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Add support for multiple cameras #6

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0e39c8f
Add support for multiple cameras
Feb 12, 2026
3858587
Expand the documetation for multi-camera support
Feb 13, 2026
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202 changes: 176 additions & 26 deletions EuresysApp/src/ADEuresys.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,10 @@
* Author: Mark Rivers
* University of Chicago
*
* Contributor: Jan Jug
* Cosylab d.d.
* jan.jug@cosylab.com
*
* Created: March 6, 2024
*
*/
Expand All @@ -23,6 +27,7 @@
#include <cantProceed.h>
#include <epicsString.h>
#include <epicsExit.h>
#include <errlog.h>

#include <ADGenICam.h>
#include <EGrabber.h>
Expand All @@ -38,6 +43,11 @@ using namespace Euresys;

static const char *driverName = "ADEuresys";

/* GenTL system management singleton */
static EGenTL *pGenTL = NULL;
static int genTLRefCount = 0;
static epicsMutex *pGenTLMutex = new epicsMutex();

typedef enum {
TimeStampCamera,
TimeStampEPICS
Expand All @@ -48,33 +58,57 @@ typedef enum {
UniqueIdDriver
} ESUniqueId_t;

/** Configuration function to configure one camera.
/** Original configuration function for backward compatibility.
*
* This function maintains backward compatibility with the old API. The cameraId parameter
* is ignored (it was never used in the original implementation). This always connects to
* interface 0, device 0, which matches the original behavior.
* \param[in] portName asyn port name to assign to the camera.
* \param[in] cameraId Legacy parameter (ignored - kept for backward compatibility).
* \param[in] numEGBuffers The number of buffers to allocate in EGrabber.
* If set to 0 or omitted the default of 100 will be used.
* \param[in] maxMemory Maximum memory (in bytes) that this driver is allowed to allocate. 0=unlimited.
* \param[in] priority The EPICS thread priority for this driver. 0=use asyn default.
* \param[in] stackSize The size of the stack for the EPICS port thread. 0=use asyn default.
*/
extern "C" int ADEuresysConfig(const char *portName, const char* cameraId,
int numEGBuffers, size_t maxMemory, int priority, int stackSize)
{
new ADEuresys(portName, cameraId, numEGBuffers, maxMemory, priority, stackSize);
return asynSuccess;
}

/** Configuration function to configure one camera with explicit interface and device indices.
*
* This function need to be called once for each camera to be used by the IOC. A call to this
* function instantiates one object from the ADEuresys class.
* \param[in] portName asyn port name to assign to the camera.
* \param[in] cameraId A string identifying the camera to control.
* \param[in] interfaceIndex The GenTL interface index (typically the board/card index).
* \param[in] deviceIndex The GenTL device index (camera index on the specified interface).
* \param[in] numEGBuffers The number of buffers to allocate in EGrabber.
* If set to 0 or omitted the default of 100 will be used.
* \param[in] maxMemory Maximum memory (in bytes) that this driver is allowed to allocate. 0=unlimited.
* \param[in] priority The EPICS thread priority for this driver. 0=use asyn default.
* \param[in] stackSize The size of the stack for the EPICS port thread. 0=use asyn default.
*/
extern "C" int ADEuresysConfig(const char *portName, const char* cameraId, int numEGBuffers,
size_t maxMemory, int priority, int stackSize)
extern "C" int ADEuresysConfig2(const char *portName, int interfaceIndex, int deviceIndex,
int numEGBuffers, size_t maxMemory, int priority, int stackSize)
{
new ADEuresys(portName, cameraId, numEGBuffers, maxMemory, priority, stackSize);
new ADEuresys(portName, interfaceIndex, deviceIndex, numEGBuffers,
maxMemory, priority, stackSize);
return asynSuccess;
}

class myGrabber : public EGRABBER_CALLBACK {
public:
myGrabber(EGenTL *gentl, class ADEuresys *pADEuresys) : EGRABBER_CALLBACK(*gentl) {
myGrabber(EGenTL *gentl, int interfaceIndex, int deviceIndex,
class ADEuresys *pADEuresys)
: EGRABBER_CALLBACK(*gentl, interfaceIndex, deviceIndex) {
pADEuresys_ = pADEuresys;
enableEvent<NewBufferData>();
}
private:
class ADEuresys *pADEuresys_;
class ADEuresys *pADEuresys_;
virtual void onNewBufferEvent(const NewBufferData &data) {
ScopedBuffer buf(*this, data);
pADEuresys_->processFrame(buf);
Expand All @@ -88,28 +122,116 @@ static void c_shutdown(void *arg)
p->shutdown();
}

