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fernandoc1/CMakeLists.txt

Created September 11, 2018 14:10
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This is a Baumer API test code.
Raw
baumer_api_test.cpp
#include <stdio.h>
#include <iostream>
#include <iomanip>
#include <boost/asio.hpp>
#include "bgapi2_genicam/bgapi2_genicam.hpp"
class BaumerCamera
{
BGAPI2::SystemList* systemList;
BGAPI2::System* pSystem;
BGAPI2::String sSystemID;
BGAPI2::InterfaceList* interfaceList;
BGAPI2::Interface* pInterface;
BGAPI2::String sInterfaceID;
BGAPI2::DeviceList* deviceList;
BGAPI2::Device* pDevice;
BGAPI2::String sDeviceID;
BGAPI2::DataStreamList* datastreamList;
BGAPI2::DataStream* pDataStream;
BGAPI2::String sDataStreamID;
BGAPI2::BufferList* bufferList;
BGAPI2::Buffer* pBuffer;
BGAPI2::String sBufferID;
public:
void openSystem()
try
{
this->systemList = BGAPI2::SystemList::GetInstance();
this->systemList->Refresh();
std::cout << "5.1.2 Detected systems: " << this->systemList->size() << std::endl;
//SYSTEM DEVICE INFORMATION
for (BGAPI2::SystemList::iterator sysIterator = systemList->begin(); sysIterator != systemList->end(); sysIterator++)
{
std::cout << " 5.2.1 System Name: " << sysIterator->second->GetFileName() << std::endl;
std::cout << " System Type: " << sysIterator->second->GetTLType() << std::endl;
std::cout << " System Version: " << sysIterator->second->GetVersion() << std::endl;
std::cout << " System PathName: " << sysIterator->second->GetPathName() << std::endl << std::endl;
if(sysIterator->second->GetFileName() == "libbgapi2_gige.cti")
{
this->sSystemID = sysIterator->first;
this->pSystem = sysIterator->second;
this->pSystem->Open();
}
}
}
catch (BGAPI2::Exceptions::IException& ex)
{
std::cout << "ExceptionType: " << ex.GetType() << std::endl;
std::cout << "ErrorDescription: " << ex.GetErrorDescription() << std::endl;
std::cout << "in function: " << ex.GetFunctionName() << std::endl;
}
void openInterface(std::string ifname)
try
{
this->interfaceList = this->pSystem->GetInterfaces();
this->interfaceList->Refresh(100);
for (BGAPI2::InterfaceList::iterator ifIterator = interfaceList->begin(); ifIterator != interfaceList->end(); ifIterator++)
{
std::cout << " 5.2.2 Interface ID: " << ifIterator->first << std::endl;
std::cout << " Interface Type: " << ifIterator->second->GetTLType() << std::endl;
std::cout << " Interface Name: " << ifIterator->second->GetDisplayName() << std::endl << std::endl;
std::string ifDisplayName(ifIterator->second->GetDisplayName());
if(ifDisplayName == ifname)
{
this->sInterfaceID = ifIterator->first;
this->pInterface = ifIterator->second;
this->pInterface->Open();
}
}
}
catch (BGAPI2::Exceptions::IException& ex)
{
std::cout << "ExceptionType: " << ex.GetType() << std::endl;
std::cout << "ErrorDescription: " << ex.GetErrorDescription() << std::endl;
std::cout << "in function: " << ex.GetFunctionName() << std::endl;
}
void openDevice(std::string deviceIP)
try
{
unsigned long hexIPValue = boost::asio::ip::address_v4::from_string(deviceIP).to_ulong();
this->deviceList = this->pInterface->GetDevices();
this->deviceList->Refresh(100);
for(BGAPI2::DeviceList::iterator devIterator = deviceList->begin(); devIterator != deviceList->end(); devIterator++)
{
std::cout << " 5.2.3 Device DeviceID: " << devIterator->first << std::endl;
std::cout << " Device Model: " << devIterator->second->GetModel() << std::endl;
std::cout << " Device SerialNumber: " << devIterator->second->GetSerialNumber() << std::endl;
