440 lines
19 KiB
C++
440 lines
19 KiB
C++
#include "fgc/VimbaCameraSource.h"
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// The SDK comes first on purpose. <VmbCPP/VmbCPP.h> pulls in
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// VmbCPP/LoggerDefines.h, which on some SDK versions (the 2024-era /opt/VimbaX on
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// the LattePanda, though not 2025-3) defines a FUNCTION-like LOG_ERROR(txt,
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// errCode). Ours is object-like - `LOG_ERROR << "..."` - so whichever header is
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// included last wins the redefinition, and when theirs wins the stream form never
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// expands and fails to compile. Take the SDK's macros, drop them, then define
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// ours over the top. The #undefs are harmless no-ops on SDKs that lack them.
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#include <VmbCPP/VmbCPP.h>
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#undef LOG_ERROR
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#undef LOG_FREE_TEXT
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#include "fgc/Logger.h"
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#include <algorithm>
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#include <atomic>
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#include <chrono>
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#include <memory>
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#include <mutex>
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#include <stdexcept>
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#include <string>
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#include <thread>
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using namespace VmbCPP;
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namespace fgc {
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namespace {
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long long nowMs() {
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return std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::system_clock::now().time_since_epoch())
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.count();
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}
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// Cumulative per-camera acquisition stats. Lives in Impl (NOT the observer) so it
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// survives the restart-on-stall, which recreates the observer each session.
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struct CamStats {
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std::atomic<long long> delivered{0};
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std::atomic<long long> dropped{0};
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std::atomic<long long> restarts{0};
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std::atomic<unsigned> last_w{0};
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std::atomic<unsigned> last_h{0};
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std::atomic<long long> last_bytes{0};
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};
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// Frame observer for the free-running stream: keeps the most recent COMPLETE
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// frame. trigger() (once per scan waypoint) reads it out; the intermediate frames
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// just give the on-camera auto-exposure/gain time to converge to the current
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// light.
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class FrameObserver : public IFrameObserver {
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public:
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FrameObserver(CameraPtr camera, int cam_id, CamStats* stats)
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: IFrameObserver(camera), cam_id_(cam_id), stats_(stats) {}
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// Copy out the latest complete frame; false if none has arrived yet.
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bool takeLatest(Frame& out) {
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std::lock_guard<std::mutex> lock(mutex_);
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if (!has_) return false;
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out = latest_;
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return true;
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}
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// Timestamp of the latest complete frame (0 if none) - lets the source detect a
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// stalled stream (timestamp stops advancing) without copying the whole frame.
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long long latestTimestamp() {
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std::lock_guard<std::mutex> lock(mutex_);
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return has_ ? latest_.timestamp_ms : 0;
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}
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void FrameReceived(const FramePtr pFrame) override {
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VmbFrameStatusType status;
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VmbErrorType rc = pFrame->GetReceiveStatus(status);
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if (rc == VmbErrorSuccess && status == VmbFrameStatusComplete) {
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VmbUint32_t w = 0, h = 0, sz = 0;
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const VmbUchar_t* buf = nullptr;
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if (pFrame->GetWidth(w) == VmbErrorSuccess &&
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pFrame->GetHeight(h) == VmbErrorSuccess &&
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pFrame->GetBufferSize(sz) == VmbErrorSuccess &&
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pFrame->GetBuffer(buf) == VmbErrorSuccess && buf && w && h) {
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Frame f;
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f.width = w;
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f.height = h;
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f.channels = static_cast<int>(sz / (static_cast<size_t>(w) * h));
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f.cam_id = cam_id_;
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f.timestamp_ms = nowMs();
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f.data.assign(buf, buf + sz);
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{
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std::lock_guard<std::mutex> lock(mutex_);
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latest_ = std::move(f);
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has_ = true;
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}
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if (stats_) {
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stats_->delivered.fetch_add(1);
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stats_->last_w.store(w);
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stats_->last_h.store(h);
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stats_->last_bytes.store(sz);
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}
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LOG_TRACE_CAT(LogCat::Camera)
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<< "RX frame cam" << cam_id_ << ' ' << w << 'x' << h << ' ' << sz << 'B';
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}
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} else {
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// Incomplete/invalid delivery - usually USB bandwidth starvation on large
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// frames. Surface it instead of silently dropping.
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if (stats_) stats_->dropped.fetch_add(1);
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LOG_WARN << "camera cam" << cam_id_ << " dropped frame (status="
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<< (rc == VmbErrorSuccess ? static_cast<int>(status) : -1) << ')';
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}
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m_pCamera->QueueFrame(pFrame);
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}
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private:
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int cam_id_;
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CamStats* stats_;
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std::mutex mutex_;
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Frame latest_;
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bool has_ = false;
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};
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// Read a float/string feature, returning `fallback`/"" if absent (tolerant, for telemetry).
