path: root/src/qhyccd/mod.rs

pub mod QHYCCDCam;

pub use self::QHYCCDCam::Control;

use self::QHYCCDCam::*;

use std::ffi::CStr;
use std::os;

use std::time::Duration;
use crossbeam_channel::unbounded;
use crossbeam_channel::{Sender, Receiver, TryRecvError};

use png::HasParameters;

use crate::Dimensions;
use crate::Properties;

// unsafe impl Send for Camera { }
#[derive(Debug)]
pub struct Camera {
    buffer: Vec<Vec<u8>>,
    frame_size: usize,
    handle: *mut os::raw::c_void,
    settings: Settings,
    parameters: Parameters,
}

#[derive(Debug)]
pub struct Parameters {
    bpp: u32,
    pixel_dimensions: (f64, f64),
    image_dimensions: (u32, u32),
    chip_dimensions: (f64, f64),
}

#[derive(Debug, Default, Copy, Clone)]
pub struct Settings {
    exposure: u64,
    brightness: u32,
    contrast: u32,
    control_wbr: u32,
    control_wbb: u32,
    control_wbg: u32,
    gamma: u32,
    gain: u32,
    offset: u32,
    speed: u32,
    transfer_bit: u32,
    usb_traffic: u32,
    row_noise_re: bool,
    cur_temp: f64,
    cur_pwm: f64,
    manual_pwm: f64,
    cfw_port: f64,
    cooler: bool,
    st4_port: bool,
    color: bool,
    bin: u8,
    bpp: u8,
    channels: u8,
    // width, height
    image_roi: (u32, u32),
    image_xy: (u32, u32),
}

impl Settings {
    pub fn frame_size(&self) -> usize {
        let pixels = (self.image_roi.0 as usize) * (self.image_roi.1 as usize);
        let bytes_per_pixel = (self.bpp as usize / 8) * (self.channels as usize);
        pixels * bytes_per_pixel
    }

    pub fn update_param(&mut self, control: Control, value: f64) {
        match control {
            Control::Brightness => { self.brightness = value as u32; }
            Control::Contrast => { self.contrast = value as u32; }
            Control::CONTROL_WBR => { self.control_wbr = value as u32; }
            Control::CONTROL_WBB => { self.control_wbb = value as u32; }
            Control::CONTROL_WBG => { self.control_wbg = value as u32; }
            Control::Gamma => { self.gamma = value as u32; }
            Control::Gain => { self.gain = value as u32; }
            Control::Offset => { self.offset = value as u32; }
            Control::Exposure => { self.exposure = value as u64; }
            Control::TransferBit => { self.transfer_bit = value as u32; self.bpp = value as u8; }
            Control::Channels => { self.channels = value as u8; }
            Control::USBTraffic => { self.usb_traffic = value as u32; }
            Control::RowNoiseRe => { self.row_noise_re = value as u32 == 1; }
            Control::CurTemp => { self.cur_temp = value; }
            Control::CurPWM => { self.cur_pwm = value; }
            Control::ManulPwm => { self.manual_pwm = value; }
            Control::Cooler => { self.cooler = value as u32 == 1; }
            _ => { }
        }
    }
}

#[derive(Debug, Copy, Clone)]
pub enum CameraError {
    QHYError, // unspecified error from the qhy sdk
    InvalidControl
}

type Result<T> = std::result::Result<T, CameraError>;

fn check(result: os::raw::c_int) -> Result<()> {
    match QHYResult::from(result as u32) {
        QHYResult::QHYCCD_SUCCESS => Ok(()),
        QHYResult::QHYCCD_ERROR => Err(CameraError::QHYError),
        a @ _ => {
            panic!("Unexpected result code from qhy sdk: {:?}", a);
        }
    }
}

static mut INITIALIZED: bool = false;

pub fn fix_channels_and_endianness(dataslice: &mut [u8]) {
    for i in 0..(dataslice.len() / 6) {
        let (b_low, b_high) = (dataslice[i * 6], dataslice[i * 6 + 1]);
        dataslice[i * 6 + 1] = dataslice[i * 6 + 4];
        dataslice[i * 6] = dataslice[i * 6 + 5];
        dataslice[i * 6 + 4] = b_high;
        dataslice[i * 6 + 5] = b_low;

