||
|
||||
gchar *
|
||||
|
||||
@ -45,6 +45,7 @@ struct _GstGenTlProducer
|
||||
{
|
||||
gchar* cti_path;
|
||||
guint32 acquisition_mode_value;
|
||||
guint32 timestamp_control_latch_value;
|
||||
|
||||
guint64 width;
|
||||
guint64 height;
|
||||
@ -55,9 +56,11 @@ struct _GstGenTlProducer
|
||||
guint64 acquisition_stop;
|
||||
guint64 tick_frequency_low;
|
||||
guint64 tick_frequency_high;
|
||||
guint64 timestamp_control_latch;
|
||||
guint64 timestamp_low;
|
||||
guint64 timestamp_high;
|
||||
guint64 timestamp_control_latch; // GevTimestampControlLatch
|
||||
guint64 timestamp; // TimestampLatchValue
|
||||
guint64 timestamp_low; // GevTimestampValueLow
|
||||
guint64 timestamp_high; // GevTimestampValueHigh
|
||||
guint16 port_endianness;
|
||||
};
|
||||
|
||||
|
||||
@ -71,6 +74,7 @@ struct _GstGenTlProducer
|
||||
typedef enum {
|
||||
GST_GENTLSRC_PRODUCER_BASLER,
|
||||
GST_GENTLSRC_PRODUCER_EVT,
|
||||
GST_GENTLSRC_PRODUCER_FLIR,
|
||||
} GstGenTlSrcProducer;
|
||||
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user