Support the older GigE cameras (Manta) on rietschen
Rietschen has three Manta G-1236 on one GbE port, whose firmware predates the names the program uses. A feature missing by its SFNC name is now looked up by the older one (ExposureTimeAbs, AcquisitionFrameRateAbs, ExposureAutoTarget, ExposureAutoAdjustTol), so test camera, the telemetry and the keep rule's reads work. export_camera_profile.py picks a gige recipe for such a camera: frame trigger off, BayerRG8 or Mono8, 60 MB/s, auto-exposure target 50 %. At the cameras' old target of 25 every waypoint ran into frame_timeout_ms. The camera probe now lists every camera. With several, the hardware.ini kit writes CHOOSE_ONE, install-tower asks which is the colour one, and the profile export is given that id - the first one the SDK lists was the NIR camera. install-tower names the unit that holds the motor port instead of assuming start_gimbal.service. Tested on rietschen's NIR camera with the motor mocked, beside the running old program: test camera PASS, a snapshot as a 3008x4112 grey JXL, a scan keeping a picture every 5 s. Tests 542/542 (mock build). The colour camera is not yet tested; the old program has it open. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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GPG Key ID:
94E8C523489B8AC1
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@ -714,6 +714,46 @@ feature vocabularies differ, so copying another tower's XML does not work:
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| `IntensityAutoPrecedence` | `Minimizeexposuretime` / `Minimizenoise` | **`MinimizeBlur` / `MinimizeNoise`** |
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| Sensor | 12 MP | 16 MP, 5328x3040 |
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### Older GigE cameras (Manta) `[partial]`
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Rietschen has three Allied Vision Manta G-1236 on one GbE port (`enp1s0`,
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MTU 8000): RGB (G-1236C), NIR and ACR (both G-1236B). Their firmware
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(00.01.54) predates the names the program and the Alvium use:
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| Program / Alvium | Manta |
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|---|---|
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| `ExposureTime` | `ExposureTimeAbs` |
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| `AcquisitionFrameRate` (+ `…Enable`) | `AcquisitionFrameRateAbs`, free-running at `AcquisitionFrameRateLimit` |
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| `IntensityControllerTarget` / `…Tolerance` | `ExposureAutoTarget` / `ExposureAutoAdjustTol` |
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| `DeviceLinkThroughputLimit` | `StreamBytesPerSecond` (max 124 MB/s, shared by every camera on the port) |
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| `BayerRG12p`, chunk data, `DeviceReset` | none |
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The program looks a missing feature up under its older name, so `test camera`
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and the telemetry work. `export_camera_profile.py` picks its `gige` recipe by
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itself when a camera has `ExposureTimeAbs` and no `ExposureTime`: frame trigger
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off (the legacy cameras booted with `TriggerMode = On`, `Line1`), `BayerRG8` on
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the colour camera and `Mono8` on a mono one, 60 MB/s each, and an auto-exposure
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target of 50 %. That last one matters: the keep rule waits for the frame mean
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to reach 50 %, and at the cameras' old 25 every waypoint ran into
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`frame_timeout_ms`.
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Give `--camera` the id: with several cameras the first one the SDK lists is
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not the colour one, and the order changes from run to run. `install.sh
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--probe` lists them all, `install.sh --hardware-ini` writes `CHOOSE_ONE`
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without `--camera-id`, and `install-tower` asks (`camera_id`).
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What is still missing: a Manta has no `DeviceReset`, so the program cannot
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reset a stuck camera (it says so and goes on); and without chunk data the keep
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rule cannot tell a dark scene at the exposure limit, so at night it keeps the
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newest frame after `frame_timeout_ms`.
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`[verified]` on rietschen's NIR camera, 2026-10-20, with the motor mocked and
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the old program running beside it: `test camera` PASS (5 frames 4112x3008
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Mono8 in 1.7 s, dark 100 % <= 20, bright mean 255), `snapshot` writes a
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3008x4112 grey JXL (`rotation_deg = 270`, as the old program rotated), and a
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scan keeps a picture every 5 s without a timeout. The colour camera is not yet
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tested: the old program has it open.