        let g_low = dataslice[i * 6 + 2];
        dataslice[i * 6 + 2] = dataslice[i * 6 + 3];
        dataslice[i * 6 + 3] = g_low;

        if false {
            for e in 0..3 {
                let el = ((dataslice[i * 6 + e * 2] as u16) << 8) | (dataslice[i * 6 + e * 2 + 1] as u16);
                let el = el.saturating_mul(16);
                dataslice[i * 6 + e * 2] = (el >> 8) as u8;
                dataslice[i * 6 + e * 2 + 1] = el as u8;
            }
        }
    }
}

pub fn fix_endianness(dataslice: &mut [u8]) {
    // yolo it
    if dataslice.len() % 2 != 0 {
        panic!("you want to fix endianness of a slice that has length {}, which is not divisible by two. are you certain the data has an endianness to reverse?", dataslice.len());
    }

    let dataslice: &mut [u16] = unsafe {
        std::slice::from_raw_parts_mut(dataslice.as_mut_ptr() as *mut u16, dataslice.len() / 2)
    };
    for i in 0..dataslice.len() {
        // TODO: simd-ize this?
        // this is a pshufb and a mul..
        dataslice[i] = dataslice[i].swap_bytes();
        if true {
//           dataslice[i] *= 16;
        }
    }
}


pub fn connect(camera_idx: i32) -> Result<(Receiver<QHYResponse>, Sender<QHYMessage>)> {
    let (response_sender, response_receiver) = unbounded();
    let (message_sender, message_receiver) = unbounded();

    std::thread::spawn(move || {
        let mut camera = match acquire(camera_idx) {
            Ok(camera) => camera,
            Err(e) => {
                eprintln!("camera setup error: {:?}", e);
                response_sender.send(QHYResponse::InitializationError).unwrap();
                return;
            },
        };

        camera.set_defaults().unwrap();

        // sleep for 2ms between waiting for messages and reading frames. This introduces an
        // artificial cap of 500fps, but I don't own a camera that can hit that.
        let SLEEP_TIME = 2u64;
        let mut exposing = false;
        let mut counter = 0u64;
        let mut capture_count: Option<u64> = None;

        loop {
            match message_receiver.try_recv() {
                Ok(QHYMessage::Shutdown) => {
                    println!("Got shutdown request, closing camera...");
                    return;
                }
                Ok(QHYMessage::FrameAvailable(data)) => {
                    if data.len() == camera.settings.frame_size() {
                        camera.buffer.push(data);
                    } else {
                        // otherwise the writer finished handling a frame from an old size,
                        // and the array is incorrectly sized for current settings.
                        // so drop the buffer and free that memory.
                        drop(data);
                    }
                }
                Ok(QHYMessage::BeginCapture(count)) => {
                    counter = camera.settings.exposure;
                    capture_count = count;
                    println!("Beginning capture");
                    camera.begin_exposure().expect("can begin exposures");
                    exposing = true;
                }
                Ok(QHYMessage::StopCapture) => {
                    counter = 0;
                    capture_count = None;
                    camera.cancel_exposure().expect("can cancel exposures");
                    exposing = false;
                }
                Ok(QHYMessage::SetControl(control, value)) => {
                    if control == Control::Color {
                        // overload Control::Color to signal if we want to switch to
                        // debayer-disabled "mono"
                        let mono_mode = value == 0.0;
                        camera.set_color_mode(mono_mode);
                        // yes, this requires reset.
                        counter = 0;
                        camera.cancel_exposure().expect("can cancel exposures");
                        exposing = false;
                    } else {
                        if control.requires_reset() {
                            counter = 0;
                            camera.cancel_exposure().expect("can cancel exposures");
                            exposing = false;
                        }
                        camera.set_control(control, value).expect("can set camera controls");
                    }
                    response_sender.send(QHYResponse::UpdatedSettings(camera.settings.clone())).expect("can send responses to main thread");
                }
                Ok(QHYMessage::QueryControl(control)) => {
                    let value = camera.get_control(control);
                    camera.settings.update_param(control, value);
                    response_sender.send(QHYResponse::CurrentControlValue(control, value)).expect("can send control value");
                }
                Err(TryRecvError::Empty) => {
                    // this is fine. nothing new to do.
                },
                Err(TryRecvError::Disconnected) => {
                    // uh oh. main thread crashed? all we can do is exit.
                    return;
                }
            }

