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Merge pull request #315 from fixstars/fix/acq-before-stream
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Fix/acq before stream
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@iitaku
iitaku authored Aug 19, 2024
2 parents 93d68f2 + 242bc80 commit 7e63fa1
Showing 1 changed file with 80 additions and 54 deletions.
134 changes: 80 additions & 54 deletions src/bb/image-io/rt_u3v.h
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Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,12 @@ class U3V {
ARV_DEVICE_STATUS_WRITE_ERROR
}ArvDeviceStatus_t;

typedef enum ArvUvUsbMode{
ARV_UV_USB_MODE_SYNC,
ARV_UV_USB_MODE_ASYNC,
ARV_UV_USB_MODE_DEFAULT = ARV_UV_USB_MODE_ASYNC
} ArvUvUsbMode_t;

using ArvDevice_t = struct ArvDevice*;
using ArvFakeDevice_t = struct ArvFakeDevice*;
using ArvStream_t = struct ArvStream*;
Expand Down Expand Up @@ -154,6 +160,8 @@ class U3V {
using arv_camera_create_stream_t = ArvStream*(*)(ArvCamera*, ArvStreamCallback*, void*, GError**);
using arv_fake_device_get_fake_camera_t = ArvCamera*(*)(ArvFakeDevice*);

using arv_uv_device_set_usb_mode_t = void(*)(ArvDevice *, ArvUvUsbMode );

struct DeviceInfo {
const char* dev_id_;
ArvDevice* device_;
Expand Down Expand Up @@ -412,6 +420,8 @@ class U3V {
GET_SYMBOL(arv_set_fake_camera_genicam_filename, "arv_set_fake_camera_genicam_filename");
GET_SYMBOL(arv_enable_interface, "arv_enable_interface");
GET_SYMBOL(arv_fake_device_get_fake_camera, "arv_fake_device_get_fake_camera");
GET_SYMBOL(arv_uv_device_set_usb_mode, "arv_uv_device_set_usb_mode");

#undef GET_SYMBOL
}

Expand Down Expand Up @@ -535,6 +545,8 @@ class U3V {
arv_set_fake_camera_genicam_filename_t arv_set_fake_camera_genicam_filename;
arv_fake_device_get_fake_camera_t arv_fake_device_get_fake_camera;

arv_uv_device_set_usb_mode_t arv_uv_device_set_usb_mode;

static std::map<std::string, std::shared_ptr<U3V>> instances_;

int32_t num_sensor_; //SENSOR NUMBER
Expand Down Expand Up @@ -654,9 +666,8 @@ class U3VFakeCam : public U3V{
}

// Start streaming and start acquisition
devices_[0].stream_ = arv_device_create_stream (devices_[0].device_, NULL, NULL, &err_);
if (num_sensor_==2){
devices_[1].stream_ = arv_device_create_stream (devices_[1].device_, NULL, NULL, &err_);
for (auto i=0; i<devices_.size(); ++i) {
devices_[i].stream_ = arv_device_create_stream(devices_[i].device_, NULL, NULL, &err_);
}

for (auto i=0; i<devices_.size(); ++i) {
Expand Down Expand Up @@ -861,10 +872,9 @@ class U3VRealCam: public U3V{

}

// Start streaming and start acquisition
devices_[0].stream_ = arv_device_create_stream (devices_[0].device_, NULL, NULL, &err_);
if (num_sensor_==2){
devices_[1].stream_ = arv_device_create_stream (devices_[1].device_, NULL, NULL, &err_);
// Start streaming and start acquisition for fake camera
for (auto i=0; i<devices_.size(); ++i) {
devices_[i].stream_ = arv_device_create_stream(devices_[i].device_, NULL, NULL, &err_);
}

for (auto i=0; i<devices_.size(); ++i) {
Expand Down Expand Up @@ -909,6 +919,8 @@ class U3VRealCam: public U3V{
throw std::runtime_error("device is null");
}



pixel_format_ = arv_device_get_string_feature_value(devices_[i].device_, "PixelFormat", &err_);
if (err_ ) {
throw std::runtime_error(err_->message);
Expand All @@ -922,14 +934,6 @@ class U3VRealCam: public U3V{
throw std::runtime_error(err_->message);
}

devices_[i].stream_ = arv_device_create_stream(devices_[i].device_, nullptr, nullptr, &err_);
if (err_ ) {
throw std::runtime_error(err_->message);
}
if (devices_[i].stream_ == nullptr) {
throw std::runtime_error("stream is null");
}

// check it the device has gendc mode ==============================
is_gendc_ = arv_device_is_feature_available(devices_[i].device_, "GenDCDescriptor", &err_);
if (err_) {
Expand All @@ -949,6 +953,7 @@ class U3VRealCam: public U3V{
if (strcmp(device_model_name, " ")==0){
is_param_integer_ = true;
frame_count_method_ = FrameCountMethod::TIMESTAMP;
arv_uv_device_set_usb_mode(devices_[i].device_, ARV_UV_USB_MODE_SYNC); //hotfix for v1.0
}
if (is_gendc_){
frame_count_method_ = FrameCountMethod::TYPESPECIFIC3;
Expand Down Expand Up @@ -1057,6 +1062,36 @@ class U3VRealCam: public U3V{
}
log::info("\tDevice/USB {}::{} : {}", i, "OperationMode", operation_mode_in_string);
}

arv_device_set_string_feature_value(devices_[i].device_, "AcquisitionMode", arv_acquisition_mode_to_string(ARV_ACQUISITION_MODE_CONTINUOUS), &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
log::info("\tDevice/USB {}::{} : {}", i, "Command", "AcquisitionMode");

arv_device_execute_command(devices_[i].device_, "AcquisitionStart", &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
log::info("\tDevice/USB {}::{} : {}", i, "Command", "AcquisitionStart");
}