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### Binning is not optional, and the frame-rate ceiling is not what it looks like
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Unbinned RGB8 on the 16 MP sensor is a **48.6 MB frame** - over the ~20 MB
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@ -100,6 +100,9 @@ probe_mcu() {
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# therefore taken only from a block whose transport layer is the USB or GigE
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# TL. A tower configured with DEV_Cam1 would "find its camera" and capture
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# synthetic images forever.
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#
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# One id per line, like probe_mcu: rietschen has three GigE cameras on one port,
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# and the first one listed is not the colour one, so the caller has to choose.
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probe_camera_id() {
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local tool
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for tool in /opt/VimbaX*/bin/ListCameras_VmbC /opt/VimbaX*/bin/ListCameras; do
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@ -113,7 +116,7 @@ probe_camera_id() {
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done
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"$tool" 2>/dev/null | awk '
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/Camera ID/ { id = $NF }
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/Transport Layer Path/ { if (id != "" && $NF !~ /Simulator/) { print id; exit } }
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/Transport Layer Path/ { if (id != "" && $NF !~ /Simulator/) print id; id = "" }
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'
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return
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done
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@ -134,7 +137,8 @@ probe_camera_lpm_path() {
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probe_report() {
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local board mcu cam lpm
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board="$(probe_board)"; mcu="$(probe_mcu)"; cam="$(probe_camera_id)"; lpm="$(probe_camera_lpm_path)"
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board="$(probe_board)"; mcu="$(probe_mcu)"; lpm="$(probe_camera_lpm_path)"
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cam="$(probe_camera_id | paste -sd ' ')"
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echo "board : $board"
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echo "os : $(. /etc/os-release && echo "$PRETTY_NAME") ($(uname -r))"
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echo "motor MCU : ${mcu:-NOT FOUND}"
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@ -270,7 +274,7 @@ do_vimba() {
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local id; id="$(probe_camera_id)"
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if [[ -n $id ]]; then
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say "camera found: $id"
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say "camera found: ${id//$'\n'/, }"
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else
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warn "no camera reported by ListCameras yet"
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warn "the SDK asks for a reboot before the transport layers are usable"
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@ -374,6 +378,11 @@ emit_hardware_ini() {
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warn "$mcu"
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mcu="CHOOSE_ONE"
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fi
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if [[ $(wc -l <<< "$cam") -gt 1 ]]; then
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warn "several cameras found; pick one with --camera-id:"
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warn "$cam"
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cam="CHOOSE_ONE"
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fi
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cat <<EOF
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; hardware.ini - what this machine IS. Generated by hardware/$KIT_BOARD/install.sh
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@ -120,6 +120,83 @@ RECIPES = {
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],
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}
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# The older GigE cameras (Manta G-1236 on rietschen, firmware 00.01.54) name
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# things differently - ExposureTimeAbs, AcquisitionFrameRateAbs, ExposureAutoTarget
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# - and have no IntensityController, no DeviceLinkThroughputLimit and no 12-bit
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# packed Bayer the program reads. Measured on rietschen's NIR camera, 2026-10-20.
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# The link is shared: the camera free-runs as fast as StreamBytesPerSecond lets
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# it (41 MB/s gave 3.2 fps at 12.4 MB a frame), and the cameras of one tower sit
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# on one GbE port (~124 MB/s), so each gets half of it - room for RGB and NIR.
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# PixelFormat takes the first the camera offers: raw Bayer on the colour camera,
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# de-Bayered on the tower and a third of RGB8 on the wire; Mono8 on a mono one.
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# The packet size is left alone: it has to fit the port's MTU, which is the
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# tower's network setup, not the camera's.
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_GIGE_COMMON = [
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("TriggerSelector", "FrameStart"),
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("TriggerMode", "Off"),
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("AcquisitionMode", "Continuous"),
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("BinningVertical", 1),
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("BinningHorizontal", 1),
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("OffsetX", 0),
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("OffsetY", 0),
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("Width", 100000),
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("Height", 100000),
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("PixelFormat", ("BayerRG8", "Mono8")),
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("StreamBytesPerSecond", 60000000),
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("ChunkModeActive", False),
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# The keep rule waits for the frame mean to reach the camera's target. The
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# host starts on its default band of 50 % - rietschen's cameras were set to
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# 25, and every waypoint then ran into frame_timeout_ms (7.5 s, 2026-10-20).