//            println!("counter: {:?}, exposing: {:?}", counter, exposing);
            if counter == 0 && exposing {
                if let Some(data) = camera.get_frame() {
                    let (data, width, height, bpp, channels) = camera.read_frame(data).expect("can read frames from camera");
                    counter = camera.settings.exposure;
                    camera.begin_exposure().expect("can begin exposures");
                    response_sender.send(QHYResponse::Data(
                        data,
                        Dimensions::new(width, height, bpp, channels),
                        Properties {
                            device: "qhy376c",
                            exposure_ms: camera.settings.exposure as u32,
                            gain: camera.settings.gain as u16,
                            offset: camera.settings.offset as u16,
                            gamma: camera.settings.gamma as u16,
                            temp: (camera.settings.cur_temp * 10.0) as u16,
                        },
                    )).unwrap();
                    match &mut capture_count {
                        Some(count) => {
                            *count -= 1;
                            if *count == 0 {
                                println!("finished capture run");
                                exposing = false;
                                camera.cancel_exposure();
                                continue;
                            }
                        },
                        None => {
                            // do nothing
                        }
                    }
                } else {
                    // no frame ready in the buffer! we can't actually read the image...
                    counter = camera.settings.exposure;
                    camera.begin_exposure().expect("can begin exposures");
                    response_sender.send(QHYResponse::DroppedFrame).unwrap();
                }
            }

            counter = counter.saturating_sub(SLEEP_TIME * 1000);
            std::thread::sleep(Duration::from_millis(SLEEP_TIME));
        }

    });

    Ok((response_receiver, message_sender))
}

pub enum QHYResponse {
    InitializationError,
    Data(Vec<u8>, Dimensions, Properties),
    DroppedFrame,
    Shutdown,
    UpdatedSettings(Settings),
    CurrentControlValue(Control, f64),
}

pub enum QHYMessage {
    FrameAvailable(Vec<u8>),
    BeginCapture(Option<u64>),
    StopCapture,
    QueryControl(Control),
    SetControl(Control, f64),
    Shutdown,
}

fn acquire(camera_idx: i32) -> Result<Camera> {
    unsafe {
        if !INITIALIZED {
            println!("Initializing QHYCCDResource");
            check(QHYCCDCam::InitQHYCCDResource())?;
            INITIALIZED = true;
        }
        let cameracount = QHYCCDCam::ScanQHYCCD();
        println!("Detected {} cameras", cameracount);
        if camera_idx >= cameracount {
            panic!("Camera id is invalid (detected {} cameras)", cameracount);
        }

        let mut id_space: [os::raw::c_char; 32] = [0; 32];
        check(QHYCCDCam::GetQHYCCDId(camera_idx, id_space.as_mut_ptr()))?;
        println!("Got camera id: {:?}", id_space);
        println!("One sec, trying again...");
        println!("How's this: {}", CStr::from_ptr(id_space.as_ptr()).to_str().unwrap());
        let handle: *mut os::raw::c_void = QHYCCDCam::OpenQHYCCD(id_space.as_mut_ptr());
        if handle == std::ptr::null_mut() {
            println!("Failed to open the device");
            return Err(CameraError::QHYError);
        }
        check(QHYCCDCam::SetQHYCCDStreamMode(handle, 0))?; // 0 means single frame mode...
        check(QHYCCDCam::InitQHYCCD(handle))?;
        check(QHYCCDCam::CancelQHYCCDExposingAndReadout(handle))?;
        let mut camera = Camera {
            buffer: vec![],
            frame_size: 0,
            handle: handle,
            settings: Settings::default(),
            parameters: Parameters {
                chip_dimensions: (0.0, 0.0),
                image_dimensions: (0, 0),
                pixel_dimensions: (0.0, 0.0),
                bpp: 0,
            }
        };
        let (chip_dimensions, image_dimensions, pixel_dimensions, bpp) = camera.get_dimensions()?;
        let parameters = Parameters {
            chip_dimensions,
            image_dimensions,
            pixel_dimensions,
            bpp,
        };
        camera.parameters = parameters;
        Ok(camera)
    }
}

