kayasrc: add new source element for KAYA frame grabbers
Currently only tested with one BayerGB8 camera on a Komodo board. Missing dropped frame detection and 16-bit bayer support.
This commit is contained in:
Joshua M. Doe
parent
6e507ef15f
commit
bf35f7f832
@ -82,6 +82,9 @@ macro_log_feature(IMPERX_FLEX_FOUND "Imperx FrameLink Express" "Required to buil
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find_package(IOtechDaqX)
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find_package(IOtechDaqX)
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macro_log_feature(IOTECHDAQX_FOUND "IOtech DaqX" "Required to build IOtech DaqX source element" "http://www.mccdaq.com/" FALSE)
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macro_log_feature(IOTECHDAQX_FOUND "IOtech DaqX" "Required to build IOtech DaqX source element" "http://www.mccdaq.com/" FALSE)
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find_package(KAYA)
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macro_log_feature(KAYA_FOUND "KAYA Vision Point" "Required to build KAYA source element" "http://www.kayainstruments.com/" FALSE)
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find_package(Matrox)
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find_package(Matrox)
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macro_log_feature(MATROX_FOUND "Matrox MIL" "Required to build Matrox MIL source element" "http://www.matrox.com/imaging/" FALSE)
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macro_log_feature(MATROX_FOUND "Matrox MIL" "Required to build Matrox MIL source element" "http://www.matrox.com/imaging/" FALSE)
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32
cmake/modules/FindKAYA.cmake
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32
cmake/modules/FindKAYA.cmake
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@ -0,0 +1,32 @@
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# - Try to find KAYA SDK
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# Once done this will define
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#
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# KAYA_FOUND - system has KAYA SDK
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# KAYA_INCLUDE_DIR - the KAYA SDK include directory
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# KAYA_LIBRARIES - the libraries needed to use KAYA SDK
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# Copyright (c) 2006, Tim Beaulen <tbscope@gmail.com>
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# Copyright (c) 2018 outside US, United States Government, Joshua M. Doe <oss@nvl.army.mil>
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#
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# Redistribution and use is allowed according to the terms of the BSD license.
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# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
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if (NOT KAYA_DIR)
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set (KAYA_DIR "C:/Program Files/KAYA Instruments/Vision Point" CACHE PATH "Directory containing KAYA SDK includes and libraries")
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endif ()
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find_path (KAYA_INCLUDE_DIR KYFGLib.h
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PATHS
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"${KAYA_DIR}/include"
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DOC "Directory containing KYFGLib.h include file")
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find_library (_KYFGLib NAMES KYFGLib
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PATHS
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"${KAYA_DIR}/lib")
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set (KAYA_LIBRARIES ${_KYFGLib})
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mark_as_advanced (_KYFGLib)
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include (FindPackageHandleStandardArgs)
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find_package_handle_standard_args (KAYA DEFAULT_MSG KAYA_INCLUDE_DIR KAYA_LIBRARIES)
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@ -22,6 +22,10 @@ if (IDSUEYE_FOUND)
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add_subdirectory (idsueye)
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add_subdirectory (idsueye)
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endif (IDSUEYE_FOUND)
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endif (IDSUEYE_FOUND)
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if (KAYA_FOUND)
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add_subdirectory (kaya)
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endif (KAYA_FOUND)
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if (MATROX_FOUND)
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if (MATROX_FOUND)
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add_subdirectory (matrox)
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add_subdirectory (matrox)
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endif (MATROX_FOUND)
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endif (MATROX_FOUND)
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32
sys/kaya/CMakeLists.txt
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32
sys/kaya/CMakeLists.txt
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set (SOURCES
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gstkayasrc.c
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)
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set (HEADERS
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gstkayasrc.h)
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include_directories (AFTER
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${GSTREAMER_INCLUDE_DIR}/..
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${KAYA_INCLUDE_DIR}
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${PROJECT_SOURCE_DIR}/common
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)
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set (libname libgstkaya)
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add_library (${libname} MODULE
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${SOURCES}
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${HEADERS})
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target_link_libraries (${libname}
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${GLIB2_LIBRARIES}
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${GOBJECT_LIBRARIES}
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${GSTREAMER_LIBRARY}
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${GSTREAMER_BASE_LIBRARY}
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${GSTREAMER_VIDEO_LIBRARY}
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${KAYA_LIBRARIES}
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)
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set (pdbfile "${CMAKE_CURRENT_BINARY_DIR}/\${CMAKE_INSTALL_CONFIG_NAME}/${libname}.pdb")
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install (FILES ${pdbfile} DESTINATION lib/gstreamer-1.0)
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install(TARGETS ${libname}
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LIBRARY DESTINATION lib/gstreamer-1.0)
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704
sys/kaya/gstkayasrc.c
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704
sys/kaya/gstkayasrc.c
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/* GStreamer
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* Copyright (c) 2018 outside US, United States Government, Joshua M. Doe <oss@nvl.army.mil>
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Library General Public
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* License as published by the Free Software Foundation; either
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* version 2 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Library General Public License for more details.
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*
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* You should have received a copy of the GNU Library General Public
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* License along with this library; if not, write to the
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* Free Software Foundation, Inc., 51 Franklin Street, Suite 500,
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* Boston, MA 02110-1335, USA.
