summaryrefslogtreecommitdiffstats
path: root/reader.c
blob: b28c51a063ec583b34dda0d80fe14d8742fa9ff8 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
#define _DEFAULT_SOURCE
#define _BSD_SOURCE
#define _GNU_SOURCE

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <sys/time.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <pthread.h>
#include <assert.h>

#include <ufodecode.h>

#include <pcilib.h>
#include <pcilib/tools.h>
#include <pcilib/error.h>
#include <pcilib/timing.h>

#include "model.h"
#include "private.h"
#include "reader.h"


#define GET_REG(reg, var) \
    if (!err) { \
	err = pcilib_read_register_by_id(pcilib, ctx->reg, &var); \
	if (err) { \
	    pcilib_error("Error reading %s register", model_info->registers[ctx->reg].name); \
	} \
    }

#define SET_REG(reg, val) \
    if (!err) { \
	err = pcilib_write_register_by_id(pcilib, ctx->reg, val); \
	if (err) { \
	    pcilib_error("Error writting %s register", model_info->registers[ctx->reg].name); \
	} \
    }

/*
#define CHECK_FRAME_MAGIC(buf) \
	memcmp(buf, ((void*)frame_magic) + 1, sizeof(frame_magic) - 1)
*/

#define CHECK_FRAME_MAGIC(buf) \
	memcmp(((ipecamera_payload_t*)(buf)) + 1, &frame_magic[1], sizeof(frame_magic) - sizeof(ipecamera_payload_t))

static ipecamera_payload_t frame_magic[3] = { 0x51111111, 0x52222222, 0x53333333 };



int ipecamera_compute_buffer_size(ipecamera_t *ctx, ipecamera_format_t format, size_t header_size, size_t lines) {
//    const size_t header_size = 8 * sizeof(ipecamera_payload_t);
    const size_t footer_size = CMOSIS_FRAME_TAIL_SIZE;

    size_t max_channels;
    size_t line_size, raw_size, padded_blocks;

    switch (format) {
     case IPECAMERA_FORMAT_CMOSIS:
	max_channels = CMOSIS_MAX_CHANNELS;
	line_size = (1 + CMOSIS_PIXELS_PER_CHANNEL) * 32; 
	break;
     case IPECAMERA_FORMAT_CMOSIS20:
	max_channels = CMOSIS20_MAX_CHANNELS;
	line_size = (1 + CMOSIS20_PIXELS_PER_CHANNEL) * 32 / 2;
	break;
     default:
	pcilib_warning("Unsupported version (%u) of frame format...", format);
	return PCILIB_ERROR_NOTSUPPORTED;
    }

    raw_size = lines * line_size;
    raw_size *= max_channels / ctx->cmosis_outputs;
    raw_size += header_size + footer_size;

#ifdef IPECAMERA_BUG_MISSING_PAYLOAD
        // As I understand, the first 32-byte packet is missing, so we need to substract 32 (both CMOSIS and CMOSIS20)
    raw_size -= 32;
#endif /* IPECAMERA_BUG_MISSING_PAYLOAD */

    padded_blocks = raw_size / IPECAMERA_DMA_PACKET_LENGTH + ((raw_size % IPECAMERA_DMA_PACKET_LENGTH)?1:0);

    ctx->roi_raw_size = raw_size;
    ctx->roi_padded_size = padded_blocks * IPECAMERA_DMA_PACKET_LENGTH;

    return 0;
}


static int ipecamera_parse_header(ipecamera_t *ctx, ipecamera_payload_t *buf, size_t buf_size) {
    int last = buf[0] & 1;
    int version = (buf[0] >> 1) & 7;
    size_t size = 0, n_lines;
    ipecamera_format_t format = IPECAMERA_FORMAT_CMOSIS;

    switch (version) {
     case 0:
	n_lines = ((uint32_t*)buf)[5] & 0x7FF;
	ctx->frame[ctx->buffer_pos].event.info.seqnum = buf[6] & 0xFFFFFF;
	ctx->frame[ctx->buffer_pos].event.info.offset = (buf[7] & 0xFFFFFF) * 80;
	break;
     case 1:
	n_lines = ((uint32_t*)buf)[5] & 0xFFFF;
	if (!n_lines) {
	    pcilib_error("The frame header claims 0 lines in the data");
	    return 0;
	}

