pvcamCtrl.hpp

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/** \file pvcamCtrl.hpp
 * \brief The MagAO-X pvcam controller header file
 *
 * \ingroup pvcamCtrl_files
 */
 
#ifndef pvcamCtrl_hpp
#define pvcamCtrl_hpp
 
#include <string.h>
 
// PVCAM
#include <master.h>
#include <pvcam.h>
 
#include "../../libMagAOX/libMagAOX.hpp" //Note this is included on command line to trigger pch
#include "../../magaox_git_version.h"
 
/** \defgroup pvcamCtrl
 * \brief The pvcam controller application for teledyne cameras
 *
 * <a href="../handbook/operating/software/apps/pvcamCtrl.html">Application Documentation</a>
 *
 * \ingroup apps
 *
 */
 
#ifndef PL_ERR_LIBRARY_NOT_INITIALIZED
    #define PL_ERR_LIBRARY_NOT_INITIALIZED ( 157 )
#endif
 
/// Format an error message using pvcam facilities
/**
 * \returns a string of format "<func> failed: <pl_error_message>. <more>"
 */
std::string pvcamErrMessage( const std::string &func, ///< [in] the pvcam function which failed
                             int                pec,  ///< [in] the code from pl_error_code
                             const std::string &more  ///< [in] extra information to include
)
{
    char pvmsg[ERROR_MSG_LEN];
    pl_error_message( pec, pvmsg );
 
    std::string msg = func + " failed: " + pvmsg;
    if( more != "" )
        msg += " " + more;
 
    return msg;
}
 
/// Helper for logging an error from pvcam
#define log_pvcam_software_error( func, /**< [in] the pvcam function which failed*/                                    \
                                  more  /**< [in] extra information to include*/                                       \
)                                                                                                                      \
    {                                                                                                                  \
        int pec = pl_error_code();                                                                                     \
        log<software_error>( { __FILE__, __LINE__, 0, pec, pvcamErrMessage( func, pec, more ) } );                     \
    }
 
/** \defgroup pvcamCtrl_files
 * \ingroup pvcamCtrl
 */
 
namespace MagAOX
{
namespace app
{
 
/// The MagAO-X pvcam controller
/**
 * \ingroup pvcamCtrl
 */
class pvcamCtrl : public MagAOXApp<true>,
                  public dev::stdCamera<pvcamCtrl>,
                  public dev::frameGrabber<pvcamCtrl>,
                  public dev::dssShutter<pvcamCtrl>,
                  public dev::telemeter<pvcamCtrl>
{
 
    typedef dev::stdCamera<pvcamCtrl>    stdCameraT;
    typedef dev::frameGrabber<pvcamCtrl> frameGrabberT;
    typedef dev::dssShutter<pvcamCtrl>   shutterT;
    typedef dev::telemeter<pvcamCtrl>    telemeterT;
 
    // Give the test harness access.
    friend class pvcamCtrl_test;
 
    friend class dev::stdCamera<pvcamCtrl>;
    friend class dev::frameGrabber<pvcamCtrl>;
    friend class dev::dssShutter<pvcamCtrl>;
    friend class dev::telemeter<pvcamCtrl>;
 
    typedef MagAOXApp<> MagAOXAppT;
 
  public:
    /** \name app::dev Configurations
     *@{
     */
    static constexpr bool c_stdCamera_tempControl =
        false; ///< app::dev config to tell stdCamera not to expose temperature controls
 
    static constexpr bool c_stdCamera_temp = false; ///< app::dev config to tell stdCamera not to expose temperature
 
    static constexpr bool c_stdCamera_readoutSpeed =
        true; ///< app::dev config to tell stdCamera to expose readout speed controls
 
    static constexpr bool c_stdCamera_vShiftSpeed =
        false; ///< app:dev config to tell stdCamera not to expose vertical shift speed control
 
    static constexpr bool c_stdCamera_emGain =
        false; ///< app::dev config to tell stdCamera not to expose EM gain controls
 
    static constexpr bool c_stdCamera_exptimeCtrl =
        true; ///< app::dev config to tell stdCamera to expose exposure time controls
 
    static constexpr bool c_stdCamera_fpsCtrl = true; ///< app::dev config to tell stdCamera to expose FPS controls
 
    static constexpr bool c_stdCamera_fps = true; ///< app::dev config to tell stdCamera to expose FPS status
 
    static constexpr bool c_stdCamera_synchro =
        false; ///< app::dev config to tell stdCamera to not expose synchro mode controls
 
    static constexpr bool c_stdCamera_usesModes =
        false; ///< app:dev config to tell stdCamera not to expose mode controls
 
    static constexpr bool c_stdCamera_usesROI = true; ///< app:dev config to tell stdCamera to expose ROI controls
 
    static constexpr bool c_stdCamera_cropMode =
        false; ///< app:dev config to tell stdCamera to expose Crop Mode controls
 
    static constexpr bool c_stdCamera_hasShutter =
        true; ///< app:dev config to tell stdCamera to expose shutter controls
 
    static constexpr bool c_stdCamera_usesStateString =
        false; ///< app::dev confg to tell stdCamera to expose the state string property
 
    static constexpr bool c_frameGrabber_flippable =
        false; ///< app:dev config to tell framegrabber this camera can be flipped
 
    ///@}
 
  protected:
    /** \name Configurable Parameters
     *@{
     */
 
    std::string m_serialNumber; ///< The camera serial number.
 
    ///\todo implement config-ing of this
    float m_tempTol{ 0.1 }; ///< Tolerance in degrees C to declare the temperature control locked.
 
    uint32_t m_circBuffMaxBytes{
        536870912 }; ///< Max size in bytes of the circular buffer to allocate.  Default is 0.5 GB.
 
    uint32_t m_acqSleep{ 5000 }; ///< The acquisition pause time, in ns, when no frame is ready.Default is 5000.
 
