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updated error handling
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@Fixstars-momoko
Fixstars-momoko committed Sep 3, 2024
1 parent 3d16edf commit c654c02
Showing 1 changed file with 91 additions and 37 deletions.
128 changes: 91 additions & 37 deletions src/bb/image-io/rt_u3v.h
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Original file line number Diff line number Diff line change
Expand Up @@ -336,7 +336,7 @@ class U3V {
devices_(num_sensor), buffers_(num_sensor), operation_mode_(OperationMode::Came1USB1), frame_cnt_(0), device_idx_(-1), disposed_(false), sim_mode_(sim_mode), order_filp_(false)
{
init_symbols();
log::debug("U3V:: 24-08-30 : Tested on device 1.2");
log::debug("U3V:: 24-09-03 : Tested on device 1.2");
log::info("Using aravis-{}.{}.{}", arv_get_major_version(), arv_get_minor_version(), arv_get_micro_version());
}

Expand Down Expand Up @@ -500,7 +500,7 @@ class U3V {
log::info("Acquisition option::{} is {}", "realtime_display_mode_", realtime_display_mode_);
}

GError* command_acquisition_mode_contd_and_start(){
void command_acquisition_mode_contd_and_start(){
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_) {
Expand All @@ -514,10 +514,9 @@ class U3V {
}
log::info("\tDevice/USB {}::{} : {}", i, "Command", "AcquisitionStart");
}
return err_;
}

GError* open_fake_devices(int32_t width, int32_t height , float_t fps, const std::string & pixel_format){
void open_fake_devices(int32_t width, int32_t height , float_t fps, const std::string & pixel_format){
auto path = std::getenv("GENICAM_FILENAME");
if (path == nullptr){
throw std::runtime_error("Please define GENICAM_FILENAME by `set GENICAM_FILENAME=` or `export GENICAM_FILENAME=`");
Expand All @@ -529,13 +528,19 @@ class U3V {
log::info("Creating U3V instance with {} fake sensors...", num_sensor_);

auto fake_camera0 = arv_camera_new ("Fake_1", &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
auto fake_device0 = arv_camera_get_device(fake_camera0);
devices_[0].device_ = fake_device0;
devices_[0].dev_id_= "fake_0";
devices_[0].camera_ = fake_camera0;
if (num_sensor_==2){
// aravis only provide on ARV_FAKE_DEVICE_ID https://github.com/Sensing-Dev/aravis/blob/main/src/arvfakeinterface.c
auto fake_camera1 = arv_camera_new ("Fake_1", &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
auto fake_device1 = arv_camera_get_device(fake_camera1);
devices_[1].device_ = fake_device1;
devices_[1].dev_id_= "fake_1";
Expand All @@ -546,13 +551,35 @@ class U3V {
// setting the params if it is not zero
log::info("Width {}, Height {} PixelFormat {}...", width, height, pixel_format_);
arv_device_set_integer_feature_value (devices_[i].device_, "Width", width, &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
arv_device_set_integer_feature_value (devices_[i].device_, "Height", height, &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
arv_device_set_float_feature_value (devices_[i].device_, "AcquisitionFrameRate",fps, &err_);
if (pixel_format_ != "Mono8")
if (err_) {
throw std::runtime_error(err_->message);
}
if (pixel_format_ != "Mono8"){
arv_device_set_string_feature_value(devices_[i].device_, "PixelFormat", pixel_format.c_str(), &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
}
devices_[i].u3v_payload_size_ = arv_device_get_integer_feature_value (devices_[i].device_, "PayloadSize", &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
auto px =arv_device_get_integer_feature_value(devices_[i].device_, "PixelFormat", &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
auto fps = arv_device_get_float_feature_value(devices_[i].device_, "AcquisitionFrameRate", &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
struct rawHeader header= { 1, width, height,
1, 1, 1, 1, 1, 1, 0, 0, 0, 0,
width, height, width, height, static_cast<float>(fps), px, 0};
Expand All @@ -561,10 +588,9 @@ class U3V {
devices_[i].frame_count_ = 0;

