hawkeye camera support(not tested)
This commit is contained in:
meelstorm
159
framework/Inspectron.HawkEye/Camera/I2CLinux.cs
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159
framework/Inspectron.HawkEye/Camera/I2CLinux.cs
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using System;
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using System.IO;
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using Mono.Unix.Native;
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namespace Inspectron.Devices.Raspberry
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{
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public unsafe class I2CLinux
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{
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string device;
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int fd = -1;
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public I2CLinux(int index)
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{
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device = "/dev/i2c-" + index;
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Open();
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//Close();
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}
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public void Open()
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{
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fd = Syscall.open(device, OpenFlags.O_RDWR);
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if (fd < 0)
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throw new IOException(device);
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}
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void IoCtl(byte devAddr)
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{
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int ret = LunixNatives.ioctl(fd, LunixNatives.I2C_SLAVE, devAddr);
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if (ret < 0)
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throw new IOException(device + ": ioctl");
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}
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public byte readBytes(byte devAddr, byte regAddr, byte length, byte[] data, int offset, ushort timeout = 0)
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{
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if (length > 127)
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throw new IOException(device + ": length > 127");
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//Open();
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IoCtl(devAddr);
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//fixed(byte* p = ®Addr)
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{
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int ret = (int)Syscall.write(fd, ®Addr, 1);
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if (ret != 1)
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throw new IOException(device + ": write");
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}
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int count;
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fixed (byte* p = &data[offset])
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{
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count = (int)Syscall.read(fd, p, (ulong)length);
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if (count < 0)
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throw new IOException(device + ": read");
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else if (count != length)
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throw new IOException(device + ": read short: length = " + length + " > " + count);
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}
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//Close();
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return (byte)count;
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}
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public byte readBytes(byte devAddr, byte regAddr, byte length, byte[] data, ushort timeout = 0)
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{
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return readBytes(devAddr, regAddr, length, data, 0, timeout);
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}
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/** Write multiple bytes to an 8-bit device register.
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* @param devAddr I2C slave device address
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* @param regAddr First register address to write to
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* @param length Number of bytes to write
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* @param data Buffer to copy new data from
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* @return Status of operation (true = success)
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*/
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public void writeBytes(byte devAddr, byte regAddr, byte length, byte[] data)
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{
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if (length > 127)
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throw new IOException(device + ": length > 127");
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//Open();
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IoCtl(devAddr);
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byte[] buffer = new byte[128];
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buffer[0] = regAddr;
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Array.Copy(data, 0, buffer, 1, length);
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int count;
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fixed (byte* p = buffer)
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{
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count = (int)Syscall.write(fd, p, (ulong)(length + 1));
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}
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if (count < 0)
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{
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throw new IOException(device + ": write = " + count);
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}
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else if (count != length + 1)
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{
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throw new IOException(device + ": write short = " + count);
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}
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//Close();
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}
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/** Write multiple words to a 16-bit device register.
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* @param devAddr I2C slave device address
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* @param regAddr First register address to write to
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* @param length Number of words to write
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* @param data Buffer to copy new data from
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* @return Status of operation (true = success)
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*/
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public void writeWords(byte devAddr, byte regAddr, byte length, ushort[] data)
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{
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int count = 0;
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byte[] buf = new byte[128];
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int i;
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// Should do potential byteswap and call writeBytes() really, but that
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// messes with the callers buffer
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if (length > 63)
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{
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throw new IOException(device + ": length > 63");
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}
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//Open();
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IoCtl(devAddr);
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buf[0] = regAddr;
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for (i = 0; i < (int)length; i++)
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{
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buf[i * 2 + 1] = (byte)(data[i] >> 8);
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buf[i * 2 + 2] = (byte)data[i];
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}
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fixed (byte* p = buf)
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{
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count = (int)Syscall.write(fd, p, (ulong)(length * 2 + 1));
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}
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if (count < 0)
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{
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throw new IOException(device + ": write");
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}
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else if (count != length * 2 + 1)
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{
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throw new IOException(device + ": write short");
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}
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//Close();
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}