/** Constructor for the ADEuresys class
/** Initialize the GenTL singleton.
* This method creates the GenTL system object on first call and increments reference count.
*/
void ADEuresys::initGenTL()
{
static const char *functionName = "initGenTL";

pGenTLMutex->lock();
if (pGenTL == NULL) {
try {
pGenTL = new EGenTL();
errlogPrintf("%s::%s: Created GenTL system singleton\n",
driverName, functionName);
}
catch (std::exception &e) {
errlogPrintf("%s::%s ERROR: Failed to create GenTL system: %s\n",
driverName, functionName, e.what());
pGenTLMutex->unlock();
throw;
}
}
genTLRefCount++;
errlogPrintf("%s::%s: GenTL reference count = %d\n",
driverName, functionName, genTLRefCount);
pGenTLMutex->unlock();
}

/** Cleanup the GenTL singleton.
* This method decrements reference count and deletes the GenTL system object when count reaches zero.
*/
void ADEuresys::cleanupGenTL()
{
static const char *functionName = "cleanupGenTL";

pGenTLMutex->lock();
genTLRefCount--;
errlogPrintf("%s::%s: GenTL reference count = %d\n",
driverName, functionName, genTLRefCount);

if (genTLRefCount <= 0 && pGenTL != NULL) {
delete pGenTL;
pGenTL = NULL;
errlogPrintf("%s::%s: Deleted GenTL system singleton\n",
driverName, functionName);
}
pGenTLMutex->unlock();
}

/** Legacy constructor for backward compatibility.
* Ignores cameraId and uses interface 0, device 0 (matching original behavior).
* \param[in] portName asyn port name to assign to the camera.
* \param[in] cameraId A string identifying the camera to control.
* \param[in] cameraId Legacy parameter (ignored).
* \param[in] numEGBuffers The number of buffers to allocate in EGrabber.
* If set to 0 or omitted the default of 100 will be used.
* \param[in] maxMemory Maximum memory (in bytes) that this driver is allowed to allocate. 0=unlimited.
* \param[in] priority The EPICS thread priority for this driver. 0=use asyn default.
* \param[in] stackSize The size of the stack for the EPICS port thread. 0=use asyn default.
*/
ADEuresys::ADEuresys(const char *portName, const char* cameraId, int numEGBuffers,
size_t maxMemory, int priority, int stackSize )
size_t maxMemory, int priority, int stackSize)
: ADEuresys(portName, 0, 0, numEGBuffers, maxMemory, priority, stackSize)
{
// Delegate to new constructor with interface 0, device 0
// Note: cameraId parameter is ignored as it was never used in the original implementation
}

/** Constructor for the ADEuresys class with explicit interface and device indices.
* \param[in] portName asyn port name to assign to the camera.
* \param[in] interfaceIndex The GenTL interface index (typically the board/card index).
* \param[in] deviceIndex The GenTL device index (camera index on the specified interface).
* \param[in] numEGBuffers The number of buffers to allocate in EGrabber.
* If set to 0 or omitted the default of 100 will be used.
* \param[in] maxMemory Maximum memory (in bytes) that this driver is allowed to allocate. 0=unlimited.
* \param[in] priority The EPICS thread priority for this driver. 0=use asyn default.
* \param[in] stackSize The size of the stack for the EPICS port thread. 0=use asyn default.
*/
ADEuresys::ADEuresys(const char *portName, int interfaceIndex, int deviceIndex,
int numEGBuffers, size_t maxMemory, int priority, int stackSize )
: ADGenICam(portName, maxMemory, priority, stackSize),
numEGBuffers_(numEGBuffers), exiting_(0), uniqueId_(0)
{
//static const char *functionName = "ADEuresys";
static const char *functionName = "ADEuresys";