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*/
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/**
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* SECTION:element-gstkayasrc
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*
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* The kayasrc element is a source for KAYA framegrabbers.
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*
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* <refsect2>
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* <title>Example launch line</title>
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* |[
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* gst-launch -v kayasrc ! videoconvert ! autovideosink
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* ]|
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* Shows video from the default KAYA framegrabber
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* </refsect2>
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*/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include <string.h>
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#include <gst/gst.h>
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#include <gst/base/gstpushsrc.h>
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#include <gst/video/video.h>
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#include "gstkayasrc.h"
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#include "genicampixelformat.h"
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#ifdef HAVE_ORC
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#include <orc/orc.h>
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#else
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#define orc_memcpy memcpy
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#endif
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GST_DEBUG_CATEGORY_STATIC (gst_kayasrc_debug);
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#define GST_CAT_DEFAULT gst_kayasrc_debug
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/* prototypes */
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static void gst_kayasrc_set_property (GObject * object,
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guint property_id, const GValue * value, GParamSpec * pspec);
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static void gst_kayasrc_get_property (GObject * object,
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guint property_id, GValue * value, GParamSpec * pspec);
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static void gst_kayasrc_dispose (GObject * object);
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static void gst_kayasrc_finalize (GObject * object);
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static gboolean gst_kayasrc_start (GstBaseSrc * src);
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static gboolean gst_kayasrc_stop (GstBaseSrc * src);
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static GstCaps *gst_kayasrc_get_caps (GstBaseSrc * src, GstCaps * filter);
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static gboolean gst_kayasrc_set_caps (GstBaseSrc * src, GstCaps * caps);
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static gboolean gst_kayasrc_unlock (GstBaseSrc * src);
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static gboolean gst_kayasrc_unlock_stop (GstBaseSrc * src);
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static GstFlowReturn gst_kayasrc_create (GstPushSrc * src, GstBuffer ** buf);
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static void gst_kayasrc_stream_buffer_callback (STREAM_BUFFER_HANDLE
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buffer_handle, void *context);
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static void gst_kayasrc_stream_callback (void *context,
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STREAM_HANDLE stream_handle);
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enum
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{
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PROP_0,
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PROP_INTERFACE_INDEX,
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PROP_DEVICE_INDEX,
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PROP_NUM_CAPTURE_BUFFERS,
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PROP_TIMEOUT,
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PROP_PROJECT_FILE,
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PROP_XML_FILE
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};
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#define DEFAULT_PROP_INTERFACE_INDEX 0
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#define DEFAULT_PROP_DEVICE_INDEX 0
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#define DEFAULT_PROP_NUM_CAPTURE_BUFFERS 3
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#define DEFAULT_PROP_TIMEOUT 1000
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#define DEFAULT_PROP_PROJECT_FILE NULL
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#define DEFAULT_PROP_XML_FILE NULL
