//=============================================================================
// Copyright (c) 2001-2021 FLIR Systems, Inc. All Rights Reserved.
//
// This software is the confidential and proprietary information of FLIR
// Integrated Imaging Solutions, Inc. ("Confidential Information"). You
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// with FLIR Integrated Imaging Solutions, Inc. (FLIR).
//
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//=============================================================================

/**
 *  @example Sequencer_C.c
 *
 *  @brief Sequencer_C.c shows how to use the sequencer to grab images with
 *  various settings. It relies on information provided in the Enumeration_C,
 *  Acquisition_C, and NodeMapInfo_C examples.
 *
 *  It can also be helpful to familiarize yourself with the
 *  ImageFormatControl_C and Exposure_C examples as these provide a strong
 *  introduction to camera customization.
 *
 *  The sequencer is another very powerful tool that can be used to create and
 *  store multiple sets of customized image settings. A very useful
 *  application of the sequencer is creating high dynamic range images.
 *
 *  This example is probably the most complex and definitely the longest. As
 *  such, the configuration has been split between three functions. The first
 *  prepares the camera to set the sequences, the second sets the settings for
 *  a single sequence (it is run five times), and the third configures the
 *  camera to use the sequencer when it acquires images.
 *
 *  *** NOTE ***
 *  When using Visual Studio 2010, our solution will use the /TP flag to
 *  compile this example as C++ code instead of C code. This is because our C
 *  examples adhere to post-C89 standard which is not supported in Visual
 *  Studio 2010. You can still use our 2010 libraries to write your own C
 *  application as long as it follows the Visual Studio 2010 C compiler
 *  standard.
 *
 */

#include "SpinnakerC.h"
#include "stdio.h"
#include "string.h"

// This macro helps with C-strings.
#define MAX_BUFF_LEN 256

// This function helps to check if a node is available
bool8_t IsAvailable(spinNodeHandle hNode)
{
    bool8_t pbAvailable = False;
    spinError err = spinNodeIsAvailable(hNode, &pbAvailable);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to retrieve node availability, with error %d...\n\n", err);
    }
    return pbAvailable;
}

// This function helps to check if a node is readable
bool8_t IsReadable(spinNodeHandle hNode)
{
    bool8_t pbReadable = False;
    spinError err = spinNodeIsReadable(hNode, &pbReadable);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to retrieve node readability, with error %d...\n\n", err);
    }
    return pbReadable;
}

// This function helps to check if a node is writable
bool8_t IsWritable(spinNodeHandle hNode)
{
    bool8_t pbWritable = False;
    spinError err = spinNodeIsWritable(hNode, &pbWritable);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to retrieve node writability, with error %d...\n\n", err);
    }
    return pbWritable;
}

// This function handles the error prints when a node or entry is unavailable or
// not readable/writable on the connected camera
void PrintRetrieveNodeFailure(char node[], char name[])
{
    printf("Unable to get %s (%s %s retrieval failed).\n\n", node, name, node);
    printf("The %s may not be available on all camera models...\n", node);
    printf("Please try a Blackfly S camera.\n\n");
}

// This function prepares the sequencer to accept custom configurations by
// ensuring sequencer mode is off (this is a requirement to the enabling of
// sequencer configuration mode), disabling automatic gain and exposure, and
// turning sequencer configuration mode on.
int ConfigureSequencerPartOne(spinNodeMapHandle hNodeMap)
{
    spinError err = SPINNAKER_ERR_SUCCESS;

    printf("\n\n*** SEQUENCER CONFIGURATION ***\n\n");

    //
    // Ensure sequencer is off for configuration
    //
    // *** NOTES ***
    // In order to set a new sequencer configuration, sequencer mode must
    // be disabled and sequencer configuration mode must be enabled. In
    // order to manually disable sequencer mode, the sequencer configuration
    // must be valid; otherwise, we know that sequencer mode is off, but an
    // exception will be raised when we try to manually disable it.
    //
    // Therefore, in order to ensure that sequencer mode is off, we first
    // check whether the current sequencer configuration is valid. If it
    // isn't, then we know that sequencer mode is off and we can move on;
    // however, if it is, then we know it is safe to manually disable
    // sequencer mode.
    //
    // Also note that sequencer configuration mode needs to be off in order
    // to manually disable sequencer mode. It should be off by default, so
    // the example skips checking this.
    //
    spinNodeHandle hSequencerConfigurationValid = NULL;
    spinNodeHandle hSequencerConfigurationValidCurrent = NULL;
    spinNodeHandle hSequencerConfigurationValidYes = NULL;
    spinNodeHandle hSequencerMode = NULL;
    spinNodeHandle hSequencerModeOff = NULL;
    int64_t sequencerModeOff = 0;

