"""Driver for cameras based on the ids peak library."""
import os
import threading
from typing import TYPE_CHECKING
if TYPE_CHECKING:
from ids_peak.ids_peak import DataStream, NodeMap
from heros.helper import log
from herosdevices.core.templates.camera import CameraTemplate
from herosdevices.helper import mark_driver
from .pixelformat import ipl_image_to_ndarray
try:
from ids_peak import ids_peak, ids_peak_ipl_extension
except ModuleNotFoundError:
log.exception("Could not import the 'ids_peak' or 'ids_peak_ipl' python module, required for using ids cameras")
DEFAULT_CONFIG = {
"timeout": -1,
}
ROI_KEY_PAIRS = (
("OffsetX", "Width"),
("OffsetY", "Height"),
("Width", "OffsetX"),
("Height", "OffsetY"),
)
[docs]
@mark_driver(
name="IDS Peak Camera",
info="Camera compatible with the IDS Peak driver",
state="beta",
requires={"ids_peak.ids_peak": "ids-peak", "ids_peak.ids_peak_ipl_extension": "ids-peak-ipl"},
)
class PeakCompatibleCamera(CameraTemplate):
"""
A class to interface with IDS Peak cameras.
The class provides functionality to control and capture images from IDS Peak cameras.
It manages camera configuration, acquisition, and data streaming.
Important:
To access the camera as non-root user, you need to add the following udev rule
to :code:`/etc/udev/rules.d/99-ids.rules`::
ATTRS{idVendor}=="1409", MODE="666"
The vendor library must be obtained from the
`official website <https://en.ids-imaging.com/download-peak.html>`_.
Download the `IDS peak archive file`, unpack it at move the content of ``lib/ids/cti/`` to a place where
the user running the driver can access it. This path then needs to be specified via the ``lib_path`` argument
(``/opt/idspeak/ids/cti/`` in the example below).
If you install the full ids peak software via the installer, ``lib_path`` is ``/usr/lib/ids/cti/``.
To find the ``cam_id`` of your camera, you can use the script ``./bin/ids_open_camera_cpp_by_serno``.
Executing it will list give a list of all connected cameras::
IDS peak genericAPI "open_camera_by_serno" Sample v1.1.2
Serial numbers available:
0: 4108829617 - IDS Imaging Development Systems GmbH U3-368xXCP-M (1409f4e7c3b1 U3-368xXCP-M-2)
1: 4108829619 - IDS Imaging Development Systems GmbH U3-368xXCP-M (1409f4e7c3b3 U3-368xXCP-M-3)
In this example, the ``cam_id`` are ``1409f4e7c3b1`` and ``1409f4e7c3b3``.
Note:
The :code:`node_map` attribute provides access to the camera node map. If you need to set some special
nodes you can use that.
You can find the available nodes in the official API manuals:
- https://en.ids-imaging.com/manuals/ids-peak/ids-peak-api-documentation/en/index.html
- https://en.ids-imaging.com/manuals/ids-peak/ids-peak-user-manual/en/preface.html
"""
_special_config_keys = ["timeout"] # non peak node map config keys
_datastream: "DataStream"
node_map: "NodeMap | None" = None
def __init__(
self,
cam_id: str,
config_dict: dict,
default_config: str | None = None,
lib_path: str | None = None,
reset_to_continuous: bool = False,
) -> None:
"""Create a class to interface with IDS Peak cameras.
Args:
cam_id: Serial number of the cam. See note above to learn how to obtain the correct serial.
lib_path: Path to vendor library. Example: "/opt/idspeak/ids/cti/"
config_dict: Dict of configuration values like shown in the json example above. The keys starting with a
capital letter in the example are nodes in the camera node map. For available nodes, see the manual
of your camera model. The order of nodes of this dict is preserved, i.e. you can apply them in the
correct order as required by some nodes. Example: { "default":
{"ExposureTime": 1000, "TriggerSelector": "ExposureStart", "TriggerMode": "On", "TriggerSource":
"Software","AcquisitionMode": "MultiFrame", "AcquisitionFrameCount": 5}}
default_config: Default key in :code:`config_dict` to use. Example: "default"
reset_to_continuous: If True, the camera will be set to continuous acquisition mode on teardown.
"""
self.cam_id = cam_id
self.default_config_dict = DEFAULT_CONFIG
self.reset_to_continuous = reset_to_continuous
if lib_path is not None:
os.environ["GENICAM_GENTL32_PATH"] = lib_path
os.environ["GENICAM_GENTL64_PATH"] = lib_path
ids_peak.Library.Initialize()
super().__init__(config_dict, default_config)
def _get_available_options(self, only_implemented: bool = True) -> dict:
"""Get all nodes from the camera in form of a dict including information about if they can be set/read.