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public void Close()
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{
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int ret = Syscall.close(fd);
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if (ret != 0)
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throw new IOException(device);
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}
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}
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}
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112
framework/Inspectron.HawkEye/Camera/InspectronCamera.cs
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112
framework/Inspectron.HawkEye/Camera/InspectronCamera.cs
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@@ -0,0 +1,112 @@
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using System;
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using System.Diagnostics;
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using System.Runtime.InteropServices;
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using System.Threading;
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using Inspectron.Devices.Raspberry;
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using Inspectron.HawkEye.Protocol;
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using Inspectron.HawkEye.Protocol.Interfaces;
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namespace Inspectron.HawkEye.Camera
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{
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public class InspectronCamera:ICameraControl,IImageSource,ILightControl
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{
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[DllImport("libVCLibProxy.so", CallingConvention = CallingConvention.Cdecl)]
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static extern IntPtr init(Int32 captBuf);
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[DllImport("libVCLibProxy.so", CallingConvention = CallingConvention.Cdecl)]
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static extern int trigger(IntPtr cpt, byte[] addr, int lines, int captBuf,ref int cancelFlag);
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[DllImport("libVCLibProxy.so", CallingConvention = CallingConvention.Cdecl)]
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static extern void set_parameters(IntPtr cpt, ref ImageSettings imageSettings);
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[DllImport("libVCLibProxy.so", CallingConvention = CallingConvention.Cdecl)]
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public static extern int test();
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byte[] _buffer = new byte[2048 * 250 * 4];
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public InspectronCamera()
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{
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_i2c = new I2CLinux(0);
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_i2c.Open();
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}
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private bool _isRunningContiniuos = false;
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private IntPtr _cp= IntPtr.Zero;
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private ImageSettings _imageSettings=new ImageSettings()
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{
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CaptureBuffer = 25,
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Gain = 200,
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Lines = 1000,
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Shutter = 200,
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SensorWidth = 1440
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};
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private I2CLinux _i2c;
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private int _lastBuffer = -1;
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public void SetParameters(CameraSettings cameraSettings)
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{
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_cameraSettings = cameraSettings;
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ImageSettings imageSettings = cameraSettings.ImageSettings;
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if (_lastBuffer ==-1)
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{
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_lastBuffer = imageSettings.CaptureBuffer;
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_cp = init(_lastBuffer);
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}
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_imageSettings = imageSettings;
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_buffer=new byte[imageSettings.SensorWidth*(imageSettings.Lines)];
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var cpImageSettings = imageSettings;
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cpImageSettings.UseExternalTrigger =imageSettings.UseExternalTrigger;
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if(_lastBuffer==imageSettings.CaptureBuffer)
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set_parameters(_cp, ref cpImageSettings);
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else
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Console.WriteLine("Warning! Buffer size changed. Needs restart");
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_i2c.writeBytes(4, 2, 4, BitConverter.GetBytes(imageSettings.Divider));
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Thread.Sleep(100);
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_i2c.writeBytes(4,3,1, new byte[] { (byte)imageSettings.UseExternalTrigger });
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Thread.Sleep(100);
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}
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private int _cancelFlag = 0;
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private CameraSettings _cameraSettings;
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public byte[] GetImage()
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{
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_cancelFlag = 0;
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var sw = Stopwatch.StartNew();
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_i2c.writeBytes(4, 4, 1,new byte[]{ (byte)(_cameraSettings.LaserTrigger?1:0)} );
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//Thread.Sleep(20);
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_i2c.writeBytes(4, 5, 4, BitConverter.GetBytes(_cameraSettings.LaserTriggerDelay));
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//Thread.Sleep(20);
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trigger(_cp, _buffer, _imageSettings.Lines, _imageSettings.CaptureBuffer,ref _cancelFlag);
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sw.Stop();
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Console.WriteLine("Trigger time: "+sw.ElapsedMilliseconds);
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if(_cancelFlag==1)return new byte[0];
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return _buffer;
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}
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public void CancelTrigger()
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{
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_cancelFlag = 1;
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}
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public void SetLight(int pwm1, int pwm2)
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{
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Console.WriteLine($"setting lights to {pwm1}/{pwm2}");
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pwm1 = (int)(pwm1 / 100.0 * 255);
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pwm2 = (int)(pwm2 / 100.0 * 255);
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_i2c.writeBytes(4, 1, 2, new byte[] { (byte)pwm1,(byte)pwm2 });
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Thread.Sleep(10);
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}
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}
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}
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21
framework/Inspectron.HawkEye/Camera/LunixNatives.cs
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21
framework/Inspectron.HawkEye/Camera/LunixNatives.cs
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@@ -0,0 +1,21 @@
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using System.Runtime.InteropServices;
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namespace Inspectron.Devices.Raspberry
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{
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public static class LunixNatives
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{
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public const int O_RDWR = 2;
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[DllImport("libc.so.6")]
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extern public static int open(string file, int mode);
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[DllImport("libc.so.6")]
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extern public static int close(int fd);
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[DllImport("libc.so.6")]
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extern public static int ioctl(int fd, int request, byte x);
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public const int I2C_SLAVE = 0x0703;
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}
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}
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