    ///@}
 
    int16 m_handle{ -1 }; ///< Camera handle, set when camera is opened
 
    std::string m_camName; ///< Camera name, filled in as part of opening the camera.
 
    struct gain
    {
        int         index;
        std::string name;
 
        int bitDepth;
    };
 
    struct speed
    {
        int               index;
        int               pixTime;
        int               minG;
        int               maxG;
        std::vector<gain> gains;
    };
 
    struct port
    {
        int         index;
        int         value;
        std::string name;
 
        std::vector<speed> speeds;
    };
 
    std::vector<port> m_ports;
 
    bool m_8bit{ false };
 
    bool m_fpsSetted{ false }; ///< Flag indicating that FPS was set, not exposure time.
 
    uns32 m_circBuffBytes{ 0 };
    uns8 *m_circBuff{ nullptr };
 
    FRAME_INFO m_frameInfo;
 
    sem_t m_frSemaphore;     ///< Semaphore used to signal that a frame is ready.
    sem_t m_frDoneSemaphore; ///< Semaphore used to signal that a frame has been processed
 
    uint64_t m_callbacks{ 0 };
    uint64_t m_lastCallbacks{ 0 };
 
  public:
    /// Default c'tor.
    pvcamCtrl();
 
    /// D'tor, declared and defined for noexcept.
    ~pvcamCtrl() noexcept
    {
    }
 
    // MagAOXApp:
 
    virtual void setupConfig();
 
    /// Implementation of loadConfig logic, separated for testing.
    /** This is called by loadConfig().
     */
    int loadConfigImpl(
        mx::app::appConfigurator &_config /**< [in] an application configuration from which to load values*/ );
 
    virtual void loadConfig();
 
    /// Startup function
    /**
     *
     */
    virtual int appStartup();
 
    /// Implementation of the FSM for pvcamCtrl.
    /**
     * \returns 0 on no critical error
     * \returns -1 on an error requiring shutdown
     */
    virtual int appLogic();
 
    /// Shutdown the app.
    /**
     *
     */
    virtual int appShutdown();
 
    // stdCamera interface:
 
    // This must set the power-on default values of
    /* -- m_ccdTempSetpt
     * -- m_currentROI
     */
    int powerOnDefaults();
 
    int setTempControl();
    int setTempSetPt();
    int setReadoutSpeed();
    int setVShiftSpeed();
    int setEMGain();
    int setExpTime();
    int setFPS();
 
    /// Check the next ROI
    /** Checks if the target values are valid and adjusts them to the closest valid values if needed.
     *
     * \returns 0 if successful
     * \returns -1 otherwise
     */
    int checkNextROI();
 
    int setNextROI();
 
    /// Sets the shutter state, via call to dssShutter::setShutterState(int) [stdCamera interface]
    /**
     * \returns 0 always
     */
    int setShutter( int sh );
 
    // Framegrabber interface:
    int   configureAcquisition();
    float fps();
    int   startAcquisition();
    int   acquireAndCheckValid();
    int   loadImageIntoStream( void *dest );
    int   reconfig();
 
    // pvcam specific:
    int connect();
 
    int fillSpeedTable();
 
    void dumpEnum( uns32 paramID, const std::string &paramMnem );
 
    int getTemp();
 
    static void st_endOfFrameCallback( FRAME_INFO *finfo, void *pvcamCtrlInst );
 
    void endOfFrameCallback( FRAME_INFO *finfo );
 
    /** \name Telemeter Interface
     *
     * @{
     */
    int checkRecordTimes();
 
    int recordTelem( const telem_stdcam * );
 
    int recordTelem( const telem_fgtimings * );
 
    ///@}
};
 
pvcamCtrl::pvcamCtrl() : MagAOXApp( MAGAOX_CURRENT_SHA1, MAGAOX_REPO_MODIFIED )
{
    m_powerMgtEnabled = true;
    m_powerOnWait     = 15;
 
    m_expTime    = 0.01;
    m_expTimeSet = 0.01;
 
    m_default_x     = 1599.5;
    m_default_y     = 1599.5;
    m_default_w     = 3200;
    m_default_h     = 3200;
    m_default_bin_x = 1;
    m_default_bin_y = 1;
 
    m_full_x = 1599.5;
    m_full_y = 1599.5;
    m_full_w = 3200;
    m_full_h = 3200;
 
    m_currentROI.x     = m_default_x;
    m_currentROI.y     = m_default_y;
    m_currentROI.w     = m_default_w;
    m_currentROI.h     = m_default_h;
    m_currentROI.bin_x = m_default_bin_x;
    m_currentROI.bin_y = m_default_bin_y;
 
    m_nextROI.x     = m_currentROI.x;
    m_nextROI.y     = m_currentROI.y;
    m_nextROI.w     = m_currentROI.w;
    m_nextROI.h     = m_currentROI.h;
    m_nextROI.bin_x = m_currentROI.bin_x;
    m_nextROI.bin_y = m_currentROI.bin_y;
 
    m_defaultReadoutSpeed    = "dynamic_range";
    m_readoutSpeedNames      = { "sensitivity", "speed", "dynamic_range", "sub_electron" };
    m_readoutSpeedNameLabels = { "Sensitivity", "Speed", "Dynamic Range", "Sub-Electron" };
 
    m_readoutSpeedName    = m_defaultReadoutSpeed;
    m_readoutSpeedNameSet = m_defaultReadoutSpeed;
 
    return;
}
 
void pvcamCtrl::setupConfig()
{
    config.add( "camera.serialNumber",
                "",
                "camera.serialNumber",
                argType::Required,
                "camera",
                "serialNumber",
                false,
                "int",
                "The identifying serial number of the camera." );
 
    // put this in camera because it is a camera interface config, not a framegrabber thing per se:
    config.add( "camera.circBuffMaxBytes",
                "",
                "camera.circBuffMaxBytes",
                argType::Required,
                "camera",
                "circBuffMaxBytes",
                false,
                "int",
                "Maximum size in bytes of the circular buffer to allocate.  Default is 0.5 GB." );
 
    STDCAMERA_SETUP_CONFIG( config );
 