std::cout << " Device Vendor: " << devIterator->second->GetVendor() << std::endl;
std::cout << " Device TLType: " << devIterator->second->GetTLType() << std::endl;
std::cout << " Device AccessStatus: " << devIterator->second->GetAccessStatus() << std::endl;
std::cout << " Device UserID: " << devIterator->second->GetDisplayName() << std::endl << std::endl;
this->pDevice = devIterator->second;
this->pDevice->Open();
std::string deviceGevCurrentIPAddress(devIterator->second->GetRemoteNode("GevCurrentIPAddress")->GetValue());
std::cout << "GevCurrentIPAddress " << deviceGevCurrentIPAddress << std::endl;
char bufferStr[32];
unsigned long deviceIPValue = strtoul(deviceGevCurrentIPAddress.c_str(), NULL, 16);
if(deviceIPValue == hexIPValue)
{
this->sDeviceID = devIterator->first;
this->pDevice = devIterator->second;
}
else
{
this->pDevice->Close();
}
}
}
catch (BGAPI2::Exceptions::IException& ex)
{
std::cout << "ExceptionType: " << ex.GetType() << std::endl;
std::cout << "ErrorDescription: " << ex.GetErrorDescription() << std::endl;
std::cout << "in function: " << ex.GetFunctionName() << std::endl;
}
void openDataStream()
try
{
//COUNTING AVAILABLE DATASTREAMS
this->datastreamList = pDevice->GetDataStreams();
this->datastreamList->Refresh();
std::cout << "5.1.8 Detected datastreams: " << datastreamList->size() << std::endl;
//DATASTREAM INFORMATION BEFORE OPENING
for (BGAPI2::DataStreamList::iterator dstIterator = datastreamList->begin(); dstIterator != datastreamList->end(); dstIterator++)
{
std::cout << " 5.2.4 DataStream ID: " << dstIterator->first << std::endl << std::endl;
try
{
this->sDataStreamID = dstIterator->first;
this->pDataStream = dstIterator->second;
this->pDataStream->Open();
break;
}
catch(BGAPI2::Exceptions::IException& ex)
{
std::cout << "ExceptionType: " << ex.GetType() << std::endl;
std::cout << "ErrorDescription: " << ex.GetErrorDescription() << std::endl;
std::cout << "in function: " << ex.GetFunctionName() << std::endl;
}
}
}
catch (BGAPI2::Exceptions::IException& ex)
{
std::cout << "ExceptionType: " << ex.GetType() << std::endl;
std::cout << "ErrorDescription: " << ex.GetErrorDescription() << std::endl;
std::cout << "in function: " << ex.GetFunctionName() << std::endl;
}
void openBufferList()
try
{
//BufferList
bufferList = pDataStream->GetBufferList();
// 4 buffers using internal buffer mode
for(int i=0; i<4; i++)
{
pBuffer = new BGAPI2::Buffer();
bufferList->Add(pBuffer);
}
std::cout << "5.1.10 Announced buffers: " << bufferList->GetAnnouncedCount() << " using " << pBuffer->GetMemSize() * bufferList->GetAnnouncedCount() << " [bytes]" << std::endl;
for (BGAPI2::BufferList::iterator bufIterator = bufferList->begin(); bufIterator != bufferList->end(); bufIterator++)
{
bufIterator->second->QueueBuffer();
}
std::cout << "5.1.11 Queued buffers: " << bufferList->GetQueuedCount() << std::endl;
}
catch (BGAPI2::Exceptions::IException& ex)
{
std::cout << "ExceptionType: " << ex.GetType() << std::endl;
std::cout << "ErrorDescription: " << ex.GetErrorDescription() << std::endl;
std::cout << "in function: " << ex.GetFunctionName() << std::endl;
}
void startDataStreamAcquisition()
try
{
pDataStream->StartAcquisitionContinuous();
std::cout << "5.1.12 DataStream started " << std::endl;
}
catch (BGAPI2::Exceptions::IException& ex)
{
std::cout << "ExceptionType: " << ex.GetType() << std::endl;
std::cout << "ErrorDescription: " << ex.GetErrorDescription() << std::endl;
std::cout << "in function: " << ex.GetFunctionName() << std::endl;
}
void startCamera()
try
{
