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/*
$Id: dc1394.c 3978 2008-07-04 20:18:01Z matju $
GridFlow
Copyright (c) 2001-2008 by Mathieu Bouchard
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
See file ../COPYING for further informations on licensing terms.
This program 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 General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*/
#include <libraw1394/raw1394.h>
#include <libdc1394/dc1394_control.h>
#include "../gridflow.h.fcs"
/* speeds are numbered 0 to 5, worth 100<<speednum */
/* framerates are numbers 32 to 39, worth 1.875<<(frameratenum-32) */
#define MODE(x,y,palette) /* nothing for now */
static std::map<int,string> feature_names;
static void setup_modes () {
int i=64; // format 0
MODE(160,120,YUV444);
MODE(320,240,YUV422);
MODE(640,480,YUV411);
MODE(640,480,YUV422);
MODE(640,480,RGB);
MODE(640,480,MONO);
MODE(640,480,MONO16);
i=96; // format 1
MODE(800,600,YUV422);
MODE(800,600,RGB);
MODE(800,600,MONO);
MODE(1024,768,YUV422);
MODE(1024,768,RGB);
MODE(1024,768,MONO);
MODE(800,600,MONO16);
MODE(1024,768,MONO16);
i=128; // format 2
MODE(1280,960,YUV422);
MODE(1280,960,RGB);
MODE(1280,960,MONO);
MODE(1600,1200,YUV422);
MODE(1600,1200,RGB);
MODE(1600,1200,MONO);
MODE(1280,960,MONO16);
MODE(1600,1200,MONO16);
i=256; // format 6
// MODE_EXIF= 256
i=288; // format 7
//MODE_FORMAT7_0,
//MODE_FORMAT7_1,
//MODE_FORMAT7_2,
//MODE_FORMAT7_3,
//MODE_FORMAT7_4,
//MODE_FORMAT7_5,
//MODE_FORMAT7_6,
//MODE_FORMAT7_7
// format7 color modes start at #320 and are MONO8 YUV411 YUV422 YUV444 RGB8 MONO16 RGB16 MONO16S RGB16S RAW8 RAW16
// trigger modes start at #352 and are 0 1 2 3
// image formats start at #384 and are VGA_NONCOMPRESSED SVGA_NONCOMPRESSED_1 SVGA_NONCOMPRESSED_2
// and continue at #390 and are STILL_IMAGE FORMAT_SCALABLE_IMAGE_SIZE
#define FEATURE(foo) feature_names[i++] = #foo;
i=416;
FEATURE(BRIGHTNESS);
FEATURE(EXPOSURE);
FEATURE(SHARPNESS);
FEATURE(WHITE_BALANCE);
FEATURE(HUE);
FEATURE(SATURATION);
FEATURE(GAMMA);
FEATURE(SHUTTER);
FEATURE(GAIN);
FEATURE(IRIS);
FEATURE(FOCUS);
FEATURE(TEMPERATURE);
FEATURE(TRIGGER);
FEATURE(TRIGGER_DELAY);
FEATURE(WHITE_SHADING);
FEATURE(FRAME_RATE);
i+=16;/* 16 reserved features */
FEATURE(ZOOM);
FEATURE(PAN);
FEATURE(TILT);
FEATURE(OPTICAL_FILTER);
i+=12;/* 12 reserved features */
FEATURE(CAPTURE_SIZE);
FEATURE(CAPTURE_QUALITY);
i+=14;/* 14 reserved features */
i=480; // operation modes
//OPERATION_MODE_LEGACY
//OPERATION_MODE_1394B
i=512; // sensor layouts
//RGGB
//GBRG,
//GRBG,
//BGGR
i=544; // IIDC_VERSION
#if 0
IIDC_VERSION(1_04);
IIDC_VERSION(1_20);
IIDC_VERSION(PTGREY);
IIDC_VERSION(1_30);
IIDC_VERSION(1_31);
IIDC_VERSION(1_32);
IIDC_VERSION(1_33);
IIDC_VERSION(1_34);
IIDC_VERSION(1_35);
IIDC_VERSION(1_36);
IIDC_VERSION(1_37);
IIDC_VERSION(1_38);
IIDC_VERSION(1_39);
#endif
// Return values are SUCCESS FAILURE NO_FRAME NO_CAMERA
// Parameter flags for dc1394_setup_format7_capture()
//#define QUERY_FROM_CAMERA -1
//#define USE_MAX_AVAIL -2
//#define USE_RECOMMENDED -3
// The video1394 policy: blocking (wait for a frame forever) or polling (returns if no frames in buffer
// WAIT=0 POLL=1
};
typedef raw1394handle_t RH;
typedef nodeid_t NID;
#define IO(func,args...) if (func(rh,usenode,args)!=DC1394_SUCCESS) RAISE(#func " failed");
\class FormatDC1394 : Format {
RH rh;
int useport;
int usenode;
int framerate_e;
int height;
int width;
dc1394_cameracapture camera;
dc1394_feature_set features;
std::map<int,int> feature_index;
\constructor (t_symbol *mode) {
bool gotone=false;
post("DC1394: hello world");
rh = raw1394_new_handle();
if (!rh) RAISE("could not get a handle for /dev/raw1394 and /dev/video1394");
int numPorts = raw1394_get_port_info(rh,0,0);
raw1394_destroy_handle(rh);
post("there are %d Feuerweuer ports",numPorts);
if (mode!=gensym("in")) RAISE("sorry, read-only");
for(int port=0; port<numPorts; port++) {
post("trying port #%d...",port);
RH rh = dc1394_create_handle(port);
int numCameras=0xDEADBEEF;
NID *nodes = dc1394_get_camera_nodes(rh,&numCameras,0);
post("port #%d has %d cameras",port,numCameras);