	ctx->frame[ctx->buffer_pos].event.info.seqnum = buf[6] & 0xFFFFFF;
	ctx->frame[ctx->buffer_pos].event.info.offset = (buf[7] & 0xFFFFFF) * 80;
	format = (buf[6] >> 24)&0x0F;
        break;
     default:
	ipecamera_debug(HARDWARE, "Incorrect version of the frame header, ignoring broken data...");
	return 0;
    }
    gettimeofday(&ctx->frame[ctx->buffer_pos].event.info.timestamp, NULL);

    ipecamera_debug(FRAME_HEADERS, "frame %lu: %x %x %x %x", ctx->frame[ctx->buffer_pos].event.info.seqnum, buf[0], buf[1], buf[2], buf[3]);
    ipecamera_debug(FRAME_HEADERS, "frame %lu: %x %x %x %x", ctx->frame[ctx->buffer_pos].event.info.seqnum, buf[4], buf[5], buf[6], buf[7]);

    while ((!last)&&((size + CMOSIS_FRAME_HEADER_SIZE) <= buf_size)) {
	size += CMOSIS_FRAME_HEADER_SIZE;
	last = buf[size] & 1;
    }

    size += CMOSIS_FRAME_HEADER_SIZE;
    ipecamera_compute_buffer_size(ctx, format, size, n_lines);

	// Returns total size of found headers or 0 on the error
    return size;
}


static inline int ipecamera_new_frame(ipecamera_t *ctx) {
    ctx->frame[ctx->buffer_pos].event.raw_size = ctx->cur_size;

    if (ctx->cur_size < ctx->roi_raw_size) {
	ctx->frame[ctx->buffer_pos].event.info.flags |= PCILIB_EVENT_INFO_FLAG_BROKEN;
    }
    
    ctx->buffer_pos = (++ctx->event_id) % ctx->buffer_size;
    ctx->cur_size = 0;

    ctx->frame[ctx->buffer_pos].event.info.type = PCILIB_EVENT0;
    ctx->frame[ctx->buffer_pos].event.info.flags = 0;
    ctx->frame[ctx->buffer_pos].event.image_ready = 0;

    if ((ctx->event_id == ctx->autostop.evid)&&(ctx->event_id)) {
	ctx->run_reader = 0;
	return 1;
    }
	
    if (pcilib_check_deadline(&ctx->autostop.timestamp, 0)) {
	ctx->run_reader = 0;
	return 1;
    }
    
    return 0;
}

static int ipecamera_data_callback(void *user, pcilib_dma_flags_t flags, size_t bufsize, void *buf) {
    int res;
    int eof = 0;
    
    static unsigned long packet_id = 0;

#ifdef IPECAMERA_BUG_MULTIFRAME_PACKETS
    size_t real_size;
    size_t extra_data = 0;
#endif /* IPECAMERA_BUG_MULTIFRAME_PACKETS */
    
    ipecamera_t *ctx = (ipecamera_t*)user;

#if defined(IPECAMERA_BUG_INCOMPLETE_PACKETS)||defined(IPECAMERA_BUG_MULTIFRAME_PACKETS)
    static  pcilib_event_id_t invalid_frame_id = (pcilib_event_id_t)-1;
#endif

    packet_id++;
    ipecamera_debug_buffer(RAW_PACKETS, bufsize, buf, PCILIB_DEBUG_BUFFER_MKDIR, "frame%4lu/frame%9lu", ctx->event_id, packet_id);

    if (!ctx->cur_size) {
#ifdef IPECAMERA_BUG_MULTIFRAME_HEADERS
	if (ctx->saved_header_size) {
	    void *buf2 = alloca(ctx->saved_header_size + bufsize);
	    if (!buf2) {
		pcilib_error("Error allocating %zu bytes of memory in stack", ctx->saved_header_size + bufsize);
		return -PCILIB_ERROR_MEMORY;
	    }
	    memcpy(buf2, ctx->saved_header, ctx->saved_header_size);
	    memcpy(buf2 + ctx->saved_header_size, buf, bufsize);

	    buf = buf2;
	    bufsize += ctx->saved_header_size;

