#include <frameGrabber.hpp>

Collaboration diagram for MagAOX::app::dev::frameGrabber< derivedT >:

Public Types
enum	fgFlip { fgFlipNone , fgFlipUD , fgFlipLR , fgFlipUDLR }

typedef int32_t	cbIndexT

Public Member Functions
int	setupConfig (mx::app::appConfigurator &config)
	Setup the configuration system.

int	loadConfig (mx::app::appConfigurator &config)
	load the configuration system results

int	appStartup ()
	Startup function.

int	appLogic ()
	Checks the framegrabber thread.

int	onPowerOff ()
	On power off, sets m_reconfig to true.

int	appShutdown ()
	Shuts down the framegrabber thread.

int	configCircBuffs ()

Telemeter Interface
int	recordFGTimings (bool force=false)

Protected Member Functions
void *	loadImageIntoStreamCopy (void dest, void src, size_t width, size_t height, size_t szof)

Protected Attributes
int	m_currentFlip { fgFlipNone }

uint32_t	m_width { 0 }
	The width of the image, once deinterlaced etc.

uint32_t	m_height { 0 }
	The height of the image, once deinterlaced etc.

uint8_t	m_dataType { 0 }
	The ImageStreamIO type code.

size_t	m_typeSize { 0 }
	The size of the type, in bytes. Result of sizeof.

int	m_xbinning { 0 }
	The x-binning according to the framegrabber.

int	m_ybinning { 0 }
	The y-binning according to the framegrabber.

timespec	m_currImageTimestamp { 0, 0 }
	The timestamp of the current image.

bool	m_reconfig { false }
	Flag to set if a camera reconfiguration requires a framegrabber reset.

IMAGE *	m_imageStream { nullptr }
	The ImageStreamIO shared memory buffer.

float	m_cbFPS { 0 }
	The FPS used to configure the circular buffers.

mx::sigproc::circularBufferIndex< timespec, cbIndexT >	m_atimes

mx::sigproc::circularBufferIndex< timespec, cbIndexT >	m_wtimes

std::vector< double >	m_atimesD

std::vector< double >	m_wtimesD

std::vector< double >	m_watimesD

timespec	m_dummy_ts { 0, 0 }

uint64_t	m_dummy_cnt { 0 }

char	m_dummy_c { 0 }

double	m_mna

double	m_vara

double	m_mina

double	m_maxa

double	m_mnw

double	m_varw

double	m_minw

double	m_maxw

double	m_mnwa

double	m_varwa

Configurable Parameters
std::string	m_shmimName { "" }

int	m_fgThreadPrio { 2 }
	Priority of the framegrabber thread, should normally be > 00.

std::string	m_fgCpuset
	The cpuset to assign the framegrabber thread to. Not used if empty, the default.

uint32_t	m_circBuffLength { 1 }
	Length of the circular buffer, in frames.

cbIndexT	m_latencyCircBuffMaxLength { 100000 }
	Maximum length of the latency measurement circular buffers.

float	m_latencyCircBuffMaxTime { 5 }
	Maximum time of the latency meaurement circular buffers.

int	m_defaultFlip { fgFlipNone }

Private Member Functions
derivedT &	derived ()

Framegrabber Thread
This thread actually manages the framegrabbing hardware
bool	m_fgThreadInit { true }
	Synchronizer for thread startup, to allow priority setting to finish.

pid_t	m_fgThreadID { 0 }
	The ID of the framegrabber thread.

pcf::IndiProperty	m_fgThreadProp
	The property to hold the f.g. thread details.

std::thread	m_fgThread
	A separate thread for the actual framegrabbings.

static void	fgThreadStart (frameGrabber *o)
	Thread starter, called by MagAOXApp::threadStart on thread construction. Calls fgThreadExec.

void	fgThreadExec ()
	Execute framegrabbing.

INDI
pcf::IndiProperty	m_indiP_shmimName
	Property used to report the shmim buffer name.

pcf::IndiProperty	m_indiP_frameSize
	Property used to report the current frame size.

pcf::IndiProperty	m_indiP_timing

int	updateINDI ()
	Update the INDI properties for this device controller.