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/* pad templates */
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static GstStaticPadTemplate gst_kayasrc_src_template =
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GST_STATIC_PAD_TEMPLATE ("src",
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GST_PAD_SRC,
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GST_PAD_ALWAYS,
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GST_STATIC_CAPS (GST_VIDEO_CAPS_MAKE
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("{ GRAY8, GRAY16_LE, GRAY16_BE, BGRA, UYVY }") ";"
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GST_GENICAM_PIXEL_FORMAT_MAKE_BAYER8 ("{ bggr, grbg, rggb, gbrg }"))
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);
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/* class initialization */
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G_DEFINE_TYPE (GstKayaSrc, gst_kayasrc, GST_TYPE_PUSH_SRC);
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static void
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gst_kayasrc_class_init (GstKayaSrcClass * klass)
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{
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GObjectClass *gobject_class = G_OBJECT_CLASS (klass);
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GstElementClass *gstelement_class = GST_ELEMENT_CLASS (klass);
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GstBaseSrcClass *gstbasesrc_class = GST_BASE_SRC_CLASS (klass);
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GstPushSrcClass *gstpushsrc_class = GST_PUSH_SRC_CLASS (klass);
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gobject_class->set_property = gst_kayasrc_set_property;
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gobject_class->get_property = gst_kayasrc_get_property;
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gobject_class->dispose = gst_kayasrc_dispose;
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gobject_class->finalize = gst_kayasrc_finalize;
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gst_element_class_add_pad_template (gstelement_class,
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gst_static_pad_template_get (&gst_kayasrc_src_template));
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gst_element_class_set_static_metadata (gstelement_class,
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"KAYA Video Source", "Source/Video",
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"KAYA framegrabber video source", "Joshua M. Doe <oss@nvl.army.mil>");
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gstbasesrc_class->start = GST_DEBUG_FUNCPTR (gst_kayasrc_start);
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gstbasesrc_class->stop = GST_DEBUG_FUNCPTR (gst_kayasrc_stop);
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gstbasesrc_class->get_caps = GST_DEBUG_FUNCPTR (gst_kayasrc_get_caps);
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gstbasesrc_class->set_caps = GST_DEBUG_FUNCPTR (gst_kayasrc_set_caps);
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gstbasesrc_class->unlock = GST_DEBUG_FUNCPTR (gst_kayasrc_unlock);
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gstbasesrc_class->unlock_stop = GST_DEBUG_FUNCPTR (gst_kayasrc_unlock_stop);
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gstpushsrc_class->create = GST_DEBUG_FUNCPTR (gst_kayasrc_create);
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/* Install GObject properties */
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g_object_class_install_property (gobject_class, PROP_INTERFACE_INDEX,
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g_param_spec_uint ("interface-index", "Interface index",
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"Interface index number, zero-based, overridden by interface-id",
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0, G_MAXUINT, DEFAULT_PROP_INTERFACE_INDEX,
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(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS |
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GST_PARAM_MUTABLE_READY)));
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g_object_class_install_property (gobject_class, PROP_DEVICE_INDEX,
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g_param_spec_uint ("device-index", "Device index",
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"Device index number, zero-based",
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0, G_MAXUINT, DEFAULT_PROP_DEVICE_INDEX,
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(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS |
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GST_PARAM_MUTABLE_READY)));
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g_object_class_install_property (gobject_class, PROP_NUM_CAPTURE_BUFFERS,
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g_param_spec_uint ("num-capture-buffers", "Number of capture buffers",
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"Number of capture buffers", 1, G_MAXUINT,