std::cout << "5.1.12 " << pDevice->GetModel() << " started " << std::endl;
pDevice->GetRemoteNode("AcquisitionStart")->Execute();
}
catch (BGAPI2::Exceptions::IException& ex)
{
std::cout << "ExceptionType: " << ex.GetType() << std::endl;
std::cout << "ErrorDescription: " << ex.GetErrorDescription() << std::endl;
std::cout << "in function: " << ex.GetFunctionName() << std::endl;
}
void saveRawImage()
{
std::cout << " " << std::endl;
std::cout << "CAPTURE 12 IMAGES BY IMAGE POLLING" << std::endl;
std::cout << "##################################" << std::endl << std::endl;
BGAPI2::Buffer * pBufferFilled = NULL;
try
{
for(int i = 0; i < 12; i++)
{
pBufferFilled = pDataStream->GetFilledBuffer(1000); //timeout 1000 msec
FILE* fp = fopen("/tmp/baumer_img.raw", "w");
fwrite(pBufferFilled->GetMemPtr(), pBufferFilled->GetMemSize(), 1, fp);
fclose(fp);
if(pBufferFilled == NULL)
{
std::cout << "Error: Buffer Timeout after 1000 msec" << std::endl;
}
else if(pBufferFilled->GetIsIncomplete() == true)
{
std::cout << "Error: Image is incomplete" << std::endl;
// queue buffer again
pBufferFilled->QueueBuffer();
}
else
{
std::cout << " Image " << std::setw(5) << pBufferFilled->GetFrameID() << " received in memory address " << std::hex << pBufferFilled->GetMemPtr() << std::dec << std::endl;
// queue buffer again
pBufferFilled->QueueBuffer();
}
}
}
catch (BGAPI2::Exceptions::IException& ex)
{
std::cout << "ExceptionType: " << ex.GetType() << std::endl;
std::cout << "ErrorDescription: " << ex.GetErrorDescription() << std::endl;
std::cout << "in function: " << ex.GetFunctionName() << std::endl;
}
std::cout << " " << std::endl;
}
void stopCamera()
try
{
//SEARCH FOR 'AcquisitionAbort'
if(pDevice->GetRemoteNodeList()->GetNodePresent("AcquisitionAbort"))
{
pDevice->GetRemoteNode("AcquisitionAbort")->Execute();
std::cout << "5.1.12 " << pDevice->GetModel() << " aborted " << std::endl;
}
pDevice->GetRemoteNode("AcquisitionStop")->Execute();
std::cout << "5.1.12 " << pDevice->GetModel() << " stopped " << std::endl;
std::cout << std::endl;
BGAPI2::String sExposureNodeName = "";
if (pDevice->GetRemoteNodeList()->GetNodePresent("ExposureTime")) {
sExposureNodeName = "ExposureTime";
}
else if (pDevice->GetRemoteNodeList()->GetNodePresent("ExposureTimeAbs")) {
sExposureNodeName = "ExposureTimeAbs";
}
std::cout << " ExposureTime: " << std::fixed << std::setprecision(0) << pDevice->GetRemoteNode(sExposureNodeName)->GetDouble() << " [" << pDevice->GetRemoteNode(sExposureNodeName)->GetUnit() << "]" << std::endl;
if( pDevice->GetTLType() == "GEV" )
{
if(pDevice->GetRemoteNodeList()->GetNodePresent("DeviceStreamChannelPacketSize"))
std::cout << " DeviceStreamChannelPacketSize: " << pDevice->GetRemoteNode("DeviceStreamChannelPacketSize")->GetInt() << " [bytes]" << std::endl;
else
std::cout << " GevSCPSPacketSize: " << pDevice->GetRemoteNode("GevSCPSPacketSize")->GetInt() << " [bytes]" << std::endl;
std::cout << " GevSCPD (PacketDelay): " << pDevice->GetRemoteNode("GevSCPD")->GetInt() << " [tics]" << std::endl;
}
std::cout << std::endl;
}
catch (BGAPI2::Exceptions::IException& ex)
{
std::cout << "ExceptionType: " << ex.GetType() << std::endl;
std::cout << "ErrorDescription: " << ex.GetErrorDescription() << std::endl;
std::cout << "in function: " << ex.GetFunctionName() << std::endl;
}
void stopDataStream()
try
{
if( pDataStream->GetTLType() == "GEV" )
{
//DataStream Statistic
std::cout << " DataStream Statistics " << std::endl;
std::cout << " DataBlockComplete: " << pDataStream->GetNodeList()->GetNode("DataBlockComplete")->GetInt() << std::endl;
