EDATEC
User Guide for EDA models including: ED-AIC2000 Series Industrial Smart Camera, ED-AIC2000 Series, Industrial Smart Camera, Smart Camera
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DocumentDocumentED-AIC2000 Series Industrial Smart Camera Based on Raspberry Pi CM4
SDK Development Guide
EDA Technology Co., LTD May 2024
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Copyright Statement
ED-AIC2000 series and its related intellectual property rights are owned by EDA Technology Co.,LTD. EDA Technology Co.,LTD owns the copyright of this document and reserves all rights. Without the written permission of EDA Technology Co.,LTD, no part of this document may be modified, distributed or copied in any way or form.
Disclaimer
EDA Technology Co.,LTD does not guarantee that the information in this manual is up to date, correct, complete or of high quality. EDA Technology Co.,LTD also does not guarantee the further use of this information. If the material or non-material related losses are caused by using or not using the information in this manual, or by using incorrect or incomplete information, as long as it is not proved that it is the intention or negligence of EDA Technology Co.,LTD, the liability claim for EDA Technology Co.,LTD can be exempted. EDA Technology Co.,LTD expressly reserves the right to modify or supplement the contents or part of this manual without special notice.
Foreword
Reader Scope
This manual is applicable to the following readers: Software Engineer System Engineer
Related Agreement
Terminology Convention
Terminology CM4
Meaning Raspberry Pi Compute Module 4
Symbolic Convention
Symbolic
Instruction Prompt symbols, indicating important features or operations.
Notice symbols, which may cause personal injury, system damage, or signal interruption/loss.
May cause great harm to people.
i
Safety Instructions
This product should be used in an environment that meets the requirements of design specifications, otherwise it may cause failure, and functional abnormality or component damage caused by non-compliance with relevant regulations are not within the product quality assurance scope.
Our company will not bear any legal responsibility for personal safety accidents and property losses caused by illegal operation of products.
Please do not modify the equipment without permission, which may cause equipment failure.
When installing equipment, it is necessary to fix the equipment to prevent it from falling.
If the equipment is equipped with an antenna, please keep a distance of at least 20cm from the equipment during use.
Do not use liquid cleaning equipment, and keep away from liquids and flammable materials.
This product is only supported for indoor use.
ii
Content
Foreword .....................................................................................................................................................i
Reader Scope ......................................................................................................................................i
Related Agreement ..............................................................................................................................i
Terminology Convention................................................................................................................i
Symbolic Convention ....................................................................................................................i
Safety Instructions ...................................................................................................................................... ii
1 SDK Overview ................................................................................................................................. 1-1
1.1
SDK Introduction............................................................................................................... 1-2
1.2
SDK Composition.............................................................................................................. 1-3
2 Function Description ....................................................................................................................... 2-1
2.1
IO Control (C++) ............................................................................................................... 2-2
2.1.1 Flow Diagram............................................................................................................. 2-2
2.1.2 Getting Instance and Initializing ................................................................................. 2-2
2.1.3 Event Callback Function ............................................................................................ 2-2
2.1.4 Controlling IO............................................................................................................. 2-3
2.1.5 Controlling light .......................................................................................................... 2-4
2.1.6 Source File................................................................................................................. 2-5
2.2
IO Control (Python) ........................................................................................................... 2-8
2.2.1 Flow Diagram............................................................................................................. 2-8
2.2.2 Import Module............................................................................................................ 2-8
2.2.3 Getting Instance and Initializing ................................................................................. 2-8
2.2.4 Event Callback Function ............................................................................................ 2-9
2.2.5 Controlling IO............................................................................................................. 2-9
2.2.6 Controlling light ........................................................................................................ 2-10
2.2.7 Source File................................................................................................................2-11
2.3
Sensor Control (C++) ...................................................................................................... 2-13
2.3.1 Flow Diagram........................................................................................................... 2-13
2.3.2 Operating Steps ....................................................................................................... 2-13
2.3.3 Source File............................................................................................................... 2-15
2.4
Sensor Control (Python) ................................................................................................. 2-18
2.4.1 Flow Diagram........................................................................................................... 2-18
2.4.2 Operating Steps ....................................................................................................... 2-18
3 Example .......................................................................................................................................... 3-1
3.1
Writing Code ..................................................................................................................... 3-2
3.2
Compiling and Running Code ........................................................................................... 3-3
1 SDK Overview
1 SDK Overview
This chapter introduces the definition and composition of SDK to help users understand the SDK better.