    FRAMEGRABBER_SETUP_CONFIG( config );
 
    config.add( "framegrabber.acqSleep",
                "",
                "framegrabber.acqSleep",
                argType::Required,
                "framegrabber",
                "acqSleep",
                false,
                "int",
                "The acquisition pause time, in ns, when no frame is ready. Default is 5000." );
 
    shutterT::setupConfig( config );
 
    TELEMETER_SETUP_CONFIG( config );
}
 
int pvcamCtrl::loadConfigImpl( mx::app::appConfigurator &_config )
{
    _config( m_serialNumber, "camera.serialNumber" );
    _config( m_circBuffMaxBytes, "camera.circBuffMaxBytes" );
 
    if( m_serialNumber == "" )
    {
        log<text_log>( "camera serial number not provided", logPrio::LOG_CRITICAL );
        return -1;
    }
 
    STDCAMERA_LOAD_CONFIG( _config );
 
    m_currentROI.x     = m_default_x;
    m_currentROI.y     = m_default_y;
    m_currentROI.w     = m_default_w;
    m_currentROI.h     = m_default_h;
    m_currentROI.bin_x = m_default_bin_x;
    m_currentROI.bin_y = m_default_bin_y;
 
    m_nextROI.x     = m_currentROI.x;
    m_nextROI.y     = m_currentROI.y;
    m_nextROI.w     = m_currentROI.w;
    m_nextROI.h     = m_currentROI.h;
    m_nextROI.bin_x = m_currentROI.bin_x;
    m_nextROI.bin_y = m_currentROI.bin_y;
 
    FRAMEGRABBER_LOAD_CONFIG( _config );
 
    _config( m_acqSleep, "framegrabber.acqSleep" );
    shutterT::loadConfig( _config );
 
    TELEMETER_LOAD_CONFIG( _config );
 
    return 0;
}
 
void pvcamCtrl::loadConfig()
{
    if( loadConfigImpl( config ) != 0 )
    {
        log<text_log>( "error loading config", logPrio::LOG_CRITICAL );
        m_shutdown = true;
    }
}
 
int pvcamCtrl::appStartup()
{
 
    STDCAMERA_APP_STARTUP;
 
    if( sem_init( &m_frSemaphore, 0, 0 ) < 0 )
    {
        return log<software_critical, -1>( { __FILE__, __LINE__, errno, 0, "Initializing frame ready semaphore" } );
    }
 
    if( sem_init( &m_frDoneSemaphore, 0, 0 ) < 0 )
    {
        return log<software_critical, -1>( { __FILE__, __LINE__, errno, 0, "Initializing frame done semaphore" } );
    }
 
    FRAMEGRABBER_APP_STARTUP;
 
    if( shutterT::appStartup() < 0 )
    {
        return log<software_critical, -1>( { __FILE__, __LINE__ } );
    }
 
    TELEMETER_APP_STARTUP;
 
    return 0;
}
 
int pvcamCtrl::appLogic()
{
    ///\todo why do we run dev appLogics first?
 
    if( state() == stateCodes::POWERON )
    {
        if( !powerOnWaitElapsed() )
        {
            return 0;
        }
 
        state( stateCodes::NOTCONNECTED );
    }
 
    STDCAMERA_APP_LOGIC;
 
    FRAMEGRABBER_APP_LOGIC;
 
    // and run dssShutter's appLogic
    if( shutterT::appLogic() < 0 )
    {
        return log<software_error, -1>( { __FILE__, __LINE__ } );
    }
 
    if( state() == stateCodes::NOTCONNECTED || state() == stateCodes::NODEVICE || state() == stateCodes::ERROR )
    {
        m_reconfig = true; // Trigger a f.g. thread reconfig.
 
        // Might have gotten here because of a power off.
        if( powerState() != 1 )
        {
            return 0;
        }
 
        std::unique_lock<std::mutex> lock( m_indiMutex );
        if( connect() < 0 )
        {
            if( powerState() != 1 || powerStateTarget() != 1 )
                return 0;
            log<software_error>( { __FILE__, __LINE__ } );
        }
 
        if( state() != stateCodes::CONNECTED )
            return 0;
    }
 
    if( state() == stateCodes::CONNECTED )
    {
        state( stateCodes::READY );
        state( stateCodes::OPERATING );
    }
 
    if( state() == stateCodes::READY || state() == stateCodes::OPERATING )
    {
        if( getTemp() != 0 )
        {
            if( powerState() != 1 || powerStateTarget() != 1 )
                return 0;
            log<software_error>( { __FILE__, __LINE__ } );
            return 0;
        }
 
        STDCAMERA_UPDATE_INDI;
 
        FRAMEGRABBER_UPDATE_INDI;
 
        TELEMETER_APP_LOGIC;
        recordCamera();
    }
 
    return 0;
}
 
int pvcamCtrl::appShutdown()
{
    if( m_handle != -1 )
    {
        if( !pl_cam_close( m_handle ) )
        {
            log_pvcam_software_error( "pl_cam_close", "continuing" );
        }
        m_handle = -1;
    }
 
    if( !pl_pvcam_uninit() )
    {
        if( pl_error_code() != PL_ERR_LIBRARY_NOT_INITIALIZED ) /// \todo this error code is manually defined
        {
            log_pvcam_software_error( "pl_pvcam_uninit", "continuing" );
        }
    }
 
    STDCAMERA_APP_SHUTDOWN;
 
    FRAMEGRABBER_APP_SHUTDOWN;
 
    if( shutterT::appShutdown() < 0 )
    {
        log<software_error>( { __FILE__, __LINE__, "error from shutterT::appShutdown()" } );
    }
 