	    ctx->saved_header_size = 0;
	}
#endif /* IPECAMERA_BUG_MULTIFRAME_HEADERS */

#if defined(IPECAMERA_BUG_INCOMPLETE_PACKETS)||defined(IPECAMERA_BUG_MULTIFRAME_PACKETS)
	size_t startpos;
	for (startpos = 0; (startpos + CMOSIS_ENTITY_SIZE) <= bufsize; startpos += sizeof(ipecamera_payload_t)) {
	    if (!CHECK_FRAME_MAGIC(buf + startpos)) break;
	}
	
	if ((startpos +  CMOSIS_ENTITY_SIZE) > bufsize) {
	    ipecamera_debug_buffer(RAW_PACKETS, bufsize, NULL, 0, "frame%4lu/frame%9lu.invalid", ctx->event_id, packet_id);
	    
	    if (invalid_frame_id != ctx->event_id) {
		ipecamera_debug(HARDWARE, "No frame magic in DMA packet of %u bytes, current event %lu", bufsize, ctx->event_id);
		invalid_frame_id = ctx->event_id;
	    }

	    return PCILIB_STREAMING_CONTINUE;
	}
	
	if (startpos) {
		// pass padding to rawdata callback
	    if (ctx->event.params.rawdata.callback) {
		res = ctx->event.params.rawdata.callback(0, NULL, PCILIB_EVENT_FLAG_RAW_DATA_ONLY, startpos, buf, ctx->event.params.rawdata.user);
		if (res <= 0) {
		    if (res < 0) return res;
		    ctx->run_reader = 0;
		}
	    }


	    buf += startpos;
	    bufsize -= startpos;
	}
#endif /* IPECAMERA_BUG_INCOMPLETE_PACKETS */

	if ((bufsize >= CMOSIS_FRAME_HEADER_SIZE)&&(!CHECK_FRAME_MAGIC(buf))) {
		// We should handle the case when multi-header is split between multiple DMA packets
	    if (!ipecamera_parse_header(ctx, buf, bufsize))
		return PCILIB_STREAMING_CONTINUE;

#ifdef IPECAMERA_BUG_MULTIFRAME_HEADERS
	} else if ((bufsize >= CMOSIS_ENTITY_SIZE)&&(!CHECK_FRAME_MAGIC(buf))) {
	    memcpy(ctx->saved_header, buf, bufsize);
	    ctx->saved_header_size = bufsize;
	    return PCILIB_STREAMING_REQ_FRAGMENT;
#endif /* IPECAMERA_BUG_MULTIFRAME_HEADERS */
	} else {
	    ipecamera_debug(HARDWARE, "Frame magic is not found in the remaining DMA packet consisting of %u bytes, ignoring broken data...", bufsize);
	    return PCILIB_STREAMING_CONTINUE;
	}
    }

#ifdef IPECAMERA_BUG_MULTIFRAME_PACKETS
	// for rawdata_callback with complete padding
    real_size = bufsize;
    
    if (ctx->cur_size + bufsize > ctx->roi_raw_size) {
        size_t need;
	
	for (need = ctx->roi_raw_size - ctx->cur_size; (need + CMOSIS_ENTITY_SIZE) <= bufsize; need += sizeof(uint32_t)) {
	    if (!CHECK_FRAME_MAGIC(buf + need)) break;
	}
	
	if ((need + CMOSIS_ENTITY_SIZE) <= bufsize) {
	    extra_data = bufsize - need;
	    eof = 1;
	}

	    // just rip of padding
	bufsize = ctx->roi_raw_size - ctx->cur_size;
	ipecamera_debug_buffer(RAW_PACKETS, bufsize, buf, 0, "frame%4lu/frame%9lu.partial", ctx->event_id, packet_id);
    }
#endif /* IPECAMERA_BUG_MULTIFRAME_PACKETS */

    if (ctx->parse_data) {
	if (ctx->cur_size + bufsize > ctx->padded_size) {
    	    pcilib_error("Unexpected event data, we are expecting at maximum (%zu) bytes, but (%zu) already read", ctx->padded_size, ctx->cur_size + bufsize);
	    return -PCILIB_ERROR_TOOBIG;
	}

