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Inline some helper functions
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@andy-sweet
andy-sweet committed Sep 14, 2023
1 parent 2eb76cf commit e4b951a
Showing 1 changed file with 52 additions and 79 deletions.
131 changes: 52 additions & 79 deletions src/spinnaker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,13 +144,6 @@ to_trigger_source(uint8_t line)
return trigger_line_to_source.at(line);
}

// Returns true if two triggers are equal in value, false otherwise.
bool
is_equal(const Trigger * lhs, const Trigger * rhs)
{
return lhs && rhs && memcmp(lhs, rhs, sizeof(Trigger)) == 0;
}

// Returns true if a Spinnaker node is writable, false otherwise.
bool
check_node_writable(Spinnaker::GenApi::INode& node)
Expand Down Expand Up @@ -259,26 +252,6 @@ update_input_trigger(Spinnaker::CameraPtr & camera, Trigger & trigger)
: TriggerEdge_Unknown;
}

void
update_input_triggers(Spinnaker::CameraPtr & camera, struct CameraProperties* properties)
{
// Zero out all the input triggers, then only update the enabled one if present.
memset(&properties->input_triggers, 0, sizeof(properties->input_triggers));

// TODO: the Oryx can have multiple triggers in different states, whereas the blackfly
// cannot. This logic is simple for the blackfly, but may not be suitable for the oryx.
if (*(camera->TriggerMode) == genicam_on) {
const Spinnaker::GenICam::gcstring trigger = *(camera->TriggerSelector);
if (trigger == genicam_acquisition_start) {
update_input_trigger(camera, properties->input_triggers.acquisition_start);
} else if (trigger == genicam_frame_start) {
update_input_trigger(camera, properties->input_triggers.frame_start);
} else if (trigger == genicam_exposure_active) {
update_input_trigger(camera, properties->input_triggers.exposure);
}
}
}

void
update_output_trigger(Spinnaker::CameraPtr & camera, Trigger & trigger)
{
Expand All @@ -291,42 +264,7 @@ update_output_trigger(Spinnaker::CameraPtr & camera, Trigger & trigger)
}

void
update_output_triggers(Spinnaker::CameraPtr & camera, struct CameraProperties* properties)
{
// Zero out all the output triggers.
memset(&properties->output_triggers, 0, sizeof(properties->output_triggers));

// Iterate over all the lines, allowing multiple output triggers to be
// enabled on the Acquire side.
Spinnaker::GenApi::StringList_t lines;
camera->LineSelector.GetSymbolics(lines);
auto& triggers = properties->output_triggers;
for (auto& line : lines) {
camera->LineSelector = line;

// Some lines do not have a readable LineMode (e.g. Oryx Line 6), so skip them.
if (!IsReadable(camera->LineMode) || *(camera->LineMode) != genicam_output) {
continue;
}

// Spinnaker allows us to use the same source for multiple output
// lines, so only enable each trigger for the first line found.
const Spinnaker::GenICam::gcstring source = *(camera->LineSource);
if (!triggers.exposure.enable &&
source == genicam_exposure_active) {
update_output_trigger(camera, triggers.exposure);
} else if (!triggers.frame_start.enable &&
source == genicam_frame_start) {
update_output_trigger(camera, triggers.frame_start);
} else if (!triggers.trigger_wait.enable &&
source == genicam_trigger_wait) {
update_output_trigger(camera, triggers.trigger_wait);
}
}
}

void
maybe_set_input_trigger(Spinnaker::CameraPtr & camera, const Trigger * trigger, const Spinnaker::GenICam::gcstring & name)
set_input_trigger(Spinnaker::CameraPtr & camera, const Trigger * trigger, const Spinnaker::GenICam::gcstring & name)
{
if (is_enum_name(camera->TriggerSelector, name)) {
set_enum_node(camera->TriggerSelector, name);
Expand All @@ -342,7 +280,7 @@ maybe_set_input_trigger(Spinnaker::CameraPtr & camera, const Trigger * trigger,
}

void
maybe_set_output_trigger(Spinnaker::CameraPtr & camera, const Trigger & trigger, const Spinnaker::GenICam::gcstring & name)
set_output_trigger(Spinnaker::CameraPtr & camera, const Trigger & trigger, const Spinnaker::GenICam::gcstring & name)
{
if (trigger.enable && is_enum_name(camera->LineSource, name)) {
set_enum_node(camera->LineSelector, to_trigger_source(trigger.line));
Expand Down Expand Up @@ -686,13 +624,6 @@ SpinnakerCamera::maybe_set_exposure_time_us_(float target_us)
void
SpinnakerCamera::maybe_set_input_trigger_(struct CameraProperties * properties)
{
auto & input_triggers = properties->input_triggers;
Trigger * trigger = find_first_enabled_trigger(input_triggers);
Trigger * last_known_trigger = find_first_enabled_trigger(last_known_settings_.input_triggers);
if (is_equal(trigger, last_known_trigger)) {
return;
}