    TELEMETER_APP_SHUTDOWN;
 
    return 0;
}
 
int pvcamCtrl::powerOnDefaults()
{
    m_expTime    = 0.01;
    m_expTimeSet = 0.01;
 
    m_currentROI.x     = m_default_x;
    m_currentROI.y     = m_default_y;
    m_currentROI.w     = m_default_w;
    m_currentROI.h     = m_default_h;
    m_currentROI.bin_x = m_default_bin_x;
    m_currentROI.bin_y = m_default_bin_y;
 
    m_nextROI.x     = m_default_x;
    m_nextROI.y     = m_default_y;
    m_nextROI.w     = m_default_w;
    m_nextROI.h     = m_default_h;
    m_nextROI.bin_x = m_default_bin_x;
    m_nextROI.bin_y = m_default_bin_y;
 
    m_readoutSpeedName    = m_defaultReadoutSpeed;
    m_readoutSpeedNameSet = m_defaultReadoutSpeed;
 
    return 0;
}
 
int pvcamCtrl::setTempControl()
{
    return 0;
}
 
int pvcamCtrl::setTempSetPt()
{
    return 0;
}
 
int pvcamCtrl::setReadoutSpeed()
{
    frameGrabberT::m_reconfig = true;
 
    return 0;
}
 
int pvcamCtrl::setVShiftSpeed()
{
    return 0;
}
 
int pvcamCtrl::setEMGain()
{
    return 0;
}
 
int pvcamCtrl::setExpTime()
{
    ulong64 minExpTime, maxExpTime;
 
    if( !pl_get_param( m_handle, PARAM_EXPOSURE_TIME, ATTR_MIN, static_cast<void *>( &minExpTime ) ) )
    {
        log_pvcam_software_error( "pl_get_param", "PARAM_EXPOSURE_TIME ATTR_MIN" );
        log<software_error>( { __FILE__, __LINE__, "could not set exposure time" } );
        return -1;
    }
 
    if( !pl_get_param( m_handle, PARAM_EXPOSURE_TIME, ATTR_MAX, static_cast<void *>( &maxExpTime ) ) )
    {
        log_pvcam_software_error( "pl_get_param", "PARAM_EXPOSURE_TIME ATTR_MAX" );
        log<software_error>( { __FILE__, __LINE__, "could not set exposure time" } );
        return -1;
    }
 
    if( m_expTimeSet * 1e6 < minExpTime )
    {
        m_expTimeSet = (int)( minExpTime / 1e6 + 0.5 );
        log<text_log>( "increased m_expTimeSet to: " + std::to_string( m_expTimeSet ), logPrio::LOG_INFO );
    }
 
    if( m_expTimeSet * 1e6 > maxExpTime )
    {
        m_expTimeSet = (int)( maxExpTime / 1e6 - 0.5 );
        log<text_log>( "decreased m_expTimeSet to: " + std::to_string( m_expTimeSet ), logPrio::LOG_INFO );
    }
 
    frameGrabberT::m_reconfig = true;
 
    return 0;
}
 
int pvcamCtrl::setFPS()
{
    m_expTimeSet = 1.0 / m_fpsSet;
    m_fpsSetted  = true;
    return setExpTime();
}
 
int pvcamCtrl::checkNextROI()
{
    if( m_nextROI.w > 3200 )
    {
        m_nextROI.w = 3200;
    }
 
    int x0 = m_nextROI.x - 0.5 * m_nextROI.w;
 
    if( x0 < 0 )
    {
        m_nextROI.w += x0;
        m_nextROI.x = 0;
    }
 
    int x1 = m_nextROI.x + 0.5 * m_nextROI.w;
 
    if( x1 > 3199 )
    {
        m_nextROI.w = 3199 - x0;
        m_nextROI.x = x0 + 0.5 * m_nextROI.w;
    }
 
    if( m_nextROI.h > 3200 )
    {
        m_nextROI.h = 3200;
    }
 
    int y0 = m_nextROI.y - 0.5 * m_nextROI.h;
 
    if( y0 < 0 )
    {
        m_nextROI.h += y0;
        m_nextROI.y = 0;
    }
 
    int y1 = m_nextROI.y + 0.5 * m_nextROI.h;
 
    if( y1 > 3199 )
    {
        m_nextROI.h = 3199 - y0;
        m_nextROI.y = y0 + 0.5 * m_nextROI.h;
    }
 
    return 0;
}
 
int pvcamCtrl::setNextROI()
{
    // This is done in setup acq
    frameGrabberT::m_reconfig = true;
    return 0;
}
 
int pvcamCtrl::setShutter( int sh )
{
    recordCamera( true );
    return shutterT::setShutterState( sh );
}
 
int pvcamCtrl::configureAcquisition()
{
 
    recordCamera( true );
    //-- 0: register the callback
    if( pl_cam_deregister_callback( m_handle, PL_CALLBACK_EOF ) ==
        false ) // Because we registered it last time we configured acq:
    {
        log_pvcam_software_error( "pl_cam_deregister_callback", "PL_CALLBACK_EOF" );
    }
 
    if( pl_cam_register_callback_ex3( m_handle,
                                      PL_CALLBACK_EOF,
                                      reinterpret_cast<void *>( &st_endOfFrameCallback ),
                                      static_cast<void *>( this ) ) != true )
    {
        log_pvcam_software_error( "pl_cam_register_callback_ex3", "PL_CALLBACK_EOF" );
        return -1;
    }
 
    //-- 1: Set speed:
    int32 value;
 
    if( m_readoutSpeedNameSet == "sensitivity" )
    {
        value  = 0;
        m_8bit = false;
    }
    else if( m_readoutSpeedNameSet == "speed" )
    {
        value  = 1;
        m_8bit = true;
    }
    else if( m_readoutSpeedNameSet == "dynamic_range" )
    {
        value  = 2;
        m_8bit = false;
    }
    else if( m_readoutSpeedNameSet == "sub_electron" )
    {
        value  = 3;
        m_8bit = false;
    }
    else
    {
        value                 = 2;
        m_8bit                = false;
        m_readoutSpeedNameSet = "dynamic_range";
    }
    m_readoutSpeedName = m_readoutSpeedNameSet;
 
    if( pl_set_param( m_handle, PARAM_READOUT_PORT, static_cast<void *>( &value ) ) == false )
    {
        log_pvcam_software_error( "pl_set_param", "PARAM_READOUT_PORT" );
        return -1;
    }
 