impl Camera {
    pub fn get_frame(&mut self) -> Option<Vec<u8>> {
        if self.frame_size != self.image_buf_size() {
            // something has happened that requires a new buffer
            self.resize_buffer();
        }

        self.buffer.pop()
    }
    pub fn image_buf_size(&self) -> usize {
        self.settings.frame_size()
    }
    pub fn set_exposure_ms(&mut self, ms: u32) -> Result<()> {
        self.set_control(Control::Exposure, (ms as f64) * 1000.0)
    }
    pub fn set_target_temp(&self, temp: f64) -> Result<()> {
        unsafe {
            check(QHYCCDCam::ControlQHYCCDTemp(self.handle, temp))
        }
    }
    pub fn has_control(&self, control: Control) -> bool {
        unsafe {
            match QHYResult::from(QHYCCDCam::IsQHYCCDControlAvailable(self.handle, control as i32) as u32) {
                QHYResult::QHYCCD_ERROR => {
                    false
                },
                QHYResult::QHYCCD_SUCCESS => {
                    true
                }
                a @ _ => {
                    panic!("Unexpected response when querying if control '{:?}' is available: {:?}", control, a);
                }
            }
        }
    }
    pub fn set_control(&mut self, control: Control, value: f64) -> Result<()> {
        unsafe {
        if self.has_control(control) {
            if control == Control::TransferBit {
                check(QHYCCDCam::SetQHYCCDBitsMode(self.handle, value as i32))?;
            } else {
                check(QHYCCDCam::SetQHYCCDParam(self.handle, control as i32, value))?;
            }
            self.settings.update_param(control, value);
            Ok(())
        } else {
            println!("Cannot set control: {:?}", control);
            Ok(())
        }
        }
    }
    pub fn get_control_limits(&self, control: Control) -> Result<(f64, f64, f64)> {
        unsafe {
            if self.has_control(control) {
                let mut min = 0f64;
                let mut max = 0f64;
                let mut step = 0f64;
                match check(QHYCCDCam::GetQHYCCDParamMinMaxStep(self.handle, control as i32, &mut min, &mut max, &mut step)) {
                    Ok(_) => {
                        Ok((min, max, step))
                    },
                    Err(_) => {
                        Err(CameraError::QHYError)
                    }
                }
            } else {
                Err(CameraError::InvalidControl)
            }
        }
    }

