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Merge pull request #47 from aliddell/7-simulated-camera-stalling
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Fix simulated camera stalling
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@nclack
nclack authored Jul 30, 2024
2 parents 2480a1b + 8ae31e7 commit a5bb73d
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Showing 3 changed files with 288 additions and 30 deletions.
115 changes: 85 additions & 30 deletions acquire-driver-common/src/simcams/simulated.camera.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -67,12 +67,14 @@ struct SimulatedCamera

struct
{
void* data;
void* frame_data; // for storing the image
void* render_data; // for rendering the image
struct ImageShape shape;
struct lock lock;
int64_t frame_id;
int64_t last_emitted_frame_id;
struct condition_variable frame_ready;
uint8_t frame_wanted;
} im;

struct
Expand Down Expand Up @@ -192,6 +194,19 @@ compute_strides(struct ImageShape* shape)
st[i] = st[i - 1] * dims[i - 1];
}

static void*
checked_realloc(void* in, size_t nbytes)
{
void* out = realloc(in, nbytes);
EXPECT(out, "Allocation of %llu bytes failed.", nbytes);

Finalize:
return out;
Error:
free(in);
goto Finalize;
}

static void
compute_full_resolution_shape_and_offset(const struct SimulatedCamera* self,
struct ImageShape* shape,
Expand All @@ -217,20 +232,38 @@ simulated_camera_streamer_thread(struct SimulatedCamera* self)
{
clock_init(&self->streamer.throttle);

int64_t frame_id = self->im.frame_id;
while (self->streamer.is_running) {
struct ImageShape full = { 0 };
uint32_t origin[2] = { 0, 0 };

ECHO(lock_acquire(&self->im.lock));
while (self->properties.input_triggers.frame_start.enable &&
!self->software_trigger.triggered) {
ECHO(condition_variable_wait(&self->software_trigger.trigger_ready,
&self->im.lock));
}
self->software_trigger.triggered = 0;

// compute the full resolution shape and offset
ECHO(compute_full_resolution_shape_and_offset(self, &full, origin));

const float exposure_time_ms =
self->properties.exposure_time_us * 1e-3f;
ECHO(lock_release(&self->im.lock));

clock_tic(&self->streamer.throttle);

// generate the image
switch (self->kind) {
case BasicDevice_Camera_Random:
im_fill_rand(&full, self->im.data);
im_fill_rand(&full, self->im.render_data);
break;
case BasicDevice_Camera_Sin:
ECHO(im_fill_pattern(
&full, (float)origin[0], (float)origin[1], self->im.data));
ECHO(im_fill_pattern(&full,
(float)origin[0],
(float)origin[1],
self->im.render_data));
break;
case BasicDevice_Camera_Empty:
break; // do nothing
Expand All @@ -239,35 +272,44 @@ simulated_camera_streamer_thread(struct SimulatedCamera* self)
"Unexpected index for the kind of simulated camera. Got: %d",
self->kind);
}
{

// apply binning if applicable
if (self->properties.binning > 1) {
int w = full.dims.width;
int h = full.dims.height;
int b = self->properties.binning >> 1;
while (b) {
ECHO(bin2(self->im.data, w, h));
ECHO(bin2(self->im.render_data, w, h));
b >>= 1;
w >>= 1;
h >>= 1;
}
}

if (self->properties.input_triggers.frame_start.enable) {
while (!self->software_trigger.triggered) {
ECHO(condition_variable_wait(
&self->software_trigger.trigger_ready, &self->im.lock));
}
self->software_trigger.triggered = 0;
++frame_id;

// sleep for the remainder of the exposure time
float toc = (float)clock_toc_ms(&self->streamer.throttle);
if (self->streamer.is_running) {
clock_sleep_ms(&self->streamer.throttle, exposure_time_ms - toc);
}

self->hardware_timestamp = clock_tic(0);
++self->im.frame_id;
if (self->im.frame_wanted) {
ECHO(lock_acquire(&self->im.lock));

ECHO(condition_variable_notify_all(&self->im.frame_ready));
ECHO(lock_release(&self->im.lock));
{
void* const tmp = self->im.frame_data;
self->im.frame_data = self->im.render_data;
self->im.render_data = tmp;
}

self->hardware_timestamp = clock_tic(0);
self->im.frame_id = frame_id;
self->im.frame_wanted = 0;

if (self->streamer.is_running)
clock_sleep_ms(&self->streamer.throttle,
self->properties.exposure_time_us * 1e-3f);
ECHO(condition_variable_notify_all(&self->im.frame_ready));
ECHO(lock_release(&self->im.lock));
}
}
}