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double getFloat(const CameraPtr& cam, const char* name, double fallback = 0.0) {
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FeaturePtr f;
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double v = fallback;
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if (SP_ACCESS(cam)->GetFeatureByName(name, f) == VmbErrorSuccess && f->GetValue(v) == VmbErrorSuccess)
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return v;
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return fallback;
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}
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std::string getString(const CameraPtr& cam, const char* name) {
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FeaturePtr f;
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std::string v;
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if (SP_ACCESS(cam)->GetFeatureByName(name, f) == VmbErrorSuccess && f->GetValue(v) == VmbErrorSuccess)
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return v;
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return {};
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}
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// Apply a profile by handing its settings XML to the SDK.
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//
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// This replaces a hand-rolled feature applier, and the reason is validity rather
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// than brevity: GenICam writability is stateful (AcquisitionFrameRate is only
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// writable once AcquisitionFrameRateEnable is set, Width's maximum depends on
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// binning, and so on), so a text list applied line by line can be individually
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// plausible and collectively wrong. The XML comes out of the VimbaX Viewer,
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// which greys out invalid combinations as the operator configures, and
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// LoadSettings replays exactly that. Nothing else may write settings.
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bool applyProfile(const CameraPtr& cam, const CameraProfile& profile) {
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VmbFeaturePersistSettings settings{};
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settings.persistType = VmbFeaturePersistNoLUT;
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// RemoteDevice only: the transport-layer and stream sections of the export
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// describe the host that produced it, not the sensor.
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settings.modulePersistFlags = VmbModulePersistFlagsRemoteDevice;
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settings.maxIterations = 10; // features can need several passes to settle
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settings.loggingLevel = VmbLogLevelWarn;
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const VmbErrorType rc = SP_ACCESS(cam)->LoadSettings(profile.xml_path.c_str(), &settings);
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if (rc != VmbErrorSuccess) {
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LOG_ERROR << "camera: applying profile '" << profile.name << "' from "
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<< profile.xml_path << " failed (error " << rc << ')';
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return false;
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}
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LOG_INFO << "camera profile '" << profile.name << "' applied from " << profile.xml_path
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<< " (" << profile.settings.entries.size() << " settings)";
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return true;
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}
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} // namespace
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struct VimbaCameraSource::Impl {
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Impl(std::vector<CameraSpec> s, std::vector<CameraProfile> p)
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: specs(std::move(s)), profiles(std::move(p)), sys(VmbSystem::GetInstance()) {}
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struct Identity { std::string id, model, serial; };
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struct Telemetry {
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double exposure_us = 0, gain_db = 0, temperature_c = 0, actual_fps = 0;
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};
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// One spec and one profile per camera, index-aligned and in open order, so a
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// camera's settings are never those of the camera next to it.
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std::vector<CameraSpec> specs;
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std::vector<CameraProfile> profiles;
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VmbSystem& sys;
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std::vector<CameraPtr> cameras;
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std::vector<IFrameObserverPtr> observers;
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std::vector<std::unique_ptr<CamStats>> stats; // one per camera; survives restart
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std::vector<Identity> identity; // read once at open()
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std::vector<Telemetry> telemetry; // live values, cached ~1 Hz
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long long telemetry_ms = 0; // last telemetry refresh
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ICameraSource::FrameCallback callback;
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bool started = false;
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long long last_captured_ts = 0; // freshness watermark
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long long last_no_frame_warn_ms = 0;
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// Begin/end a free-run acquisition session (fresh observers each time). Split out so
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// trigger() can restart the stream when it stalls. Stats persist across restarts.
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void startAcquisition() {
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// Stop first, unconditionally. Clearing `observers` drops the last
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// references to the FrameObserver objects, and until
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// StopContinuousImageAcquisition() has returned the SDK's acquisition
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// thread may still be calling FrameReceived on them - destroying them
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// under it is a use-after-free, not a leak.
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stopAcquisition();
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// A fresh session has delivered nothing, so a watermark from the previous
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// one would make every genuinely-new frame look stale to trigger().
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last_captured_ts = 0;
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int cam_id = 0;
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for (auto& cam : cameras) {
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IFrameObserverPtr observer(new FrameObserver(cam, cam_id, stats[cam_id].get()));
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if (cam->StartContinuousImageAcquisition(5, observer) != VmbErrorSuccess)
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throw std::runtime_error("Could not start acquisition");
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observers.push_back(observer);
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++cam_id;
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}
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}
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void stopAcquisition() {
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for (auto& cam : cameras) cam->StopContinuousImageAcquisition();
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observers.clear();
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}
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// Newest frame timestamp across all cameras (0 if none delivered yet).