/*
* ion-kit starts the acquisition before stream creation This is a tentative fix only in ion-kit due to hardware issue
* In aravis, the acquisition should be done afterward. Since this maps better with GenAPI, where buffers
* must be pushed to DataStream objectsbefore DataStream acquisition is started.
* refer to https://github.com/AravisProject/aravis/blob/2ebaa8661761ea4bbc4df878aa67b4a9e1a9a3b9/docs/reference/aravis/porting-0.10.md
*/

//start streaming after AcquisitionStart
for (auto i=0; i<devices_.size(); ++i) {
devices_[i].stream_ = arv_device_create_stream(devices_[i].device_, nullptr, nullptr, &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
if (devices_[i].stream_ == nullptr) {
throw std::runtime_error("stream is null");
}
}

for (auto i=0; i<devices_.size(); ++i) {
Expand All @@ -1072,21 +1107,8 @@ class U3VRealCam: public U3V{

}

for (auto i=0; i<devices_.size(); ++i) {
arv_device_set_string_feature_value(devices_[i].device_, "AcquisitionMode", arv_acquisition_mode_to_string(ARV_ACQUISITION_MODE_CONTINUOUS), &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
log::info("\tDevice/USB {}::{} : {}", i, "Command", "AcquisitionMode");
}

for (auto i=0; i<devices_.size(); ++i) {
arv_device_execute_command(devices_[i].device_, "AcquisitionStart", &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
log::info("\tDevice/USB {}::{} : {}", i, "Command", "AcquisitionStart");
}

}
};

Expand Down Expand Up @@ -1355,9 +1377,8 @@ class U3VGenDC: public U3V{
}

// Start streaming and start acquisition
devices_[0].stream_ = arv_device_create_stream (devices_[0].device_, NULL, NULL, &err_);
if (num_sensor_==2){
devices_[1].stream_ = arv_device_create_stream (devices_[1].device_, NULL, NULL, &err_);
for (auto i=0; i<devices_.size(); ++i) {
devices_[i].stream_ = arv_device_create_stream (devices_[i].device_, NULL, NULL, &err_);
}

for (auto i=0; i<devices_.size(); ++i) {
Expand Down Expand Up @@ -1415,14 +1436,6 @@ class U3VGenDC: public U3V{
throw std::runtime_error(err_->message);
}

devices_[i].stream_ = arv_device_create_stream(devices_[i].device_, nullptr, nullptr, &err_);
if (err_ ) {
throw std::runtime_error(err_->message);
}
if (devices_[i].stream_ == nullptr) {
throw std::runtime_error("stream is null");
}

// check it the device has gendc mode ==============================
is_gendc_ = arv_device_is_feature_available(devices_[i].device_, "GenDCDescriptor", &err_);
if (err_) {
Expand Down Expand Up @@ -1547,6 +1560,33 @@ class U3VGenDC: public U3V{
}
log::info("\tDevice/USB {}::{} : {}", i, "OperationMode", operation_mode_in_string);
}

arv_device_set_string_feature_value(devices_[i].device_, "AcquisitionMode", arv_acquisition_mode_to_string(ARV_ACQUISITION_MODE_CONTINUOUS), &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
log::info("\tDevice/USB {}::{} : {}", i, "Command", "AcquisitionMode");

arv_device_execute_command(devices_[i].device_, "AcquisitionStart", &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
log::info("\tDevice/USB {}::{} : {}", i, "Command", "AcquisitionStart");
}
/*
* ion-kit starts the acquisition before stream creation This is a tentative fix only in ion-kit due to hardware issue
* In aravis, the acquisition should be done afterward. Since this maps better with GenAPI, where buffers
* must be pushed to DataStream objectsbefore DataStream acquisition is started.
* refer to https://github.com/AravisProject/aravis/blob/2ebaa8661761ea4bbc4df878aa67b4a9e1a9a3b9/docs/reference/aravis/porting-0.10.md
*/
for (auto i=0; i<devices_.size(); ++i) {
devices_[i].stream_ = arv_device_create_stream(devices_[i].device_, nullptr, nullptr, &err_);
if (err_ ) {
throw std::runtime_error(err_->message);
}
if (devices_[i].stream_ == nullptr) {
throw std::runtime_error("stream is null");
}
}

for (auto i=0; i<devices_.size(); ++i) {
Expand All @@ -1562,21 +1602,7 @@ class U3VGenDC: public U3V{

}

for (auto i=0; i<devices_.size(); ++i) {
arv_device_set_string_feature_value(devices_[i].device_, "AcquisitionMode", arv_acquisition_mode_to_string(ARV_ACQUISITION_MODE_CONTINUOUS), &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
log::info("\tDevice/USB {}::{} : {}", i, "Command", "AcquisitionMode");
}

for (auto i=0; i<devices_.size(); ++i) {
arv_device_execute_command(devices_[i].device_, "AcquisitionStart", &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
log::info("\tDevice/USB {}::{} : {}", i, "Command", "AcquisitionStart");
}
}
};

Expand Down

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