Index: /trunk/MagicSoft/Cosy/Changelog =================================================================== --- /trunk/MagicSoft/Cosy/Changelog (revision 8831) +++ /trunk/MagicSoft/Cosy/Changelog (revision 8832) @@ -26,7 +26,49 @@ - SetOwner of the fList + * base/coord.h: + - removed coordinate classes, replaced by new classes from MPointing.h + (they are basically identical by now in libmars.so and derived from TVector2) + + * base/msgqueue.[h,cc]: + - simplified the scheme of the message queue using a single thread + - now the default is that new messages override pending ones + - the development is based on debugging with valgrind + - the aim is more stability due to simplification + - uses new threading scheme + * macros/rootlogon.C: - improved + * Makefile: + - added telesto + - added inlcude directories + - renamed cosy.so to libcosy.so + + * base/MThread.[h,cc]: + - implemented new Threading classe(s) -- still to be revised! + (should be made part of Mars finally!) + + * candrv/vmodican.[h,cc]: + - adapted to new threading scheme + - replaced lout by gLog + - removed cast from third argument in ioctl (complains from a + 64bit debugger) + - removed HandleMessage (now it is one level up -- that's not logical + but just simple) + - the same applies to SendCanFrame and MsgDescr + - thread is not detached anymore + + * videodev/Camera.[h,cc]: + - for the moment the Camera class is removed from the root dictionary + - changed to new threading class + - thread doesn't run detached anymore + - the Camera control is now based on the new MVideo-class + - a lot of code has been moved to the new MVideo class + - we also support (as a hack for tests) color cameras with different + field-of-views + - simplified and improved the logic of the loop based on valgrinds output + + * videodev/VideodevLinkDef.h: + - removed Camkera from dictionary Index: /trunk/MagicSoft/Cosy/videodev/Camera.cc =================================================================== --- /trunk/MagicSoft/Cosy/videodev/Camera.cc (revision 8831) +++ /trunk/MagicSoft/Cosy/videodev/Camera.cc (revision 8832) @@ -1,368 +1,173 @@ +/* ======================================================================== *\ +! +! * +! * This file is part of MARS, the MAGIC Analysis and Reconstruction +! * Software. It is distributed to you in the hope that it can be a useful +! * and timesaving tool in analysing Data of imaging Cerenkov telescopes. +! * It is distributed WITHOUT ANY WARRANTY. +! * +! * Permission to use, copy, modify and distribute this software and its +! * documentation for any purpose is hereby granted without fee, +! * provided that the above copyright notice appear in all copies and +! * that both that copyright notice and this permission notice appear +! * in supporting documentation. It is provided "as is" without express +! * or implied warranty. +! * +! +! +! Author(s): Thomas Bretz 1/2008 +! +! Copyright: MAGIC Software Development, 2000-2008 +! +! +\* ======================================================================== */ #include "Camera.h" -#include -#include // errono -#include -#include // ioctl -#include // PROT_READ +#include "MLog.h" +#include "MLogManip.h" -#include "MStopwatch.h" +#include "MVideo.h" +#include "PixClient.h" -#include "videodev.h" - -ClassImp(Camera); +//ClassImp(Camera); using namespace std; -inline int Camera::Ioctl(int req, void *opt, const char *str) +Camera::Camera(PixClient &client, Int_t nch) : MyThreadX("Camera"), fClient(client), fVideo(0) { - if (fd<0) - { - cout << "Error! Called Ioctl with invalid filedescriptor." << endl; - return -1; - } + fVideo = new MVideo; + fVideo->Open(nch); - while (1) - { - const int rc = ioctl(fd, req, opt); - if (rc>=0) - return rc; - - // errno== 4: Interrupted system call - // errno==16: Device or resource busy - if (errno==4 || errno==16) - { - cout << "Camera: ioctl returned rc=" << rc << " '"; - cout << (str?str:strerror(errno)) << "' (errno = " << errno << ")" << endl; - usleep(10); - continue; - } - - cout << "Error! Ioctl " << hex << req << ": errno=" << dec << errno << " - "; - cout << (str?str:strerror(errno)) << " (rc=" << rc << ")" << endl; - return rc; - } - return -1; -} - -void Camera::Error(const char *str, int fatal) -{ - cout << endl; - cout << (fatal?"Fatal ":"") << "Error! " << str << ": " << strerror(errno); - cout << endl; - - if (fatal) - exit(1); -} -void Camera::SigInit() -{ - /* - struct sigaction act, old; - - memset(&act, 0, sizeof(act)); - - act.sa_handler = SigAlarm; - - sigemptyset(&act. sa_mask); - sigaction(SIGALRM, &act, &old); - - // signal(SIGINT, ctrlc); - */ -} - -void Camera::SigAlarm(int signal) -{ - cout << "Camera: oops: got sigalarm" << endl; - exit(1); -} - -char *Camera::GetImg(unsigned int frame) -{ - // wait until grabbing is finished?? - // - // give signal SIGALARM - const int SYNC_TIMEOUT = 1; - - alarm(SYNC_TIMEOUT); - Ioctl(VIDIOCSYNC, &frame); // sync with mmap grabbing - alarm(0); - - return pMapBuffer+iOffsets[frame]; -} - -int Camera::StartGrab(unsigned int frame) -{ - // We could also get RGB555, RGB565 and RGB32. But we want - // RGB24 because we have a 8bit DAC which gives us 8bit per - // color ==> RGB24 which is in the following the most simple - // to process. - static struct video_mmap gb = - { - 0, // frame - rows, cols, // height, width - VIDEO_PALETTE_RGB24 // palette - }; - - gb.frame = frame&1; - - // - // capture frame - // - if (Ioctl(VIDIOCMCAPTURE, &gb) != -1) - return true; - - if (errno == EAGAIN) - cout << "Grabber chip can't sync" << endl; - - return false; -} - -Camera::Camera(PixClient &client, Int_t nch) : fd(-1), iBufferSize(0), fClient(client), fCond(), fMutex(fCond.GetMutex()) -{ - cout << "Camera: " << this << " /dev/video: opening..." << flush; - - // - // ------ Open device /dev/video ------ - // - do - { - fd = open("/dev/video", O_RDWR); - usleep(1); - } - while (errno==19 && fd==-1); - - if (fd == -1) - Error("open /dev/video"); - - fcntl(fd, F_SETFD, FD_CLOEXEC); // Close device on exit - SigInit(); - - // - // get input channel 0 information - // - - struct video_channel ch; - ch.channel = nch; - Ioctl(VIDIOCGCHAN, &ch); - - // - // ioctl probe, switch to input 0 - // - Ioctl(VIDIOCSCHAN, &ch, "You need a bttv version > 0.5.13"); - - // - // map grab buffer, get size and offset - // - struct video_mbuf buffers; - Ioctl(VIDIOCGMBUF, &buffers); - - iBufferSize = buffers.size; - iOffsets[0] = buffers.offsets[0]; - iOffsets[1] = buffers.offsets[1]; - - // - // map file (device) into memory - // - pMapBuffer = (char*)mmap(0, iBufferSize, PROT_READ|PROT_WRITE, MAP_SHARED, fd, 0); - - if ((int)pMapBuffer == -1) - Error("mmap"); - - cout << "OK." << endl; - - cout << "Buffer Address: " << (void*)pMapBuffer << endl; - cout << "Buffer Offset 1: " << (void*)iOffsets[0] << endl; - cout << "Buffer Offset 2: " << (void*)iOffsets[1] << endl; - cout << "Buffer Size: " << (void*)iBufferSize << endl; - cout << "grab: use: 768x576 24 bit TrueColor (LE: bgr) = " << (void*)(768*576*3) << "b" << endl; - -// if (fMutex->UnLock()==13) -// cout << "Camera::Camera - tried to unlock mutex locked by other thread." << endl; - - cout << "Starting