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kayasrc: add new source element for KAYA frame grabbers

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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 2018-07-09 10:17:59 -04:00
parent 6e507ef15f
commit bf35f7f832
6 changed files with 848 additions and 0 deletions
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3
CMakeLists.txt
View File

@ -82,6 +82,9 @@ macro_log_feature(IMPERX_FLEX_FOUND "Imperx FrameLink Express" "Required to buil
find_package(IOtechDaqX)
macro_log_feature(IOTECHDAQX_FOUND "IOtech DaqX" "Required to build IOtech DaqX source element" "http://www.mccdaq.com/" FALSE)
find_package(KAYA)
macro_log_feature(KAYA_FOUND "KAYA Vision Point" "Required to build KAYA source element" "http://www.kayainstruments.com/" FALSE)
find_package(Matrox)
macro_log_feature(MATROX_FOUND "Matrox MIL" "Required to build Matrox MIL source element" "http://www.matrox.com/imaging/" FALSE)

32
cmake/modules/FindKAYA.cmake Normal file
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@ -0,0 +1,32 @@
# - Try to find KAYA SDK
# Once done this will define
#
# KAYA_FOUND - system has KAYA SDK
# KAYA_INCLUDE_DIR - the KAYA SDK include directory
# KAYA_LIBRARIES - the libraries needed to use KAYA SDK
# Copyright (c) 2006, Tim Beaulen <tbscope@gmail.com>
# Copyright (c) 2018 outside US, United States Government, Joshua M. Doe <oss@nvl.army.mil>
#
# Redistribution and use is allowed according to the terms of the BSD license.
# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
if (NOT KAYA_DIR)
set (KAYA_DIR "C:/Program Files/KAYA Instruments/Vision Point" CACHE PATH "Directory containing KAYA SDK includes and libraries")
endif ()
find_path (KAYA_INCLUDE_DIR KYFGLib.h
PATHS
"${KAYA_DIR}/include"
DOC "Directory containing KYFGLib.h include file")
find_library (_KYFGLib NAMES KYFGLib
PATHS
"${KAYA_DIR}/lib")
set (KAYA_LIBRARIES ${_KYFGLib})
mark_as_advanced (_KYFGLib)
include (FindPackageHandleStandardArgs)
find_package_handle_standard_args (KAYA DEFAULT_MSG KAYA_INCLUDE_DIR KAYA_LIBRARIES)

4
sys/CMakeLists.txt
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@ -22,6 +22,10 @@ if (IDSUEYE_FOUND)
add_subdirectory (idsueye)
endif (IDSUEYE_FOUND)
if (KAYA_FOUND)
add_subdirectory (kaya)
endif (KAYA_FOUND)
if (MATROX_FOUND)
add_subdirectory (matrox)
endif (MATROX_FOUND)

32
sys/kaya/CMakeLists.txt Normal file
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@ -0,0 +1,32 @@
set (SOURCES
gstkayasrc.c
)
set (HEADERS
gstkayasrc.h)
include_directories (AFTER
${GSTREAMER_INCLUDE_DIR}/..
${KAYA_INCLUDE_DIR}
${PROJECT_SOURCE_DIR}/common
)
set (libname libgstkaya)
add_library (${libname} MODULE
${SOURCES}
${HEADERS})
target_link_libraries (${libname}
${GLIB2_LIBRARIES}
${GOBJECT_LIBRARIES}
${GSTREAMER_LIBRARY}
${GSTREAMER_BASE_LIBRARY}
${GSTREAMER_VIDEO_LIBRARY}
${KAYA_LIBRARIES}
)
set (pdbfile "${CMAKE_CURRENT_BINARY_DIR}/\${CMAKE_INSTALL_CONFIG_NAME}/${libname}.pdb")
install (FILES ${pdbfile} DESTINATION lib/gstreamer-1.0)
install(TARGETS ${libname}
LIBRARY DESTINATION lib/gstreamer-1.0)