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long long newestTs() {
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long long t = 0;
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for (auto& obs : observers)
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t = std::max(t, SP_DYN_CAST<FrameObserver>(obs)->latestTimestamp());
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return t;
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}
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};
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VimbaCameraSource::VimbaCameraSource(std::vector<CameraSpec> specs,
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std::vector<CameraProfile> profiles)
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: impl_(std::make_unique<Impl>(std::move(specs), std::move(profiles))) {}
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VimbaCameraSource::~VimbaCameraSource() {
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try {
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stop();
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close();
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} catch (const std::exception& e) {
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LOG_WARN << "VimbaCameraSource shutdown: " << e.what();
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}
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}
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void VimbaCameraSource::open() {
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if (impl_->sys.Startup() != VmbErrorSuccess)
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throw std::runtime_error("Could not start Vimba X API");
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for (const auto& spec : impl_->specs) {
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const std::string& id = spec.id;
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CameraPtr cam;
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if (impl_->sys.GetCameraByID(id.c_str(), cam) != VmbErrorSuccess)
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throw std::runtime_error("Camera '" + spec.name + "' not found: " + id);
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if (const VmbErrorType rc = cam->Open(VmbAccessModeFull); rc != VmbErrorSuccess) {
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std::string why;
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if (rc == VmbErrorInvalidAccess || rc == VmbErrorBusy)
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why = " - another process has it open (is the VimbaX Viewer still running?)";
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else if (rc == VmbErrorNotFound)
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why = " - it disappeared between discovery and open (USB reset?)";
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throw std::runtime_error("Could not open camera '" + spec.name + "': " + id +
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" (Vimba error " + std::to_string(rc) + ")" + why);
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}
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impl_->cameras.push_back(cam);
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// Per-camera stats (persist across restart) + identity (read once here).
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impl_->stats.push_back(std::make_unique<CamStats>());
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impl_->telemetry.emplace_back();
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impl_->identity.push_back({id, getString(cam, "DeviceModelName"),
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getString(cam, "DeviceSerialNumber")});
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LOG_INFO << "Opened camera '" << spec.name << "' " << id << " ("
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<< impl_->identity.back().model << ')';
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}
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// Configure each camera ONCE, here. Settings are GenICam features that live on
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// the device and survive a stop/start of acquisition, so re-applying them
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// whenever the stream starts is both wasted work (thousands of features) and
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// wrong in principle: it lets a request to *stream* alter the *configuration*.
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// A scan frame and a manual snapshot must come off an identically configured
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// camera, and the only way to guarantee that is to never touch the
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// configuration in between.
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for (size_t i = 0; i < impl_->cameras.size() && i < impl_->profiles.size(); ++i)
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applyProfile(impl_->cameras[i], impl_->profiles[i]);
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}
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void VimbaCameraSource::close() {
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for (auto& cam : impl_->cameras) cam->Close();
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impl_->cameras.clear();
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impl_->sys.Shutdown();
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}
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// Start/stop the free-running stream. Configuration is NOT touched here - that
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// happened at open(), and changes only through setProfile().
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void VimbaCameraSource::start() {
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// Idempotent. Several callers reach here without knowing whether another
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// already has - `start` (scan), `snapshot`, and --start on the command line -
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// and re-entering would restart acquisition under the SDK's feet.
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if (impl_->started) return;
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impl_->startAcquisition();
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impl_->started = true;
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}
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bool VimbaCameraSource::setProfile(int camera_index, const CameraProfile& profile) {
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const size_t idx = static_cast<size_t>(camera_index);
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if (camera_index < 0 || idx >= impl_->cameras.size() || idx >= impl_->profiles.size()) {
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LOG_WARN << "camera: setProfile for unknown camera index " << camera_index;
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return false;
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}
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impl_->profiles[idx] = profile;
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if (!impl_->started) {
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// Idle: every feature is writable, so apply directly. start() no longer
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// applies profiles, so skipping this would leave the camera on the old one.
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return applyProfile(impl_->cameras[idx], profile);
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}
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// Binning, ROI and pixel format cannot be written while the stream runs, and a
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// profile may change any of them, so always cycle the stream. Profile switches
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// are rare; a per-feature "is this writable live" allow-list would be fragile.
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try {
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impl_->stopAcquisition();
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const bool ok = applyProfile(impl_->cameras[idx], profile);
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impl_->startAcquisition();
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if (!ok) return false;
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} catch (const std::exception& e) {
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LOG_ERROR << "camera: applying profile '" << profile.name << "' failed: " << e.what();
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return false;
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}
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// The next trigger() must not hand back a frame exposed under the old profile.