Detailed Description

template<class derivedT>
class MagAOX::app::dev::frameGrabber< derivedT >

MagAO-X generic frame grabber

The derived class derivedT has the following requirements:

Must be derived from MagAOXApp<true>
Must contain the following friend declaration:
friend class dev::frameGrabber<derivedT>; //replace derivedT

MagAOX::app::dev::frameGrabber
Definition frameGrabber.hpp:98
Must declare the following typedef:
typedef dev::frameGrabber<derivedT> frameGrabberT; //replace derivedT
must expose the following interface
//Configures the camera for acquistion, must also set m_width, m_height, and m_dataType

//so that the shared memory can be allocated

int derivedT::configureAcquisition();

//Gets the frames-per-second readout rate

//used for the latency statistics

float derivedT::fps();

//Start acquisition.

int derivedT::startAcquisition();

//Acquires the data, and checks if it is valid.

//This should set m_currImageTimestamp to the image timestamp.

// returns 0 if valid, < 0 on error, > 0 on no data.

int derivedT::acquireAndCheckValid()

//Loads the acquired image into the stream, copying it to the appropriate member of m_imageStream->array.

//This could simply be a memcpy.

int derivedT::loadImageIntoStream(void * dest);

//Take any actions needed to reconfigure the system. Called if m_reconfig is set to true.

int derivedT::reconfig()

Each of the above functions should return 0 on success, and -1 on an error (except fps). For acquireAndCheckValid >0 will indicate no data but not an error. In most cases, an appropriate state code, such as NOTCONNECTED, should be set as well.

A static configuration variable must be defined in derivedT as

static constexpr bool c_frameGrabber_flippable =true; //or: false

which determines whether or not the images can be flipped programatically.

Calls to this class's setupConfig, loadConfig, appStartup, appLogic, updateINDI, and appShutdown functions must be placed in the derived class's functions of the same name. For convenience the following macros are defined to provide error checking:

FRAMEGRABBER_SETUP_CONFIG( cfig )
FRAMEGRABBER_LOAD_CONFIG( cfig )
FRAMEGRABBER_APP_STARTUP
FRAMEGRABBER_APP_LOGIC
FRAMEGRABBER_UPDATE_INDI
FRAMEGRABBER_APP_SHUTDOWN

Definition at line 97 of file frameGrabber.hpp.

Member Typedef Documentation

◆ cbIndexT

template<class derivedT >

typedef int32_t MagAOX::app::dev::frameGrabber< derivedT >::cbIndexT

Definition at line 108 of file frameGrabber.hpp.

Member Enumeration Documentation

◆ fgFlip

template<class derivedT >

enum MagAOX::app::dev::frameGrabber::fgFlip

Enumerator
fgFlipNone
fgFlipUD
fgFlipLR
fgFlipUDLR

Definition at line 100 of file frameGrabber.hpp.

Member Function Documentation

◆ appLogic()

template<class derivedT >

int MagAOX::app::dev::frameGrabber< derivedT >::appLogic ( )

Checks the framegrabber thread.

This should be called in derivedT::appLogic as

framegrabber<derivedT>::appLogic();

with appropriate error checking.

Returns: 0 on success; -1 on error, which is logged.

Definition at line 528 of file frameGrabber.hpp.

◆ appShutdown()

template<class derivedT >

int MagAOX::app::dev::frameGrabber< derivedT >::appShutdown ( )

Shuts down the framegrabber thread.

This should be called in derivedT::appShutdown as

framegrabber<derivedT>::appShutdown();

with appropriate error checking.

Returns: 0 on success; -1 on error, which is logged.

Definition at line 696 of file frameGrabber.hpp.

Referenced by MagAOX::app::andorCtrl::appShutdown(), MagAOX::app::baslerCtrl::appShutdown(), MagAOX::app::ocam2KCtrl::appShutdown(), MagAOX::app::picamCtrl::appShutdown(), MagAOX::app::qhyCtrl::appShutdown(), and MagAOX::app::zylaCtrl::appShutdown().