704
sys/kaya/gstkayasrc.c Normal file
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@ -0,0 +1,704 @@
/* 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., 51 Franklin Street, Suite 500,
* Boston, MA 02110-1335, USA.
*/
/**
* SECTION:element-gstkayasrc
*
* The kayasrc element is a source for KAYA framegrabbers.
*
* <refsect2>
* <title>Example launch line</title>
* |[
* gst-launch -v kayasrc ! videoconvert ! autovideosink
* ]|
* Shows video from the default KAYA framegrabber
* </refsect2>
*/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include <string.h>
#include <gst/gst.h>
#include <gst/base/gstpushsrc.h>
#include <gst/video/video.h>
#include "gstkayasrc.h"
#include "genicampixelformat.h"
#ifdef HAVE_ORC
#include <orc/orc.h>
#else
#define orc_memcpy memcpy
#endif
GST_DEBUG_CATEGORY_STATIC (gst_kayasrc_debug);
#define GST_CAT_DEFAULT gst_kayasrc_debug
/* prototypes */
static void gst_kayasrc_set_property (GObject * object,
guint property_id, const GValue * value, GParamSpec * pspec);
static void gst_kayasrc_get_property (GObject * object,
guint property_id, GValue * value, GParamSpec * pspec);
static void gst_kayasrc_dispose (GObject * object);
static void gst_kayasrc_finalize (GObject * object);
static gboolean gst_kayasrc_start (GstBaseSrc * src);
static gboolean gst_kayasrc_stop (GstBaseSrc * src);
static GstCaps *gst_kayasrc_get_caps (GstBaseSrc * src, GstCaps * filter);
static gboolean gst_kayasrc_set_caps (GstBaseSrc * src, GstCaps * caps);
static gboolean gst_kayasrc_unlock (GstBaseSrc * src);
static gboolean gst_kayasrc_unlock_stop (GstBaseSrc * src);
static GstFlowReturn gst_kayasrc_create (GstPushSrc * src, GstBuffer ** buf);
static void gst_kayasrc_stream_buffer_callback (STREAM_BUFFER_HANDLE
buffer_handle, void *context);
static void gst_kayasrc_stream_callback (void *context,
STREAM_HANDLE stream_handle);
enum
{
PROP_0,
PROP_INTERFACE_INDEX,
PROP_DEVICE_INDEX,
PROP_NUM_CAPTURE_BUFFERS,
PROP_TIMEOUT,
PROP_PROJECT_FILE,
PROP_XML_FILE
};
#define DEFAULT_PROP_INTERFACE_INDEX 0
#define DEFAULT_PROP_DEVICE_INDEX 0
#define DEFAULT_PROP_NUM_CAPTURE_BUFFERS 3
#define DEFAULT_PROP_TIMEOUT 1000
#define DEFAULT_PROP_PROJECT_FILE NULL
#define DEFAULT_PROP_XML_FILE NULL
/* pad templates */
static GstStaticPadTemplate gst_kayasrc_src_template =
GST_STATIC_PAD_TEMPLATE ("src",
GST_PAD_SRC,
GST_PAD_ALWAYS,
GST_STATIC_CAPS (GST_VIDEO_CAPS_MAKE
("{ GRAY8, GRAY16_LE, GRAY16_BE, BGRA, UYVY }") ";"
GST_GENICAM_PIXEL_FORMAT_MAKE_BAYER8 ("{ bggr, grbg, rggb, gbrg }"))
);
/* class initialization */
G_DEFINE_TYPE (GstKayaSrc, gst_kayasrc, GST_TYPE_PUSH_SRC);
static void
gst_kayasrc_class_init (GstKayaSrcClass * klass)
{
GObjectClass *gobject_class = G_OBJECT_CLASS (klass);
GstElementClass *gstelement_class = GST_ELEMENT_CLASS (klass);
GstBaseSrcClass *gstbasesrc_class = GST_BASE_SRC_CLASS (klass);
GstPushSrcClass *gstpushsrc_class = GST_PUSH_SRC_CLASS (klass);
gobject_class->set_property = gst_kayasrc_set_property;
gobject_class->get_property = gst_kayasrc_get_property;
gobject_class->dispose = gst_kayasrc_dispose;
gobject_class->finalize = gst_kayasrc_finalize;
gst_element_class_add_pad_template (gstelement_class,
gst_static_pad_template_get (&gst_kayasrc_src_template));
gst_element_class_set_static_metadata (gstelement_class,
"KAYA Video Source", "Source/Video",
"KAYA framegrabber video source", "Joshua M. Doe <oss@nvl.army.mil>");
gstbasesrc_class->start = GST_DEBUG_FUNCPTR (gst_kayasrc_start);
gstbasesrc_class->stop = GST_DEBUG_FUNCPTR (gst_kayasrc_stop);
gstbasesrc_class->get_caps = GST_DEBUG_FUNCPTR (gst_kayasrc_get_caps);
gstbasesrc_class->set_caps = GST_DEBUG_FUNCPTR (gst_kayasrc_set_caps);
gstbasesrc_class->unlock = GST_DEBUG_FUNCPTR (gst_kayasrc_unlock);
gstbasesrc_class->unlock_stop = GST_DEBUG_FUNCPTR (gst_kayasrc_unlock_stop);