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("ExposureAutoTarget", 50),
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("ExposureAuto", "Continuous"),
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("GainAuto", "Continuous"),
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]
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GIGE_RECIPES = {
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"standard": _GIGE_COMMON + [
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("ExposureAutoMax", 20000),
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("ExposureAutoMin", 200),
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("GainAutoMax", 24.0),
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],
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"night": _GIGE_COMMON + [
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("ExposureAutoMax", 500000),
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("ExposureAutoMin", 1000),
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("GainAutoMax", 48.0), # clamped to the camera's 40
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],
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}
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def has_feature(cam, name):
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try:
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cam.get_feature_by_name(name)
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return True
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except Exception:
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return False
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def recipe_family(cam):
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"""'gige' for a camera that only knows the older names, else 'alvium'."""
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if not has_feature(cam, "ExposureTime") and has_feature(cam, "ExposureTimeAbs"):
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return "gige"
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return "alvium"
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def resolve_value(feat, value):
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"""The value to write to this feature; None if a choice list has no match.
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A tuple is a list of choices for an enum: the first one the camera offers.
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An integer feature takes no float, even a whole one (ExposureAutoMin is Int
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on the Manta and Float on the Alvium)."""
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if isinstance(value, tuple):
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try:
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offered = {str(e) for e in feat.get_available_entries()}
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except Exception:
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offered = set()
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return next((v for v in value if v in offered), None)
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if isinstance(feat, vmbpy.IntFeature) and isinstance(value, float):
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return int(round(value))
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return value
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def apply_feature(cam, name, value, dry_run):
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try:
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@ -131,6 +208,10 @@ def apply_feature(cam, name, value, dry_run):
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except Exception:
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before = None
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value = resolve_value(feat, value)
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if value is None:
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return ("refused", name, before, "none of the choices is offered")
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# Clamp a numeric value the camera cannot reach, rather than letting the
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# write fail and leaving whatever was there before. Without this, exporting
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# 'standard' right after 'night' wrote a standard profile running at the
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@ -168,6 +249,8 @@ def main():
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"fire_gimbal_control", "camera_profiles", "rgb"),
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help="directory to write <profile>.xml into")
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ap.add_argument("--camera", default=None, help="camera id (default: the first real one)")
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ap.add_argument("--family", default="auto", choices=("auto", "alvium", "gige"),
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help="which recipe set (default: from the features the camera has)")
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ap.add_argument("--dry-run", action="store_true")
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args = ap.parse_args()
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@ -191,10 +274,12 @@ def main():
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cam = cams[0]
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with cam:
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family = recipe_family(cam) if args.family == "auto" else args.family
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recipe = (GIGE_RECIPES if family == "gige" else RECIPES)[args.profile]
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print(f"camera : {cam.get_id()} {cam.get_model()}")
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print(f"profile : {args.profile}{' (dry run)' if args.dry_run else ''}")
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print(f"profile : {args.profile} ({family} recipe){' (dry run)' if args.dry_run else ''}")
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refused = []
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for name, value in RECIPES[args.profile]:
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for name, value in recipe:
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state, n, before, after = apply_feature(cam, name, value, args.dry_run)
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mark = {"set": " ", "would-set": " ?", "missing": " !", "refused": " X",
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"clamped": " ~", "would-clamp": " ~"}[state]
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@ -205,13 +290,15 @@ def main():
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refused.append(n)
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# What the settings actually cost per frame - the number that decides
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# whether this profile can be delivered over USB at all.
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# whether this profile can be delivered over the link at all. A
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# free-running GigE camera reports its ceiling as the rate limit.