std::cout << " DataBlockInComplete: " << pDataStream->GetNodeList()->GetNode("DataBlockInComplete")->GetInt() << std::endl;
std::cout << " DataBlockMissing: " << pDataStream->GetNodeList()->GetNode("DataBlockMissing")->GetInt() << std::endl;
std::cout << " PacketResendRequestSingle: " << pDataStream->GetNodeList()->GetNode("PacketResendRequestSingle")->GetInt() << std::endl;
std::cout << " PacketResendRequestRange: " << pDataStream->GetNodeList()->GetNode("PacketResendRequestRange")->GetInt() << std::endl;
std::cout << " PacketResendReceive: " << pDataStream->GetNodeList()->GetNode("PacketResendReceive")->GetInt() << std::endl;
std::cout << " DataBlockDroppedBufferUnderrun: " << pDataStream->GetNodeList()->GetNode("DataBlockDroppedBufferUnderrun")->GetInt() << std::endl;
std::cout << " Bitrate: " << pDataStream->GetNodeList()->GetNode("Bitrate")->GetDouble() << std::endl;
std::cout << " Throughput: " << pDataStream->GetNodeList()->GetNode("Throughput")->GetDouble() << std::endl;
std::cout << std::endl;
}
if( pDataStream->GetTLType() == "U3V" )
{
//DataStream Statistic
std::cout << " DataStream Statistics " << std::endl;
std::cout << " GoodFrames: " << pDataStream->GetNodeList()->GetNode("GoodFrames")->GetInt() << std::endl;
std::cout << " CorruptedFrames: " << pDataStream->GetNodeList()->GetNode("CorruptedFrames")->GetInt() << std::endl;
std::cout << " LostFrames: " << pDataStream->GetNodeList()->GetNode("LostFrames")->GetInt() << std::endl;
std::cout << std::endl;
}
//BufferList Information
std::cout << " BufferList Information " << std::endl;
std::cout << " DeliveredCount: " << bufferList->GetDeliveredCount() << std::endl;
std::cout << " UnderrunCount: " << bufferList->GetUnderrunCount() << std::endl;
std::cout << std::endl;
pDataStream->StopAcquisition();
std::cout << "5.1.12 DataStream stopped " << std::endl;
bufferList->DiscardAllBuffers();
}
catch (BGAPI2::Exceptions::IException& ex)
{
std::cout << "ExceptionType: " << ex.GetType() << std::endl;
std::cout << "ErrorDescription: " << ex.GetErrorDescription() << std::endl;
std::cout << "in function: " << ex.GetFunctionName() << std::endl;
}
void releaseBuffers()
try
{
while( bufferList->size() > 0)
{
pBuffer = bufferList->begin()->second;
bufferList->RevokeBuffer(pBuffer);
delete pBuffer;
}
std::cout << " buffers after revoke: " << bufferList->size() << std::endl;
pDataStream->Close();
pDevice->Close();
pInterface->Close();
pSystem->Close();
BGAPI2::SystemList::ReleaseInstance();
}
catch (BGAPI2::Exceptions::IException& ex)
{
std::cout << "ExceptionType: " << ex.GetType() << std::endl;
std::cout << "ErrorDescription: " << ex.GetErrorDescription() << std::endl;
std::cout << "in function: " << ex.GetFunctionName() << std::endl;
}
~BaumerCamera()
{
BGAPI2::SystemList::ReleaseInstance();
}
BaumerCamera(){}
};
int main()
{
BaumerCamera camera;
camera.openSystem();
camera.openInterface("enp0s25");
camera.openDevice("192.168.0.175");
camera.openDataStream();
camera.openBufferList();
camera.startDataStreamAcquisition();
camera.startCamera();
camera.saveRawImage();
camera.stopCamera();
camera.stopDataStream();
camera.releaseBuffers();
}
Raw
CMakeLists.txt
cmake_minimum_required(VERSION 2.8.3)
include_directories(/usr/local/src/baumer/inc)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D_GNULINUX")
link_directories(/usr/local/lib/baumer/)
link_libraries(
bgapi2_genicam
boost_system
)
add_executable(test_capture ${CMAKE_CURRENT_SOURCE_DIR}/main.cpp)
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