gstpushsrc_class->create = GST_DEBUG_FUNCPTR (gst_kayasrc_create);
/* Install GObject properties */
g_object_class_install_property (gobject_class, PROP_INTERFACE_INDEX,
g_param_spec_uint ("interface-index", "Interface index",
"Interface index number, zero-based, overridden by interface-id",
0, G_MAXUINT, DEFAULT_PROP_INTERFACE_INDEX,
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS |
GST_PARAM_MUTABLE_READY)));
g_object_class_install_property (gobject_class, PROP_DEVICE_INDEX,
g_param_spec_uint ("device-index", "Device index",
"Device index number, zero-based",
0, G_MAXUINT, DEFAULT_PROP_DEVICE_INDEX,
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS |
GST_PARAM_MUTABLE_READY)));
g_object_class_install_property (gobject_class, PROP_NUM_CAPTURE_BUFFERS,
g_param_spec_uint ("num-capture-buffers", "Number of capture buffers",
"Number of capture buffers", 1, G_MAXUINT,
DEFAULT_PROP_NUM_CAPTURE_BUFFERS,
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
g_object_class_install_property (G_OBJECT_CLASS (klass),
PROP_TIMEOUT, g_param_spec_int ("timeout",
"Timeout (ms)",
"Timeout in ms (0 to use default)", 0, G_MAXINT,
DEFAULT_PROP_TIMEOUT, G_PARAM_STATIC_STRINGS | G_PARAM_READWRITE));
g_object_class_install_property (gobject_class, PROP_PROJECT_FILE,
g_param_spec_string ("project-file", "Project file",
"Filepath of a project file to configure frame grabber",
DEFAULT_PROP_PROJECT_FILE,
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS |
GST_PARAM_MUTABLE_READY)));
g_object_class_install_property (gobject_class, PROP_XML_FILE,
g_param_spec_string ("xml-file", "XML file",
"Filepath of a XML file to use with camera, or NULL to use camera's native XML",
DEFAULT_PROP_XML_FILE,
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS |
GST_PARAM_MUTABLE_READY)));
}
static void
gst_kayasrc_cleanup (GstKayaSrc * src)
{
src->stop_requested = FALSE;
src->acquisition_started = FALSE;
if (src->caps) {
gst_caps_unref (src->caps);
src->caps = NULL;
}
if (src->stream_handle != INVALID_STREAMHANDLE) {
KYFG_StreamBufferCallbackUnregister (src->stream_handle,
gst_kayasrc_stream_buffer_callback);
KYFG_StreamDelete (src->stream_handle);
src->stream_handle = INVALID_STREAMHANDLE;
}
if (src->cam_handle != INVALID_CAMHANDLE) {
KYFG_CameraCallbackUnregister (src->cam_handle,
gst_kayasrc_stream_callback);
KYFG_CameraClose (src->cam_handle);
src->cam_handle = INVALID_CAMHANDLE;
}
if (src->fg_handle != INVALID_FGHANDLE) {
KYFG_Close (src->fg_handle);
src->fg_handle = INVALID_FGHANDLE;
}
}
static void
gst_kayasrc_init (GstKayaSrc * src)
{
/* set source as live (no preroll) */
gst_base_src_set_live (GST_BASE_SRC (src), TRUE);
/* override default of BYTES to operate in time mode */
gst_base_src_set_format (GST_BASE_SRC (src), GST_FORMAT_TIME);
/* initialize member variables */
src->interface_index = DEFAULT_PROP_INTERFACE_INDEX;
src->num_capture_buffers = DEFAULT_PROP_NUM_CAPTURE_BUFFERS;
src->timeout = DEFAULT_PROP_TIMEOUT;
src->project_file = DEFAULT_PROP_PROJECT_FILE;
src->xml_file = DEFAULT_PROP_PROJECT_FILE;
src->queue = g_async_queue_new ();
src->caps = NULL;
src->fg_handle = INVALID_FGHANDLE;
src->cam_handle = INVALID_CAMHANDLE;
gst_kayasrc_cleanup (src);
}
void
gst_kayasrc_set_property (GObject * object, guint property_id,
const GValue * value, GParamSpec * pspec)
{
GstKayaSrc *src;
src = GST_KAYA_SRC (object);
switch (property_id) {
case PROP_INTERFACE_INDEX:
src->interface_index = g_value_get_uint (value);
break;
case PROP_DEVICE_INDEX:
src->device_index = g_value_get_uint (value);
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);

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sys/kaya/gstkayasrc.h Normal file
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/* 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