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try:
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w = cam.get_feature_by_name("Width").get()
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h = cam.get_feature_by_name("Height").get()
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fmt = cam.get_feature_by_name("PixelFormat").get()
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bpp = {"RGB8": 3, "BGR8": 3, "BayerRG12p": 1.5, "BayerRG12": 2}.get(str(fmt), 1)
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rate = cam.get_feature_by_name("AcquisitionFrameRate").get()
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rate_name = "AcquisitionFrameRateLimit" if family == "gige" else "AcquisitionFrameRate"
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rate = cam.get_feature_by_name(rate_name).get()
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mb = w * h * bpp / 1e6
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print(f"\nresult : {w}x{h} {fmt} {mb:.1f} MB/frame "
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f"{rate:.2f} fps = {mb * rate:.0f} MB/s")
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@ -334,22 +334,35 @@ set -euo pipefail
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S_MCU="$(probe_mcu)"
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S_MCU_N=$(grep -c . <<< "$S_MCU" || true)
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# Another program on the motor MCU's port - a legacy tower's old program, started
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# by start_gimbal.service - would fight this one for it, and the flash would
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# fail half-way. Our own program is fine: it is stopped before anything needs
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# the port.
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# Another program on the motor MCU's port - a legacy tower's old program - would
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# fight this one for it, and the flash would fail half-way. Our own program is
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# fine: it is stopped before anything needs the port. The old program is started
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# differently from tower to tower: start_gimbal.service from
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# ~/scripts/startup_gimbal.sh, which also runs the picture transfer, on
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# staeffelsberg; gimbal_control.service on its own on rietschen.
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if (( S_MCU_N == 1 )) && [[ -e $S_MCU ]]; then
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for pid in $(fuser "$(readlink -f "$S_MCU")" 2>/dev/null); do
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args="$(ps -o args= -p "$pid" 2>/dev/null)"
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[[ $args == */fire_gimbal_control* ]] && continue
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die "the motor MCU's port is held by another program: pid $pid ($args).
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Stop it for good before installing. On a legacy tower it is started by
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start_gimbal.service from ~/scripts/startup_gimbal.sh, which also runs the picture
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transfer: comment out the old program's line there, keep the transfer, then
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unit="$(ps -o unit= -p "$pid" 2>/dev/null | tr -d ' ')"
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if [[ $unit == start_gimbal.service ]]; then
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how="It is started by start_gimbal.service from ~/scripts/startup_gimbal.sh, which
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also runs the picture transfer: comment out the old program's line there, keep the
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transfer, then
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sudo systemctl restart start_gimbal"
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elif [[ $unit == *.service ]]; then
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how="It is started by $unit:
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sudo systemctl disable --now $unit"
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else
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how="Find what starts it (systemctl status $pid) and stop that."
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fi
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die "the motor MCU's port is held by another program: pid $pid ($args).
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Stop it for good before installing. $how"
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done
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fi
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S_CAM="$(probe_camera_id)"
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S_CAM_N=$(grep -c . <<< "$S_CAM" || true)
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S_CAM_SHOWN="$(paste -sd ' ' <<< "$S_CAM")"
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S_LPM="$(probe_camera_lpm_path)"
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S_USBFS="$(cat /sys/module/usbcore/parameters/usbfs_memory_mb 2>/dev/null || echo '?')"
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S_PIO="$(pio_path || true)"
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@ -377,7 +390,7 @@ board : $S_BOARD (kit hardware/$S_BOARD, firmware env $KIT_FW_ENV)
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software / fw : $S_SW_REV / $S_FW_REV
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motor MCU : ${S_MCU:-NOT FOUND} [$S_MODE]
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running firmware : ${S_FW_NOW:-unknown}
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camera : ${S_CAM:-not found}${S_LPM:+ (LPM $(cat "$S_LPM") at $S_LPM)}
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camera : ${S_CAM_SHOWN:-not found}${S_LPM:+ (LPM $(cat "$S_LPM") at $S_LPM)}
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usbfs_memory_mb : $S_USBFS
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hardware.ini : $([[ -r $HW ]] && echo "present, $(hw_todos | grep -c . || true) TODO(s)" || echo absent)
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config.ini : $([[ -r $CFG ]] && echo "$CFG, tower_name $(ini_get "$CFG" General tower_name 2>/dev/null || echo '?'), [Startup] home $(ini_get "$CFG" Startup home 2>/dev/null || echo unset), mode $(ini_get "$CFG" Startup mode 2>/dev/null || echo unset)" || echo absent)
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@ -604,7 +617,11 @@ if [[ ! -r $HW ]]; then
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ask serial "No motor MCU found - its /dev/serial/by-id path"
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KIT_ARGS+=(--serial "$REPLY_VAL")
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fi
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if [[ $CAMS_A != none && -z $S_CAM ]]; then
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if [[ $CAMS_A != none ]] && (( S_CAM_N > 1 )); then
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echo "Several cameras:"; nl -w2 -s') ' <<< "$S_CAM"
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ask camera_id "Which is the colour camera (its DEV_ id)"
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KIT_ARGS+=(--camera-id "$REPLY_VAL")
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elif [[ $CAMS_A != none && -z $S_CAM ]]; then
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ask camera_id "Camera DEV_ id (none found; the SDK may need a reboot first)"
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KIT_ARGS+=(--camera-id "$REPLY_VAL")
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fi
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@ -1092,9 +1109,13 @@ if [[ ${DO[profiles]} == change ]]; then
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"$HOME/.venvs/vmbpy/bin/pip" install -q /opt/VimbaX/api/python/vmbpy-*.whl; }; }; then
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PROFDIR="$(prof_dir)" # the config may have moved since the plan was made
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mkdir -p "$PROFDIR"
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# The camera hardware.ini names, not the first one the SDK lists: on a
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# tower with several (rietschen: three GigE) that is another camera.
