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solved the conflict
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@Fixstars-momoko
Fixstars-momoko committed Nov 17, 2023
2 parents cf73f69 + 630cb85 commit e9b2fbc
Showing 1 changed file with 116 additions and 63 deletions.
179 changes: 116 additions & 63 deletions src/bb/image-io/rt_u3v.h
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Original file line number Diff line number Diff line change
Expand Up @@ -296,8 +296,36 @@ class U3V {
int32_t num_device = devices_.size();
std::vector<ArvBuffer *> bufs(num_device);

// default is OperationMode::Came1USB1
if (operation_mode_ == OperationMode::Came2USB2 || operation_mode_ == OperationMode::Came1USB1){

// if aravis output queue length is more than N (where N > 1) for all devices, pop all N-1 buffer
if (realtime_display_mode_){
std::vector<int32_t> N_output_buffers(num_device);
for (auto i = 0; i < num_device; ++i){
int32_t num_input_buffer;
arv_stream_get_n_buffers(devices_[i].stream_, &num_input_buffer, &(N_output_buffers[i]));
}
// if all stream has N output buffers, discard N-1 of them
for(auto i = 0; i < num_device; ++i){
for (auto j = 0; j < N_output_buffers[i]-1; ++j){
bufs[i] = arv_stream_timeout_pop_buffer (devices_[i].stream_, timeout_us);
if (bufs[i] == nullptr){
log::error("pop_buffer(L2) failed due to timeout ({}s)", timeout_us*1e-6f);
throw ::std::runtime_error("buffer is null");
}
devices_[i].frame_count_ = is_gendc_
? static_cast<uint32_t>(get_frame_count_from_genDC_descriptor(bufs[i], devices_[i]))
: static_cast<uint32_t>(arv_buffer_get_timestamp(bufs[i]) & 0x00000000FFFFFFFF);
i == 0 ?
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20}) [skipped for realtime display]", devices_[i].frame_count_, "") :
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20}) [skipped for realtime display]", "", devices_[i].frame_count_);
arv_stream_push_buffer(devices_[i].stream_, bufs[i]);
}
}

}

// get the first buffer for each stream
for (auto i = 0; i< devices_.size(); ++i) {
bufs[i] = arv_stream_timeout_pop_buffer (devices_[i].stream_, timeout_us);
Expand All @@ -313,35 +341,6 @@ class U3V {
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20})", "", devices_[i].frame_count_);
}

if (realtime_display_mode_){
// get output buffer for each stream
int32_t min_num_output_buffer = std::numeric_limits<int>::max();
for (auto i = 0; i < num_device; ++i){
int32_t num_input_buffer, num_output_buffer;
arv_stream_get_n_buffers(devices_[i].stream_, &num_input_buffer, &num_output_buffer);
min_num_output_buffer = num_output_buffer < min_num_output_buffer ? num_output_buffer : min_num_output_buffer;
}
// if all stream has N output buffers, discard N-1 of them
if (min_num_output_buffer > 1){
for(auto i = 0; i < num_device; ++i){
for (auto j = 0; j < min_num_output_buffer-1; ++j){
arv_stream_push_buffer(devices_[i].stream_, bufs[i]);
bufs[i] = arv_stream_timeout_pop_buffer (devices_[i].stream_, timeout_us);
if (bufs[i] == nullptr){
log::error("pop_buffer(L2) failed due to timeout ({}s)", timeout_us*1e-6f);
throw ::std::runtime_error("buffer is null");
}
devices_[i].frame_count_ = is_gendc_
? static_cast<uint32_t>(get_frame_count_from_genDC_descriptor(bufs[i], devices_[i]))
: static_cast<uint32_t>(arv_buffer_get_timestamp(bufs[i]) & 0x00000000FFFFFFFF);
i == 0 ?
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20})", devices_[i].frame_count_, "") :
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20})", "", devices_[i].frame_count_);
}
}
}
}

if (frame_sync_) {
uint32_t max_cnt = 0;
while (true) {
Expand Down Expand Up @@ -385,7 +384,6 @@ class U3V {
}
}


for (int i = 0; i < num_sensor_; ++i){
::memcpy(outs[i], arv_buffer_get_part_data(bufs[i], 0, nullptr), devices_[i].image_payload_size_);
arv_stream_push_buffer(devices_[i].stream_, bufs[i]);
Expand All @@ -397,6 +395,33 @@ class U3V {
uint32_t latest_cnt = 0;
int32_t min_frame_device_idx = 0;