}
return err_;
}

GError* open_real_devices(int32_t num_detected_device, int32_t num_usb_to_open, char* dev_id){
void open_real_devices(int32_t num_detected_device, int32_t num_usb_to_open, char* dev_id){

int index_on_detected_device = 0;
int index_on_opened_device = 0;
Expand Down Expand Up @@ -598,16 +624,18 @@ class U3V {

pixel_format_ = arv_device_get_string_feature_value(devices_[index_on_opened_device].device_, "PixelFormat", &err_);
if (err_ ) {
throw std::runtime_error(err_->message);
log::error(err_->message);
err_ = nullptr;
}else{
log::info("\tDevice/USB {}::{} : {}", index_on_opened_device, "PixelFormat", pixel_format_);
}
log::info("\tDevice/USB {}::{} : {}", index_on_opened_device, "PixelFormat", pixel_format_);


// Here PayloadSize is the one for U3V data
devices_[index_on_opened_device].u3v_payload_size_ = arv_device_get_integer_feature_value(devices_[index_on_opened_device].device_, "PayloadSize", &err_);
log::info("\tDevice/USB {}::{} : {}", index_on_opened_device, "PayloadSize", devices_[index_on_opened_device].u3v_payload_size_);
if (err_ ) {
throw std::runtime_error(err_->message);
}
log::info("\tDevice/USB {}::{} : {}", index_on_opened_device, "PayloadSize", devices_[index_on_opened_device].u3v_payload_size_);

// check it the device has gendc mode ==============================
is_gendc_ = arv_device_is_feature_available(devices_[index_on_opened_device].device_, "GenDCDescriptor", &err_);
Expand All @@ -632,19 +660,30 @@ class U3V {
// Some type of U3V Camera supports Frame count generated by its device
const char* device_vender_name;
device_vender_name = arv_device_get_string_feature_value(devices_[index_on_opened_device].device_, "DeviceVendorName", &err_);
if (strcmp(device_vender_name, "Sony Semiconductor Solutions Corporation")==0){
const char* device_model_name;
device_model_name = arv_device_get_string_feature_value(devices_[index_on_opened_device].device_, "DeviceModelName", &err_);
if (strcmp(device_model_name, " ")==0){
is_param_integer_ = true;
frame_count_method_ = FrameCountMethod::TIMESTAMP;
arv_uv_device_set_usb_mode(devices_[index_on_opened_device].device_, ARV_UV_USB_MODE_SYNC); //hotfix for v1.0
}
if (is_gendc_){
frame_count_method_ = FrameCountMethod::TYPESPECIFIC3;
order_filp_ = true;
if (err_) {
log::error(err_->message);
err_ = nullptr;
}else{
if (strcmp(device_vender_name, "Sony Semiconductor Solutions Corporation")==0){
const char* device_model_name;
device_model_name = arv_device_get_string_feature_value(devices_[index_on_opened_device].device_, "DeviceModelName", &err_);
if (err_) {
log::error(err_->message);
err_ = nullptr;
}else{
if (strcmp(device_model_name, " ")==0){
is_param_integer_ = true;
frame_count_method_ = FrameCountMethod::TIMESTAMP;
arv_uv_device_set_usb_mode(devices_[index_on_opened_device].device_, ARV_UV_USB_MODE_SYNC); //hotfix for v1.0
}
}
if (is_gendc_){
frame_count_method_ = FrameCountMethod::TYPESPECIFIC3;
order_filp_ = true;
}
}
}

log::info("\tDevice/USB {}::{} : {}", index_on_opened_device, "frame_count method is ",
frame_count_method_ == FrameCountMethod::TIMESTAMP ? "Timestamp":
frame_count_method_ == FrameCountMethod::TYPESPECIFIC3 ? "TypeSpecific" : "Unavailabe");
Expand Down Expand Up @@ -694,17 +733,28 @@ class U3V {
// Set Device Info =================================================
{
int32_t wi = arv_device_get_integer_feature_value(devices_[index_on_opened_device].device_, "Width", &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
int32_t hi = arv_device_get_integer_feature_value(devices_[index_on_opened_device].device_, "Height", &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
double fps = 0.0;
if (arv_device_is_feature_available(devices_[index_on_opened_device].device_, "AcquisitionFrameRate", &err_)){
fps = arv_device_get_float_feature_value(devices_[index_on_opened_device].device_, "AcquisitionFrameRate", &err_);
}
if (err_) {
throw std::runtime_error(err_->message);
}
log::info("\tDevice/USB {}::{} : {}", index_on_opened_device, "Width", wi);
log::info("\tDevice/USB {}::{} : {}", index_on_opened_device, "Height", hi);