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DEFAULT_PROP_NUM_CAPTURE_BUFFERS,
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(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
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g_object_class_install_property (G_OBJECT_CLASS (klass),
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PROP_TIMEOUT, g_param_spec_int ("timeout",
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"Timeout (ms)",
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"Timeout in ms (0 to use default)", 0, G_MAXINT,
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DEFAULT_PROP_TIMEOUT, G_PARAM_STATIC_STRINGS | G_PARAM_READWRITE));
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g_object_class_install_property (gobject_class, PROP_PROJECT_FILE,
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g_param_spec_string ("project-file", "Project file",
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"Filepath of a project file to configure frame grabber",
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DEFAULT_PROP_PROJECT_FILE,
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(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS |
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GST_PARAM_MUTABLE_READY)));
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g_object_class_install_property (gobject_class, PROP_XML_FILE,
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g_param_spec_string ("xml-file", "XML file",
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"Filepath of a XML file to use with camera, or NULL to use camera's native XML",
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DEFAULT_PROP_XML_FILE,
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(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS |
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GST_PARAM_MUTABLE_READY)));
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}
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static void
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gst_kayasrc_cleanup (GstKayaSrc * src)
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{
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src->stop_requested = FALSE;
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src->acquisition_started = FALSE;
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if (src->caps) {
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gst_caps_unref (src->caps);
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src->caps = NULL;
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}
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if (src->stream_handle != INVALID_STREAMHANDLE) {
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KYFG_StreamBufferCallbackUnregister (src->stream_handle,
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gst_kayasrc_stream_buffer_callback);
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KYFG_StreamDelete (src->stream_handle);
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src->stream_handle = INVALID_STREAMHANDLE;
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}
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if (src->cam_handle != INVALID_CAMHANDLE) {
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KYFG_CameraCallbackUnregister (src->cam_handle,
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gst_kayasrc_stream_callback);
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KYFG_CameraClose (src->cam_handle);
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src->cam_handle = INVALID_CAMHANDLE;
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}
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if (src->fg_handle != INVALID_FGHANDLE) {
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KYFG_Close (src->fg_handle);
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src->fg_handle = INVALID_FGHANDLE;
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}
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}
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static void
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gst_kayasrc_init (GstKayaSrc * src)
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{
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/* set source as live (no preroll) */
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gst_base_src_set_live (GST_BASE_SRC (src), TRUE);
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/* override default of BYTES to operate in time mode */
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gst_base_src_set_format (GST_BASE_SRC (src), GST_FORMAT_TIME);
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/* initialize member variables */
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src->interface_index = DEFAULT_PROP_INTERFACE_INDEX;
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src->num_capture_buffers = DEFAULT_PROP_NUM_CAPTURE_BUFFERS;
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src->timeout = DEFAULT_PROP_TIMEOUT;
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src->project_file = DEFAULT_PROP_PROJECT_FILE;