SDK Introduction SDK Composition
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1.1 SDK Introduction
1 SDK Overview
The SDK of the ED-AIC2000 series Camera is a set of software development kit, which provides users with the interfaces required for upper-layer applications to facilitate secondary development of the camera.
The SDK functions of the ED-AIC2000 series Camera include registering Trigger/Tune button, DI definition, laser control, status indicator control, alarm indicator control, 2-channel DO control, Light and light source control, camera working mode setting, camera exposure time setting, camera gain setting and image data processing.
The location of SDK in the camera system is shown in the figure below.
Application
Buttons
Laser
Light Source
SDK
Indicators
12-Pin M12
RGB Light
IO
Working Mode
Gain
Exposure Time
Image Processing
Camera Sensor
Drive
WiringPi
V4L2
OV2311
AR0234
libcamera
HQ
GS
GPIO
Hardware
MCU Raspberry Pi CM4
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1.2 SDK Composition
1 SDK Overview
The SDK of camera is composed of multiple header files and library files. The details file names and installation paths are as follows.
Function IO Control
Camera Sensor Control
File Type Head File Library
Head File
Library
File Names eda-io.h libeda_io.so camera.h CameraManger.h camera_0234.h camera_2311.h libeda_camera.so
Installation Paths /usr/include/eda/ /usr/lib/
/usr/include/eda/
/usr/lib/
During the development process, users can complete the development of upper-layer applications based on actual needs and refer to the corresponding function description below.
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2 Function Description
2 Function Description
This chapter introduces how to write the code corresponding to each function to help users write the code required for upper-layer applications.
IO Control (C++) IO Control (Python) Sensor Control (C++) Sensor Control (Python)
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2.1 IO Control (C++)
2 Function Description
This section introduces the operations of indicator control, laser control, event callback, and output control.
2.1.1 Flow Diagram
Get Instance
Set Up for Initialization
Event Callback Function
IO Control
Light Control
Register Input Register Trigger Button Register Tune Button Laser On/Off Set Status Indicator Set Alarm Indicator Set 2 Output Signals Set RGB of Side Lights Light Enable/Disable
2.1.2 Getting Instance and Initializing
Before operating IO, you need to obtain an IO instance and initialize the instance. The steps are as follows. 1. Getting an IO instance.
eda::EdaIo *em = eda::EdaIo::getInstance(); 2. Initializing the instance.
em->setup();
2.1.3 Event Callback Function
IO control supports registering callback functions for events, including registering Input, registering Trigger button, and registering Tune button.
DI1 trigger event
em->registerInput(trigger_input);
The COMMON_IN pin in the 12-Pin M12 interface is connected to ground signal, and the DI1
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pin is connected to 5V signal for triggering.
Registering Trigger button
em->registerTrigger(trigger_trigger);
Registering Tune button
em->registerTune(trigger_tune);
Sample
#include "eda/eda-io.h" void trigger_input(int b){
printf("[Test] Tirgger input: %d\n", b); } int main(int argc, char *argv[]){
eda::EdaIo *em = eda::EdaIo::getInstance(); em->registerInput(trigger_input); em->setup(); .... }
2 Function Description
2.1.4 Controlling IO
Using IO to control the on/off of the laser, the on/off of the status indicator, the on/off of the alarm indicator and the enable/disable of the 2 outputs.
Preparation
Initialization of the instance has been completed.
Operating Instructions
Laser On/Off
em->openLaser();
em->closeLaser();
Status indicator On/Off
em->setScanStat(true)
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em->setScanStat(false) Alarm indicator On/Off
em->openAlarm() em->openAlarm() 2 outputs enable/disable em->setDo1High(false); em->setDo2High(false);
2 Function Description
2.1.5 Controlling light
Both the camera side lights and area lights can be controlled independently.
Preparation
Initialization of the instance has been completed.
Operating Instructions
Side light color
em->setRgbLight(1); 0: Closing side light 1: Setting the color to Red 2: Setting the color to Green 3: Setting the color to Blue RGB color of side light
void setRgbLight_rgb(uint8_t r, uint8_t g, uint8_t b); Area lights
Enable (The default state)
em->enableLightSection(1);
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The value range is 1~4, corresponding to different partitions.