    pub fn get_control(&self, control: Control) -> f64 {
        unsafe {
            QHYCCDCam::GetQHYCCDParam(self.handle, control as i32)
        }
    }
    pub fn release(self) -> Result<()> {
        unsafe {
        check(QHYCCDCam::CloseQHYCCD(self.handle))
        }
    }
    pub fn set_color_mode(&mut self, mono: bool) -> Result<()> {
        // TODO: handle mono cameras correctly
        if mono {
            unsafe {
                // well, this can fail if debayering just isn't supported. so let's... not
                QHYCCDCam::SetQHYCCDDebayerOnOff(self.handle, 0);
            }
            self.set_control(Control::CONTROL_WBR, 4000.0)?;
            self.set_control(Control::CONTROL_WBG, 4000.0)?;
            self.set_control(Control::CONTROL_WBB, 4000.0)?;
            self.settings.channels = 1;
        } else {
            unsafe {
                check(QHYCCDCam::SetQHYCCDDebayerOnOff(self.handle, 1))?;
            }
            self.set_control(Control::CONTROL_WBR, 4000.0)?;
            self.set_control(Control::CONTROL_WBG, 4000.0)?;
            self.set_control(Control::CONTROL_WBB, 4000.0)?;
            self.settings.channels = 3;
        }
        Ok(())
    }
    pub fn set_defaults(&mut self) -> Result<()> {
        unsafe {
        match QHYCCDCam::IsQHYCCDControlAvailable(self.handle, Control::Color as i32) {
            1 | 2 | 3 | 4 => {
                self.set_color_mode(false)?;
            },
            0 => {
                // no, the color control is not available. mono it is!
                self.set_color_mode(true)?;
            }
            a @ _ => {
                println!("unexpected response when querying color setting: {}", a);
                return Err(CameraError::QHYError)
            }
        }
        self.set_roi(0, 0, self.parameters.image_dimensions.0, self.parameters.image_dimensions.1)?;
        self.set_bin_mode(1)?;
        if self.has_control(Control::TransferBit) {
            check(QHYCCDCam::SetQHYCCDBitsMode(self.handle, 16))?;
            self.settings.bpp = 16;
            println!("set tp 16bpp");
        }
        println!("roi set to {} x {} ???", self.parameters.image_dimensions.0, self.parameters.image_dimensions.1);
        println!("gain limits: {:?}", self.get_control_limits(Control::Gain)?);
        println!("exposure limits: {:?}", self.get_control_limits(Control::Exposure)?);
        println!("offset: {:?}", self.get_control_limits(Control::Offset)?);
        println!("brightness: {:?}", self.get_control_limits(Control::Brightness)?);
        println!("gamma: {:?}", self.get_control_limits(Control::Gamma)?);
        println!("contrast: {:?}", self.get_control_limits(Control::Contrast)?);
//        panic!("hi");
        Ok(())
        }
    }

    pub fn set_roi(&mut self, x: u32, y: u32, w: u32, h: u32) -> Result<()> {
        unsafe {
        check(QHYCCDCam::SetQHYCCDResolution(self.handle, x, y, w, h))?;
        self.settings.image_roi = (w, h);
        self.settings.image_xy = (x, y);
        Ok(())
        }
    }

    pub fn set_bin_mode(&mut self, bin: u8) -> Result<()> {
        match bin {
            1 => if !self.has_control(Control::Bin1x1Mode) { return Err(CameraError::InvalidControl); }
            2 => if !self.has_control(Control::Bin2x2Mode) { return Err(CameraError::InvalidControl); }
            3 => if !self.has_control(Control::Bin3x3Mode) { return Err(CameraError::InvalidControl); }
            4 => if !self.has_control(Control::Bin4x4Mode) { return Err(CameraError::InvalidControl); }
            _ => { return Err(CameraError::InvalidControl); }
        }
        unsafe {
            check(QHYCCDCam::SetQHYCCDBinMode(self.handle, bin as i32, bin as i32))?;
            self.settings.bin = bin;
            Ok(())
        }
    }

    pub fn get_exposure_remaining(&self) -> u32 {
        unsafe {
            QHYCCDCam::GetQHYCCDExposureRemaining(self.handle)
        }
    }

    pub fn display_camera_dimensions(&self) -> Result<()> {
        let (overscan_start_X, overscan_start_Y, overscan_size_X, overscan_size_Y) = self.get_overscan_area()?;
        println!("Overscan area:");
        println!("  startX x startY : {:05} x {:05}", overscan_start_X, overscan_start_Y);
        println!("  sizeX  x sizeY  : {:05} x {:05}", overscan_size_X, overscan_size_Y);
        let (effective_start_X, effective_start_Y, effective_size_X, effective_size_Y) = self.get_effective_area()?;
        println!("Effective area:");
        println!("  startX x startY : {:05} x {:05}", effective_start_X, effective_start_Y);
        println!("  sizeX  x sizeY  : {:05} x {:05}", effective_size_X, effective_size_Y);
        let ((chipw, chiph), (imagew, imageh), (pixelw, pixelh), bpp) = self.get_dimensions()?;
        println!("Chip dimensions:");
        println!("Chip size (w/h):      {:05} x {:05} [mm]", chipw, chiph);
        println!("Pixel size (w/h):     {:05} x {:05} [um]", pixelw, pixelh);
        println!("Image size (w/h):     {:05} x {:05} [pixels]", imagew, imageh);
        println!("   bpp:               {}", bpp);
        Ok(())
    }

