#include <stdio.h>
#include <stdlib.h>
#include "ItalaApiC/ItalaC.h"
#define ACQUIRE_COUNT 10
ItalaError ErrorManager(ItalaError e) {
size_t sizeMessage = 255;
char* message = (char*)malloc(sizeof(char) * sizeMessage);
ERR_GetLastErrorMessage(message, &sizeMessage);
printf("\nITALA ERROR (%d):\t%s, %zu char", ERR_GetLastErrorCode(), message, sizeMessage);
free(message);
return e;
}
int main(int argc, char** argv) {
printf("***** Grab chunks example started. *****\n");
ItalaError error = ItalaErrorSuccess;
error = SYS_Initialize();
if (error) return ErrorManager(error);
size_t devicesInfoSize = 0;
error = SYS_EnumerateDevices(700);
if (error) return ErrorManager(error);
error = SYS_GetDeviceCount(&devicesInfoSize);
if (error) return ErrorManager(error);
if (devicesInfoSize == 0) {
printf("No devices found. Example canceled.\n");
return ItalaErrorError;
}
DeviceInfo deviceInfo;
error = SYS_GetDeviceByIndex(0, &deviceInfo);
if (error) return ErrorManager(error);
if (deviceInfo.AccessStatus != AvailableReadWrite) {
printf("Target device is unaccessible in RW mode. Example canceled.\n");
return ItalaErrorError;
}
H_DEVICE hDevice = NULL;
error = SYS_CreateDevice(deviceInfo, &hDevice);
if (error) return ErrorManager(error);
printf("First device found is initialized.\n");
printf("Enabling chunk data..\n");
H_NODEMAP hNodeMap = NULL;
error = DEV_GetNodeMap(hDevice, &hNodeMap);
if (error) return ErrorManager(error);
// Enable the auto exposure time functionality to cause changes in the exposure
// time value when the scene changes or the camera itself is moved.
H_NODE hNodeExposureAuto = NULL;
error = NODEMAP_GetNode(hNodeMap, "ExposureAuto", &hNodeExposureAuto);
if (error) return ErrorManager(error);
bool isWritable = false;
error = IsNodeWritable(hNodeExposureAuto, &isWritable);
if (error) return ErrorManager(error);
if (!isWritable) {
printf("Unable to activate auto exposure time mode. Aborting.\n");
return ItalaErrorError;
}
int64_t originalExposureAuto = 0;
error = NODE_EnumerationGetIntValue(hNodeExposureAuto, &originalExposureAuto);
if (error) return ErrorManager(error);
error = NODE_FromString(hNodeExposureAuto, "Continuous");
if (error) return ErrorManager(error);
// The chunk data functionality is enabled via the "ChunkModeActive" feature.
H_NODE hNodeChunkModeActive = NULL;
error = NODEMAP_GetNode(hNodeMap, "ChunkModeActive", &hNodeChunkModeActive);
if (error) return ErrorManager(error);
isWritable = false;
error = IsNodeWritable(hNodeChunkModeActive, &isWritable);
if (error) return ErrorManager(error);
if (!isWritable) {
printf("Unable to activate chunk mode. Aborting.\n");
return ItalaErrorError;
}
bool originalChunkModeActive = false;
error = NODE_BooleanGetValue(hNodeChunkModeActive, &originalChunkModeActive);
if (error) return ErrorManager(error);
error = NODE_BooleanSetValue(hNodeChunkModeActive, true);
if (error) return ErrorManager(error);
// Each chunk data available can be enabled individually. In this case, exposure
// time, pixel format and frame timestamp chunks are activated.
// First select the exposure time chunk via the selector and enable it via the
// "ChunkEnable" feature.
H_NODE hNodeChunkSelector = NULL;
error = NODEMAP_GetNode(hNodeMap, "ChunkSelector", &hNodeChunkSelector);
if (error) return ErrorManager(error);
isWritable = false;
error = IsNodeWritable(hNodeChunkSelector, &isWritable);
if (error) return ErrorManager(error);
if (!isWritable) {
printf("Unable to retrieve chunk selector. Aborting.\n");
return ItalaErrorError;
}
error = NODE_FromString(hNodeChunkSelector, "ExposureTime");
if (error) return ErrorManager(error);
H_NODE hNodeChunkEnable = NULL;
error = NODEMAP_GetNode(hNodeMap, "ChunkEnable", &hNodeChunkEnable);
if (error) return ErrorManager(error);
isWritable = false;
bool originalExposureTimeChunkEnabled = false;
error = NODE_BooleanGetValue(hNodeChunkEnable, &originalExposureTimeChunkEnabled);
if (error) return ErrorManager(error);
error = NODE_BooleanSetValue(hNodeChunkEnable, true);
if (error) return ErrorManager(error);
// Do the same for frame ID chunk.