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src->xml_file = DEFAULT_PROP_PROJECT_FILE;
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src->queue = g_async_queue_new ();
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src->caps = NULL;
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src->fg_handle = INVALID_FGHANDLE;
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src->cam_handle = INVALID_CAMHANDLE;
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gst_kayasrc_cleanup (src);
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}
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void
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gst_kayasrc_set_property (GObject * object, guint property_id,
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const GValue * value, GParamSpec * pspec)
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{
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GstKayaSrc *src;
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src = GST_KAYA_SRC (object);
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switch (property_id) {
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case PROP_INTERFACE_INDEX:
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src->interface_index = g_value_get_uint (value);
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break;
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case PROP_DEVICE_INDEX:
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src->device_index = g_value_get_uint (value);
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||||||
|
break;
|
||||||
|
case PROP_NUM_CAPTURE_BUFFERS:
|
||||||
|
src->num_capture_buffers = g_value_get_uint (value);
|
||||||
|
break;
|
||||||
|
case PROP_TIMEOUT:
|
||||||
|
src->timeout = g_value_get_int (value);
|
||||||
|
break;
|
||||||
|
case PROP_PROJECT_FILE:
|
||||||
|
g_free (src->project_file);
|
||||||
|
src->project_file = g_value_dup_string (value);
|
||||||
|
break;
|
||||||
|
case PROP_XML_FILE:
|
||||||
|
g_free (src->xml_file);
|
||||||
|
src->xml_file = g_value_dup_string (value);
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, property_id, pspec);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void
|
||||||
|
gst_kayasrc_get_property (GObject * object, guint property_id,
|
||||||
|
GValue * value, GParamSpec * pspec)
|
||||||
|
{
|
||||||
|
GstKayaSrc *src;
|
||||||
|
|
||||||
|
g_return_if_fail (GST_IS_KAYA_SRC (object));
|
||||||
|
src = GST_KAYA_SRC (object);
|
||||||
|
|
||||||
|
switch (property_id) {
|
||||||
|
case PROP_INTERFACE_INDEX:
|
||||||
|
g_value_set_uint (value, src->interface_index);
|
||||||
|
break;
|
||||||
|
case PROP_DEVICE_INDEX:
|
||||||
|
g_value_set_uint (value, src->device_index);
|
||||||
|
break;
|
||||||
|
case PROP_NUM_CAPTURE_BUFFERS:
|
||||||
|
g_value_set_uint (value, src->num_capture_buffers);
|
||||||
|
break;
|
||||||
|
case PROP_TIMEOUT:
|
||||||
|
g_value_set_int (value, src->timeout);
|
||||||
|
break;
|
||||||
|
case PROP_PROJECT_FILE:
|
||||||
|
g_value_set_string (value, src->project_file);
|
||||||
|
break;
|
||||||
|
case PROP_XML_FILE:
|
||||||
|
g_value_set_string (value, src->xml_file);
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, property_id, pspec);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void
|
||||||
|
gst_kayasrc_dispose (GObject * object)
|
||||||
|
{
|
||||||
|
GstKayaSrc *src;
|
||||||
|
|
||||||
|
g_return_if_fail (GST_IS_KAYA_SRC (object));
|
||||||
|
src = GST_KAYA_SRC (object);
|
||||||
|
|
||||||
|
/* clean up as possible. may be called multiple times */
|
||||||
|
|
||||||
|
G_OBJECT_CLASS (gst_kayasrc_parent_class)->dispose (object);
|
||||||
|
}
|
||||||
|
|
||||||
|
void
|
||||||
|
gst_kayasrc_finalize (GObject * object)
|
||||||
|
{
|
||||||
|
GstKayaSrc *src;
|
||||||
|
|
||||||
|
g_return_if_fail (GST_IS_KAYA_SRC (object));
|
||||||
|
src = GST_KAYA_SRC (object);
|
||||||
|
|
||||||
|
/* clean up object here */
|
||||||
|
|
||||||
|
if (src->caps) {
|
||||||
|
gst_caps_unref (src->caps);
|
||||||
|
src->caps = NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
G_OBJECT_CLASS (gst_kayasrc_parent_class)->finalize (object);
|
||||||
|
}
|
||||||
|
|
||||||
|
static gboolean
|
||||||
|
gst_kayasrc_start (GstBaseSrc * bsrc)
|
||||||
|
{
|
||||||
|
GstKayaSrc *src = GST_KAYA_SRC (bsrc);
|
||||||
|
FGSTATUS ret;
|
||||||
|
uint32_t i, num_ifaces, num_cameras = 0;
|
||||||
|
guint32 width, height;
|
||||||
|
gchar *pixel_format;
|
||||||
|
KY_DEVICE_INFO devinfo;
|
||||||
|
KYFGCAMERA_INFO caminfo;
|
||||||
|
CAMHANDLE cam_handles[4] = { 0 };
|
||||||
|
size_t frame_alignment;
|
||||||
|
|
||||||
|
GST_DEBUG_OBJECT (src, "start");
|
||||||
|
|
||||||
|
/* find and list all KAYA interfaces */
|
||||||
|
num_ifaces = KYFG_Scan (NULL, 0);
|
||||||
|
if (num_ifaces == 0) {
|
||||||
|
GST_ELEMENT_ERROR (src, LIBRARY, FAILED, ("No KAYA interfaces found"),
|
||||||
|
(NULL));
|
||||||
|
goto error;
|
||||||
|
}
|
||||||
|
for (i = 0; i < num_ifaces; ++i) {
|
||||||
|
ret = KY_DeviceInfo (i, &devinfo);
|
||||||
|
GST_DEBUG_OBJECT (src,
|
||||||