2 Function Description
Disable
em->disableLightSection(1);
The value range is 1~4, corresponding to different partitions.
Enabling/disabling the area light does not turn on/off the light. The area light and the camera are linked. The area light will only turn on when the area light is enabled and the camera is turned on.
2.1.6 Source File
IO Control Class (C++)
typedef void (*IoTrigger)(int level);
class EdaIo{ public:
static EdaIo* getInstance(); static void close_io(); ~EdaIo(); /** * @brief Laser On * */ void openLaser(); /** * @brief Laser Off * */ void closeLaser(); /** * @brief set status indicator * * @param good */ void setScanStat(bool good); /** * @brief alarm indicator On * */
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void openAlarm(); /** * @brief alarm indicator Off * */ void closeAlarm(); /** * @brief * * @param section 1~4 * @return int */ int enableLightSection(int section); /** * @brief * * @param section 1~4 * @return int */ int disableLightSection(int section); /** * @brief set output1 to [high/low] * * @param high */ void setDo1High(bool high); /** * @brief set output2 to [high/low] * * @param high */ void setDo2High(bool high);
// void setAimerColor(RGBColor color);
/** * @brief register input trigger callback function * * @param callback */ void registerInput(IoTrigger callback); /** * @brief register button callback function *
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* @param callback */ void registerTrigger(IoTrigger callback); /** * @brief register Tune button callback function * * @param callback */ void registerTune(IoTrigger callback);
/** * @brief set RGB light * * @param light 0: Close; 1: Red; 2: Green; 3: Blue, * @return int */ void setRgbLight(uint8_t light); /** * @brief Set the RGB Light * * @param r red * @param g green * @param b blue */ void setRgbLight_rgb(uint8_t r, uint8_t g, uint8_t b);
/** * @brief initializing IO settings * */ void setup(); };
2 Function Description
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2 Function Description
2.2 IO Control (Python)
This section introduces the operations of indicator control, laser control, event callback, and output control.
2.2.1 Flow Diagram
Import Module Get Instance
Set Up for Initialization
Event Callback Function
IO Control
Light Control
Register Input Register Trigger Button Register Tune Button Laser On/Off Set Status Indicator Set Alarm Indicator Set 2 Output Signals Set RGB of Side Lights Light Enable/Disable
2.2.2 Import Module
Before operating IO, you need to import modules. from libedaio import EdaIo,registerInput,registerTrigger,registerTune
2.2.3 Getting Instance and Initializing
After importing the library environment, you need to obtain an IO instance and initialize the instance. The steps are as follows. 1. Getting an IO instance.
edaIo = EdaIo.singleton(); 2. Initializing the instance.
edaIo.setup();
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2.2.4 Event Callback Function
2 Function Description
IO control supports registering callback functions for events, including registering Input, registering Trigger button, and registering Tune button.
DI1 trigger event
registerInput(func_input)
The COMMON_IN pin in the 12-Pin M12 interface is connected to ground signal, and the DI1 pin is connected to 5V signal for triggering.
Registering Trigger button
registerTrigger(func_trigger)
Registering Tune button
registerTune(func_tune)
Sample
#!/usr/bin/python3 from libedaio import EdaIo,registerInput def func_input(v): print("[Debug] Trigger: input!", v) def main() -> int: eda = EdaIo.singleton(); registerInput(func_input) eda.setup() ... if __name__ == "__main__": main()
2.2.5 Controlling IO
Using IO to control the on/off of the laser, the on/off of the status indicator, the on/off of the alarm indicator and the enable/disable of the 2 outputs.
Preparation
Initialization of the instance has been completed.
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Operating Instructions
Laser On/Off edaIo.openLaser(); edaIo.closeLaser();
Status indicator On/Off edaIo.setScanStat(true) edaIo.setScanStat(false)
Alarm indicator On/Off edaIo.openAlarm() edaIo.openAlarm()
2 outputs enable/disable edaIo.setDo1High(false); edaIo.setDo2High(false);
2 Function Description
2.2.6 Controlling light
Both the camera side lights and area lights can be controlled independently.
Preparation
Initialization of the instance has been completed.