Args:
only_implemented: Shows only nodes that are implemented on the attached camera. If False, returns
all nodes the driver library knows
"""
node_dict = {}
with self.get_camera():
for n in self.node_map.Nodes(): # type: ignore
if not isinstance(n, ids_peak.CategoryNode):
node_props = {}
node_props["Display Name"] = n.DisplayName()
node_props["ToolTip"] = n.ToolTip()
node_props["IsReadable"] = n.IsReadable()
node_props["IsWriteable"] = n.IsWriteable()
if not only_implemented or n.IsImplemented():
node_dict[n.Name()] = node_props
return node_dict
def _open(self) -> "ids_peak.Device":
"""Open the connection to the device. Don't call directly.
:meta private:
"""
device_manager = ids_peak.DeviceManager.Instance()
device_manager.Update()
for i, device in enumerate(device_manager.Devices()):
if self.cam_id in device.ID():
camera = device_manager.Devices()[i].OpenDevice(ids_peak.DeviceAccessType_Control)
break
else:
msg = f"Camera {self.cam_id} not found."
raise RuntimeError(msg)
self.node_map = camera.RemoteDevice().NodeMaps()[0]
return camera
def _set_config(self, config: dict) -> bool:
with self.get_camera():
for key, value in config.items():
if key not in self._special_config_keys:
node = self.node_map.FindNode(key) # type: ignore
if type(node) is ids_peak.IntegerNode or type(node) is ids_peak.FloatNode:
try:
node.SetValue(value)
except ids_peak.exceptions.OutOfRangeException:
# ROI parameters needs to be set in correct order to avoid OutOfRange
for key_test, key_complement in ROI_KEY_PAIRS:
if key == key_test and key_complement in config:
node_complement = self.node_map.FindNode(key_complement) # type: ignore
node_complement.SetValue(config[key_complement])
break
raise
elif type(node) is ids_peak.EnumerationNode:
node.SetCurrentEntry(value)
else:
msg = f"The node {key} has an unrecognised node type: {type(node)}"
raise ValueError(msg)
return True
def _get_exposure_time(self) -> float | None:
"""Return the current exposure time in seconds from the active configuration.
Returns:
exposure time in seconds, or None if not set
"""
val = self.get_configuration().get("ExposureTime")
return val / 1e6 if val is not None else None
def _get_roi_coordinates(self) -> tuple[int, int, int, int] | None:
"""Return the current ROI from the active configuration.
Returns:
(x_offset, y_offset, width, height) in sensor pixels, or None if not set
"""
c = self.get_configuration()
x, y, w, h = c.get("OffsetX"), c.get("OffsetY"), c.get("Width"), c.get("Height")
if None in (x, y, w, h):
return None
return (x, y, w, h)
def _get_binning(self) -> tuple[int, int] | None:
"""Return the current binning from the active configuration.
Returns:
(horizontal, vertical) binning factors, or None if not set
"""
c = self.get_configuration()
h, v = c.get("BinningHorizontal"), c.get("BinningVertical")
if None in (h, v):
return None
return (h, v)
def _set_exposure_time(self, exposure_time: float) -> dict:
"""Return IDS Peak config patch for the given exposure time.
Args:
exposure_time: exposure time in seconds
Returns:
config patch dict
"""
return {"ExposureTime": int(exposure_time * 1e6)}
def _set_roi_coordinates(self, roi: tuple[int, int, int, int]) -> dict:
"""Return IDS Peak config patch for the given ROI.
Args:
roi: (x_offset, y_offset, width, height) in sensor pixels
Returns:
config patch dict
"""
x_offset, y_offset, width, height = roi
return {"OffsetX": x_offset, "OffsetY": y_offset, "Width": width, "Height": height}
def _set_binning(self, binning: tuple[int, int]) -> dict:
"""Return IDS Peak config patch for the given binning factors.