thread..." << flush; - //pthread_cond_init(&fCond, NULL); - //pthread_mutex_init(&fMux, NULL); - //pthread_mutex_lock(&fMux); -// if (fMutex->Lock()==13) -// cout << "Camera::Camera - mutex is already locked by this thread" << endl; - pthread_create(&fThread, NULL, MapThread, this); - cout << "CameraInitialized..." << endl; - + RunThread(); } Camera::~Camera() { - pthread_cancel(fThread); + // Shut down the thread + CancelThread(); - cout << "/dev/video: closing... " << flush; - if (fd != -1) - { - close(fd); - fd = -1; - } - cout << "done." << endl; - - // unmap device memory - if ((int)pMapBuffer != -1) - munmap(pMapBuffer, iBufferSize); -} - -void *Camera::MapThread(void *arg) -{ - Camera *cam = (Camera*)arg; - - // setpriority(PRIO_PROCESS, 0, 10); - pthread_detach(pthread_self()); - - cam->Thread(); - - return 0; + // Now delete (close) the device + delete fVideo; } void Camera::ExitLoop() { - fStop = 1; - while (IsRunning()) - usleep(1); + CancelThread(); + + // Some information + //cout << fNumFrame-1 << "frames processed." << endl; + //cout << fNumSkipped << "frames skipped." << endl; } -// -// flag if the execution is running or not -// -int Camera::IsRunning() const +void Camera::ProcessFrame(char *img) { - const Int_t rc = fMutex->TryLock(); - if (rc==0) - return false; + gettimeofday(&fTime, NULL); - if (rc==13) - return false; + const Int_t W = fVideo->GetWidth(); + const Int_t H = fVideo->GetHeight(); - fMutex->UnLock(); - return true; + const Bool_t crop = W!=768 || H!=576; + + // FIXME: This only works for one RGB24 + if (!crop) + { + // FIXME: Grey scale assumed! + const char *end = img + 768*576*depth; + char *beg = fImg; + while (img < end) + { + *beg++ = *img; + img += depth; + } + } + else + { + const Int_t w = TMath::Min(W, 768); + const Int_t h = TMath::Min(H, 576); + + memset(fImg, 0, 768*576); + for (int y=0; yGetWidth())*3+1]+(UInt_t)(UChar_t)img[(x+y*fVideo->GetWidth())*3+2])/3; + } + + fClient.ProcessFrame(fNumFrame-1, (byte*)fImg, &fTime); } -void Camera::LoopStep(const unsigned long n) +Int_t Camera::Thread() { - char *img = GetImg(n&1); + fNumSkipped = 0; + fNumFrame = 1; - gettimeofday(&fTime, NULL); + if (!fVideo->IsOpen()) + { + gLog << "ERROR - Process: Device not open." << endl; + return kFALSE; + } - const char *end = img + cols*rows*depth; - char *beg = fImg; + //Print(); - while (img < end) - { - *beg++ = *img; - img += depth; - } -} + for (int f=0; fGetNumBuffers()-1; f++) + if (!fVideo->CaptureStart(f)) + return kFALSE; -void Camera::Thread() -{ -#define IsOdd(i) (2*(i/2)!=i) - cout << "Camera::Thread started..." << endl; + Int_t timeouts = 0; + while (1) { - fCond.Wait();; - if (fd==-1) + // If cacellation is requested cancel here + TThread::CancelPoint(); + + // Start to capture into the buffer which has just been processed + if (!fVideo->CaptureStart(fNumFrame)) break; - MStopwatch t; - t.Start(); + // If cacellation is requested cancel here + TThread::CancelPoint(); - unsigned long i=0; - - if (!StartGrab(0)) + // Check and wait until capture into the next buffer is finshed + char *img = 0; + switch (fVideo->CaptureWait(++fNumFrame, &img)) + { + case kTRUE: // Process frame + ProcessFrame(img); + timeouts = 0; continue; - if (!StartGrab(1)) - continue; + case kFALSE: // Waiting failed + break; - while (!