// if aravis output queue length is more than N (where N > 1) for all devices, pop all N-1 buffer
if (realtime_display_mode_){
std::vector<int32_t> N_output_buffers(num_device);
for (auto i = 0; i < num_device; ++i){
int32_t num_input_buffer;
arv_stream_get_n_buffers(devices_[i].stream_, &num_input_buffer, &(N_output_buffers[i]));
}
// if all stream has N output buffers, discard N-1 of them
for(auto i = 0; i < num_device; ++i){
for (auto j = 0; j < N_output_buffers[i]-1; ++j){

bufs[i] = arv_stream_timeout_pop_buffer (devices_[i].stream_, timeout_us);
if (bufs[i] == nullptr){
log::error("pop_buffer(L11) failed due to timeout ({}s)", timeout_us*1e-6f);
throw ::std::runtime_error("buffer is null");
}
devices_[i].frame_count_ = is_gendc_
? static_cast<uint32_t>(get_frame_count_from_genDC_descriptor(bufs[i], devices_[i]))
: static_cast<uint32_t>(arv_buffer_get_timestamp(bufs[i]) & 0x00000000FFFFFFFF);
i == 0 ?
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20}) [skipped for realtime display]", devices_[i].frame_count_, "") :
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20}) [skipped for realtime display]", "", devices_[i].frame_count_);
arv_stream_push_buffer(devices_[i].stream_, bufs[i]);
}
}
}

//first buffer
cameN_idx_ = (cameN_idx_+1) >= num_device ? 0 : cameN_idx_+1;
bufs[cameN_idx_] = arv_stream_timeout_pop_buffer (devices_[cameN_idx_].stream_, 30 * 1000 * 1000);
Expand Down Expand Up @@ -446,7 +471,7 @@ class U3V {
}
}

void get_with_gendc(std::vector<void *>& outs) {
void get_gendc(std::vector<void *>& outs) {

// TODO: Is 3 second fine?
auto timeout_us = 3 * 1000 * 1000;
Expand All @@ -456,6 +481,33 @@ class U3V {

if (operation_mode_ == OperationMode::Came2USB2 || operation_mode_ == OperationMode::Came1USB1){

if (realtime_display_mode_){
std::vector<int32_t> N_output_buffers(num_device);
for (auto i = 0; i < num_device; ++i){
int32_t num_input_buffer;
arv_stream_get_n_buffers(devices_[i].stream_, &num_input_buffer, &(N_output_buffers[i]));
}
// if all stream has N output buffers, discard N-1 of them
for(auto i = 0; i < num_device; ++i){
for (auto j = 0; j < N_output_buffers[i]-1; ++j){
bufs[i] = arv_stream_timeout_pop_buffer (devices_[i].stream_, timeout_us);
if (bufs[i] == nullptr){
log::error("pop_buffer(L6) failed due to timeout ({}s)", timeout_us*1e-6f);
throw ::std::runtime_error("buffer is null");
}
devices_[i].frame_count_ = is_gendc_
? static_cast<uint32_t>(get_frame_count_from_genDC_descriptor(bufs[i], devices_[i]))
: static_cast<uint32_t>(arv_buffer_get_timestamp(bufs[i]) & 0x00000000FFFFFFFF);

i == 0 ?
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20}) [skipped for realtime display]", devices_[i].frame_count_, "") :
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20}) [skipped for realtime display]", "", devices_[i].frame_count_);
arv_stream_push_buffer(devices_[i].stream_, bufs[i]);
}
}

}

// get the first buffer for each stream
for (auto i = 0; i< devices_.size(); ++i) {
bufs[i] = arv_stream_timeout_pop_buffer (devices_[i].stream_, timeout_us);
Expand All @@ -472,36 +524,6 @@ class U3V {
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20})", "", devices_[i].frame_count_);
}

if (realtime_display_mode_){
// get output buffer for each stream
int32_t min_num_output_buffer = std::numeric_limits<int>::max();
for (auto i = 0; i < num_device; ++i){
int32_t num_input_buffer, num_output_buffer;
arv_stream_get_n_buffers(devices_[i].stream_, &num_input_buffer, &num_output_buffer);
min_num_output_buffer = num_output_buffer < min_num_output_buffer ? num_output_buffer : min_num_output_buffer;
}
// if all stream has N output buffers, discard N-1 of them
if (min_num_output_buffer > 1){
for(auto i = 0; i < num_device; ++i){
for (auto j = 0; j < min_num_output_buffer-1; ++j){
arv_stream_push_buffer(devices_[i].stream_, bufs[i]);
bufs[i] = arv_stream_timeout_pop_buffer (devices_[i].stream_, timeout_us);
if (bufs[i] == nullptr){
log::error("pop_buffer(L6) failed due to timeout ({}s)", timeout_us*1e-6f);
throw ::std::runtime_error("buffer is null");
}
devices_[i].frame_count_ = is_gendc_
? static_cast<uint32_t>(get_frame_count_from_genDC_descriptor(bufs[i], devices_[i]))
: static_cast<uint32_t>(arv_buffer_get_timestamp(bufs[i]) & 0x00000000FFFFFFFF);