// First turn triggering off before any other configuration as in
// Spinnaker's Trigger.cpp example.
set_enum_node(camera_->TriggerMode, genicam_off);
Expand All @@ -706,12 +637,14 @@ SpinnakerCamera::maybe_set_input_trigger_(struct CameraProperties * properties)
}

// Finally, use the first trigger enabled in acquire, if any.
auto & input_triggers = properties->input_triggers;
Trigger * trigger = find_first_enabled_trigger(input_triggers);
if ((trigger == &input_triggers.acquisition_start)) {
maybe_set_input_trigger(camera_, trigger, genicam_acquisition_start);
set_input_trigger(camera_, trigger, genicam_acquisition_start);
} else if ((trigger == &input_triggers.frame_start)) {
maybe_set_input_trigger(camera_, trigger, genicam_frame_start);
set_input_trigger(camera_, trigger, genicam_frame_start);
} else if ((trigger == &input_triggers.exposure)) {
maybe_set_input_trigger(camera_, trigger, genicam_exposure_active);
set_input_trigger(camera_, trigger, genicam_exposure_active);
} else if (trigger != nullptr) {
LOGE("Found an unrecognized trigger.");
}
Expand All @@ -721,9 +654,9 @@ void
SpinnakerCamera::maybe_set_output_triggers_(struct CameraProperties * properties)
{
auto & triggers = properties->output_triggers;
maybe_set_output_trigger(camera_, triggers.exposure, genicam_exposure_active);
maybe_set_output_trigger(camera_, triggers.frame_start, genicam_frame_start);
maybe_set_output_trigger(camera_, triggers.trigger_wait, genicam_trigger_wait);
set_output_trigger(camera_, triggers.exposure, genicam_exposure_active);
set_output_trigger(camera_, triggers.frame_start, genicam_frame_start);
set_output_trigger(camera_, triggers.trigger_wait, genicam_trigger_wait);
}

void
Expand All @@ -745,8 +678,48 @@ SpinnakerCamera::get(struct CameraProperties* properties)
},
};

update_input_triggers(camera_, properties);
update_output_triggers(camera_, properties);
// Zero out all the input triggers, then only update if the currently selected
// trigger is enabled.
memset(&properties->input_triggers, 0, sizeof(properties->input_triggers));
if (*(camera_->TriggerMode) == genicam_on) {
const Spinnaker::GenICam::gcstring trigger = *(camera_->TriggerSelector);
if (trigger == genicam_acquisition_start) {
update_input_trigger(camera_, properties->input_triggers.acquisition_start);
} else if (trigger == genicam_frame_start) {
update_input_trigger(camera_, properties->input_triggers.frame_start);
} else if (trigger == genicam_exposure_active) {
update_input_trigger(camera_, properties->input_triggers.exposure);
} else {
LOGE("Found an unrecognized trigger.");
}
}

// Zero out all the output triggers, then iterate over all the lines, allowing
// multiple output triggers to be enabled for Acquire.
memset(&properties->output_triggers, 0, sizeof(properties->output_triggers));
Spinnaker::GenApi::StringList_t lines;
camera_->LineSelector.GetSymbolics(lines);
auto& triggers = properties->output_triggers;
for (auto& line : lines) {
camera_->LineSelector = line;
// Some lines do not have a readable LineMode (e.g. Oryx Line 6), so skip them.
if (!IsReadable(camera_->LineMode) || *(camera_->LineMode) != genicam_output) {
continue;
}
// Spinnaker allows us to use the same source for multiple output
// lines, so only enable each trigger for the first line found.
const Spinnaker::GenICam::gcstring source = *(camera_->LineSource);
if (!triggers.exposure.enable &&
source == genicam_exposure_active) {
update_output_trigger(camera_, triggers.exposure);
} else if (!triggers.frame_start.enable &&
source == genicam_frame_start) {
update_output_trigger(camera_, triggers.frame_start);
} else if (!triggers.trigger_wait.enable &&
source == genicam_trigger_wait) {
update_output_trigger(camera_, triggers.trigger_wait);
}
}

last_known_settings_ = *properties;
}
Expand Down

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