    pub fn cancel_exposure(&self) -> Result<()> {
        unsafe {
            check(QHYCCDCam::CancelQHYCCDExposingAndReadout(self.handle))
        }
    }

    pub fn begin_exposure(&self) -> Result<()> {
        let result = unsafe { QHYCCDCam::ExpQHYCCDSingleFrame(self.handle) };
        match QHYCCDCam::QHYResult::from(result as u32) {
            QHYResult::QHYCCD_SUCCESS => {
//                println!("Didn't expect this result...");
                Ok(())
            },
            QHYResult::QHYCCD_READ_DIRECTLY => {
//                println!("Exp complete, example sleeps so i'll sleep too");
                Ok(())
            },
            QHYResult::QHYCCD_DELAY_200MS => {
                println!("Sleeping 200ms... but not actually, bout to have a bug :):)))");
                Ok(())
            },
            a @ _ =>{
                println!("exp err: {:?}", a);
                return Err(CameraError::QHYError);
            }
        }
    }

    fn resize_buffer(&mut self) {
        println!("Resizing buffer to 3x{}", self.settings.frame_size());
        self.frame_size = self.settings.frame_size();
        self.buffer = vec![
            vec![0u8; self.frame_size],
            vec![0u8; self.frame_size],
            vec![0u8; self.frame_size],
        ];
    }

    pub fn read_frame(&self, mut buf: Vec<u8>) -> Result<(Vec<u8>, u32, u32, u8, u8)> {
        let mut castediw = 0i32;
        let mut castedih = 0i32;
        let mut castedbpp = 0i32;
        let mut channels = 0i32;
        println!("Getting data...");
        unsafe {
            use std::time::{SystemTime, UNIX_EPOCH};
            let start = SystemTime::now().duration_since(UNIX_EPOCH).unwrap();
            let start = start.as_secs() * 1000 + (start.subsec_nanos() as u64) / 1000000;
            check(QHYCCDCam::GetQHYCCDSingleFrame(self.handle, &mut castediw, &mut castedih, &mut castedbpp, &mut channels, buf.as_mut_ptr()))?;
            let end = SystemTime::now().duration_since(UNIX_EPOCH).unwrap();
            let end = end.as_secs() * 1000 + (end.subsec_nanos() as u64) / 1000000;
            println!("camera record time: {}ms", end - start);
        }
        Ok((buf, castediw as u32, castedih as u32, castedbpp as u8, channels as u8))
    }
    /*
    pub fn take_image_live(&self, path: &str) -> Result<()> {
        unsafe {
        let exposure_duration = self.get_control(Control::Exposure);
        let exposure_ms = exposure_duration / 1000.0;
        println!("Exposure duration: {}", exposure_ms);

        let mut bufsize: usize = self.image_buf_size();
        println!("Ok, we'll need {} bytes...", bufsize);

        let data_layout = Layout::from_size_align(bufsize as usize, 8).unwrap();
        let data = alloc(data_layout);

        check(QHYCCDCam::BeginQHYCCDLive(self.handle))?;

        loop {
//            println!("Getting data...");

            let mut imagew: i32 = self.imagew as i32;
            let mut imageh: i32 = self.imageh as i32;
            let mut bpp: i32 = self.bpp as i32;
            let mut channels: i32 = self.channels as i32;

            let frame = match frame_rx.recv() {
                Ok(frame) => frame,
                Err(signal) => {
                    return Err(CollectionError::BufferClosed);
                }
            };
//            println!("w {} h {} bpp {} channels {}", imagew, imageh, bpp, channels);
            match check(QHYCCDCam::GetQHYCCDLiveFrame(self.handle, &mut imagew, &mut imageh, &mut bpp, &mut channels, data.as_mut_ptr())) {
                Ok(()) => {
                    processor.send(Ok(frame))
                }
                    println!("Ok, guess we got it?");