    //-- 2: Set ROI:
    rgn_type pvROI;
    pvROI.s1   = m_nextROI.x - 0.5 * m_nextROI.w;
    pvROI.s2   = pvROI.s1 + m_nextROI.w - 1;
    pvROI.sbin = m_nextROI.bin_x;
    pvROI.p1   = m_nextROI.y - 0.5 * m_nextROI.h;
    pvROI.p2   = pvROI.p1 + m_nextROI.h - 1;
    pvROI.pbin = m_nextROI.bin_y;
 
    m_currentROI = m_nextROI;
 
    m_width    = ( pvROI.s2 - pvROI.s1 + 1 ) / pvROI.sbin;
    m_height   = ( pvROI.p2 - pvROI.p1 + 1 ) / pvROI.pbin;
    m_dataType = _DATATYPE_UINT16;
 
    //-- 3: Setup continuous acquisition
    uns32 fsize;
 
    uns32 exptime = m_expTimeSet * 1e6;
    if( pl_exp_setup_cont( m_handle, 1, &pvROI, TIMED_MODE, exptime, &fsize, CIRC_OVERWRITE ) == false )
    {
        log_pvcam_software_error( "pl_exp_setup_cont", "" );
        m_shutdown = true;
        return -1;
    }
 
    if( pl_get_param( m_handle, PARAM_EXPOSURE_TIME, ATTR_CURRENT, &exptime ) == false )
    {
        log_pvcam_software_error( "pl_get_param", "PARAM_EXPOSURE_TIME" );
    }
    m_expTime    = ( 1.0 * exptime ) / 1e6;
    m_expTimeSet = m_expTime;
 
    uns32 readouttime = 0;
    if( pl_get_param( m_handle, PARAM_READOUT_TIME, ATTR_CURRENT, &readouttime ) == false )
    {
        log_pvcam_software_error( "pl_get_param", "PARAM_READOUT_TIME" );
    }
 
    long64 predelay = 0;
    if( pl_get_param( m_handle, PARAM_PRE_TRIGGER_DELAY, ATTR_CURRENT, &predelay ) == false )
    {
        log_pvcam_software_error( "pl_get_param", "PARAM_PRE_TRIGGER_DELAY" );
    }
 
    long64 clearing = 0;
    if( pl_get_param( m_handle, PARAM_CLEARING_TIME, ATTR_CURRENT, &clearing ) == false )
    {
        log_pvcam_software_error( "pl_get_param", "PARAM_CLEARING_TIME" );
    }
 
    long64 postdelay = 0;
    if( pl_get_param( m_handle, PARAM_POST_TRIGGER_DELAY, ATTR_CURRENT, &postdelay ) == false )
    {
        log_pvcam_software_error( "pl_get_param", "PARAM_POST_TRIGGER_DELAY" );
    }
 
    if( m_fpsSetted )
    {
        if( static_cast<long64>( m_expTime * 1000000 ) < readouttime )
        {
            // This is as fast as we can go, set expTime to longest possible
            m_expTimeSet = ( readouttime - 1 ) / 1e6; // Go one usec lower, which will get cleaned up by the camera
        }
        else
        {
            m_expTimeSet = ( 1.0 / m_fpsSet ) - 2.0 * postdelay / 1e9;
 
            if( static_cast<long64>( m_expTimeSet * 1000000 ) < readouttime )
            {
                // again, Set expTime to longest possible
                m_expTimeSet = ( readouttime - 1.0 ) / 1e6; // Go one usec lower, which will get cleaned up by the
                                                            // camera
            }
        }
 
        exptime = m_expTimeSet * 1e6;
        if( pl_exp_setup_cont( m_handle, 1, &pvROI, TIMED_MODE, exptime, &fsize, CIRC_OVERWRITE ) == false )
        {
            log_pvcam_software_error( "pl_exp_setup_cont", "" );
            m_shutdown = true;
            return -1;
        }
 
        // Note: this call apparently resets exptime to 0 ....
        if( pl_get_param( m_handle, PARAM_EXPOSURE_TIME, ATTR_CURRENT, &exptime ) == false )
        {
            log_pvcam_software_error( "pl_get_param", "PARAM_EXPOSURE_TIME" );
        }
 
        m_expTime = ( 1.0 * exptime ) / 1e6;
 
        m_expTimeSet = m_expTime;
 
        m_fpsSetted = false;
 
        if( pl_get_param( m_handle, PARAM_READOUT_TIME, ATTR_CURRENT, &readouttime ) == false )
        {
            log_pvcam_software_error( "pl_get_param", "PARAM_READOUT_TIME" );
        }
    }
 
    if( static_cast<long64>( m_expTime * 1000000 ) < readouttime )
    {
        m_fps = 1.0 / ( readouttime / 1e6 + postdelay / 1e9 );
    }
    else
    {
        m_fps =
            1.0 / ( m_expTime + 2.0 * postdelay / 1e9 ); // At some speeds there is an extra + ~250/1e9 that is needed.
    }
 
    m_fpsSet = m_fps;
 
    //-- 4: Allocate the acq circular buffer
    if( m_circBuff != nullptr )
    {
        delete[] m_circBuff;
        m_circBuffBytes = 0;
        m_circBuff      = nullptr;
    }
 
    m_circBuffBytes = ( (uns32)( m_circBuffMaxBytes / fsize ) ) * fsize;
 
    m_circBuff = new( std::nothrow ) uns8[m_circBuffBytes];
 
    if( m_circBuff == nullptr )
    {
        log<software_critical>( { __FILE__, __LINE__, "failed to allocate acquisition circular buffer." } );
        state( stateCodes::FAILURE );
        return -1;
    }
 
    recordCamera( true );
 
    return 0;
}
 
float pvcamCtrl::fps()
{
    return m_fps;
}
 
int pvcamCtrl::startAcquisition()
{
    if( pl_exp_start_cont( m_handle, m_circBuff, m_circBuffBytes ) == false )
    {
        log_pvcam_software_error( "pv_exp_start_cont", "" );
        return -1;
    }
 
    log<text_log>( "continuous acquisition started", logPrio::LOG_INFO );
    return 0;
}
 
int pvcamCtrl::acquireAndCheckValid()
{
    // See if a frame is ready without waiting
    int rv = sem_trywait( &m_frSemaphore );
    if( rv == 0 )
    {
        if( clock_gettime( CLOCK_REALTIME, &m_currImageTimestamp ) < 0 )
        {
            log<software_critical>( { __FILE__, __LINE__, errno, 0, "clock_gettime" } );
        }
 
        return 0;
    }
    else if( errno != EAGAIN )
    {
        log<software_critical>( { __FILE__, __LINE__, errno, 0, "sem_trywait" } );
        return -1;
    }
 