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cam_id="$(ini_get "$HW" Camera.rgb id 2>/dev/null || true)"
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cam_arg=(); [[ $cam_id == DEV_* ]] && cam_arg=(--camera "$cam_id")
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for prof in "${PROF_MISSING[@]}"; do
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( cd "$REPO" && GENICAM_GENTL64_PATH=/opt/VimbaX/cti "$HOME/.venvs/vmbpy/bin/python" \
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scripts/export_camera_profile.py --profile "$prof" --out "$PROFDIR" ) ||
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scripts/export_camera_profile.py --profile "$prof" --out "$PROFDIR" "${cam_arg[@]}" ) ||
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warn "could not export the $prof profile; export it later (docs/tower-installation.md section 8)"
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done
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done_step profiles
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@ -188,12 +188,37 @@ private:
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bool has_ = false;
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};
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// The older GigE cameras (Manta G-1236 on rietschen, firmware 00.01.54) predate
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// the SFNC names the program uses and the Alvium answers to. Where a camera has
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// no feature by the program's name, it is looked up by the older one. The
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// IntensityController pair is the Alvium's auto-exposure target and tolerance;
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// the Manta's ExposureAuto* pair means the same, in percent too.
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const char* legacyFeatureName(const std::string& name) {
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static const std::pair<const char*, const char*> kAliases[] = {
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{"ExposureTime", "ExposureTimeAbs"},
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{"AcquisitionFrameRate", "AcquisitionFrameRateAbs"},
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{"IntensityControllerTarget", "ExposureAutoTarget"},
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{"IntensityControllerTolerance", "ExposureAutoAdjustTol"},
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};
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for (const auto& [sfnc, legacy] : kAliases)
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if (name == sfnc) return legacy;
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return nullptr;
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}
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|
||||
// A feature by the program's name, or by its older name on a camera that has only
|
||||
// that one.
|
||||
bool findFeature(const CameraPtr& cam, const std::string& name, FeaturePtr& f) {
|
||||
if (SP_ACCESS(cam)->GetFeatureByName(name.c_str(), f) == VmbErrorSuccess) return true;
|
||||
const char* legacy = legacyFeatureName(name);
|
||||
return legacy && SP_ACCESS(cam)->GetFeatureByName(legacy, f) == VmbErrorSuccess;
|
||||
}
|
||||
|
||||
// Read a numeric/string feature, returning `fallback`/"" if absent (tolerant, for
|
||||
// telemetry). Numeric takes an integer feature too: some are Int on one model and
|
||||
// Float on another (IntensityControllerTolerance is Int on the Alvium 1800 U-1240c).