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impl_->last_captured_ts = nowMs();
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return true;
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}
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void VimbaCameraSource::stop() {
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if (!impl_->started) return;
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impl_->stopAcquisition();
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impl_->started = false;
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}
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bool VimbaCameraSource::trigger() {
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// Deliver the freshest complete frame per waypoint. This host's USB3 stream
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// reliably delivers the first frames of a session but stalls after a burst; if
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// no frame newer than the last capture is available, the stream has stalled -
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// restart acquisition to unstick it and wait briefly for a fresh frame. Without
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// this, keep-latest would hand the same stale frame to every remaining waypoint
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// (all overwriting one file).
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const long long newest = impl_->newestTs();
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// A session that has delivered NOTHING is warming up, not stalled. These are
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// different states that both fail the "no newer frame" test, and conflating
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// them is expensive: restarting throws away the warm-up and blocks the control
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// thread for 3 s, so a cold stream would be repeatedly reset just as it was
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// about to produce its first frame. Return empty-handed instead; the caller
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// retries every tick.
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if (newest == 0) {
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long long now = nowMs();
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if (now - impl_->last_no_frame_warn_ms > 5000) {
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LOG_WARN << "camera: no frame yet (stream warming up)";
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impl_->last_no_frame_warn_ms = now;
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}
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return false;
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}
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if (newest <= impl_->last_captured_ts) {
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LOG_TRACE_CAT(LogCat::Camera) << "stream stale; restarting acquisition";
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for (auto& s : impl_->stats) s->restarts.fetch_add(1);
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try {
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impl_->stopAcquisition();
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impl_->startAcquisition();
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} catch (const std::exception& e) {
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LOG_WARN << "camera: acquisition restart failed: " << e.what();
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}
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const long long deadline = nowMs() + 3000;
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while (impl_->newestTs() <= impl_->last_captured_ts && nowMs() < deadline)
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std::this_thread::sleep_for(std::chrono::milliseconds(50));
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}
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bool any = false;
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for (auto& obs : impl_->observers) {
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Frame f;
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if (SP_DYN_CAST<FrameObserver>(obs)->takeLatest(f)) {
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LOG_TRACE_CAT(LogCat::Camera) << "capture cam" << f.cam_id << " ts=" << f.timestamp_ms;
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impl_->last_captured_ts = std::max(impl_->last_captured_ts, f.timestamp_ms);
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if (impl_->callback) impl_->callback(f);
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any = true;
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}
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}
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if (!any) {
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// Frames HAVE arrived this session (the newest == 0 case returned above), so
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// this is the restart-did-not-help path. The scheduler retries every tick,
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// so rate-limit.
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long long now = nowMs();
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if (now - impl_->last_no_frame_warn_ms > 5000) {
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LOG_WARN << "camera: stream stalled and did not recover after a restart";
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impl_->last_no_frame_warn_ms = now;
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}
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}
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return any;
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}
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void VimbaCameraSource::setFrameCallback(FrameCallback cb) { impl_->callback = std::move(cb); }
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int VimbaCameraSource::cameraCount() const { return static_cast<int>(impl_->cameras.size()); }
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std::vector<CameraDeviceInfo> VimbaCameraSource::deviceInfo() {
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// Refresh the live sensor telemetry at most ~1 Hz - deviceInfo() is called every UI
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// tick (~10 Hz) but runs on the control thread (serialized with trigger()), and reading
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// camera features is not free. Identity + stats come from cached/atomic state.
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const long long now = nowMs();
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if (now - impl_->telemetry_ms > 1000) {
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impl_->telemetry_ms = now;
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for (size_t i = 0; i < impl_->cameras.size(); ++i) {
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auto& cam = impl_->cameras[i];
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auto& t = impl_->telemetry[i];
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t.exposure_us = getFloat(cam, "ExposureTime");
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t.gain_db = getFloat(cam, "Gain");
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t.temperature_c = getFloat(cam, "DeviceTemperature");
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t.actual_fps = getFloat(cam, "AcquisitionFrameRate");
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}
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}
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std::vector<CameraDeviceInfo> out;
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out.reserve(impl_->cameras.size());
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for (size_t i = 0; i < impl_->cameras.size(); ++i) {
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const CamStats& s = *impl_->stats[i];
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const Impl::Telemetry& t = impl_->telemetry[i];
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CameraDeviceInfo d;
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d.id = impl_->identity[i].id;
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d.model = impl_->identity[i].model;
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d.serial = impl_->identity[i].serial;
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d.streaming = impl_->started && !impl_->observers.empty();
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d.width = s.last_w.load();
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d.height = s.last_h.load();
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d.payload_bytes = s.last_bytes.load();
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d.exposure_us = t.exposure_us;
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d.gain_db = t.gain_db;
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d.temperature_c = t.temperature_c;
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d.actual_fps = t.actual_fps;
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d.frames_delivered = s.delivered.load();
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d.frames_dropped = s.dropped.load();
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d.restarts = s.restarts.load();
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out.push_back(std::move(d));
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}
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return out;
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}
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} // namespace fgc
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