◆ appStartup()

template<class derivedT >

int MagAOX::app::dev::frameGrabber< derivedT >::appStartup ( )

Startup function.

Starts the framegrabber thread This should be called in derivedT::appStartup as

framegrabber<derivedT>::appStartup();

with appropriate error checking.

Returns: 0 on success; -1 on error, which is logged.

Definition at line 450 of file frameGrabber.hpp.

◆ configCircBuffs()

template<class derivedT >

int MagAOX::app::dev::frameGrabber< derivedT >::configCircBuffs ( )

Definition at line 713 of file frameGrabber.hpp.

◆ derived()

template<class derivedT >

derivedT & MagAOX::app::dev::frameGrabber< derivedT >::derived ( )

inlineprivate

Definition at line 303 of file frameGrabber.hpp.

◆ fgThreadExec()

template<class derivedT >

void MagAOX::app::dev::frameGrabber< derivedT >::fgThreadExec ( )

protected

Execute framegrabbing.

Todo:: this ought to wait until OPERATING, using READY as a sign of "not integrating"

Definition at line 757 of file frameGrabber.hpp.

Referenced by MagAOX::app::dev::frameGrabber< derivedT >::fgThreadStart().

◆ fgThreadStart()

template<class derivedT >

void MagAOX::app::dev::frameGrabber< derivedT >::fgThreadStart ( frameGrabber< derivedT > * o )

staticprotected

Thread starter, called by MagAOXApp::threadStart on thread construction. Calls fgThreadExec.

Parameters

[in] o a pointer to a frameGrabber instance (normally this)

Definition at line 751 of file frameGrabber.hpp.

◆ loadConfig()

template<class derivedT >

int MagAOX::app::dev::frameGrabber< derivedT >::loadConfig ( mx::app::appConfigurator & config )

load the configuration system results

This should be called in derivedT::loadConfig as

framegrabber<derivedT>::loadConfig(config);

with appropriate error checking.

Parameters

[in] config the derived classes configurator

Definition at line 392 of file frameGrabber.hpp.

Referenced by MagAOX::app::andorCtrl::loadConfig(), MagAOX::app::baslerCtrl::loadConfig(), MagAOX::app::ocam2KCtrl::loadConfig(), MagAOX::app::picamCtrl::loadConfig(), MagAOX::app::qhyCtrl::loadConfig(), and MagAOX::app::zylaCtrl::loadConfig().

◆ loadImageIntoStreamCopy()

template<class derivedT >

void * MagAOX::app::dev::frameGrabber< derivedT >::loadImageIntoStreamCopy	(	void *	dest,
		void *	src,
		size_t	width,
		size_t	height,
		size_t	szof
	)

protected

Definition at line 962 of file frameGrabber.hpp.

◆ onPowerOff()

template<class derivedT >

int MagAOX::app::dev::frameGrabber< derivedT >::onPowerOff ( )

On power off, sets m_reconfig to true.

This should be called in derivedT::onPowerOff as

framegrabber<derivedT>::onPowerOff();

with appropriate error checking.

Returns: 0 on success; -1 on error, which is logged.

Definition at line 672 of file frameGrabber.hpp.

◆ recordFGTimings()

template<class derivedT >

int MagAOX::app::dev::frameGrabber< derivedT >::recordFGTimings ( bool force = false )

Definition at line 1022 of file frameGrabber.hpp.

◆ setupConfig()

template<class derivedT >

int MagAOX::app::dev::frameGrabber< derivedT >::setupConfig ( mx::app::appConfigurator & config )

Setup the configuration system.

This should be called in derivedT::setupConfig as

framegrabber<derivedT>::setupConfig(config);

with appropriate error checking.

Parameters

[out] config the derived classes configurator

Definition at line 310 of file frameGrabber.hpp.

Referenced by MagAOX::app::andorCtrl::setupConfig(), MagAOX::app::baslerCtrl::setupConfig(), MagAOX::app::ocam2KCtrl::setupConfig(), MagAOX::app::picamCtrl::setupConfig(), MagAOX::app::qhyCtrl::setupConfig(), and MagAOX::app::zylaCtrl::setupConfig().

