RemoteAR2/src/mvs_camera.cpp

#include "mvs_camera.h"
#include "image_ringbuffer.hpp"

#ifdef _MSC_VER
#pragma warning(disable: 4828)
#endif

#include <MvCameraControl.h>

#include <spdlog/spdlog.h>

#include <opencv2/core/mat.hpp>

#include <boost/predef.h>

#ifdef BOOST_OS_WINDOWS_AVAILABLE

#include <format>

#define fmt std

#else

#include <fmt/chrono.h>
#include <fmt/format.h>

#endif

bool check_mvs_api_call(int api_ret, unsigned int line_number,
                        const char *file_name, const char *api_call_str) {
    if (api_ret == MV_OK) [[likely]] return true;
    SPDLOG_ERROR("MVS api call {} failed at {}:{} with error 0x{:x}",
                 api_call_str, file_name, line_number, api_ret);
    RET_ERROR;
}

#define MVS_API_CHECK(api_call) \
    if (!check_mvs_api_call( \
        api_call, __LINE__, __FILE__, #api_call)) [[unlikely]] \
        return false

struct mvs_camera::impl {
    static constexpr auto image_width = 1224;
    static constexpr auto image_height = 1024;
    static constexpr auto image_size = image_width * sizeof(uint8_t) * image_height;

    void *handle = nullptr;
    const char *cam_name = nullptr;
    image_ringbuffer *ring_buf = nullptr;

    bool is_capturing = false;

    explicit impl(const char *_cam_name)
            : cam_name(_cam_name) {
        CALL_ASSERT(open());
    }

    ~impl() {
        CALL_ASSERT(close());
    }

    bool open() {
        MV_CC_DEVICE_INFO_LIST dev_info_list;
        MVS_API_CHECK(MV_CC_EnumDevices(MV_USB_DEVICE, &dev_info_list));

        MV_CC_DEVICE_INFO *dev_info = nullptr;
        for (int i = 0; i < dev_info_list.nDeviceNum; ++i) {
            auto tmp_dev_info = dev_info_list.pDeviceInfo[i];
            auto tmp_dev_name = (char *) tmp_dev_info->SpecialInfo.stUsb3VInfo.chUserDefinedName;
            if (strcmp(cam_name, tmp_dev_name) == 0) {
                dev_info = tmp_dev_info;
            }
        }
        if (dev_info == nullptr) {
            SPDLOG_ERROR("No camera named {}.", cam_name);
            RET_ERROR;
        }

//        MVS_API_CHECK(MV_CC_IsDeviceAccessible(dev_info, MV_ACCESS_Control));
        MVS_API_CHECK(MV_CC_CreateHandle(&handle, dev_info));
        MVS_API_CHECK(MV_CC_OpenDevice(handle, MV_ACCESS_Control));

        // close and open again to fix some bug
        MVS_API_CHECK(MV_CC_CloseDevice(handle));
        MVS_API_CHECK(MV_CC_OpenDevice(handle, MV_ACCESS_Control));

        // register callbacks
        MVS_API_CHECK(MV_CC_RegisterExceptionCallBack(handle, impl::on_error, this));
        MVS_API_CHECK(MV_CC_RegisterImageCallBackEx(handle, impl::on_image, this));

        SPDLOG_INFO("Camera {} opened successfully.", cam_name);
        return true;
    }

    bool start() {
        // make sure ring buffer is assigned properly
        assert(ring_buf != nullptr);

        // config camera
        assert(handle != nullptr);
        MVS_API_CHECK(MV_CC_SetEnumValue(handle, "PixelFormat", PixelType_Gvsp_BayerRG8));
        MVS_API_CHECK(MV_CC_SetEnumValue(handle, "BinningHorizontal", 2));
        MVS_API_CHECK(MV_CC_SetEnumValue(handle, "BinningVertical", 2));
        MVS_API_CHECK(MV_CC_SetEnumValue(handle, "AcquisitionMode",
                                         MV_CAM_ACQUISITION_MODE::MV_ACQ_MODE_CONTINUOUS));
        MVS_API_CHECK(MV_CC_SetEnumValue(handle, "TriggerMode", MV_TRIGGER_MODE_ON));
        MVS_API_CHECK(MV_CC_SetEnumValue(handle, "TriggerSource",
                                         MV_CAM_TRIGGER_SOURCE::MV_TRIGGER_SOURCE_SOFTWARE));

        // start capture
        MVS_API_CHECK(MV_CC_StartGrabbing(handle));
        is_capturing = true;
        SPDLOG_INFO("Camera {} is capturing.", cam_name);
        return true;
    }

    bool trigger() {
        assert(handle != nullptr);
        MVS_API_CHECK(MV_CC_TriggerSoftwareExecute(handle));
        return true;
    }

    bool stop() {
        assert(handle != nullptr);
        if (!is_capturing) return true;
        MVS_API_CHECK(MV_CC_StopGrabbing(handle));
        is_capturing = false;
        SPDLOG_INFO("Camera {} stopped capturing.", cam_name);
        return true;
    }

    bool close() {
        assert(handle != nullptr);
        stop();
        MVS_API_CHECK(MV_CC_CloseDevice(handle));
        MVS_API_CHECK(MV_CC_DestroyHandle(handle));
        SPDLOG_INFO("Camera {} closed.", cam_name);
        return true;
    }

    static void on_error(unsigned int msg_type, void *user_data) {
        auto pimpl = (impl *) user_data;
        SPDLOG_ERROR("MVS camera {} exception 0x{:x}.", pimpl->cam_name, msg_type);
        if (msg_type == 0x8003) return; // stop capture
        assert(false);
    }

    static void on_image(unsigned char *data, MV_FRAME_OUT_INFO_EX *frame_info, void *user_data) {
        ((impl *) user_data)->on_image_impl(data, frame_info);
    }

    void on_image_impl(unsigned char *data, MV_FRAME_OUT_INFO_EX *frame_info) {
        assert(frame_info->nFrameLen == image_size);
        auto host_img = cv::Mat{image_height, image_width, CV_8UC1, data};
        ring_buf->push_image(host_img);
    }
};

mvs_camera::mvs_camera(const char *camera_name)
        : pimpl(std::make_unique<impl>(camera_name)) {
}

mvs_camera::~mvs_camera() = default;

cv::Size mvs_camera::get_output_size() {
    return {impl::image_width, impl::image_height};
}

void mvs_camera::set_ring_buffer(image_ringbuffer *ring_buf) {
    pimpl->ring_buf = ring_buf;
}

bool mvs_camera::start() {
    return pimpl->start();
}

bool mvs_camera::trigger() {
    return pimpl->trigger();
}

void mvs_camera::stop() {
    pimpl->stop();
}

bool mvs_camera::set_capture_config(const capture_config &config) {
    MVS_API_CHECK(MV_CC_SetFloatValue(pimpl->handle, "ExposureTime", config.exposure_time_ms * 1000)); // ms -> us
    MVS_API_CHECK(MV_CC_SetFloatValue(pimpl->handle, "Gain", config.analog_gain_db));
    return true;
}

bool mvs_camera::is_capturing() const {
    return pimpl->is_capturing;
}