//pasynTrace->setTraceMask(pasynUserSelf, ASYN_TRACE_ERROR | ASYN_TRACE_WARNING | ASYN_TRACEIO_DRIVER);

if (numEGBuffers_ == 0) numEGBuffers_ = 100;
EGenTL *gentl = new EGenTL;
mGrabber_ = new myGrabber(gentl, this);
mGrabber_->reallocBuffers(numEGBuffers);

// Initialize the singleton GenTL system (increments ref count)
initGenTL();

try {
// Create EGrabber with specific interface and device indices using singleton
mGrabber_ = new myGrabber(pGenTL, interfaceIndex, deviceIndex, this);
mGrabber_->reallocBuffers(numEGBuffers);

asynPrint(pasynUserSelf, ASYN_TRACE_FLOW,
"%s::%s connected to interface %d, device %d\n",
driverName, functionName, interfaceIndex, deviceIndex);
}
catch (std::exception &e) {
asynPrint(pasynUserSelf, ASYN_TRACE_ERROR,
"%s::%s ERROR creating EGrabber for interface %d, device %d: %s\n",
driverName, functionName, interfaceIndex, deviceIndex, e.what());
// Clean up mGrabber_ if it was created but reallocBuffers failed
if (mGrabber_) {
delete mGrabber_;
mGrabber_ = NULL;
}
cleanupGenTL(); // Decrement ref count since we failed
throw;
}

createParam(ESTimeStampModeString, asynParamInt32, &ESTimeStampMode);
createParam(ESUniqueIdModeString, asynParamInt32, &ESUniqueIdMode);
Expand Down Expand Up @@ -151,12 +273,17 @@ EGRABBER_CALLBACK* ADEuresys::getGrabber() {

void ADEuresys::shutdown(void)
{
//static const char *functionName = "shutdown";
lock();
exiting_ = 1;
stopCapture();
delete mGrabber_;
if (mGrabber_) {
delete mGrabber_;
mGrabber_ = NULL;
}
unlock();

// Decrement GenTL reference count and cleanup if last instance
cleanupGenTL();
}

GenICamFeature *ADEuresys::createFeature(GenICamFeatureSet *set,
Expand Down Expand Up @@ -439,29 +566,52 @@ void ADEuresys::report(FILE *fp, int details)
return;
}

// Legacy iocsh configuration for backward compatibility
static const iocshArg configArg0 = {"Port name", iocshArgString};
static const iocshArg configArg1 = {"Camera ID", iocshArgString};
static const iocshArg configArg2 = {"# EGrabber buffers", iocshArgInt};
static const iocshArg configArg3 = {"maxMemory", iocshArgInt};
static const iocshArg configArg4 = {"priority", iocshArgInt};
static const iocshArg configArg5 = {"stackSize", iocshArgInt};
static const iocshArg * const configArgs[] = {&configArg0,
&configArg1,
&configArg2,
&configArg3,
&configArg4,
&configArg5};
&configArg1,
&configArg2,
&configArg3,
&configArg4,
&configArg5};
static const iocshFuncDef configADEuresys = {"ADEuresysConfig", 6, configArgs};
static void configCallFunc(const iocshArgBuf *args)
{
ADEuresysConfig(args[0].sval, args[1].sval, args[2].ival, args[3].ival,
args[4].ival, args[5].ival);
ADEuresysConfig(args[0].sval, args[1].sval, args[2].ival,
args[3].ival, args[4].ival, args[5].ival);
}

