SingleCaptureMasterSlave.legacy.cpp

The SingleCaptureMasterSlave.legacy program is a legacy version of the SingleCaptureMasterSlave.cpp example.

Note

This is a legacy version of SingleCaptureMasterSlave.cpp only needed when working on a system with a non C++11 capable compiler (e.g. Visual Studio smaller than version 2013 or gcc smaller than version 4.8. However please note that Impact Acquire these days is built using gcc 5.5.0 thus using an older compiler for building applications will most likely not result in working binaries!). For a detailed description please have a look on the modern version of this example. Even though the used C++ code is slightly different the general idea of the example is the same!

Source code

//
// @description: Example applications for Impact Acquire
// @copyright: Copyright (C) 2010 - 2024 Balluff GmbH
// @authors: APIs and drivers development team at Balluff GmbH
// @initial date: 2010-05-11
//
// Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
// to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
// and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice (including the next paragraph) shall be included in all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,i
// WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
//
 
#ifdef _MSC_VER // is Microsoft compiler?
#   if _MSC_VER < 1300  // is 'old' VC 6 compiler?
#       pragma warning( disable : 4786 ) // 'identifier was truncated to '255' characters in the debug information'
#   endif // #if _MSC_VER < 1300
#endif // #ifdef _MSC_VER
#include <conio.h>
#include <windows.h>
#include <process.h>
#include <iostream>
#include <apps/Common/exampleHelper.h>
#include <mvIMPACT_CPP/mvIMPACT_acquire.h>
#include <mvDisplay/Include/mvIMPACT_acquire_display.h>
 
using namespace std;
using namespace mvIMPACT::acquire;
using namespace mvIMPACT::acquire::display;
 
//-----------------------------------------------------------------------------
/// to get thread safe access to the std out and the display module
class CriticalSection
//-----------------------------------------------------------------------------
{
    CRITICAL_SECTION m_criticalSection;
public:
    CriticalSection()
    {
        InitializeCriticalSection( &m_criticalSection );
    }
    ~CriticalSection()
    {
        DeleteCriticalSection( &m_criticalSection );
    }
    void lock( void )
    {
        EnterCriticalSection( &m_criticalSection );
    }
    void unlock( void )
    {
        LeaveCriticalSection( &m_criticalSection );
    }
} g_critSect;
 
//-----------------------------------------------------------------------------
class LockedScope
//-----------------------------------------------------------------------------
{
    CriticalSection c_;
public:
    explicit LockedScope( CriticalSection& c ) : c_( c )
    {
        c_.lock();
    }
    ~LockedScope()
    {
        c_.unlock();
    }
};
 
//-----------------------------------------------------------------------------
class ThreadData
//-----------------------------------------------------------------------------
{
    volatile bool boTerminateThread_;
public:
    explicit ThreadData() : boTerminateThread_( false ) {}
    virtual ~ThreadData() {}
    bool terminated( void ) const
    {
        return boTerminateThread_;
    }
    void terminateThread( void )
    {
        boTerminateThread_ = true;
    }
};
 
//-----------------------------------------------------------------------------
class DeviceData : public ThreadData
//-----------------------------------------------------------------------------
{
    Device* pDev_;
    FunctionInterface* pFI_;
    IOSubSystem* pIOSS_;
    Statistics* pSS_;
    ImageDisplayWindow* pDisplayWindow_;
    int lastRequestNr_;
public:
    explicit DeviceData( Device* p ) : ThreadData(), pDev_( p ), pFI_( 0 ), pIOSS_( 0 ), pSS_( 0 ), pDisplayWindow_( 0 ), lastRequestNr_( INVALID_ID ) {}
    ~DeviceData()
    {
        if( pFI_->isRequestNrValid( lastRequestNr_ ) )
        {
            pFI_->imageRequestUnlock( lastRequestNr_ );
            lastRequestNr_ = INVALID_ID;
        }
        delete pFI_;
        delete pSS_;
        delete pIOSS_;
        delete pDisplayWindow_;
    }
    void init( const std::string& windowName )
    {
        pDev_->open();
        pFI_ = new FunctionInterface( pDev_ );
        pSS_ = new Statistics( pDev_ );
        pIOSS_ = new IOSubSystem( pDev_ );
        {
            LockedScope lockedScope( g_critSect );
            cout << "Please note that there will be just one refresh for the display window, so if it is" << endl
                 << "hidden under another window the result will not be visible." << endl;
        }
        pDisplayWindow_ = new ImageDisplayWindow( windowName );
    }
    Device* device( void ) const
    {
        return pDev_;
    }
    FunctionInterface* functionInterface( void ) const
    {
        return pFI_;
    }
    IOSubSystem* IOSS( void ) const
    {
        return pIOSS_;
    }
    Statistics* statistics( void ) const
    {
        return pSS_;
    }
    ImageDisplayWindow* pDisp( void )
    {
        return pDisplayWindow_;
    }
};
 