	if (bufsize) {
#ifdef IPECAMERA_BUG_REPEATING_DATA
	    if ((bufsize > 16)&&(ctx->cur_size > 16)) {
		if (!memcmp(ctx->buffer + ctx->buffer_pos * ctx->padded_size +  ctx->cur_size - 16, buf, 16)) {
		    pcilib_warning("Skipping repeating bytes at offset %zu of frame %zu", ctx->cur_size, ctx->event_id);
		    buf += 16;
		    bufsize -=16;
		}
	    }
#endif /* IPECAMERA_BUG_REPEATING_DATA */
	    memcpy(ctx->buffer + ctx->buffer_pos * ctx->padded_size +  ctx->cur_size, buf, bufsize);
	}
    }

    ctx->cur_size += bufsize;

    if (ctx->cur_size >= ctx->roi_raw_size) {
	eof = 1;
    }

    if (ctx->event.params.rawdata.callback) {
	res = ctx->event.params.rawdata.callback(ctx->event_id, (pcilib_event_info_t*)(ctx->frame + ctx->buffer_pos), (eof?PCILIB_EVENT_FLAG_EOF:PCILIB_EVENT_FLAGS_DEFAULT), bufsize, buf, ctx->event.params.rawdata.user);
	if (res <= 0) {
	    if (res < 0) return res;
	    ctx->run_reader = 0;
	}
    }
    
    if (eof) {
	if ((ipecamera_new_frame(ctx))||(!ctx->run_reader)) {
	    return PCILIB_STREAMING_STOP;
	}
	
#ifdef IPECAMERA_BUG_MULTIFRAME_PACKETS
	if (extra_data) {
	    return ipecamera_data_callback(user, flags, extra_data, buf + (real_size - extra_data));
	}
#endif /* IPECAMERA_BUG_MULTIFRAME_PACKETS */
    }

    return PCILIB_STREAMING_REQ_FRAGMENT;
}

void *ipecamera_reader_thread(void *user) {
    int err;
    ipecamera_t *ctx = (ipecamera_t*)user;
#ifdef IPECAMERA_BUG_STUCKED_BUSY
    pcilib_register_value_t saved, value;
    pcilib_t *pcilib = ctx->event.pcilib;
    const pcilib_model_description_t *model_info = pcilib_get_model_description(pcilib);
#endif /* IPECAMERA_BUG_STUCKED_BUSY */

    while (ctx->run_reader) {
	err = pcilib_stream_dma(ctx->event.pcilib, ctx->rdma, 0, 0, PCILIB_DMA_FLAG_MULTIPACKET, IPECAMERA_DMA_TIMEOUT, &ipecamera_data_callback, user);
	if (err) {
	    if (err == PCILIB_ERROR_TIMEOUT) {
		if (ctx->cur_size >= ctx->roi_raw_size) ipecamera_new_frame(ctx);
#ifdef IPECAMERA_BUG_INCOMPLETE_PACKETS
		else if (ctx->cur_size > 0) ipecamera_new_frame(ctx);
#endif /* IPECAMERA_BUG_INCOMPLETE_PACKETS */
		if (pcilib_check_deadline(&ctx->autostop.timestamp, 0)) {
		    ctx->run_reader = 0;
		    break;
		}
#ifdef IPECAMERA_BUG_STUCKED_BUSY
		GET_REG(status2_reg, value);
		if ((!err)&&(value&0x2FFFFFFF)) {
		    pcilib_warning("Camera stuck in busy, trying to recover...");
		    GET_REG(control_reg, saved);
		    SET_REG(control_reg, IPECAMERA_IDLE);
		    while ((value&0x2FFFFFFF)&&(ctx->run_reader)) {
			usleep(IPECAMERA_NOFRAME_SLEEP);
		    }
		}
#endif /* IPECAMERA_BUG_STUCKED_BUSY */
		usleep(IPECAMERA_NOFRAME_SLEEP);
	    } else pcilib_error("DMA error while reading IPECamera frames, error: %i", err);
	} 
    }
    
    ctx->run_streamer = 0;
    
    if (ctx->cur_size)
	pcilib_info("partialy read frame after stop signal, %zu bytes in the buffer", ctx->cur_size);

    return NULL;
}