Expand Down Expand Up @@ -335,16 +377,20 @@ simcam_set(struct Camera* camera, struct CameraProperties* settings)
if (!settings->binning)
settings->binning = 1;

EXPECT(popcount_u8(settings->binning) == 1,
"Binning must be a power of two. Got %d.",
settings->binning);
if (popcount_u8(settings->binning) != 1) {
LOGE("Binning must be a power of two. Got %d.", settings->binning);
return Device_Err;
}

if (self->properties.input_triggers.frame_start.enable &&
!settings->input_triggers.frame_start.enable) {
// fire if disabling the software trigger while live
simcam_execute_trigger(camera);
}

enum DeviceStatusCode status = Device_Ok;

ECHO(lock_acquire(&self->im.lock));
self->properties = *settings;
self->properties.pixel_type = settings->pixel_type;
self->properties.input_triggers = (struct camera_properties_input_triggers_s){
Expand Down Expand Up @@ -376,12 +422,15 @@ simcam_set(struct Camera* camera, struct CameraProperties* settings)
};

size_t nbytes = aligned_bytes_of_image(shape);
self->im.data = malloc(nbytes);
EXPECT(self->im.data, "Allocation of %llu bytes failed.", nbytes);
CHECK(self->im.frame_data = checked_realloc(self->im.frame_data, nbytes));
CHECK(self->im.render_data = checked_realloc(self->im.render_data, nbytes));

return Device_Ok;
Finalize:
lock_release(&self->im.lock);
return status;
Error:
return Device_Err;
status = Device_Err;
goto Finalize;
}

static enum DeviceStatusCode
Expand Down Expand Up @@ -426,6 +475,7 @@ simcam_execute_trigger(struct Camera* camera)
containerof(camera, struct SimulatedCamera, camera);

lock_acquire(&self->im.lock);
self->im.frame_wanted = 1;
self->software_trigger.triggered = 1;
condition_variable_notify_all(&self->software_trigger.trigger_ready);
lock_release(&self->im.lock);
Expand Down Expand Up @@ -464,6 +514,8 @@ simcam_get_frame(struct Camera* camera,
self->im.last_emitted_frame_id,
self->im.frame_id);
ECHO(lock_acquire(&self->im.lock));
self->im.frame_wanted = 1;

while (self->streamer.is_running &&
self->im.last_emitted_frame_id >= self->im.frame_id) {
ECHO(condition_variable_wait(&self->im.frame_ready, &self->im.lock));
Expand All @@ -473,7 +525,7 @@ simcam_get_frame(struct Camera* camera,
goto Shutdown;
}

memcpy(im, self->im.data, bytes_of_image(&self->im.shape)); // NOLINT
memcpy(im, self->im.frame_data, bytes_of_image(&self->im.shape)); // NOLINT
info_out->shape = self->im.shape;
info_out->hardware_frame_id = self->im.frame_id;
info_out->hardware_timestamp = self->hardware_timestamp;
Expand All @@ -491,8 +543,9 @@ simcam_close_camera(struct Camera* camera_)
containerof(camera_, struct SimulatedCamera, camera);
EXPECT(camera_, "Invalid NULL parameter");
simcam_stop(&camera->camera);
if (camera->im.data)
free(camera->im.data);

free(camera->im.frame_data);
free(camera->im.render_data);
free(camera);
return Device_Ok;
Error:
Expand Down Expand Up @@ -521,7 +574,8 @@ simcam_make_camera(enum BasicDeviceKind kind)
.properties = properties,
.kind=kind,
.im={
.data=0,
.frame_data=0,
.render_data=0,
.shape = {
.dims = {
.channels = 1,
Expand All @@ -537,6 +591,7 @@ simcam_make_camera(enum BasicDeviceKind kind)
},
.type=properties.pixel_type
},
.frame_wanted = 0,
},
.camera={
.state = DeviceState_AwaitingConfiguration,
Expand Down
1 change: 1 addition & 0 deletions acquire-driver-common/tests/integration/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@ else ()
can-set-with-file-uri
configure-triggering
list-digital-lines
simcam-will-not-stall
software-trigger-acquires-single-frames
switch-storage-identifier
write-side-by-side-tiff
Expand Down
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