Operating Instructions
Side light color
edaIo.setRgbLight(1);
0: Closing side light 1: Setting the color to Red 2: Setting the color to Green
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3: Setting the color to Blue Area lights
Enable (The default state)
2 Function Description
edaIo.enableLightSection(1);
The value range is 1~4, corresponding to different partitions. Disable
edaIo.disableLightSection(1);
The value range is 1~4, corresponding to different partitions.
Enabling/disabling the area light does not turn on/off the light. The area light and the camera are linked. The area light will only turn on when the area light is enabled and the camera is turned on.
2.2.7 Source File
IO Control (Python3)
from libedaio import EdaIo,registerInput,registerTrigger,registerTune
def func_trigger(v): print("[Debug] Trigger: trigger button!", v)
... eda = EdaIo.singleton(); # Get IO control instance registerTrigger(func_trigger); # Register Trigger button callback # registerInput(func_trigger); # Register Input callback # registerTune(func_trigger); # Register Tune button callback eda.setup(); # Initialization ... eda.openLaser(); # Laser On # eda.closeLaser(); # Laser Off eda.setScanStat(True); # Set status indicator eda.openAlarm(); # Alarm indicator on # eda.closeAlarm(); # Alarm indicator off eda.setDo1High(True); # Set output1 eda.setDo2High(False); # Set output2
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eda.setRgbLight(1); # Set side light0: Off; 1: Red; 2: Green; 3: Blue
2 Function Description
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2 Function Description
2.3 Sensor Control (C++)
This section introduces the operations of opening/closing camera, setting the camera working mode, setting the camera exposure time and setting the camera gain.
2.3.1 Flow Diagram
Open Camera
Set Working Mode
Set Exposure
Set Gain
Register Image Callback Function
Thread Processing Image Data
2.3.2 Operating Steps
Before operating the Camera, you need to obtain the IO instance and initialize it (for specific operations, see 2.1.2 Getting Instance and Initializing), and then start the following operations. 1. Getting an instance
eda::Camera *t_camera = eda::load_default(); 2. Checking sensor type
t_camera->name() eda::CameraName::AR0234 eda::CameraName::OV2311 AR0234 is the 2.3-megapixel camera. OV2311 is the 2-megapixel camera. 3. Open the camera and set working mode, camera area width and camera area height.
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t_camera->open(mod, width, height);
2 Function Description
mod is the working mode, the value includes 0, 1 and 5.
0 means continuous mode (the camera keeps opening), both AR0234 and OV2311 support this mode.
1 means hardware trigger mode, connecting 5V signal to trigger through trigger pin. Both AR0234 and OV2311 support this mode.
5 means software trigger mode, triggering through manual adjustment. Only OV2311 supports this mode. int call_trigger();
width is area width of camera.
height is area height of camera.
4. Setting gain
t_camera->set_gain(gain); OV2311: The value range of gain is 0~30. AR0234: The value range of gain is 0~64.
5. Setting exposure time
t_camera->set_exposure(exposure);
OV2311: The value range of exposure is 0~65523, which unit is microsecond.
AR0234The value range of exposure is 1~1500, which unit of 6.8 times the value is microsecond.
6. Obtaining camera data through callback.
t_camera->callback_image_ready(image_callback);
In the callback function, it is recommended to only obtain data and not process logic.
7. Close camera
eda::EdaIo::close_io();
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2.3.3 Source File
Sensor Control
typedef int(*img_Callback)(char *img_buff, int img_len);
2 Function Description
enum CameraName{ AR0234, OV2311
}; class Camera { public:
/** * @brief initializing camera * * @param mode 0 - continuous mode; 1 - hardware trigger mode 5 - software trigger mode * @param width * @param height * @return int */ int open(int mode, int width, int height) = 0; /** * @brief close camera * * @return int */ int close() = 0;
/** * @brief set exposure time * * @param exp_value * @return int */ int set_exposure(int exp_value) = 0; /** * @brief obtain exposure time * * @param exp_value * @return int */
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int get_exposure(int *exp_value) = 0;
/** * @brief set gain * * @param gain_value * @return int */ int set_gain(int gain_value) = 0; /** * @brief obtain gain * * @param gain_value * @return int */ int get_gain(int *gain_value) = 0;
/** * @brief register callback function, obtain image data * * @param callback * @return int */ int callback_image_ready(img_Callback callback)=0;
CameraName name() = 0;
};
2 Function Description
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Getting AR0234 instance
2 Function Description
#include "CameraManger.h" #include "camera_0234.h"
void test() eda::Camera *t_camera = eda::create_ar0234(); if(t_camera){ eda::Camera_0234 *t_camera_1 = static_cast<eda::Camera_0234*>(t_camera); } ...