    // Validate sequencer configuration
    err = spinNodeMapGetNode(hNodeMap, "SequencerConfigurationValid", &hSequencerConfigurationValid);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        PrintRetrieveNodeFailure("node", "SequencerConfigurationValid");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerConfigurationValid) || !IsReadable(hSequencerConfigurationValid))
    {
        PrintRetrieveNodeFailure("node", "SequencerConfigurationValid");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationGetCurrentEntry(hSequencerConfigurationValid, &hSequencerConfigurationValidCurrent);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid current");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerConfigurationValidCurrent) || !IsReadable(hSequencerConfigurationValidCurrent))
    {
        PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid current");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationGetEntryByName(hSequencerConfigurationValid, "Yes", &hSequencerConfigurationValidYes);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid 'Yes'");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerConfigurationValidYes) || !IsReadable(hSequencerConfigurationValidYes))
    {
        PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid 'Yes'");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    // If valid, disable sequencer mode; otherwise, do nothing
    if (hSequencerConfigurationValidCurrent == hSequencerConfigurationValidYes)
    {
        err = spinNodeMapGetNode(hNodeMap, "SequencerMode", &hSequencerMode);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            PrintRetrieveNodeFailure("node", "SequencerMode");
            return SPINNAKER_ERR_ACCESS_DENIED;
        }

        if (!IsAvailable(hSequencerMode) || !IsWritable(hSequencerMode))
        {
            PrintRetrieveNodeFailure("node", "SequencerMode");
            return SPINNAKER_ERR_ACCESS_DENIED;
        }

        err = spinEnumerationGetEntryByName(hSequencerMode, "Off", &hSequencerModeOff);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            PrintRetrieveNodeFailure("entry", "SequencerMode 'Off'");
            return SPINNAKER_ERR_ACCESS_DENIED;
        }

        if (!IsAvailable(hSequencerModeOff) || !IsReadable(hSequencerModeOff))
        {
            PrintRetrieveNodeFailure("entry", "SequencerMode 'Off'");
            return SPINNAKER_ERR_ACCESS_DENIED;
        }

        err = spinEnumerationEntryGetIntValue(hSequencerModeOff, &sequencerModeOff);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to disable sequencer mode (entry int value retrieval). Aborting with error %d...\n\n", err);
            return SPINNAKER_ERR_ACCESS_DENIED;
        }

        err = spinEnumerationSetIntValue(hSequencerMode, sequencerModeOff);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to disable sequencer mode (entry int value setting). Aborting with error %d...\n\n", err);
            return SPINNAKER_ERR_ACCESS_DENIED;
        }
    }

    printf("Sequencer mode disabled...\n");

    //
    // Turn off automatic exposure mode
    //
    // *** NOTES ***
    // Automatic exposure prevents the manual configuration of exposure
    // times and needs to be turned off for this example.
    //
    // *** LATER ***
    // If exposure time is not being manually set for a specific reason, it
    // is best to let the camera take care of exposure time automatically.
    //
    spinNodeHandle hExposureAuto = NULL;
    spinNodeHandle hExposureAutoOff = NULL;
    int64_t exposureAutoOff;

    err = spinNodeMapGetNode(hNodeMap, "ExposureAuto", &hExposureAuto);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        PrintRetrieveNodeFailure("node", "ExposureAuto");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hExposureAuto) || !IsWritable(hExposureAuto))
    {
        PrintRetrieveNodeFailure("node", "ExposureAuto");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationGetEntryByName(hExposureAuto, "Off", &hExposureAutoOff);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        PrintRetrieveNodeFailure("entry", "ExposureAuto 'Off'");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hExposureAutoOff) || !IsReadable(hExposureAutoOff))
    {
        PrintRetrieveNodeFailure("entry", "ExposureAuto 'Off'");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationEntryGetIntValue(hExposureAutoOff, &exposureAutoOff);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to disable automatic exposure (entry int value retrieval). Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationSetIntValue(hExposureAuto, exposureAutoOff);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to disable automatic exposure (entry int value setting). Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("Automatic exposure disabled...\n");