|
"Found KAYA interface '%s', index=%d, bus=%d, slot=%d, fcn=%d, PID=%d, isVirtual=%s",
|
||||||
|
devinfo.szDeviceDisplayName, i, devinfo.nBus, devinfo.nSlot,
|
||||||
|
devinfo.nFunction, devinfo.DevicePID,
|
||||||
|
(devinfo.isVirtual ? "Yes" : "No"));
|
||||||
|
}
|
||||||
|
|
||||||
|
if (src->interface_index >= num_ifaces) {
|
||||||
|
GST_ELEMENT_ERROR (src, LIBRARY, FAILED,
|
||||||
|
("Interface index provided (%d) out of bounds [0,%d]",
|
||||||
|
src->interface_index, num_ifaces - 1), (NULL));
|
||||||
|
goto error;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* project files are optional */
|
||||||
|
if (src->project_file && strlen (src->project_file) > 0) {
|
||||||
|
if (!g_file_test (src->project_file, G_FILE_TEST_EXISTS)) {
|
||||||
|
GST_ELEMENT_ERROR (src, RESOURCE, NOT_FOUND,
|
||||||
|
("Project file specified does not exist: %s", src->project_file),
|
||||||
|
(NULL));
|
||||||
|
goto error;
|
||||||
|
}
|
||||||
|
GST_DEBUG_OBJECT (src,
|
||||||
|
"About to open interface at index %d with project file '%s'",
|
||||||
|
src->interface_index, src->project_file);
|
||||||
|
src->fg_handle = KYFG_OpenEx (src->interface_index, src->project_file);
|
||||||
|
} else {
|
||||||
|
GST_DEBUG_OBJECT (src, "About to open interface at index %d",
|
||||||
|
src->interface_index);
|
||||||
|
src->fg_handle = KYFG_Open (src->interface_index);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (src->fg_handle == INVALID_FGHANDLE) {
|
||||||
|
GST_ELEMENT_ERROR (src, LIBRARY, FAILED,
|
||||||
|
("Failed to open interface at index %d", src->interface_index), (NULL));
|
||||||
|
goto error;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* find and list all cameras */
|
||||||
|
ret = KYFG_CameraScan (src->fg_handle, cam_handles, &num_cameras);
|
||||||
|
GST_DEBUG_OBJECT (src, "Found %d cameras connected", num_cameras);
|
||||||
|
if (num_cameras == 0) {
|
||||||
|
GST_ELEMENT_ERROR (src, LIBRARY, FAILED,
|
||||||
|
("Failed to detect any cameras on interface"), (NULL));
|
||||||
|
goto error;
|
||||||
|
}
|
||||||
|
for (i = 0; i < num_cameras; ++i) {
|
||||||
|
ret = KYFG_CameraInfo (cam_handles[i], &caminfo);
|
||||||
|
GST_DEBUG_OBJECT (src, "Found camera '%s', index=%d, %s, %s %s, %s, ver=%s",
|
||||||
|
caminfo.deviceUserID, i, caminfo.deviceID, caminfo.deviceVendorName,
|
||||||
|
caminfo.deviceModelName, caminfo.deviceManufacturerInfo,
|
||||||
|
caminfo.deviceVersion);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (src->device_index >= num_cameras) {
|
||||||
|
GST_ELEMENT_ERROR (src, LIBRARY, FAILED,
|
||||||
|
("Camera device index provided out of bounds"), (NULL));
|
||||||
|
goto error;
|
||||||
|
}
|
||||||
|
GST_DEBUG_OBJECT (src, "About to open camera at index %d", src->device_index);
|
||||||
|
if (src->xml_file && strlen (src->xml_file) > 0) {
|
||||||
|
if (!g_file_test (src->project_file, G_FILE_TEST_EXISTS)) {
|
||||||
|
GST_ELEMENT_ERROR (src, RESOURCE, NOT_FOUND,
|
||||||
|
("XML file specified does not exist: %s", src->xml_file), (NULL));
|
||||||
|
goto error;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
ret = KYFG_CameraOpen2 (cam_handles[src->device_index], src->xml_file);
|
||||||
|
if (ret != FGSTATUS_OK) {
|
||||||
|
GST_ELEMENT_ERROR (src, LIBRARY, FAILED,
|
||||||
|
("Failed to open camera at index %d", src->device_index), (NULL));
|
||||||
|
goto error;
|
||||||
|
}
|
||||||
|
src->cam_handle = cam_handles[src->device_index];
|
||||||
|
|
||||||
|
ret =
|
||||||
|
KYFG_CameraCallbackRegister (src->cam_handle, gst_kayasrc_stream_callback,
|
||||||
|
src);
|
||||||
|
if (ret != FGSTATUS_OK) {
|
||||||
|
GST_ELEMENT_ERROR (src, LIBRARY, FAILED,
|
||||||
|
("Failed to register stream callback function"), (NULL));
|
||||||
|
goto error;
|
||||||
|
}
|
||||||
|
|
||||||
|
ret = KYFG_StreamCreate (src->cam_handle, &src->stream_handle, 0);
|
||||||
|
if (ret != FGSTATUS_OK || src->stream_handle == INVALID_STREAMHANDLE) {
|
||||||
|
GST_ELEMENT_ERROR (src, LIBRARY, FAILED,
|
||||||
|
("Failed to create stream"), (NULL));
|
||||||
|
goto error;
|
||||||
|
}
|
||||||
|
|
||||||
|
ret =
|
||||||
|
KYFG_StreamBufferCallbackRegister (src->stream_handle,
|
||||||
|
gst_kayasrc_stream_buffer_callback, src);
|
||||||
|
if (ret != FGSTATUS_OK) {
|
||||||
|
GST_ELEMENT_ERROR (src, LIBRARY, FAILED,
|
||||||
|
("Failed to register stream buffer callback function"), (NULL));
|
||||||
|
goto error;
|
||||||
|
}
|
||||||
|
|
||||||
|
KYFG_StreamGetInfo (src->stream_handle, KY_STREAM_INFO_PAYLOAD_SIZE,
|
||||||
|
&src->frame_size, NULL, NULL);
|
||||||
|
KYFG_StreamGetInfo (src->stream_handle, KY_STREAM_INFO_BUF_ALIGNMENT,
|
||||||
|
&frame_alignment, NULL, NULL);
|
||||||
|
|
||||||
|
if (src->buffer_handles) {
|
||||||
|
g_free (src->buffer_handles);
|
||||||
|
}
|
||||||
|
src->buffer_handles = g_new (STREAM_BUFFER_HANDLE, src->num_capture_buffers);
|
||||||
|
for (i = 0; i < src->num_capture_buffers; ++i) {
|
||||||
|
void *frame = _aligned_malloc (src->frame_size, frame_alignment);
|
||||||
|
ret =
|
||||||
|
KYFG_BufferAnnounce (src->stream_handle, frame, src->frame_size, NULL,
|
||||||
|
&src->buffer_handles[i]);