                    //fix_channels(dataslice);

                    let dest = Path::new(path);
                    let file = File::create(dest).unwrap();
                    let ref mut w = BufWriter::new(file);
                    let mut encoder = png::Encoder::new(w, imagew as u32, imageh as u32);
                    encoder.set(png::ColorType::RGB).set(png::BitDepth::Eight);
                    // crazy theory, endianness might be wrong...
                    // so flip the bytes first

                    let mut writer = encoder.write_header().unwrap();

                    writer.write_image_data(dataslice).unwrap();

                    println!("NEXT!");

                    QHYResult::QHYCCD_SUCCESS
                },
                Err(CameraError::QHYError) => {
//                    println!("Error in live capture: {:?}. sleeping..", CameraError::QHYError);
                    println!("Still waiting...");
                    std::thread::sleep(std::time::Duration::from_millis(100));
                    QHYResult::QHYCCD_ERROR
                }
                Err(_) => { unreachable!(); }
            };
        }

        dealloc(data as *mut u8, data_layout);
        Ok(())

        pub fn begin_exposure(&self) -> Result<()> {

        }
        }
    }

    pub fn take_image(&self, path: &str) -> Result<()> {
        unsafe {
        let exposure_duration = self.get_control(Control::Exposure);
        let exposure_ms = exposure_duration / 1000.0;
        println!("Exposure duration: {}", exposure_ms);
        let result = QHYCCDCam::ExpQHYCCDSingleFrame(self.handle);
        match QHYCCDCam::QHYResult::from(result as u32) {
            QHYResult::QHYCCD_SUCCESS => {
//                println!("Didn't expect this result...");
//                std::thread::sleep(std::time::Duration::from_millis(1000));
            },
            QHYResult::QHYCCD_READ_DIRECTLY => {
                println!("Exp complete, example sleeps so i'll sleep too");
//                std::thread::sleep(std::time::Duration::from_millis(1000));
            },
            QHYResult::QHYCCD_DELAY_200MS => {
                println!("Sleeping 200ms...");
            },
            a @ _ =>{
                println!("exp err: {:?}", a);
                return Err(CameraError::QHYError);
            }
        }

        let mut chipw: f64 = 0.0;
        let mut chiph: f64 = 0.0;
        let mut imagew: i32 = 0;
        let mut imageh: i32 = 0;
        let mut pixelw: f64 = 0.0;
        let mut pixelh: f64 = 0.0;
        let mut bpp: i32 = 0;
        check(QHYCCDCam::GetQHYCCDChipInfo(
            self.handle,
            &mut chipw as *mut os::raw::c_double,
            &mut chiph as *mut os::raw::c_double,
            &mut imagew as *mut os::raw::c_int,
            &mut imageh as *mut os::raw::c_int,
            &mut pixelw as *mut os::raw::c_double,
            &mut pixelh as *mut os::raw::c_double,
            &mut bpp as *mut os::raw::c_int))?;
        let mut channels: i32 = 3;

        let mut bufsize = self.image_buf_size();
        println!("Ok, we'll need {} bytes...", bufsize);
        println!("but you claim to want {} bytes...", QHYCCDCam::GetQHYCCDMemLength(self.handle));
        /*
        if self.bin != 1 {
            println!("Correcting for binning...");
            bufsize /= self.bin as i32;
            bufsize /= self.bin as i32;
            println!("you're getting {} bytes!", bufsize);
        }
        */
        let data_layout = Layout::from_size_align(bufsize as usize, 8).unwrap();
        let data = alloc(data_layout);

        let mut counter: i64 = (self.get_control(Control::Exposure) as u64 / 1000) as i64;

        while counter > 0 {
            println!("I think there's about {}ms remaining", counter);
            println!("You think there's about {}ms remaining", self.get_exposure_remaining());
            std::thread::sleep(std::time::Duration::from_millis(500));
            println!("Camera temp is currently: {}", self.get_control(Control::CurTemp));
            counter -= 500;
        }