    // if none is ready we pause before going on
    mx::sys::nanoSleep( m_acqSleep );
 
    return 1;
}
 
int pvcamCtrl::loadImageIntoStream( void *dest )
{
 
    // Obtain a pointer to the last acquired frame
    uns8 *frame;
    if( pl_exp_get_latest_frame( m_handle, reinterpret_cast<void **>( &frame ) ) == false )
    {
        log_pvcam_software_error( "pl_exp_get_latest_frame", "" );
    }
 
    if( m_8bit )
    {
        uint16_t *dest16 = static_cast<uint16_t *>( dest );
        uint8_t  *src8   = static_cast<uint8_t *>( frame );
        for( uint32_t i = 0; i < m_width * m_height; ++i )
        {
            dest16[i] = src8[i];
        }
    }
    else
    {
        memcpy( dest, frame, m_width * m_height * 2 );
    }
 
    // Now tell the callback it can go on
    if( sem_post( &m_frDoneSemaphore ) < 0 )
    {
        log<software_critical>( { __FILE__, __LINE__, errno, 0, "Error posting to frame done semaphore" } );
        return -1;
    }
 
    return 0;
}
 
int pvcamCtrl::reconfig()
{
    if( pl_exp_stop_cont( m_handle, CCS_HALT ) == false )
    {
        log_pvcam_software_error( "pl_exp_stop_cont", "" );
    }
    return 0;
}
 
int pvcamCtrl::connect()
{
 
    // In picam, we had to initialize every time.  We'll do that here too.
 
    // So close handle if it's open
    if( m_handle != -1 )
    {
        if( !pl_cam_close( m_handle ) )
        {
            log_pvcam_software_error( "pl_cam_close", "" );
            return -1;
        }
        m_handle = -1;
    }
 
    // Uninit
    if( !pl_pvcam_uninit() )
    {
        if( pl_error_code() != PL_ERR_LIBRARY_NOT_INITIALIZED ) /// \todo this error code is manually defined
        {
            log_pvcam_software_error( "pl_pvcam_uninit", "continuing" );
        }
    }
 
    if( !pl_pvcam_init() )
    {
        log_pvcam_software_error( "pl_pvcam_init", "" );
        return -1;
    }
 
    int16 nrOfCameras;
 
    // Read the number of cameras in the system.
    // This will return total number of PVCAM cameras regardless of interface.
    if( pl_cam_get_total( &nrOfCameras ) != PV_OK )
    {
        log_pvcam_software_error( "pl_cam_get_total", "" );
        return -1;
    }
 
    if( nrOfCameras == 0 )
    {
        if( !stateLogged() )
        {
            log<text_log>( "Found 0 pvcam cameras.", logPrio::LOG_INFO );
        }
        state( stateCodes::NODEVICE );
        return 0;
    }
 
    log<text_log>( "Found " + std::to_string( nrOfCameras ) + " pvcam cameras.", logPrio::LOG_INFO );
 
    for( int n = 0; n < nrOfCameras; ++n )
    {
        char camName[CAM_NAME_LEN]{ '\0' };
 
        // Obtain PVCAM-name for this particular camera
        if( pl_cam_get_name( n, camName ) != PV_OK )
        {
            log_pvcam_software_error( "pl_cam_get_name", "" );
            return -1;
        }
 
        int16_t handle = -1;
 
        // Open to check its serial number
        if( !pl_cam_open( camName, &handle, OPEN_EXCLUSIVE ) )
        {
            log_pvcam_software_error( "pl_cam_open",
                                      "" ); // We log this for now, but with 2 apps running we prob want to ignore
            continue;
        }
 
        // Read the version of the Device Driver
 
        rs_bool isAvailable;
        if( !pl_get_param( handle, PARAM_HEAD_SER_NUM_ALPHA, ATTR_AVAIL, static_cast<void *>( &isAvailable ) ) )
        {
            log_pvcam_software_error( "pl_get_param", "PARAM_HEAD_SER_NUM_ALPHA ATTR_AVAIL" );
 
            if( !pl_cam_close( handle ) )
            {
                log_pvcam_software_error( "pl_cam_close", "" );
            }
 
            return -1;
        }
 
        if( isAvailable )
        {
            char camSerial[MAX_ALPHA_SER_NUM_LEN]{ '\0' };
 
            if( !pl_get_param( handle, PARAM_HEAD_SER_NUM_ALPHA, ATTR_CURRENT, static_cast<void *>( camSerial ) ) )
            {
                log_pvcam_software_error( "pl_get_param", "PARAM_HEAD_SER_NUM_ALPHA ATTR_CURRENT" );
 
                if( !pl_cam_close( handle ) )
                {
                    log_pvcam_software_error( "pl_cam_close", "" );
                }
 
                return -1;
            }
 
            if( camSerial == m_serialNumber )
            {
                state( stateCodes::NOTCONNECTED ); // not strictly true, but logically true until m_handle is set
                m_camName = camName;
                m_handle  = handle;
                break;
            }
        }
 
        // If we're here then either it didn't have a serial number, or it didn't have the right serial number
        if( !pl_cam_close( handle ) )
        {
            log_pvcam_software_error( "pl_cam_close", "" );
            return -1;
        }
    }
 
    if( m_handle > -1 )
    {
        log<text_log>( "Opened camera " + m_serialNumber + " at " + m_camName, logPrio::LOG_INFO );
        state( stateCodes::CONNECTED );
 
        int32 res;
        uns16 idx;
 