//-----------------------------------------------------------------------------
class TriggerSignal : public ThreadData
//-----------------------------------------------------------------------------
{
    DigitalOutput* pTriggerOutput_;
    unsigned int frequency_Hz_;
public:
    explicit TriggerSignal( DigitalOutput* pTriggerOutput, unsigned int frequency_Hz ) : ThreadData(), pTriggerOutput_( pTriggerOutput ), frequency_Hz_( frequency_Hz ) {}
    DigitalOutput* triggerOutput( void ) const
    {
        return pTriggerOutput_;
    }
    unsigned int frequency_Hz( void ) const
    {
        return frequency_Hz_;
    }
};
 
//-----------------------------------------------------------------------------
unsigned int __stdcall liveThread( void* pData )
//-----------------------------------------------------------------------------
{
    DeviceData* pThreadParameter = reinterpret_cast<DeviceData*>( pData );
    unsigned int cnt = 0;
 
    ImageDisplay& display = pThreadParameter->pDisp()->GetImageDisplay();
    // establish access to the statistic properties
    Statistics* pSS = pThreadParameter->statistics();
    // create an interface to the device found
    FunctionInterface* pFI = pThreadParameter->functionInterface();
 
    // Send all requests to the capture queue. There can be more than 1 queue for some devices, but for this sample
    // we will work with the default capture queue. If a device supports more than one capture or result
    // queue, this will be stated in the manual. If nothing is mentioned about it, the device supports one
    // queue only. This loop will send all requests currently available to the driver. To modify the number of requests
    // use the property mvIMPACT::acquire::SystemSettings::requestCount at runtime (note that some devices will
    // only allow to modify this parameter while NOT streaming data!) or the property
    // mvIMPACT::acquire::Device::defaultRequestCount BEFORE opening the device.
    TDMR_ERROR result = DMR_NO_ERROR;
    while( ( result = static_cast<TDMR_ERROR>( pFI->imageRequestSingle() ) ) == DMR_NO_ERROR ) {};
    if( result != DEV_NO_FREE_REQUEST_AVAILABLE )
    {
        LockedScope lockedScope( g_critSect );
        cout << "'FunctionInterface.imageRequestSingle' returned with an unexpected result: " << result
             << "(" << ImpactAcquireException::getErrorCodeAsString( result ) << ")" << endl;
    }
 
    manuallyStartAcquisitionIfNeeded( pThreadParameter->device(), *pFI );
    // run thread loop
    const Request* pRequest = 0;
    const unsigned int timeout_ms = 200;
    int requestNr = INVALID_ID;
    // we always have to keep at least 2 images as the display module might want to repaint the image, thus we
    // can't free it unless we have a assigned the display to a new buffer.
    int lastRequestNr = INVALID_ID;
    while( !pThreadParameter->terminated() )
    {
        // wait for results from the default capture queue
        requestNr = pFI->imageRequestWaitFor( timeout_ms );
        if( pFI->isRequestNrValid( requestNr ) )
        {
            pRequest = pFI->getRequest( requestNr );
            if( pRequest->isOK() )
            {
                ++cnt;
                // here we can display some statistical information every 100th image
                if( cnt % 100 == 0 )
                {
                    LockedScope lockedScope( g_critSect );
                    cout << "Info from " << pThreadParameter->device()->serial.read()
                         << ": " << pSS->framesPerSecond.name() << ": " << pSS->framesPerSecond.readS()
                         << ", " << pSS->errorCount.name() << ": " << pSS->errorCount.readS()
                         << ", " << pRequest->infoFrameNr
                         << ", " << pRequest->infoFrameID
                         << ", " << pSS->frameCount << endl;
                }
                display.SetImage( pRequest );
                display.Update();
            }
            else
            {
                LockedScope lockedScope( g_critSect );
                cout << "Error: " << pRequest->requestResult.readS() << endl;
            }
            if( pFI->isRequestNrValid( lastRequestNr ) )
            {
                // this image has been displayed thus the buffer is no longer needed...
                pFI->imageRequestUnlock( lastRequestNr );
            }
            lastRequestNr = requestNr;
            // send a new image request into the capture queue
            pFI->imageRequestSingle();
        }
        else
        {
            //LockedScope lockedScope( g_critSect );
            //// If the error code is -2119(DEV_WAIT_FOR_REQUEST_FAILED), the documentation will provide
            //// additional information under TDMR_ERROR in the interface reference (
            //cout << "imageRequestWaitFor failed (" << requestNr << ", " << ImpactAcquireException::getErrorCodeAsString( requestNr ) << ", device " << pThreadParameter->device()->serial.read() << ")"
            //  << ", timeout value too small?" << endl;
        }
    }
 
    {
        LockedScope lockedScope( g_critSect );
        cout << "Overall good frames captured from device " << pThreadParameter->device()->serial.read() << ": " << cnt << endl;
    }
    manuallyStopAcquisitionIfNeeded( pThreadParameter->device(), *pFI );
 
    // stop the display from showing freed memory
    display.RemoveImage();
    // In this sample all the next lines are redundant as the device driver will be
    // closed now, but in a real world application a thread like this might be started
    // several times an then it becomes crucial to clean up correctly.
 