(fStop || fNum && i==fNum-2)) - { - LoopStep(i); - if (!StartGrab(i&1)) - break; + case kSKIP: // Skip frame + fNumFrame--; + fNumSkipped++; + if (timeouts++<5) + continue; - fClient.ProcessFrame(i, (byte*)fImg, &fTime); - i++; + cout << "ERROR - At least five captured images timed out." << endl; + break; } - if (!IsOdd(i)) - { - LoopStep(i); - fClient.ProcessFrame(i, (byte*)fImg, &fTime); - i++; - } - - LoopStep(i); - fClient.ProcessFrame(i, (byte*)fImg, &fTime); - i++; - - // - // Wait until processing of frame 1 finished. - // - t.Stop(); - t.Print(i); + break; } - fMutex->UnLock(); + // Is this necessary?!? + //for (int i=0; iUnLock(); } -void Camera::SetPicPar(int bright, int hue, int contrast) +void Camera::SetChannel(int chan) { - struct video_picture pict; - - Ioctl(VIDIOCGPICT, &pict); // get - - if (contrast != -1) - pict.contrast = contrast; - - if (bright != -1) - pict.brightness = bright; - - if (hue != -1) - pict.hue = hue; - - Ioctl(VIDIOCSPICT, &pict); //set + CancelThread(); + fVideo->SetChannel(chan); + RunThread(); } -void Camera::GetPicPar(int *bright, int *hue, int *contrast) -{ - struct video_picture pict; - - Ioctl(VIDIOCGPICT, &pict); // get - - *contrast = pict.contrast; - *bright = pict.brightness; - *hue = pict.hue; -} - Index: /trunk/MagicSoft/Cosy/videodev/Camera.h =================================================================== --- /trunk/MagicSoft/Cosy/videodev/Camera.h (revision 8831) +++ /trunk/MagicSoft/Cosy/videodev/Camera.h (revision 8832) @@ -2,23 +2,16 @@ #define COSY_Camera -#ifndef ROOT_TMutex -#include -#endif -#ifndef ROOT_TCondition -#include +#ifndef MARS_MThread +#include "MThread.h" #endif -#ifdef __CINT__ -typedef unsigned long int pthread_t; -struct timeval; -#else -#include -#include +#ifndef COSY_PixGetter +#include "PixGetter.h" #endif -#include "PixGetter.h" -#include "PixClient.h" +class MVideo; +class PixClient; -class Camera : public PixGetter +class Camera : public PixGetter, public MyThreadX { private: @@ -30,21 +23,4 @@ static const int depth = 3; - // - // Hardware Descriptors - // - int fd; - int iBufferSize; - int iOffsets[2]; - - char *pMapBuffer; - - // - // Thread interface - // - unsigned long fNum; - - int fStop; -// int fRunning; - char fImg[cols*rows]; struct timeval fTime; @@ -52,31 +28,11 @@ PixClient &fClient; - pthread_t fThread; - TCondition fCond; - TMutex *fMutex; - //pthread_mutex_t fMux; - //pthread_cond_t fCond; + MVideo *fVideo; - // - // Hardware dependant functions - // - static void SigAlarm(int signal); + UInt_t fNumFrame; + UInt_t fNumSkipped; - int Ioctl(int req, void *opt, const char *str=NULL); - - void SigInit(); - void Error(const char *str, int fatal=true); - - int StartGrab(unsigned int frame); - - char *GetImg(unsigned int frame); - - // - // Execution thread which processes the pictures - // - void Thread(); - static void *MapThread(void *arg); - - void LoopStep(const unsigned long n); + Int_t Thread(); + void ProcessFrame(char *img); public: @@ -89,19 +45,9 @@ void Loop(const unsigned long nof=0); void ExitLoop(); - int IsRunning() const; + //int IsRunning() const; - // - // Execution of one frame - this function may be overloaded! - // - //virtual void ProcessFrame(const unsigned long n, - // byte *img, struct timeval *tm); + void SetChannel(int); - // - // hardware features - // - void SetPicPar(int bright, int hue, int contrast); - void GetPicPar(int *bright, int *hue, int *contrast); - - ClassDef(Camera, 0) + //ClassDef(Camera, 0) }; Index: /trunk/MagicSoft/Cosy/videodev/VideodevLinkDef.h =================================================================== --- /trunk/MagicSoft/Cosy/videodev/VideodevLinkDef.h (revision 8831) +++ /trunk/MagicSoft/Cosy/videodev/VideodevLinkDef.h (revision 8832) @@ -11,5 +11,5 @@ //#pragma link C++ class CaosFilter+; -#pragma link C++ class Camera+; +//#pragma link C++ class Camera+; #pragma link C++ class PngReader+;