        // Set exposure resolution to usec.
 
        idx = 1;
        if( pl_set_param( m_handle, PARAM_EXP_RES_INDEX, &idx ) == false )
        {
            log_pvcam_software_error( "pl_set_param", "PARAM_EXP_RES_INDEX" );
        }
 
        if( pl_get_param( m_handle, PARAM_EXP_RES, ATTR_CURRENT, &res ) == false )
        {
            log_pvcam_software_error( "pl_get_param", "PARAM_EXP_RES" );
        }
 
        if( pl_get_param( m_handle, PARAM_EXP_RES_INDEX, ATTR_CURRENT, &idx ) == false )
        {
            log_pvcam_software_error( "pl_get_param", "PARAM_EXP_RES_INDEX" );
        }
 
        fillSpeedTable();
    }
    else
    {
        if( !stateLogged() )
        {
            log<text_log>( "camera not found", logPrio::LOG_INFO );
        }
        state( stateCodes::NODEVICE );
    }
 
    return 0;
}
 
int pvcamCtrl::fillSpeedTable()
{
    if( state() != stateCodes::CONNECTED && state() != stateCodes::READY )
    {
        return -1;
    }
 
    uns32 nports;
 
    if( pl_get_param( m_handle, PARAM_READOUT_PORT, ATTR_COUNT, static_cast<void *>( &nports ) ) == false )
    {
        log_pvcam_software_error( "pl_get_param", "PARAM_READOUT_PORT" );
        return -1;
    }
 
    std::cerr << "Found " << nports << " ports\n";
 
    m_ports.resize( nports );
 
    for( uns32 p = 0; p < nports; ++p )
    {
        uns32 strLength;
        if( pl_enum_str_length( m_handle, PARAM_READOUT_PORT, p, &strLength ) == false )
        {
            log_pvcam_software_error( "pl_enum_str_length", "PARAM_READOUT_PORT" );
            return -1;
        }
 
        char *text = new( std::nothrow ) char[strLength];
        if( !text )
        {
            ///\todo log this properly
            std::cerr << "failed to allocate string\n";
            return -1;
        }
 
        int32 value;
        if( pl_get_enum_param( m_handle, PARAM_READOUT_PORT, p, &value, text, strLength ) == false )
        {
            log_pvcam_software_error( "pl_get_enum_param", "PARAM_READOUT_PORT" );
            delete[] text;
            return false;
        }
 
        m_ports[p].index = p;
        m_ports[p].value = value;
        m_ports[p].name  = text;
 
        std::cerr << "Port: " << p << " name: " << text << " value: " << value << "\n";
 
        delete[] text;
 
        if( pl_set_param( m_handle, PARAM_READOUT_PORT, static_cast<void *>( &value ) ) == false )
        {
            log_pvcam_software_error( "pl_set_param", "PARAM_READOUT_PORT" );
            return -1;
        }
 
        uns32 nspeeds;
        if( pl_get_param( m_handle, PARAM_SPDTAB_INDEX, ATTR_COUNT, static_cast<void *>( &nspeeds ) ) == false )
        {
            log_pvcam_software_error( "pl_get_param", "PARAM_SPDTAB_INDEX" );
            return -1;
        }
        std::cerr << "    Speeds: " << nspeeds << "\n";
 
        m_ports[p].speeds.resize( nspeeds );
 
        for( uns32 s = 0; s < nspeeds; ++s )
        {
            if( pl_set_param( m_handle, PARAM_SPDTAB_INDEX, static_cast<void *>( &s ) ) == false )
            {
                log_pvcam_software_error( "pl_set_param", "PARAM_SPDTAB_INDEX" );
                return -1;
            }
 
            uns16 pixtime;
            if( pl_get_param( m_handle, PARAM_PIX_TIME, ATTR_CURRENT, static_cast<void *>( &pixtime ) ) == false )
            {
                log_pvcam_software_error( "pl_get_param", "PARAM_PIX_TIME" );
                return -1;
            }
 
            m_ports[p].speeds[s].pixTime = pixtime;
 
            uns32 ngains;
            if( pl_get_param( m_handle, PARAM_GAIN_INDEX, ATTR_COUNT, static_cast<void *>( &ngains ) ) == false )
            {
                log_pvcam_software_error( "pl_get_param", "PARAM_GAIN_INDEX ATTR_COUNT" );
                return -1;
            }
 
            int16 ming;
            if( pl_get_param( m_handle, PARAM_GAIN_INDEX, ATTR_MIN, static_cast<void *>( &ming ) ) == false )
            {
                log_pvcam_software_error( "pl_get_param", "PARAM_GAIN_INDEX ATTR_MIN" );
                return -1;
            }
 
            int16 maxg;
            if( pl_get_param( m_handle, PARAM_GAIN_INDEX, ATTR_MIN, static_cast<void *>( &maxg ) ) == false )
            {
                log_pvcam_software_error( "pl_get_param", "PARAM_GAIN_INDEX ATTR_MAX" );
                return -1;
            }
 
            std::cerr << "      Speed: " << s << " " << " pixtime: " << pixtime << " gains: " << ngains << " [" << ming
                      << "-" << maxg << "]\n";
 
            m_ports[p].speeds[s].minG = ming;
            m_ports[p].speeds[s].maxG = maxg;
 
            m_ports[p].speeds[s].gains.resize( ngains );
 
            for( uns32 g = 0; g < ngains; ++g )
            {
 
                int16 gg = ming + g;
                if( pl_set_param( m_handle, PARAM_GAIN_INDEX, static_cast<void *>( &gg ) ) == false )
                {
                    log_pvcam_software_error( "pl_set_param", "PARAM_GAIN_INDEX" );
                    return -1;
                }
 
                int16 bitdepth;
                if( pl_get_param( m_handle, PARAM_BIT_DEPTH, ATTR_CURRENT, static_cast<void *>( &bitdepth ) ) == false )
                {
                    log_pvcam_software_error( "pl_get_param", "PARAM_BIT_DEPTH ATTR_CURRENT" );
                    return -1;
                }
                std::cerr << "         Gain: " << g << " bitdepth: " << bitdepth << "\n";
            }
        }
    }
 