◆ updateINDI()

template<class derivedT >

int MagAOX::app::dev::frameGrabber< derivedT >::updateINDI ( )

Update the INDI properties for this device controller.

You should call this once per main loop. It is not called automatically.

Returns: 0 on success.; -1 on error.

Definition at line 987 of file frameGrabber.hpp.

Member Data Documentation

◆ m_atimes

template<class derivedT >

mx::sigproc::circularBufferIndex<timespec, cbIndexT> MagAOX::app::dev::frameGrabber< derivedT >::m_atimes

protected

Definition at line 149 of file frameGrabber.hpp.

◆ m_atimesD

template<class derivedT >

std::vector<double> MagAOX::app::dev::frameGrabber< derivedT >::m_atimesD

protected

Definition at line 152 of file frameGrabber.hpp.

◆ m_cbFPS

template<class derivedT >

float MagAOX::app::dev::frameGrabber< derivedT >::m_cbFPS { 0 }

protected

The FPS used to configure the circular buffers.

Definition at line 147 of file frameGrabber.hpp.

◆ m_circBuffLength

template<class derivedT >

uint32_t MagAOX::app::dev::frameGrabber< derivedT >::m_circBuffLength { 1 }

protected

Length of the circular buffer, in frames.

Definition at line 120 of file frameGrabber.hpp.

◆ m_currentFlip

template<class derivedT >

int MagAOX::app::dev::frameGrabber< derivedT >::m_currentFlip { fgFlipNone }

protected

Definition at line 130 of file frameGrabber.hpp.

◆ m_currImageTimestamp

template<class derivedT >

timespec MagAOX::app::dev::frameGrabber< derivedT >::m_currImageTimestamp { 0, 0 }

protected

The timestamp of the current image.

Definition at line 141 of file frameGrabber.hpp.

◆ m_dataType

template<class derivedT >

uint8_t MagAOX::app::dev::frameGrabber< derivedT >::m_dataType { 0 }

protected

The ImageStreamIO type code.

Definition at line 135 of file frameGrabber.hpp.

◆ m_defaultFlip

template<class derivedT >

int MagAOX::app::dev::frameGrabber< derivedT >::m_defaultFlip { fgFlipNone }

protected

Definition at line 126 of file frameGrabber.hpp.

◆ m_dummy_c

template<class derivedT >

char MagAOX::app::dev::frameGrabber< derivedT >::m_dummy_c { 0 }

protected

Definition at line 158 of file frameGrabber.hpp.

◆ m_dummy_cnt

template<class derivedT >

uint64_t MagAOX::app::dev::frameGrabber< derivedT >::m_dummy_cnt { 0 }

protected

Definition at line 157 of file frameGrabber.hpp.

◆ m_dummy_ts

template<class derivedT >

timespec MagAOX::app::dev::frameGrabber< derivedT >::m_dummy_ts { 0, 0 }

protected

Definition at line 156 of file frameGrabber.hpp.

◆ m_fgCpuset

template<class derivedT >

std::string MagAOX::app::dev::frameGrabber< derivedT >::m_fgCpuset

protected

The cpuset to assign the framegrabber thread to. Not used if empty, the default.

Definition at line 118 of file frameGrabber.hpp.

◆ m_fgThread

template<class derivedT >

std::thread MagAOX::app::dev::frameGrabber< derivedT >::m_fgThread

protected

A separate thread for the actual framegrabbings.

Definition at line 257 of file frameGrabber.hpp.

◆ m_fgThreadID

template<class derivedT >

pid_t MagAOX::app::dev::frameGrabber< derivedT >::m_fgThreadID { 0 }

protected

The ID of the framegrabber thread.

Definition at line 253 of file frameGrabber.hpp.

◆ m_fgThreadInit

template<class derivedT >

bool MagAOX::app::dev::frameGrabber< derivedT >::m_fgThreadInit { true }

protected

Synchronizer for thread startup, to allow priority setting to finish.

Definition at line 251 of file frameGrabber.hpp.

◆ m_fgThreadPrio

template<class derivedT >

int MagAOX::app::dev::frameGrabber< derivedT >::m_fgThreadPrio { 2 }

protected

Priority of the framegrabber thread, should normally be > 00.