|
||||||
|
}
|
||||||
|
|
||||||
|
ret =
|
||||||
|
KYFG_BufferQueueAll (src->stream_handle, KY_ACQ_QUEUE_UNQUEUED,
|
||||||
|
KY_ACQ_QUEUE_INPUT);
|
||||||
|
|
||||||
|
|
||||||
|
width = (guint32) KYFG_GetCameraValueInt (src->cam_handle, "Width");
|
||||||
|
height = (guint32) KYFG_GetCameraValueInt (src->cam_handle, "Height");
|
||||||
|
ret =
|
||||||
|
KYFG_GetCameraValueString (src->cam_handle, "PixelFormat", &pixel_format);
|
||||||
|
|
||||||
|
GST_DEBUG_OBJECT (src, "Camera is %dx%d, %s", width, height, pixel_format);
|
||||||
|
|
||||||
|
/* create caps */
|
||||||
|
if (src->caps) {
|
||||||
|
gst_caps_unref (src->caps);
|
||||||
|
src->caps = NULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
src->caps =
|
||||||
|
gst_genicam_pixel_format_caps_from_pixel_format (pixel_format,
|
||||||
|
G_BYTE_ORDER, width, height, 30, 1, 1, 1);
|
||||||
|
|
||||||
|
if (src->caps == NULL) {
|
||||||
|
GST_ELEMENT_ERROR (src, STREAM, WRONG_TYPE,
|
||||||
|
("Unknown or unsupported pixel format '%s'.", pixel_format), (NULL));
|
||||||
|
return FALSE;
|
||||||
|
}
|
||||||
|
|
||||||
|
return TRUE;
|
||||||
|
|
||||||
|
error:
|
||||||
|
gst_kayasrc_cleanup (src);
|
||||||
|
|
||||||
|
return FALSE;
|
||||||
|
}
|
||||||
|
|
||||||
|
static gboolean
|
||||||
|
gst_kayasrc_stop (GstBaseSrc * bsrc)
|
||||||
|
{
|
||||||
|
GstKayaSrc *src = GST_KAYA_SRC (bsrc);
|
||||||
|
|
||||||
|
GST_DEBUG_OBJECT (src, "stop");
|
||||||
|
|
||||||
|
gst_kayasrc_cleanup (src);
|
||||||
|
|
||||||
|
return TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
static GstCaps *
|
||||||
|
gst_kayasrc_get_caps (GstBaseSrc * bsrc, GstCaps * filter)
|
||||||
|
{
|
||||||
|
GstKayaSrc *src = GST_KAYA_SRC (bsrc);
|
||||||
|
GstCaps *caps;
|
||||||
|
|
||||||
|
if (src->stream_handle == INVALID_STREAMHANDLE) {
|
||||||
|
caps = gst_pad_get_pad_template_caps (GST_BASE_SRC_PAD (src));
|
||||||
|
} else {
|
||||||
|
caps = gst_caps_copy (src->caps);
|
||||||
|
}
|
||||||
|
|
||||||
|
GST_DEBUG_OBJECT (src, "The caps before filtering are %" GST_PTR_FORMAT,
|
||||||
|
caps);
|
||||||
|
|
||||||
|
if (filter && caps) {
|
||||||
|
GstCaps *tmp = gst_caps_intersect (caps, filter);
|
||||||
|
gst_caps_unref (caps);
|
||||||
|
caps = tmp;
|
||||||
|
}
|
||||||
|
|
||||||
|
GST_DEBUG_OBJECT (src, "The caps after filtering are %" GST_PTR_FORMAT, caps);
|
||||||
|
|
||||||
|
return caps;
|
||||||
|
}
|
||||||
|
|
||||||
|
static gboolean
|
||||||
|
gst_kayasrc_set_caps (GstBaseSrc * bsrc, GstCaps * caps)
|
||||||
|
{
|
||||||
|
GstKayaSrc *src = GST_KAYA_SRC (bsrc);
|
||||||
|
GstVideoInfo vinfo;
|
||||||
|
GstStructure *s = gst_caps_get_structure (caps, 0);
|
||||||
|
|
||||||
|
GST_DEBUG_OBJECT (src, "The caps being set are %" GST_PTR_FORMAT, caps);
|
||||||
|
|
||||||
|
gst_video_info_from_caps (&vinfo, caps);
|
||||||
|
|
||||||
|
if (GST_VIDEO_INFO_FORMAT (&vinfo) == GST_VIDEO_FORMAT_UNKNOWN) {
|
||||||
|
goto unsupported_caps;
|
||||||
|
}
|
||||||
|
|
||||||
|
return TRUE;
|
||||||
|
|
||||||
|
unsupported_caps:
|
||||||
|
GST_ERROR_OBJECT (src, "Unsupported caps: %" GST_PTR_FORMAT, caps);
|
||||||
|
return FALSE;
|
||||||
|
}
|
||||||
|
|
||||||
|
static gboolean
|
||||||
|
gst_kayasrc_unlock (GstBaseSrc * bsrc)
|
||||||
|
{
|
||||||
|
GstKayaSrc *src = GST_KAYA_SRC (bsrc);
|
||||||
|
|
||||||
|
GST_LOG_OBJECT (src, "unlock");
|
||||||
|
|
||||||
|
src->stop_requested = TRUE;
|
||||||
|
|
||||||
|
return TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
static gboolean
|
||||||
|
gst_kayasrc_unlock_stop (GstBaseSrc * bsrc)
|
||||||
|
{
|
||||||
|
GstKayaSrc *src = GST_KAYA_SRC (bsrc);
|
||||||
|
|
||||||
|
GST_LOG_OBJECT (src, "unlock_stop");
|
||||||
|
|
||||||
|
src->stop_requested = FALSE;
|
||||||
|
|
||||||
|
return TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
typedef struct
|
||||||
|
{
|
||||||
|
GstKayaSrc *src;
|
||||||
|
STREAM_BUFFER_HANDLE buf_handle;
|
||||||
|
} VideoFrame;
|
||||||
|
|
||||||
|
static void
|
||||||
|
buffer_release (void *data)
|
||||||
|
{
|
||||||
|
VideoFrame *frame = (VideoFrame *) data;
|
||||||
|
KYFG_BufferToQueue (frame->buf_handle, KY_ACQ_QUEUE_INPUT);
|
||||||
|
g_free (frame);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void
|
||||||
|
gst_kayasrc_stream_buffer_callback (STREAM_BUFFER_HANDLE buffer_handle,
|
||||||
|
void *context)
|
||||||
|
{
|
||||||
|
GstKayaSrc *src = GST_KAYA_SRC (context);
|
||||||
|
GstBuffer *buf;
|
||||||
|
unsigned char *data;
|
||||||
|
static guint64 buffers_processed = 0;
|
||||||
|
VideoFrame *vf;
|
||||||
|
GstClock *clock;
|
||||||
|
|
||||||
|
KYFG_BufferGetInfo (buffer_handle, KY_STREAM_BUFFER_INFO_BASE, &data, NULL,
|
||||||
|
NULL);
|
||||||
|
|
||||||
|
vf = g_new0 (VideoFrame, 1);
|
||||||
|
vf->src = src;
|
||||||
|
vf->buf_handle = buffer_handle;
|
||||||
|
buf =
|
||||||
|
gst_buffer_new_wrapped_full ((GstMemoryFlags) 0,
|
||||||
|
(gpointer) data, src->frame_size, 0, src->frame_size, vf,
|
||||||
|
(GDestroyNotify) buffer_release);
|
||||||
|
|
||||||
|
clock = gst_element_get_clock (GST_ELEMENT (src));
|
||||||
|
GST_BUFFER_TIMESTAMP (buf) =
|
||||||
|
