From ae0b7aa2cab7c9b40c1e115ffef2d3afbd94e48e Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nicolas.pope@utu.fi>
Date: Thu, 15 Oct 2020 09:21:43 +0300
Subject: [PATCH] Pylon properties from master machine
---
applications/vision/src/main.cpp | 1 +
components/common/cpp/include/ftl/timer.hpp | 7 +++
.../{net => common}/cpp/include/ftl/uuid.hpp | 0
components/common/cpp/src/timer.cpp | 12 ++++
.../net/cpp/include/ftl/net/universe.hpp | 3 +
components/net/cpp/src/universe.cpp | 4 ++
.../src/sources/stereovideo/pylon.cpp | 62 ++++++++++++++++++-
7 files changed, 86 insertions(+), 3 deletions(-)
rename components/{net => common}/cpp/include/ftl/uuid.hpp (100%)
diff --git a/applications/vision/src/main.cpp b/applications/vision/src/main.cpp
index afbddb050..40531fa3a 100644
--- a/applications/vision/src/main.cpp
+++ b/applications/vision/src/main.cpp
@@ -88,6 +88,7 @@ static void run(ftl::Configurable *root) {
if (opt_time_master) {
time_peer = *opt_time_master;
LOG(INFO) << "Found a time master: " << time_peer.to_string();
+ ftl::timer::setTimeMaster(time_peer);
}
int sync_counter = 0;
diff --git a/components/common/cpp/include/ftl/timer.hpp b/components/common/cpp/include/ftl/timer.hpp
index 6530aeadd..1dd3ff76f 100644
--- a/components/common/cpp/include/ftl/timer.hpp
+++ b/components/common/cpp/include/ftl/timer.hpp
@@ -3,9 +3,12 @@
#include <ftl/handle.hpp>
#include <functional>
+#include <optional>
namespace ftl {
+class UUID;
+
/**
* A single global timer mechanism to call functions with either high or low
* precision timing accuracy. This is used to provide accurate frame timing for
@@ -114,6 +117,10 @@ size_t count(timerlevel_t);
*/
void reset();
+void setTimeMaster(const ftl::UUID &m);
+
+std::optional<ftl::UUID> getTimeMaster();
+
}
}
diff --git a/components/net/cpp/include/ftl/uuid.hpp b/components/common/cpp/include/ftl/uuid.hpp
similarity index 100%
rename from components/net/cpp/include/ftl/uuid.hpp
rename to components/common/cpp/include/ftl/uuid.hpp
diff --git a/components/common/cpp/src/timer.cpp b/components/common/cpp/src/timer.cpp
index e49a955cf..e9587355e 100644
--- a/components/common/cpp/src/timer.cpp
+++ b/components/common/cpp/src/timer.cpp
@@ -1,5 +1,6 @@
#include <ftl/timer.hpp>
#include <ftl/threads.hpp>
+#include <ftl/uuid.hpp>
#include <loguru.hpp>
#include <vector>
@@ -28,6 +29,8 @@ static MUTEX mtx;
static int last_id = 0;
static bool clock_slave = true;
static std::future<void> timer_future;
+static ftl::UUID time_master(0);
+static bool has_time_master = false;
struct TimerJob {
int id=0;
@@ -42,6 +45,15 @@ struct TimerJob {
static list<TimerJob> jobs[kTimerMAXLEVEL];
+void ftl::timer::setTimeMaster(const ftl::UUID &m) {
+ has_time_master = true;
+ time_master = m;
+}
+
+std::optional<ftl::UUID> ftl::timer::getTimeMaster() {
+ return (has_time_master) ? time_master : std::optional<ftl::UUID>{};
+}
+
int64_t ftl::timer::get_time() {
return time_point_cast<milliseconds>(high_resolution_clock::now()).time_since_epoch().count()+clock_adjust;
}
diff --git a/components/net/cpp/include/ftl/net/universe.hpp b/components/net/cpp/include/ftl/net/universe.hpp
index 8ee642fe6..58f23053a 100644
--- a/components/net/cpp/include/ftl/net/universe.hpp
+++ b/components/net/cpp/include/ftl/net/universe.hpp
@@ -214,6 +214,8 @@ class Universe : public ftl::Configurable {
size_t getSendBufferSize(ftl::URI::scheme_t s);
size_t getRecvBufferSize(ftl::URI::scheme_t s);
+
+ static inline Universe *getInstance() { return instance_; }
private:
void _run();
@@ -274,6 +276,7 @@ class Universe : public ftl::Configurable {
std::list<ErrHandler> on_error_;
static callback_t cbid__;
+ static Universe *instance_;
// std::map<std::string, std::vector<ftl::net::Peer*>> subscriptions_;
};
diff --git a/components/net/cpp/src/universe.cpp b/components/net/cpp/src/universe.cpp
index ce1137ee0..3dbcd5887 100644
--- a/components/net/cpp/src/universe.cpp
+++ b/components/net/cpp/src/universe.cpp
@@ -47,6 +47,7 @@ struct NetImplDetail {
#define WS_RECEIVE_BUFFER_SIZE (62*1024)
callback_t ftl::net::Universe::cbid__ = 0;
+Universe *Universe::instance_ = nullptr;
Universe::Universe() :
Configurable(),