Definition at line 117 of file frameGrabber.hpp.

◆ m_fgThreadProp

template<class derivedT >

pcf::IndiProperty MagAOX::app::dev::frameGrabber< derivedT >::m_fgThreadProp

protected

The property to hold the f.g. thread details.

Definition at line 255 of file frameGrabber.hpp.

◆ m_height

template<class derivedT >

uint32_t MagAOX::app::dev::frameGrabber< derivedT >::m_height { 0 }

protected

The height of the image, once deinterlaced etc.

Definition at line 133 of file frameGrabber.hpp.

◆ m_imageStream

template<class derivedT >

IMAGE* MagAOX::app::dev::frameGrabber< derivedT >::m_imageStream { nullptr }

protected

The ImageStreamIO shared memory buffer.

Definition at line 145 of file frameGrabber.hpp.

◆ m_indiP_frameSize

template<class derivedT >

pcf::IndiProperty MagAOX::app::dev::frameGrabber< derivedT >::m_indiP_frameSize

protected

Property used to report the current frame size.

Definition at line 278 of file frameGrabber.hpp.

◆ m_indiP_shmimName

template<class derivedT >

pcf::IndiProperty MagAOX::app::dev::frameGrabber< derivedT >::m_indiP_shmimName

protected

Property used to report the shmim buffer name.

Definition at line 276 of file frameGrabber.hpp.

◆ m_indiP_timing

template<class derivedT >

pcf::IndiProperty MagAOX::app::dev::frameGrabber< derivedT >::m_indiP_timing

protected

Definition at line 280 of file frameGrabber.hpp.

◆ m_latencyCircBuffMaxLength

template<class derivedT >

cbIndexT MagAOX::app::dev::frameGrabber< derivedT >::m_latencyCircBuffMaxLength { 100000 }

protected

Maximum length of the latency measurement circular buffers.

Definition at line 122 of file frameGrabber.hpp.

◆ m_latencyCircBuffMaxTime

template<class derivedT >

float MagAOX::app::dev::frameGrabber< derivedT >::m_latencyCircBuffMaxTime { 5 }

protected

Maximum time of the latency meaurement circular buffers.

Definition at line 124 of file frameGrabber.hpp.

◆ m_maxa

template<class derivedT >

double MagAOX::app::dev::frameGrabber< derivedT >::m_maxa

protected

Definition at line 163 of file frameGrabber.hpp.

◆ m_maxw

template<class derivedT >

double MagAOX::app::dev::frameGrabber< derivedT >::m_maxw

protected

Definition at line 168 of file frameGrabber.hpp.

◆ m_mina

template<class derivedT >

double MagAOX::app::dev::frameGrabber< derivedT >::m_mina

protected

Definition at line 162 of file frameGrabber.hpp.

◆ m_minw

template<class derivedT >

double MagAOX::app::dev::frameGrabber< derivedT >::m_minw

protected

Definition at line 167 of file frameGrabber.hpp.

◆ m_mna

template<class derivedT >

double MagAOX::app::dev::frameGrabber< derivedT >::m_mna

protected

Definition at line 160 of file frameGrabber.hpp.

◆ m_mnw

template<class derivedT >

double MagAOX::app::dev::frameGrabber< derivedT >::m_mnw

protected

Definition at line 165 of file frameGrabber.hpp.

◆ m_mnwa

template<class derivedT >

double MagAOX::app::dev::frameGrabber< derivedT >::m_mnwa

protected

Definition at line 170 of file frameGrabber.hpp.

◆ m_reconfig

template<class derivedT >

bool MagAOX::app::dev::frameGrabber< derivedT >::m_reconfig { false }

protected

Flag to set if a camera reconfiguration requires a framegrabber reset.

Definition at line 143 of file frameGrabber.hpp.

◆ m_shmimName

template<class derivedT >

std::string MagAOX::app::dev::frameGrabber< derivedT >::m_shmimName { "" }

protected

The name of the shared memory image, is used in /tmp/<shmimName>.im.shm. Derived classes should set a default.