Args:
binning: (horizontal, vertical) binning factors
Returns:
config patch dict
"""
h_bin, v_bin = binning
valid = (1, 2, 4)
if h_bin not in valid or v_bin not in valid:
msg = f"Binning factors must be one of {valid}, got ({h_bin}, {v_bin})"
raise ValueError(msg)
return {"BinningSelector": "Sensor", "BinningHorizontal": int(h_bin), "BinningVertical": int(v_bin)}
def _get_expected_frames(self) -> int:
current_config = self.get_configuration()
if current_config["AcquisitionMode"] == "Continuous":
return -1
if current_config["AcquisitionMode"] == "SingleFrame":
return 1
# MultiFrame
return current_config["AcquisitionFrameCount"]
def _acquisition_loop(self) -> None:
meta_data = {}
frame_id = -1
n_underruns = 0
config = self.get_configuration()
expected_frames = self._get_expected_frames()
if config["timeout"] == -1:
timeout = ids_peak.Timeout.INFINITE_TIMEOUT
else:
timeout = ids_peak.Timeout(int(config["timeout"] * 1e3))
while not self._stop_acquisition_event.is_set() and (frame_id < expected_frames - 1 or expected_frames < 0):
try:
buffer = self._datastream.WaitForFinishedBuffer(timeout)
if buffer.DeliveredDataSize() > 0:
n_underruns_now = self._datastream.NumUnderruns()
if n_underruns < n_underruns_now:
log.warning(
"Skipping %s images starting from id %s. Reduce framerate or ROI size.",
n_underruns_now - n_underruns,
frame_id,
)
n_underruns = n_underruns_now
frame_id = (
self._datastream.NumBuffersDelivered() + n_underruns - 1
) # NumBuffersDelivered starts at 1
meta_data["frame"] = frame_id
meta_data["acquisition_time"] = buffer.Timestamp_ns()
ipl_image = ids_peak_ipl_extension.BufferToImage(buffer)
self._datastream.QueueBuffer(buffer)
self.acquisition_data(ipl_image_to_ndarray(ipl_image), meta_data)
except ids_peak.TimeoutException:
log.exception("Error during acquisition.")
self._stop_acquisition_event.set()
except ids_peak.AbortedException:
self._stop_acquisition_event.set()
if expected_frames > 0:
if expected_frames > 0 and frame_id != expected_frames - 1:
log.error("Incorrect number of received frames: %s instead of %s!", frame_id + 1, expected_frames)
self.stop()
def _arm(self) -> bool:
with self.get_camera() as camera:
self.node_map.FindNode("TLParamsLocked").SetValue(1) # type: ignore
try:
self._datastream = camera.DataStreams()[0].OpenDataStream()
except ids_peak.BadAccessException:
self._datastream = camera.DataStreams()[0].OpenedDataStream()
self._datastream.Flush(ids_peak.DataStreamFlushMode_DiscardAll)
for buffer in self._datastream.AnnouncedBuffers():
self._datastream.RevokeBuffer(buffer)
payload_size = self.node_map.FindNode("PayloadSize").Value() # type: ignore
max_buffer = self._datastream.NumBuffersAnnouncedMinRequired() * 5
for _ in range(max_buffer):
buffer = self._datastream.AllocAndAnnounceBuffer(payload_size)
self._datastream.QueueBuffer(buffer)
self._datastream.StartAcquisition()
self.node_map.FindNode("AcquisitionStart").Execute() # type: ignore
self.node_map.FindNode("AcquisitionStart").WaitUntilDone() # type: ignore
self._start_acquisition_thread()
return True
def _start_acquisition_thread(self) -> None:
"""Start the acquisition thread."""
log.debug("Starting acquisition thread")
self._stop_acquisition_event.clear()
self._acquisition_thread = threading.Thread(target=self._acquisition_loop)
self._acquisition_thread.start()
def _start(self) -> bool:
self.node_map.FindNode("TriggerSoftware").Execute() # type: ignore
return True
def _stop(self) -> bool:
if self.acquisition_running is False or self._acquisition_thread is None:
self.acquisition_running = False
return True
try:
self.node_map.FindNode("AcquisitionStop").Execute() # type: ignore
if threading.current_thread().ident != self._acquisition_thread.ident:
# Kill the datastream to exit out of pending `WaitForFinishedBuffer` calls
self._datastream.KillWait()
self._acquisition_thread.join()
self.acquisition_stopped()
else:
# only set stop flag if closed from acquisition thread itself
self._datastream.StopAcquisition(ids_peak.AcquisitionStopMode_Default)
# Unlock parameters
self.node_map.FindNode("TLParamsLocked").SetValue(0) # type: ignore
self._acquisition_thread = None
self.acquisition_running = False
except Exception: # noqa: BLE001
log.exception("Exception during stop acquisition.")
return False
else:
return True
def _get_status(self) -> dict:
return {
"acquisition_running": self.acquisition_running,
}
def _teardown(self) -> None:
if self.reset_to_continuous:
self._set_config({"AcquisitionMode": "Continuous"})
log.debug(f"closing down connection to {self.cam_id}")
self.stop()
self.node_map = None
self._device = None
def __del__(self) -> None:
"""Call teardown method and close ids_peak library on delete."""
self.teardown()
ids_peak.Library.Close()