    // free the last potentially locked request
    if( pFI->isRequestNrValid( requestNr ) )
    {
        pFI->imageRequestUnlock( requestNr );
    }
    // clear all queues
    pFI->imageRequestReset( 0, 0 );
    return 0;
}
 
//-----------------------------------------------------------------------------
unsigned int __stdcall triggerThread( void* pData )
//-----------------------------------------------------------------------------
{
    TriggerSignal* pSignal = reinterpret_cast<TriggerSignal*>( pData );
    unsigned int cnt = 0;
    const unsigned int sleepPeriod_ms = 1000 / ( pSignal->frequency_Hz() * 2 );
    while( !pSignal->terminated() )
    {
        // generate a trigger signal
        Sleep( sleepPeriod_ms );
        pSignal->triggerOutput()->flip();
        Sleep( sleepPeriod_ms );
        pSignal->triggerOutput()->flip();
        ++cnt;
        if( cnt % 100 == 0 )
        {
            LockedScope lockedScope( g_critSect );
            cout << "Trigger signals generated: " << cnt << endl;
        }
    }
    LockedScope lockedScope( g_critSect );
    cout << "Overall trigger signals generated: " << cnt << endl;
    return 0;
}
 
//-----------------------------------------------------------------------------
unsigned int getNumberFromUser( void )
//-----------------------------------------------------------------------------
{
    unsigned int nr = 0;
    std::cin >> nr;
    // remove the '\n' from the stream
    std::cin.get();
    return nr;
}
 
//-----------------------------------------------------------------------------
bool isDeviceSupportedBySample( const Device* const pDev )
//-----------------------------------------------------------------------------
{
    return match( pDev->product.read(), string( "mvBlueCOUGAR-X*" ), '*' ) == 0;
}
 
//-----------------------------------------------------------------------------
void setupTriggerInput( DeviceData* pDevData )
//-----------------------------------------------------------------------------
{
    cout << "Select the digital INPUT of device(" << pDevData->device()->serial.read() << ")(as a string) that shall serve as a trigger input:" << endl;
    CameraSettingsBlueCOUGAR cs( pDevData->device() );
    DisplayPropertyDictionary<mvIMPACT::acquire::PropertyI>( cs.triggerSource );
    modifyPropertyValue( cs.triggerSource );
    cs.triggerMode.write( ctmOnRisingEdge );
    // infinite trigger timeout
    cs.imageRequestTimeout_ms.write( 0 );
}
 
//-----------------------------------------------------------------------------
int main( void )
//-----------------------------------------------------------------------------
{
    cout << "This sample is meant for mvBlueCOUGAR-X devices only. Other devices might be installed" << endl
         << "but won't be recognized by the application." << endl
         << endl;
 
    DeviceManager devMgr;
    std::vector<mvIMPACT::acquire::Device*> validDevices;
    if( getValidDevices( devMgr, validDevices, isDeviceSupportedBySample ) < 2 )
    {
        cout << "This sample needs at least 2 valid devices(one master and one slave). " << validDevices.size() << " device(s) has/have been detected." << endl
             << "Unable to continue! Press [ENTER] to end the application" << endl;
        cin.get();
        return 1;
    }
 
    cout << "Please select the MASTER device(the one that will create the trigger for all devices).\n\n";
    Device* pMaster = getDeviceFromUserInput( devMgr, isDeviceSupportedBySample, true );
    if( !pMaster )
    {
        cout << "Master device has not been properly selected. Unable to continue!\n"
             << "Press [ENTER] to end the application\n";
        cin.get();
        return 1;
    }
 
    set<Device*> setOfSlaves;
    do
    {
        cout << "\nPlease select a SLAVE device(this one will be triggered by the master).\n\n";
        Device* p = getDeviceFromUserInput( devMgr, isDeviceSupportedBySample, true );
        if( p == pMaster )
        {
            cout << "Master and slave must be different. Skipped!" << endl;
        }
        else if( p )
        {
            if( setOfSlaves.find( p ) == setOfSlaves.end() )
            {
                setOfSlaves.insert( p );
            }
            else
            {
                cout << "ALL slaves must be different. This one has already been selected. Skipped!" << endl;
            }
        }
        cout << "\nAdd another slave device('y')? ";
    }
    while( _getch() == 'y' );
 