GST_CLOCK_DIFF (gst_element_get_base_time (GST_ELEMENT (src)),
|
||||||
|
gst_clock_get_time (clock));
|
||||||
|
gst_object_unref (clock);
|
||||||
|
GST_BUFFER_OFFSET (buf) = buffers_processed;
|
||||||
|
++buffers_processed;
|
||||||
|
|
||||||
|
g_async_queue_push (src->queue, buf);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void
|
||||||
|
gst_kayasrc_stream_callback (void *context, STREAM_HANDLE stream_handle)
|
||||||
|
{
|
||||||
|
GstKayaSrc *src = GST_KAYA_SRC (context);
|
||||||
|
}
|
||||||
|
|
||||||
|
static GstFlowReturn
|
||||||
|
gst_kayasrc_create (GstPushSrc * psrc, GstBuffer ** buf)
|
||||||
|
{
|
||||||
|
GstKayaSrc *src = GST_KAYA_SRC (psrc);
|
||||||
|
guint32 dropped_frames = 0;
|
||||||
|
|
||||||
|
GST_LOG_OBJECT (src, "create");
|
||||||
|
|
||||||
|
if (!src->acquisition_started) {
|
||||||
|
FGSTATUS ret;
|
||||||
|
GST_DEBUG_OBJECT (src, "starting acquisition");
|
||||||
|
ret = KYFG_CameraStart (src->cam_handle, src->stream_handle, 0);
|
||||||
|
if (ret != FGSTATUS_OK) {
|
||||||
|
GST_ELEMENT_ERROR (src, RESOURCE, OPEN_READ,
|
||||||
|
("Failed to start camera acquisition"), (NULL));
|
||||||
|
goto error;
|
||||||
|
}
|
||||||
|
src->acquisition_started = TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
*buf =
|
||||||
|
GST_BUFFER (g_async_queue_timeout_pop (src->queue, src->timeout * 1000));
|
||||||
|
if (!*buf) {
|
||||||
|
return GST_FLOW_ERROR;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (src->stop_requested) {
|
||||||
|
if (*buf != NULL) {
|
||||||
|
gst_buffer_unref (*buf);
|
||||||
|
*buf = NULL;
|
||||||
|
}
|
||||||
|
return GST_FLOW_FLUSHING;
|
||||||
|
}
|
||||||
|
|
||||||
|
return GST_FLOW_OK;
|
||||||
|
|
||||||
|
error:
|
||||||
|
return GST_FLOW_ERROR;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
static gboolean
|
||||||
|
plugin_init (GstPlugin * plugin)
|
||||||
|
{
|
||||||
|
GST_DEBUG_CATEGORY_INIT (gst_kayasrc_debug, "kayasrc", 0,
|
||||||
|
"debug category for kayasrc element");
|
||||||
|
gst_element_register (plugin, "kayasrc", GST_RANK_NONE,
|
||||||
|
gst_kayasrc_get_type ());
|
||||||
|
|
||||||
|
return TRUE;
|
||||||
|
}
|
||||||
|
|
||||||
|
GST_PLUGIN_DEFINE (GST_VERSION_MAJOR,
|
||||||
|
GST_VERSION_MINOR,
|
||||||
|
kaya,
|
||||||
|
"KAYA frame grabber source",
|
||||||
|
plugin_init, GST_PACKAGE_VERSION, GST_PACKAGE_LICENSE, GST_PACKAGE_NAME,
|
||||||
|
GST_PACKAGE_ORIGIN);
|
||||||
73
sys/kaya/gstkayasrc.h
Normal file
73
sys/kaya/gstkayasrc.h
Normal file
@ -0,0 +1,73 @@
|
|||||||
|
/* GStreamer
|
||||||
|
* Copyright (c) 2018 outside US, United States Government, Joshua M. Doe <oss@nvl.army.mil>
|
||||||
|
*
|
||||||
|
* This library is free software; you can redistribute it and/or
|
||||||
|
* modify it under the terms of the GNU Library General Public
|
||||||
|
* License as published by the Free Software Foundation; either
|
||||||
|
* version 2 of the License, or (at your option) any later version.
|
||||||
|
*
|
||||||
|
* This library is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||||
|
* Library General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU Library General Public
|
||||||
|
* License along with this library; if not, write to the
|
||||||
|
* Free Software Foundation, Inc., 59 Temple Place - Suite 330,
|
||||||
|
* Boston, MA 02111-1307, USA.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef _GST_KAYA_SRC_H_
|
||||||
|
#define _GST_KAYA_SRC_H_
|
||||||
|
|
||||||
|
#include <gst/base/gstpushsrc.h>
|
||||||
|
|
||||||
|
#include <KYFGLib.h>
|
||||||
|
|
||||||
|
G_BEGIN_DECLS
|
||||||
|
|
||||||
|
#define GST_TYPE_KAYA_SRC (gst_kayasrc_get_type())
|
||||||
|
#define GST_KAYA_SRC(obj) (G_TYPE_CHECK_INSTANCE_CAST((obj),GST_TYPE_KAYA_SRC,GstKayaSrc))
|
||||||
|
#define GST_KAYA_SRC_CLASS(klass) (G_TYPE_CHECK_CLASS_CAST((klass),GST_TYPE_KAYA_SRC,GstKayaSrcClass))
|
||||||
|
#define GST_IS_KAYA_SRC(obj) (G_TYPE_CHECK_INSTANCE_TYPE((obj),GST_TYPE_KAYA_SRC))
|
||||||
|
#define GST_IS_KAYA_SRC_CLASS(obj) (G_TYPE_CHECK_CLASS_TYPE((klass),GST_TYPE_KAYA_SRC))
|
||||||
|
|
||||||
|
typedef struct _GstKayaSrc GstKayaSrc;
|
||||||
|
typedef struct _GstKayaSrcClass GstKayaSrcClass;
|
||||||
|
|
||||||
|
struct _GstKayaSrc
|
||||||
|
{
|
||||||
|
GstPushSrc base_kayasrc;
|
||||||
|
|
||||||
|
/* handles */
|
||||||
|
FGHANDLE fg_handle;
|
||||||
|
CAMHANDLE cam_handle;
|
||||||
|
STREAM_HANDLE stream_handle;
|
||||||
|
STREAM_BUFFER_HANDLE *buffer_handles;
|
||||||
|
size_t frame_size;
|
||||||
|
|
||||||
|
/* properties */
|
||||||
|
guint interface_index;
|
||||||
|
guint device_index;
|
||||||
|
guint num_capture_buffers;
|
||||||
|
gint timeout;
|
||||||
|
gchar *project_file;
|
||||||
|
gchar *xml_file;
|
||||||
|
|
||||||
|
gboolean acquisition_started;
|
||||||
|
gboolean stop_requested;
|
||||||
|
|
||||||
|
GstCaps *caps;
|
||||||
|
GAsyncQueue *queue;
|
||||||
|
};
|
||||||
|
|
||||||
|
struct _GstKayaSrcClass
|
||||||
|
{
|
||||||
|
GstPushSrcClass base_kayasrc_class;
|
||||||
|
};
|
||||||
|
|
||||||
|
GType gst_kayasrc_get_type (void);
|
||||||
|
|
||||||
|
G_END_DECLS
|
||||||
|
|
||||||
|
#endif
|
||||||
Loading…
x
Reference in New Issue
Block a user