int32_t px = arv_device_get_integer_feature_value (devices_[index_on_opened_device].device_, "PixelFormat", &err_);
if (px == 0){
if (err_ || px == 0){
log::info("The pixel format is not supported for header info");
err_ = nullptr;
px = 0;
}

devices_[index_on_opened_device].header_info_ = { 1, wi, hi,
Expand All @@ -714,8 +764,14 @@ class U3V {
}

if (index_on_opened_device == 0 && arv_device_is_feature_available(devices_[index_on_opened_device].device_, "OperationMode", &err_)){
if (err_) {
throw std::runtime_error(err_->message);
}
const char* operation_mode_in_string;
operation_mode_in_string = arv_device_get_string_feature_value(devices_[index_on_opened_device].device_, "OperationMode", &err_);
if (err_) {
throw std::runtime_error(err_->message);
}
if (strcmp(operation_mode_in_string, "Came2USB1")==0){
operation_mode_ = OperationMode::Came2USB1;
}else if (strcmp(operation_mode_in_string, "Came1USB1")==0){
Expand All @@ -737,10 +793,9 @@ class U3V {

index_on_detected_device += 1;
}
return err_;
}

GError* create_stream_and_start_acquisition(bool specific_device_to_flip_order){
void create_stream_and_start_acquisition(bool specific_device_to_flip_order){
/*
* 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
Expand All @@ -749,7 +804,7 @@ class U3V {
*/
if (specific_device_to_flip_order){
log::info("Execute AcquisitionStart before create stream on this device.");
err_ = command_acquisition_mode_contd_and_start();
command_acquisition_mode_contd_and_start();
}
//start streaming after AcquisitionStart
for (auto i=0; i<devices_.size(); ++i) {
Expand All @@ -763,9 +818,8 @@ class U3V {
}

if (! specific_device_to_flip_order){
err_ = command_acquisition_mode_contd_and_start();
command_acquisition_mode_contd_and_start();
}
return err_;
}

void allocate_buffers(){
Expand Down Expand Up @@ -989,7 +1043,7 @@ class U3VFakeCam : public U3V{
private:
U3VFakeCam(int32_t num_sensor, int32_t width, int32_t height , float_t fps, const std::string & pixel_format, char* dev_id = nullptr)
: U3V(num_sensor, false, false, true, width, height , fps, pixel_format, nullptr){
err_ = open_fake_devices(width, height, fps, pixel_format);
open_fake_devices(width, height, fps, pixel_format);

// Start streaming and start acquisition
for (auto i=0; i<devices_.size(); ++i) {
Expand Down Expand Up @@ -1154,15 +1208,15 @@ class U3VRealCam: public U3V{
sim_mode_ = true;
}
if (sim_mode_){
err_ = open_fake_devices(width, height, fps, pixel_format);
open_fake_devices(width, height, fps, pixel_format);

// Start streaming and start acquisition
err_ = create_stream_and_start_acquisition(order_filp_);
create_stream_and_start_acquisition(order_filp_);
}else{
// Real Camera
validate_user_input(num_device, dev_id);
err_ = open_real_devices(num_device, num_sensor_, dev_id);
err_ = create_stream_and_start_acquisition(order_filp_);
open_real_devices(num_device, num_sensor_, dev_id);
create_stream_and_start_acquisition(order_filp_);
allocate_buffers();
}
};
Expand Down Expand Up @@ -1314,15 +1368,15 @@ class U3VGenDC: public U3V{
sim_mode_ = true;
}
if (sim_mode_){
err_ = open_fake_devices(width, height, fps, pixel_format);
open_fake_devices(width, height, fps, pixel_format);

// Start streaming and start acquisition
err_ = create_stream_and_start_acquisition(order_filp_);
create_stream_and_start_acquisition(order_filp_);
}else{
// Real Camera
validate_user_input(num_device, dev_id);
err_ = open_real_devices(num_device, num_sensor_, dev_id);
err_ = create_stream_and_start_acquisition(order_filp_);
open_real_devices(num_device, num_sensor_, dev_id);
create_stream_and_start_acquisition(order_filp_);
allocate_buffers();
}
};
Expand Down

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