    return 0;
}
 
void pvcamCtrl::dumpEnum( uns32 paramID, const std::string &paramMnem )
{
 
    if( state() == stateCodes::CONNECTED )
    {
        uns32 count;
 
        if( PV_OK != pl_get_param( m_handle, paramID, ATTR_COUNT, static_cast<void *>( &count ) ) )
        {
            log_pvcam_software_error( "pl_get_param", paramMnem );
            // TODO: Handle error
            return;
        }
        if( count == 0 )
        {
            std::cerr << paramMnem << ": count 0\n";
            return;
        }
        for( uns32 n = 0; n < count; ++n )
        {
            uns32 strLength;
            if( PV_OK != pl_enum_str_length( m_handle, paramID, n, &strLength ) )
            {
                log_pvcam_software_error( "pl_enum_str_length", paramMnem );
                // TODO: Handle error
                break;
            }
            char *text = new( std::nothrow ) char[strLength];
            if( !text )
            {
                // TODO: Handle error
                break;
            }
            int32 value;
            if( PV_OK != pl_get_enum_param( m_handle, paramID, n, &value, text, strLength ) )
            {
                log_pvcam_software_error( "pl_get_enum_param", paramMnem );
                // TODO: Handle error
                delete[] text;
                break;
            }
            std::cerr << paramMnem;
            fprintf( stderr, " item at index %u, value: %d, text: '%s'\n", n, value, text );
            delete[] text;
        }
    }
    else
    {
        std::cerr << "dumpEnum: not CONNECTED\n";
    }
}
 
int pvcamCtrl::getTemp()
{
    if( state() == stateCodes::OPERATING )
    {
        return 0;
    }
 
    rs_bool isAvailable;
    if( !pl_get_param( m_handle, PARAM_TEMP_SETPOINT, ATTR_AVAIL, static_cast<void *>( &isAvailable ) ) )
    {
        if( powerState() != 1 || powerStateTarget() != 1 )
            return 0;
        log_pvcam_software_error( "pl_get_param", "PARAM_TEMP ATTR_AVAIL" );
        state( stateCodes::ERROR );
    }
 
    int16 stemp;
    if( isAvailable ) // Maybe this is a separate check.  Don't yet know what happens when acquiring
    {
        if( !pl_get_param( m_handle, PARAM_TEMP_SETPOINT, ATTR_CURRENT, static_cast<void *>( &stemp ) ) )
        {
            if( powerState() != 1 || powerStateTarget() != 1 )
                return 0;
            log_pvcam_software_error( "pl_get_param", "PARAM_TEMP ATTR_AVAIL" );
            state( stateCodes::ERROR );
        }
 
        m_ccdTempSetpt = stemp / 100.0;
    }
 
    if( !pl_get_param( m_handle, PARAM_TEMP, ATTR_AVAIL, static_cast<void *>( &isAvailable ) ) )
    {
        if( powerState() != 1 || powerStateTarget() != 1 )
            return 0;
        log_pvcam_software_error( "pl_get_param", "PARAM_TEMP ATTR_AVAIL" );
        state( stateCodes::ERROR );
    }
 
    int16 ctemp;
    if( isAvailable ) // Maybe this is a separate check.  Don't yet know what happens when acquiring
    {
        if( !pl_get_param( m_handle, PARAM_TEMP, ATTR_CURRENT, static_cast<void *>( &ctemp ) ) )
        {
            if( powerState() != 1 || powerStateTarget() != 1 )
                return 0;
            log_pvcam_software_error( "pl_get_param", "PARAM_TEMP ATTR_AVAIL" );
            state( stateCodes::ERROR );
        }
 
        m_ccdTemp = ctemp / 100.0;
    }
 
    if( fabs( m_ccdTemp - m_ccdTempSetpt ) > m_tempTol )
    {
        m_tempControlStatus    = true;
        m_tempControlOnTarget  = false;
        m_tempControlStatusStr = "UNLOCKED";
    }
    else
    {
        m_tempControlStatus    = true;
        m_tempControlOnTarget  = true;
        m_tempControlStatusStr = "LOCKED";
    }
 
    return 0;
}
 
void pvcamCtrl::st_endOfFrameCallback( FRAME_INFO *finfo, void *pvcamCtrlInst )
{
    static_cast<pvcamCtrl *>( pvcamCtrlInst )->endOfFrameCallback( finfo );
}
 
void pvcamCtrl::endOfFrameCallback( FRAME_INFO *finfo )
{
    m_frameInfo = *finfo;
 
    // 0 out the frDoneSemaphore just to be sure
    int semval;
    sem_getvalue( &m_frDoneSemaphore, &semval );
    while( semval > 0 )
    {
        sem_trywait( &m_frDoneSemaphore );
        sem_getvalue( &m_frDoneSemaphore, &semval );
    }
 
    // Now tell the writer to get going
    if( sem_post( &m_frSemaphore ) < 0 )
    {
        log<software_critical>( { __FILE__, __LINE__, errno, 0, "Error posting to frame ready semaphore" } );
        return;
    }
 
    // Now wait on the frame done semaphore
    timespec ts;
 
    if( clock_gettime( CLOCK_REALTIME, &ts ) < 0 )
    {
        log<software_critical>( { __FILE__, __LINE__, errno, 0, "clock_gettime" } );
    }
 
    mx::sys::timespecAddNsec( ts, 1e9 ); // We wait for up to one second for the frame done processing signal
 
    sem_timedwait( &m_frDoneSemaphore, &ts );
}
 
int pvcamCtrl::checkRecordTimes()
{
    return telemeterT::checkRecordTimes( telem_stdcam() );
}
 
int pvcamCtrl::recordTelem( const telem_stdcam * )
{
    return recordCamera( true );
}
 
inline int pvcamCtrl::recordTelem( const telem_fgtimings * )
{
    return recordFGTimings( true );
}
 
} // namespace app
} // namespace MagAOX
 
#endif // pvcamCtrl_hpp