Definition at line 114 of file frameGrabber.hpp.

◆ m_typeSize

template<class derivedT >

size_t MagAOX::app::dev::frameGrabber< derivedT >::m_typeSize { 0 }

protected

The size of the type, in bytes. Result of sizeof.

Definition at line 136 of file frameGrabber.hpp.

◆ m_vara

template<class derivedT >

double MagAOX::app::dev::frameGrabber< derivedT >::m_vara

protected

Definition at line 161 of file frameGrabber.hpp.

◆ m_varw

template<class derivedT >

double MagAOX::app::dev::frameGrabber< derivedT >::m_varw

protected

Definition at line 166 of file frameGrabber.hpp.

◆ m_varwa

template<class derivedT >

double MagAOX::app::dev::frameGrabber< derivedT >::m_varwa

protected

Definition at line 171 of file frameGrabber.hpp.

◆ m_watimesD

template<class derivedT >

std::vector<double> MagAOX::app::dev::frameGrabber< derivedT >::m_watimesD

protected

Definition at line 154 of file frameGrabber.hpp.

◆ m_width

template<class derivedT >

uint32_t MagAOX::app::dev::frameGrabber< derivedT >::m_width { 0 }

protected

The width of the image, once deinterlaced etc.

Definition at line 132 of file frameGrabber.hpp.

◆ m_wtimes

template<class derivedT >

mx::sigproc::circularBufferIndex<timespec, cbIndexT> MagAOX::app::dev::frameGrabber< derivedT >::m_wtimes

protected

Definition at line 150 of file frameGrabber.hpp.

◆ m_wtimesD

template<class derivedT >

std::vector<double> MagAOX::app::dev::frameGrabber< derivedT >::m_wtimesD

protected

Definition at line 153 of file frameGrabber.hpp.

◆ m_xbinning

template<class derivedT >

int MagAOX::app::dev::frameGrabber< derivedT >::m_xbinning { 0 }

protected

The x-binning according to the framegrabber.

Definition at line 138 of file frameGrabber.hpp.

◆ m_ybinning

template<class derivedT >

int MagAOX::app::dev::frameGrabber< derivedT >::m_ybinning { 0 }

protected

The y-binning according to the framegrabber.

Definition at line 139 of file frameGrabber.hpp.

The documentation for this class was generated from the following file:

libMagAOX/app/dev/frameGrabber.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Framegrabber Thread

INDI

Detailed Description

Member Typedef Documentation

◆ cbIndexT

Member Enumeration Documentation

◆ fgFlip

Member Function Documentation

◆ appLogic()

◆ appShutdown()

◆ appStartup()

◆ configCircBuffs()

◆ derived()

◆ fgThreadExec()

◆ fgThreadStart()

◆ loadConfig()

◆ loadImageIntoStreamCopy()

◆ onPowerOff()

◆ recordFGTimings()

◆ setupConfig()

◆ updateINDI()

Member Data Documentation

◆ m_atimes

◆ m_atimesD

◆ m_cbFPS

◆ m_circBuffLength

◆ m_currentFlip

◆ m_currImageTimestamp

◆ m_dataType

◆ m_defaultFlip

◆ m_dummy_c

◆ m_dummy_cnt

◆ m_dummy_ts

◆ m_fgCpuset

◆ m_fgThread

◆ m_fgThreadID

◆ m_fgThreadInit

◆ m_fgThreadPrio

◆ m_fgThreadProp

◆ m_height

◆ m_imageStream

◆ m_indiP_frameSize

◆ m_indiP_shmimName

◆ m_indiP_timing

◆ m_latencyCircBuffMaxLength

◆ m_latencyCircBuffMaxTime

◆ m_maxa

◆ m_maxw

◆ m_mina

◆ m_minw

◆ m_mna

◆ m_mnw

◆ m_mnwa

◆ m_reconfig

◆ m_shmimName

◆ m_typeSize

◆ m_vara

◆ m_varw

◆ m_varwa

◆ m_watimesD

◆ m_width

◆ m_wtimes

◆ m_wtimesD

◆ m_xbinning

◆ m_ybinning