// New iocsh configuration with explicit interface and device indices
static const iocshArg config2Arg0 = {"Port name", iocshArgString};
static const iocshArg config2Arg1 = {"Interface index", iocshArgInt};
static const iocshArg config2Arg2 = {"Device index", iocshArgInt};
static const iocshArg config2Arg3 = {"# EGrabber buffers", iocshArgInt};
static const iocshArg config2Arg4 = {"maxMemory", iocshArgInt};
static const iocshArg config2Arg5 = {"priority", iocshArgInt};
static const iocshArg config2Arg6 = {"stackSize", iocshArgInt};
static const iocshArg * const config2Args[] = {&config2Arg0,
&config2Arg1,
&config2Arg2,
&config2Arg3,
&config2Arg4,
&config2Arg5,
&config2Arg6};
static const iocshFuncDef configADEuresys2 = {"ADEuresysConfig2", 7, config2Args};
static void configCallFunc2(const iocshArgBuf *args)
{
ADEuresysConfig2(args[0].sval, args[1].ival, args[2].ival, args[3].ival,
args[4].ival, args[5].ival, args[6].ival);
}

static void ADEuresysRegister(void)
{
iocshRegister(&configADEuresys, configCallFunc);
iocshRegister(&configADEuresys2, configCallFunc2);
}

extern "C" {
Expand Down
15 changes: 13 additions & 2 deletions EuresysApp/src/ADEuresys.h
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
#define ADEURESYS_H

#include <epicsEvent.h>
#include <epicsMutex.h>

#include <ADGenICam.h>
#include <EGrabber.h>
Expand Down Expand Up @@ -29,21 +30,31 @@ typedef EGrabber<CallbackSingleThread> EGRABBER_CALLBACK;
class ADEuresys : public ADGenICam
{
public:
// Legacy constructor for backward compatibility - ignores cameraId and uses interface 0, device 0
ADEuresys(const char *portName, const char* cameraId, int numESBuffers,
size_t maxMemory, int priority, int stackSize);

// New constructor with explicit interface and device indices
ADEuresys(const char *portName, int interfaceIndex, int deviceIndex,
int numESBuffers, size_t maxMemory, int priority, int stackSize);

// virtual methods to override from ADGenICam
void report(FILE *fp, int details);
virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
virtual GenICamFeature *createFeature(GenICamFeatureSet *set,
virtual GenICamFeature *createFeature(GenICamFeatureSet *set,
std::string const & asynName, asynParamType asynType, int asynIndex,
std::string const & featureName, GCFeatureType_t featureType);

void processFrame(ScopedBuffer &buf);
EGRABBER_CALLBACK *getGrabber();
void shutdown();

private:
/* Static methods for GenTL singleton management */
static void initGenTL();
static void cleanupGenTL();

/* parameters */
int ESTimeStampMode;
#define FIRST_ES_PARAM ESTimeStampMode
int ESUniqueIdMode;
Expand Down
23 changes: 23 additions & 0 deletions docs/ADEuresys/ADEuresys.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -188,6 +188,29 @@ multiple cameras from one computer.

``stackSize`` is the stack size. 0 means medium size.

A secondary command is available to allow for the selection of both the interface (card) and device (camera)::

ADEuresysConfig2(const char *portName, int interfaceIndex, int deviceIndex,
int numEGBuffers, size_t maxMemory, int priority, int stackSize)

``portName`` is the name for the ADEuresys port driver

``interfaceIndex`` is used to select the framegrabber card.
If there is only one framegrabber card, use 0. If there are multiple, you can use the EGrabber_ utilities (such as
eGrabber Studio) to figure out the topology of the system.

``deviceIndex`` is used to select the camera on the chosen framegrabber.

``numEGBuffers`` is the number of buffers to allocate in EGrabber. If set to 0 or omitted the default of 100 will be used.

``maxMemory`` is the maximum amount of memory the NDArrayPool is allowed to allocate. 0 means unlimited.

``priority`` is the priority of the port thread. 0 means medium priority.

``stackSize`` is the stack size. 0 means medium size.

An example for setting up three cameras on one framegrabber can be found in the Adimec example IOC directory.

Cameras Tested
--------------
ADEuresys_ has been tested with 3 very different cameras, shown in the following table.
Expand Down
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