@@ -94,6 +95,9 @@ Universe::Universe(nlohmann::json &config) :
}
return true;
});
+
+ if (instance_ != nullptr) LOG(FATAL) << "Multiple net instances";
+ instance_ = this;
}
Universe::~Universe() {
diff --git a/components/rgbd-sources/src/sources/stereovideo/pylon.cpp b/components/rgbd-sources/src/sources/stereovideo/pylon.cpp
index 6901837f6..6281cdd51 100644
--- a/components/rgbd-sources/src/sources/stereovideo/pylon.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/pylon.cpp
@@ -81,6 +81,8 @@ PylonDevice::PylonDevice(nlohmann::json &config)
_configureCamera(lcam_);
if (rcam_) _configureCamera(rcam_);
+ value("gain", lcam_->Gain.GetValue());
+
lcam_->StartGrabbing( Pylon::GrabStrategy_OneByOne);
if (rcam_) rcam_->StartGrabbing( Pylon::GrabStrategy_OneByOne);
@@ -106,6 +108,11 @@ PylonDevice::PylonDevice(nlohmann::json &config)
//hres_hm_ = cv::cuda::HostMem(fullheight_, fullwidth_, CV_8UC4);
//rtmp_.create(fullheight_, fullwidth_, CV_8UC4);
+ //on("gain", [this]() {
+ // lcam_->Gain.SetValue(value("gain",1.0));
+ // rcam_->Gain.SetValue(value("gain",1.0));
+ //});
+
on("exposure", [this]() {
if (lcam_->GetDeviceInfo().GetModelName() != "Emulation") {
lcam_->ExposureTime.SetValue(value("exposure", 24000.0f)); // Exposure time in microseconds
@@ -138,6 +145,26 @@ PylonDevice::PylonDevice(nlohmann::json &config)
return true;
});
+
+ auto *net = ftl::net::Universe::getInstance();
+ if (!net->isBound("pylon_gain")) {
+ net->bind("pylon_gain", [this]() {
+ return (lcam_) ? lcam_->Gain.GetValue() : 0.0;
+ });
+ net->bind("pylon_exposure", [this]() {
+ return (lcam_) ? lcam_->ExposureTime.GetValue() : 0.0;
+ });
+ net->bind("pylon_white", [this]() {
+ cv::Vec3d wb;
+ lcam_->BalanceRatioSelector.SetValue(Basler_UniversalCameraParams::BalanceRatioSelector_Blue);
+ wb[0] = lcam_->BalanceRatio.GetValue();
+ lcam_->BalanceRatioSelector.SetValue(Basler_UniversalCameraParams::BalanceRatioSelector_Green);
+ wb[1] = lcam_->BalanceRatio.GetValue();
+ lcam_->BalanceRatioSelector.SetValue(Basler_UniversalCameraParams::BalanceRatioSelector_Red);
+ wb[2] = lcam_->BalanceRatio.GetValue();
+ return wb;
+ });
+ }
}
PylonDevice::~PylonDevice() {
@@ -200,13 +227,42 @@ void PylonDevice::_configureCamera(CBaslerUniversalInstantCamera *cam) {
LOG(WARNING) << "Could not change pixel format";
}
+ auto *net = ftl::net::Universe::getInstance();
+ auto tm = ftl::timer::getTimeMaster();
+
if (cam->GetDeviceInfo().GetModelName() != "Emulation") {
// Emulated device throws exception with these
- cam->ExposureTime.SetValue(value("exposure", 24000.0f)); // Exposure time in microseconds
+ if (tm) {
+ double expo = net->call<double>(*tm, "pylon_exposure");
+ cam->ExposureTime.SetValue(expo);
+ LOG(INFO) << "Pylon exposure from master = " << expo;
+ } else {
+ cam->ExposureTime.SetValue(value("exposure", 24000.0f)); // Exposure time in microseconds
+ }
+
cam->AutoTargetBrightness.SetValue(0.3);
cam->LightSourcePreset.SetValue(Basler_UniversalCameraParams::LightSourcePreset_Tungsten2800K); // White balance option
- cam->BalanceWhiteAuto.SetValue(Basler_UniversalCameraParams::BalanceWhiteAuto_Once);
- cam->GainAuto.SetValue(Basler_UniversalCameraParams::GainAuto_Once);
+
+ if (tm) {
+ cv::Vec3d white = net->call<cv::Vec3d>(*tm, "pylon_white");
+ cam->BalanceRatioSelector.SetValue(Basler_UniversalCameraParams::BalanceRatioSelector_Blue);
+ cam->BalanceRatio.SetValue(white[0]);
+ cam->BalanceRatioSelector.SetValue(Basler_UniversalCameraParams::BalanceRatioSelector_Green);
+ cam->BalanceRatio.SetValue(white[1]);
+ cam->BalanceRatioSelector.SetValue(Basler_UniversalCameraParams::BalanceRatioSelector_Red);
+ cam->BalanceRatio.SetValue(white[2]);
+ LOG(INFO) << "Pylon WB from master = " << white;
+ } else {
+ cam->BalanceWhiteAuto.SetValue(Basler_UniversalCameraParams::BalanceWhiteAuto_Once);
+ }
+
+ if (tm) {
+ double gain = net->call<double>(*tm, "pylon_gain");
+ cam->Gain.SetValue(gain);
+ LOG(INFO) << "Pylon Gain from master = " << gain;
+ } else {
+ cam->GainAuto.SetValue(Basler_UniversalCameraParams::GainAuto_Once);
+ }
cam->DeviceTemperatureSelector.SetValue(Basler_UniversalCameraParams::DeviceTemperatureSelector_Coreboard);
}
}
--
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