error = NODE_FromString(hNodeChunkSelector, "FrameID");
if (error) return ErrorManager(error);
bool originalFrameIDChunkEnabled = false;
error = NODE_BooleanGetValue(hNodeChunkEnable, &originalFrameIDChunkEnabled);
if (error) return ErrorManager(error);
error = NODE_FromString(hNodeChunkSelector, "Timestamp");
if (error) return ErrorManager(error);
bool originalTimestampChunkEnabled = false;
error = NODE_BooleanGetValue(hNodeChunkEnable, &originalTimestampChunkEnabled);
if (error) return ErrorManager(error);
printf("\n");
error = DEV_StartAcquisition(hDevice);
if (error) return ErrorManager(error);
printf("Acquisition started with chunk functionality enabled.\n\n");
H_IMAGE images[ACQUIRE_COUNT];
H_IMAGE hImage = NULL;
bool isIncomplete = false;
for (size_t i = 0; i < ACQUIRE_COUNT; i++) {
error = DEV_GetNextImage(hDevice, 1000, &hImage);
if (error) return ErrorManager(error);
error = IMG_IsIncomplete(hImage, &isIncomplete);
if (isIncomplete) {
// Report some info if the image is partially filled.
printf("Incomplete image.\n");
size_t filled = 0;
size_t payloadSize = 0;
error = IMG_GetBytesFilled(hImage, &filled);
if (error) return ErrorManager(error);
error = IMG_GetPayloadSize(hImage, &payloadSize);
if (error) return ErrorManager(error);
printf("\tBytes filled: %zu/%zu", filled, payloadSize);
} else {
printf("Image %zu grabbed.\n", i);
}
// Add the image to the acquired frames list so that image chunks can be
// retrieved and displayed after che grab.
images[i] = hImage;
// The image IS NOT disposed here since it's needed afterwards to get and
// display the attached chunk data.
hImage = NULL;
}
printf("\n");
// The chunks embedded in the available images are ready to be read.
H_NODE hNodeExposureTime = NULL;
H_NODE hNodeFrameID = NULL;
H_NODE hNodeTimestamp = NULL;
double exposureTime = 0;
int64_t frameId = 0;
int64_t timestamp = 0;
for (size_t i = 0; i < ACQUIRE_COUNT; i++) {
hImage = images[i];
printf("Retrieving chunks for image %zu ..", i);
// Check if the acquired image has embedded chunk data.
bool hasChunckData = false;
error = IMG_HasChunkData(hImage, &hasChunckData);
if (error) return ErrorManager(error);
if (hasChunckData) {
// Chunk data is exposed as a set GenICam features which names ar
// regulated by the SFNC specification. In general, the names of
// chunk features are defined by prepending the "Chunk" prefix
// (e.g. ChunkExposureTime) to the equivalent standard feature
// (e.g. ExposureTime).
error = IMG_GetChunkNode(hImage, "ChunkExposureTime", &hNodeExposureTime);
if (error) return ErrorManager(error);
error = IMG_GetChunkNode(hImage, "ChunkFrameID", &hNodeFrameID);
if (error) return ErrorManager(error);
error = IMG_GetChunkNode(hImage, "ChunkTimestamp", &hNodeTimestamp);
if (error) return ErrorManager(error);
error = NODE_FloatGetValue(hNodeExposureTime, &exposureTime);
if (error) return ErrorManager(error);
error = NODE_IntegerGetValue(hNodeFrameID, &frameId);
if (error) return ErrorManager(error);
error = NODE_IntegerGetValue(hNodeTimestamp, ×tamp);
if (error) return ErrorManager(error);
printf("\tChunkExposureTime: %f\n", exposureTime);
printf("\tChunkFrameID: %jd\n", frameId);
printf("\tChunkTimestamp: %jd\n", timestamp);
} else {
printf("\tNo chunk data attached.\n");
}
// The image can now be disposed: it's not required anymore.
error = IMG_Dispose(hImage);
hImage = NULL;
if (error) return ErrorManager(error);
printf("\n");
}
// The acquisition must be stopped AFTER the acquired images have been used
// (to display chunk data, in this case). If the acquisition was stopped
// prematurely, errors may have occurred when accessing the image data (released
// by the library).
error = DEV_StopAcquisition(hDevice);
if (error) return ErrorManager(error);
error = NODE_EnumerationSetIntValue(hNodeExposureAuto, originalExposureAuto);
if (error) return ErrorManager(error);
error = NODE_FromString(hNodeChunkSelector, "ExposureTime");
if (error) return ErrorManager(error);
error = NODE_BooleanSetValue(hNodeChunkEnable, originalExposureTimeChunkEnabled);
if (error) return ErrorManager(error);
error = NODE_FromString(hNodeChunkSelector, "FrameID");
if (error) return ErrorManager(error);
error = NODE_BooleanSetValue(hNodeChunkEnable, originalFrameIDChunkEnabled);
if (error) return ErrorManager(error);
error = NODE_FromString(hNodeChunkSelector, "Timestamp");
if (error) return ErrorManager(error);
error = NODE_BooleanSetValue(hNodeChunkEnable, originalTimestampChunkEnabled);
if (error) return ErrorManager(error);
error = DEV_Dispose(hDevice);
hDevice = NULL;
if (error) return ErrorManager(error);
printf("Device instance disposed.\n");
error = SYS_Dispose();
if (error) return ErrorManager(error);
printf("System instance disposed.\n");
return 0;
}