for (int i=0; i<numCameras; i++) {
post("camera at node #%d",nodes[i]);
if (!gotone) {gotone=true; useport=port; usenode=nodes[i];}
}
dc1394_destroy_handle(rh);
}
if (!gotone) RAISE("no cameras available");
this->rh = dc1394_create_handle(useport);
IO(dc1394_get_camera_feature_set,&features);
dc1394_print_feature_set(&features);
post("NUM_FEATURES=%d",NUM_FEATURES);
for (int i=0; i<NUM_FEATURES; i++) {
dc1394_feature_info &f = features.feature[i];
int id = f.feature_id;
string name = feature_names.find(id)==feature_names.end() ? "(unknown)" : feature_names[id];
bool is_there = f.available;
post(" feature %d '%s' is %s",id,name.data(),is_there?"present":"absent");
if (!is_there) continue;
post(" min=%u max=%u abs_min=%u abs_max=%u",f.min,f.max,f.abs_min,f.abs_max);
}
framerate_e = FRAMERATE_30;
height = 480;
width = 640;
setup();
}
\decl 0 bang ();
\attr float framerate();
\attr unsigned brightness();
\attr unsigned hue();
\attr unsigned colour();
//\attr uint16 contrast();
//\attr uint16 whiteness();
void setup ();
\decl 0 get (t_symbol *s=0);
\decl 0 size (int height, int width);
};
\def 0 get (t_symbol *s=0) {
FObject::_0_get(argc,argv,s);
t_atom a[2];
if (!s) {
SETFLOAT(a+0,camera.frame_height);
SETFLOAT(a+1,camera.frame_width);
outlet_anything(bself->outlets[0],gensym("size"),2,a); // abnormal (does not use nested list)
unsigned int width,height;
IO(dc1394_query_format7_max_image_size,MODE_FORMAT7_0,&width,&height);
SETFLOAT(a+0,height);
SETFLOAT(a+1,width);
outlet_anything(bself->outlets[0],gensym("maxsize"),2,a); // abnormal (does not use nested list)
}
}
\def 0 size (int height, int width) {
IO(dc1394_set_format7_image_size,MODE_FORMAT7_0,width,height);
this->height = height;
this->width = width;
setup();
}
\def unsigned brightness () {unsigned value; dc1394_get_brightness(rh,usenode,&value); return value;}
\def 0 brightness (unsigned value) {dc1394_set_brightness(rh,usenode, value);}
\def unsigned hue () {unsigned value; dc1394_get_hue( rh,usenode,&value); return value;}
\def 0 hue (unsigned value) {dc1394_set_hue( rh,usenode, value);}
\def unsigned colour () {unsigned value; dc1394_get_saturation(rh,usenode,&value); return value;}
\def 0 colour (unsigned value) {dc1394_set_saturation(rh,usenode, value);}
void FormatDC1394::setup () {
//dc1394_set_format7_image_size(rh,usenode,0,width,height);
IO(dc1394_setup_capture,0,FORMAT_VGA_NONCOMPRESSED,MODE_640x480_MONO,SPEED_400,framerate_e,&camera);
//IO(dc1394_setup_format7_capture,0,MODE_FORMAT7_0,SPEED_400,QUERY_FROM_CAMERA,0,0,width,height,&camera);
if (dc1394_set_trigger_mode(rh,usenode,TRIGGER_MODE_0) != DC1394_SUCCESS) RAISE("dc1394_set_trigger_mode error");
if (dc1394_start_iso_transmission(rh,usenode)!=DC1394_SUCCESS) RAISE("dc1394_start_iso_transmission error");
}
\def float framerate() {
return 1.875 * (1<<(framerate_e-FRAMERATE_1_875));
}
\def 0 framerate(float framerate) {
framerate_e = FRAMERATE_1_875;
while (framerate>=1.875 && framerate_e <= FRAMERATE_240) {framerate/=2; framerate_e++;}
setup();
}
static volatile int timeout=0;
static void rien (int) {timeout=1; post("timeout2");}
\def 0 bang () {
//struct itimerval tval;
//tval.it_interval.tv_sec = 1;
//tval.it_interval.tv_usec = 0;
//tval.it_value = tval.it_interval;
//setitimer(ITIMER_REAL,&tval,0);
//signal(SIGALRM,rien);
if (dc1394_single_capture(rh,&camera)!=DC1394_SUCCESS) RAISE("dc1394_single_capture error");
//setitimer(ITIMER_REAL,0,0);
out=new GridOutlet(this,0,new Dim(height,width,1));
//out->send(out->dim->prod(),(uint8 *)camera.capture_buffer);
for (int i=0; i<height; i++) out->send(out->dim->prod(1),(uint8 *)camera.capture_buffer+640*i);
//if (dc1394_stop_iso_transmission(rh,usenode)!=DC1394_SUCCESS) RAISE("dc1394_stop_iso_transmission error");
//post("frame_height=%d",camera.frame_height);
//post("frame_width=%d" ,camera.frame_width);
//post("quadlets_per_frame=%d" ,camera.quadlets_per_frame);
//post("quadlets_per_packet=%d" ,camera.quadlets_per_packet);
}
\end class FormatDC1394 {
install_format("#io.dc1394",4,"");
setup_modes();
}
void startup_dc1394 () {
\startall
}
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