    cout << endl;
    vector<DeviceData*> devices;
    devices.push_back( new DeviceData( pMaster ) );
    set<Device*>::const_iterator it = setOfSlaves.begin();
    set<Device*>::const_iterator itEND = setOfSlaves.end();
    while( it != itEND )
    {
        devices.push_back( new DeviceData( *it ) );
        ++it;
    }
 
    const vector<DeviceData*>::size_type DEV_COUNT = devices.size();
    DigitalOutput* pTriggerOutput = 0;
    try
    {
        for( vector<DeviceData*>::size_type i = 0; i < DEV_COUNT; i++ )
        {
            cout << "Initialising device " << devices[i]->device()->serial.read() << "..." << endl;
            devices[i]->init( ( ( i == 0 ) ? string( "Master " ) : string( "Slave " ) ) + devices[i]->device()->serial.read() );
            cout << endl
                 << "Setup the " << ( ( i == 0 ) ? "MASTER" : "SLAVE" ) << " device:" << endl
                 << "===========================" << endl
                 << endl;
            if( i == 0 )
            {
                const unsigned int digoutCount = devices[i]->IOSS()->getOutputCount();
                for( unsigned int digOut = 0; digOut < digoutCount; digOut++ )
                {
                    cout << "  [" << digOut << "]: " << devices[i]->IOSS()->output( digOut )->getDescription() << endl;
                }
                cout << endl
                     << "Select the digital OUTPUT of the MASTER device(" << devices[i]->device()->serial.read() << ") where the trigger pulse shall be generated on: ";
                pTriggerOutput = devices[i]->IOSS()->output( getNumberFromUser() );
                cout << endl;
            }
            setupTriggerInput( devices[i] );
        }
    }
    catch( const ImpactAcquireException& e )
    {
        // this e.g. might happen if the same device is already opened in another process...
        cout << "An error occurred while opening the devices(error code: " << e.getErrorCodeAsString() << ")." << endl
             << "Press [ENTER] to end the application" << endl;
        cin.get();
        return 1;
    }
 
    try
    {
        // get trigger frequency from user
        unsigned int triggerFrequency_Hz = 0;
        bool boRun = true;
        while( boRun )
        {
            cout << "Please enter the approx. desired trigger frequency in Hz: ";
            triggerFrequency_Hz = getNumberFromUser();
            if( ( triggerFrequency_Hz >= 1 ) && ( triggerFrequency_Hz <= 100 ) )
            {
                boRun = false;
                continue;
            }
            cout << "Invalid Selection. This sample will accept values from 1 - 100." << endl;
        }
        TriggerSignal triggerSignal( pTriggerOutput, triggerFrequency_Hz );
 
        HANDLE* pHandles = new HANDLE[DEV_COUNT];
        // start live threads
        for( unsigned int j = 0; j < DEV_COUNT; j++ )
        {
            unsigned int dwThreadID;
            pHandles[j] = ( HANDLE )_beginthreadex( 0, 0, liveThread, ( LPVOID )devices[j], 0, &dwThreadID );
        }
 
        // now all capture threads will start running...
        // before starting the trigger thread wait a little bit to allow the camera threads to set up completely
        Sleep( 1000 );
 
        HANDLE hTriggerThread;
        unsigned int dwTriggerThreadID;
        hTriggerThread = ( HANDLE )_beginthreadex( 0, 0, triggerThread, ( LPVOID )&triggerSignal, 0, &dwTriggerThreadID );
 
        {
            LockedScope lockedScope( g_critSect );
            cout << "Press [ENTER] to end the acquisition" << endl;
        }
        if( _getch() == EOF )
        {
            printf( "Calling '_getch()' did return EOF...\n" );
        }
 
        // stop all threads again
        {
            LockedScope lockedScope( g_critSect );
            cout << "Terminating threads..." << endl;
        }
 
        for( unsigned int k = 0; k < DEV_COUNT; k++ )
        {
            devices[k]->terminateThread();
        }
        triggerSignal.terminateThread();
 
        // wait until each live thread has terminated...
        WaitForMultipleObjects( static_cast<DWORD>( DEV_COUNT ), pHandles, true, INFINITE );
        for( unsigned int l = 0; l < DEV_COUNT; l++ )
        {
            CloseHandle( pHandles[l] );
        }
        // ... and then for the trigger thread to terminate
        WaitForSingleObject( hTriggerThread, INFINITE );
        CloseHandle( hTriggerThread );
        hTriggerThread = 0;
        delete [] pHandles;
    }
    catch( const ImpactAcquireException& e )
    {
        cout << "An error occurred(error code: " << e.getErrorCodeAsString() << ")." << endl;
        cout << "Press [ENTER] to end the application" << endl;
        cin.get();
        return 1;
    }
    cout << "Press [ENTER] to end the application" << endl;
    cin.get();
    return 0;
}