        let mut castediw = self.imagew as i32;
        let mut castedih = self.imageh as i32;
        let mut castedbpp = self.bpp as i32;
        let mut channels = self.channels as i32;
        println!("Getting data...");
        check(QHYCCDCam::GetQHYCCDSingleFrame(self.handle, &mut castediw, &mut castedih, &mut castedbpp, &mut channels, data))?;
        println!("Ok, guess we got it?");
        println!("image: {} x {}", castediw, castedih);
        println!("bpp: {}", castedbpp);
        println!("channels: {}", channels);

        let dest = Path::new(path);
        let file = File::create(dest).unwrap();
        let ref mut w = BufWriter::new(file);
        let mut encoder = png::Encoder::new(w, castediw as u32, castedih as u32);
        encoder.set(png::ColorType::RGB).set(png::BitDepth::Sixteen);
        // crazy theory, endianness might be wrong...
        // so flip the bytes first
        let dataslice: &mut [u8] = 
            unsafe {
                std::slice::from_raw_parts_mut(
                    data,
                    bufsize as usize
                )
            };

        fix_channels(dataslice);

        let mut writer = encoder.write_header().unwrap();

        if self.bin != 1 {
            let scale = self.bin as usize * self.bin as usize;
            let mut cherrypicked = vec![0; bufsize as usize / scale];
            for i in 0..cherrypicked.len() / 6 {
                for j in 0..6 {
                    cherrypicked[i * 6 + j] = dataslice[i * 6 * scale + j];
                }
            }
            writer.write_image_data(&cherrypicked).unwrap();
        } else {
            writer.write_image_data(dataslice).unwrap();
        }
        dealloc(data as *mut u8, data_layout);
        Ok(())
    }
    }
*/
    pub fn get_overscan_area(&self) -> Result<(u32, u32, u32, u32)> {
        unsafe {
        let mut startX: i32 = 0;
        let mut startY: i32 = 0;
        let mut sizeX: i32 = 0;
        let mut sizeY: i32 = 0;
        check(QHYCCDCam::GetQHYCCDOverScanArea(
            self.handle,
           &mut startX as *mut os::raw::c_int,
           &mut startY as *mut os::raw::c_int,
           &mut sizeX as *mut os::raw::c_int,
           &mut sizeY as *mut os::raw::c_int
        ))?;
        Ok((startX as u32, startY as u32, sizeX as u32, sizeY as u32))
        }
    }
    pub fn get_effective_area(&self) -> Result<(u32, u32, u32, u32)> {
        unsafe {
        let mut startX: i32 = 0;
        let mut startY: i32 = 0;
        let mut sizeX: i32 = 0;
        let mut sizeY: i32 = 0;
        check(QHYCCDCam::GetQHYCCDEffectiveArea(
            self.handle,
            &mut startX as *mut os::raw::c_int,
            &mut startY as *mut os::raw::c_int,
            &mut sizeX as *mut os::raw::c_int,
            &mut sizeY as *mut os::raw::c_int
        ))?;
        Ok((startX as u32, startY as u32, sizeX as u32, sizeY as u32))
        }
    }
    pub fn get_dimensions(&self) -> Result<((f64, f64), (u32, u32), (f64, f64), u32)> {
        unsafe {
        let mut chipw: f64 = 0.0;
        let mut chiph: f64 = 0.0;
        let mut imagew: i32 = 0;
        let mut imageh: i32 = 0;
        let mut pixelw: f64 = 0.0;
        let mut pixelh: f64 = 0.0;
        let mut bpp: i32 = 0;
        check(QHYCCDCam::GetQHYCCDChipInfo(
            self.handle,
            &mut chipw as *mut os::raw::c_double,
            &mut chiph as *mut os::raw::c_double,
            &mut imagew as *mut os::raw::c_int,
            &mut imageh as *mut os::raw::c_int,
            &mut pixelw as *mut os::raw::c_double,
            &mut pixelh as *mut os::raw::c_double,
            &mut bpp as *mut os::raw::c_int))?;
        Ok((
            (chipw, chiph),
            (imagew as u32, imageh as u32),
            (pixelw, pixelh),
            bpp as u32
        ))
        }
    }
}