|
||||
double getFloat(const CameraPtr& cam, const char* name, double fallback = 0.0) {
|
||||
FeaturePtr f;
|
||||
if (SP_ACCESS(cam)->GetFeatureByName(name, f) != VmbErrorSuccess) return fallback;
|
||||
if (!findFeature(cam, name, f)) return fallback;
|
||||
double v = fallback;
|
||||
if (f->GetValue(v) == VmbErrorSuccess) return v;
|
||||
VmbInt64_t i = 0;
|
||||
|
|
@ -203,7 +228,7 @@ double getFloat(const CameraPtr& cam, const char* name, double fallback = 0.0) {
|
|||
std::string getString(const CameraPtr& cam, const char* name) {
|
||||
FeaturePtr f;
|
||||
std::string v;
|
||||
if (SP_ACCESS(cam)->GetFeatureByName(name, f) == VmbErrorSuccess && f->GetValue(v) == VmbErrorSuccess)
|
||||
if (findFeature(cam, name, f) && f->GetValue(v) == VmbErrorSuccess)
|
||||
return v;
|
||||
return {};
|
||||
}
|
||||
|
|
@ -649,8 +674,7 @@ bool VimbaCameraSource::setFeature(int camera_index, const std::string& name,
|
|||
if (camera_index < 0 || idx >= impl_->cameras.size()) return false;
|
||||
FeaturePtr f;
|
||||
VmbFeatureDataType type = VmbFeatureDataUnknown;
|
||||
if (SP_ACCESS(impl_->cameras[idx])->GetFeatureByName(name.c_str(), f) != VmbErrorSuccess ||
|
||||
f->GetDataType(type) != VmbErrorSuccess)
|
||||
if (!findFeature(impl_->cameras[idx], name, f) || f->GetDataType(type) != VmbErrorSuccess)
|
||||
return false;
|
||||
// The value before the first change, so restoreProfile() can put it back
|
||||
// live. Only the first: a second change must not record the test's own value.
|
||||
|
|
@ -741,8 +765,7 @@ bool VimbaCameraSource::readFeature(int camera_index, const std::string& name, d
|
|||
if (camera_index < 0 || idx >= impl_->cameras.size()) return false;
|
||||
FeaturePtr f;
|
||||
VmbFeatureDataType type = VmbFeatureDataUnknown;
|
||||
if (SP_ACCESS(impl_->cameras[idx])->GetFeatureByName(name.c_str(), f) != VmbErrorSuccess ||
|
||||
f->GetDataType(type) != VmbErrorSuccess)
|
||||
if (!findFeature(impl_->cameras[idx], name, f) || f->GetDataType(type) != VmbErrorSuccess)
|
||||
return false;
|
||||
if (type == VmbFeatureDataFloat) return f->GetValue(value) == VmbErrorSuccess;
|
||||
if (type == VmbFeatureDataInt) {
|
||||
|
|
@ -760,8 +783,7 @@ bool VimbaCameraSource::featureRange(int camera_index, const std::string& name,
|
|||
if (camera_index < 0 || idx >= impl_->cameras.size()) return false;
|
||||
FeaturePtr f;
|
||||
VmbFeatureDataType type = VmbFeatureDataUnknown;
|
||||
if (SP_ACCESS(impl_->cameras[idx])->GetFeatureByName(name.c_str(), f) != VmbErrorSuccess ||
|
||||
f->GetDataType(type) != VmbErrorSuccess)
|
||||
if (!findFeature(impl_->cameras[idx], name, f) || f->GetDataType(type) != VmbErrorSuccess)
|
||||
return false;
|
||||
if (type == VmbFeatureDataFloat) return f->GetRange(min, max) == VmbErrorSuccess;
|
||||
if (type == VmbFeatureDataInt) {
|
||||
|
|
@ -788,7 +810,7 @@ bool VimbaCameraSource::restoreProfile(int camera_index) {
|
|||
for (auto it = undo.rbegin(); ok && it != undo.rend(); ++it) {
|
||||
FeaturePtr f;
|
||||
VmbFeatureDataType type = VmbFeatureDataUnknown;
|
||||
if (SP_ACCESS(impl_->cameras[idx])->GetFeatureByName(it->first.c_str(), f) != VmbErrorSuccess ||
|
||||
if (!findFeature(impl_->cameras[idx], it->first, f) ||
|
||||
f->GetDataType(type) != VmbErrorSuccess) { ok = false; break; }
|
||||
VmbErrorType rc = VmbErrorWrongType;
|
||||
try {
|
||||
|
|
|
|||
Loading…
Reference in New Issue