}
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2 Function Description
2.4 Sensor Control (Python)
This section introduces the operations of opening/closing camera, setting the camera working mode, setting the camera exposure time and setting the camera gain.
2.4.1 Flow Diagram
Open Camera
Set Working Mode
Set Exposure
Set Gain
Register Image Callback Function
Thread Processing Image Data
2.4.2 Operating Steps
Before operating the Camera, you need to import the IO module first, obtain the IO instance and initialize it (for specific operations, see 2.2.2 Import Module and 2.2.3 Getting Instance and Initializing), and then start the following operations. 1. Import module
from libedacamera import EdaCamera 2. Getting an instance
eda = EdaCamera.load_default(); 3. Checking sensor type
eda.get_name(); return "AR0234" return "OV2311" AR0234 is the 2.3-megapixel camera.
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OV2311 is the 2-megapixel camera.
2 Function Description
4. Open the camera and set working mode, camera area width and camera area height.
ret = eda.open(t_mode,t_width, t_height);
mod is the working mode, the value includes 0, 1 and 5.
0 means continuous mode (the camera keeps opening), both AR0234 and OV2311 support this mode.
1 means hardware trigger mode, connecting 5V signal to trigger through trigger pin. Both AR0234 and OV2311 support this mode.
5 means software trigger mode, triggering through manual adjustment. Only OV2311 supports this mode. eda.call_trigger();
width is area width of camera.
height is area height of camera.
5. Setting gain
eda.set_gain(int(t_gain)); OV2311: The value range of gain is 0~30. AR0234: The value range of gain is 0~64.
6. Setting exposure time
eda.set_exposure(int(t_exposure));
OV2311: The value range of exposure is 0~65523, which unit is microsecond.
AR0234The value range of exposure is 1~1500, which unit of 6.8 times the value is microsecond.
7. Obtaining camera data through callback.
eda.callback_image_ready(func_image_data);
In the callback function, it is recommended to only obtain data and not process logic.
8. Close camera
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eda.close();
2 Function Description
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3 Example
3 Example
This chapter introduces detailed code examples, including writing code, compiling code, and running code.
Writing Code Compiling and Running Code
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3 Example
3.1 Writing Code
The following takes the function of "turn on the laser, wait for 2 seconds and then turn off the laser" as an example, using C++ language to write the code.
The detailed code is as follows
#include "eda/eda-io.h"
#include <unistd.h> #include "stdlib.h"
int main(int argc, char *argv[]){ eda::EdaIo *em = eda::EdaIo::getInstance(); em->setup(); //open Laser em->openLaser(); sleep(2); // close Laser em->closeLaser(); eda::EdaIo::close_io(); return 0;
}
After writing is completed, save it as test123.cpp file.
Tip: The file name can be customized.
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3.2 Compiling and Running Code
3 Example
After the C++ code is written, you need to log in to the camera device, compiling and running it on the Raspberry Pi OS.
Preparation:
The connection of camera cables has been completed. For detailed operations, please refer to the "ED-AIC2020 User Manual".
The camera has been powered and connected to the network through the router. Obtained the camera IP address and successfully logged in to the camera system.
Steps:
1. Create a folder on the camera OS and upload the code files written in Chapter 3.1Writing Code to the folder.
2. Execute the following command to view the files in the folder and ensure that the code file has been uploaded successfully.
ls
3. Execute the following command to compile the written code.
g++ -leda_io -o test-io test123.cpp
"test123.cpp" means the code file written in Chapter 3.1Writing Code.
"test-io" means the file name generated after compilation, the file name can be customized.
4. Execute the following command to view the new file generated after compilation, as shown below "test-io".
ls
5. Execute the following command to run the compiled code. sudo ./test-io
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"test-io" means the file name generated after compilation.
3 Example
Tip: After successful operation, you can see that the laser lights up and goes out after waiting for 2 seconds.
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