i == 0 ?
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20})", devices_[i].frame_count_, "") :
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20})", "", devices_[i].frame_count_);
}
}
}
}

if (frame_sync_) {
uint32_t max_cnt = 0;
while (true) {
Expand Down Expand Up @@ -553,6 +575,33 @@ class U3V {
uint32_t latest_cnt = 0;
int32_t min_frame_device_idx = 0;

// if aravis output queue length is more than N (where N > 1) for all devices, pop all N-1 buffer
if (realtime_display_mode_){
std::vector<int32_t> N_output_buffers(num_device);
for (auto i = 0; i < num_device; ++i){
int32_t num_input_buffer;
arv_stream_get_n_buffers(devices_[i].stream_, &num_input_buffer, &(N_output_buffers[i]));
}
// if all stream has N output buffers, discard N-1 of them
for(auto i = 0; i < num_device; ++i){
for (auto j = 0; j < N_output_buffers[i]-1; ++j){

bufs[i] = arv_stream_timeout_pop_buffer (devices_[i].stream_, timeout_us);
if (bufs[i] == nullptr){
log::error("pop_buffer(L12) failed due to timeout ({}s)", timeout_us*1e-6f);
throw ::std::runtime_error("buffer is null");
}
devices_[i].frame_count_ = is_gendc_
? static_cast<uint32_t>(get_frame_count_from_genDC_descriptor(bufs[i], devices_[i]))
: static_cast<uint32_t>(arv_buffer_get_timestamp(bufs[i]) & 0x00000000FFFFFFFF);
i == 0 ?
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20}) [skipped for realtime display]", devices_[i].frame_count_, "") :
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20}) [skipped for realtime display]", "", devices_[i].frame_count_);
arv_stream_push_buffer(devices_[i].stream_, bufs[i]);
}
}
}

//first buffer
cameN_idx_ = (cameN_idx_+1) >= num_device ? 0 : cameN_idx_+1;
bufs[cameN_idx_] = arv_stream_timeout_pop_buffer (devices_[cameN_idx_].stream_, 30 * 1000 * 1000);
Expand Down Expand Up @@ -583,6 +632,9 @@ class U3V {
devices_[cameN_idx_].frame_count_ = is_gendc_
? static_cast<uint32_t>(get_frame_count_from_genDC_descriptor(bufs[cameN_idx_], devices_[cameN_idx_]))
: static_cast<uint32_t>(arv_buffer_get_timestamp(bufs[cameN_idx_]) & 0x00000000FFFFFFFF);
cameN_idx_ == 0 ?
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20}) [skipped for realtime display]", devices_[cameN_idx_].frame_count_, "") :
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20}) [skipped for realtime display]", "", devices_[cameN_idx_].frame_count_);
latest_cnt = devices_[cameN_idx_].frame_count_;
if (internal_count++ > max_internal_count){
log::error("pop_buffer(L10) The sequential invalid buffer is more than {}; Stop the pipeline.", max_internal_count);
Expand All @@ -594,6 +646,7 @@ class U3V {
::memcpy(outs[0], arv_buffer_get_data(bufs[cameN_idx_], nullptr), devices_[cameN_idx_].u3v_payload_size_);
// ::memcpy(outs[1], &(devices_[cameN_idx_].header_info_), sizeof(ion::bb::image_io::rawHeader));
arv_stream_push_buffer(devices_[cameN_idx_].stream_, bufs[cameN_idx_]);
log::trace("Obtained Frame from USB{}: {}", cameN_idx_, frame_cnt_);
}
}

Expand Down Expand Up @@ -1203,7 +1256,7 @@ int ION_EXPORT ion_bb_image_io_u3v_gendc_camera1(
u3v.SetExposure(i, exposure_key, (reinterpret_cast<double*>(exposure->host))[i]);
}
std::vector<void *> obufs{out_gendc->host};
u3v.get_with_gendc(obufs);
u3v.get_gendc(obufs);

if(dispose){
u3v.dispose();
Expand Down Expand Up @@ -1251,7 +1304,7 @@ int ION_EXPORT ion_bb_image_io_u3v_gendc_camera2(
}

std::vector<void *> obufs{gendc0->host, gendc1->host};
u3v.get_with_gendc(obufs);
u3v.get_gendc(obufs);

if(dispose){
u3v.dispose();
Expand Down

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