    //
    // Turn off automatic gain
    //
    // *** NOTES ***
    // Automatic gain prevents the manual configuration of gain and needs to
    // be turned off for this example.
    //
    // *** LATER ***
    // If gain is not being manually set for a specific reason, it is best
    // to let the camera take care of gain automatically.
    //
    spinNodeHandle hGainAuto = NULL;
    spinNodeHandle hGainAutoOff = NULL;
    int64_t gainAutoOff;

    err = spinNodeMapGetNode(hNodeMap, "GainAuto", &hGainAuto);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        PrintRetrieveNodeFailure("node", "GainAuto");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hGainAuto) || !IsWritable(hGainAuto))
    {
        PrintRetrieveNodeFailure("node", "GainAuto");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationGetEntryByName(hGainAuto, "Off", &hGainAutoOff);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        PrintRetrieveNodeFailure(" entry", "GainAuto 'Off'");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hGainAutoOff) || !IsReadable(hGainAutoOff))
    {
        PrintRetrieveNodeFailure(" entry", "GainAuto 'Off'");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationEntryGetIntValue(hGainAutoOff, &gainAutoOff);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to disable automatic gain. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationSetIntValue(hGainAuto, gainAutoOff);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to disable automatic gain. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("Automatic gain disabled...\n");

    //
    // Turn configuration mode on
    //
    // *** NOTES ***
    // Once sequencer mode is off, enabling sequencer configuration mode
    // allows for the setting of individual sequences.
    //
    // *** LATER ***
    // Before sequencer mode is turned back on, sequencer configuration
    // mode must be turned off.
    //
    spinNodeHandle hSequencerConfigurationMode = NULL;
    spinNodeHandle hSequencerConfigurationModeOn = NULL;
    int64_t sequencerConfigurationModeOn = 0;

    err = spinNodeMapGetNode(hNodeMap, "SequencerConfigurationMode", &hSequencerConfigurationMode);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        PrintRetrieveNodeFailure("node", "SequencerConfigurationMode");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerConfigurationMode) || !IsWritable(hSequencerConfigurationMode))
    {
        PrintRetrieveNodeFailure("node", "SequencerConfigurationMode");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationGetEntryByName(hSequencerConfigurationMode, "On", &hSequencerConfigurationModeOn);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        PrintRetrieveNodeFailure("entry", "SequencerConfigurationMode 'On'");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerConfigurationModeOn) || !IsReadable(hSequencerConfigurationModeOn))
    {
        PrintRetrieveNodeFailure("entry", "SequencerConfigurationMode 'On'");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationEntryGetIntValue(hSequencerConfigurationModeOn, &sequencerConfigurationModeOn);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to enable sequencer configuration mode. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationSetIntValue(hSequencerConfigurationMode, sequencerConfigurationModeOn);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to enable sequencer configuration mode. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("Sequencer configuration mode enabled...\n\n");

    return 0;
}

// This function sets a single state. It sets the sequence number, applies
// custom settings, selects the trigger type and next state number, and saves
// the state. The custom values that are applied are all calculated in the
// function that calls this one, RunSingleCamera().
int SetSingleState(
    spinNodeMapHandle hNodeMap,
    unsigned int sequenceNumber,
    int64_t widthToSet,
    int64_t heightToSet,
    double exposureTimeToSet,
    double gainToSet)
{
    spinError err = SPINNAKER_ERR_SUCCESS;

    //
    // Select the sequence number
    //
    // *** NOTES ***
    // Select the index of the state to be set.
    //
    // *** LATER ***
    // The next state - i.e. the state to be linked to -
    // also needs to be set before saving the current state.
    //
    spinNodeHandle hSequencerSetSelector = NULL;

    err = spinNodeMapGetNode(hNodeMap, "SequencerSetSelector", &hSequencerSetSelector);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to select current sequence. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerSetSelector) || !IsWritable(hSequencerSetSelector))
    {
        printf("Unable to select current sequence. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinIntegerSetValue(hSequencerSetSelector, sequenceNumber);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to select current sequence. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("Customizing sequence %d...\n", sequenceNumber);

    //
    // Set desired settings for the current state
    //
    // *** NOTES ***
    // Width, height, exposure time, and gain are set in this example. If
    // the sequencer isn't working properly, it may be important to ensure
    // that each feature is enabled on the sequencer. Features are enabled
    // by default, so this is not explored in this example.
    //
    // Changing the height and width for the sequencer is not available
    // for all camera models.
    //
    // Set width; width recorded in pixels
    spinNodeHandle hWidth = NULL;
    int64_t widthInc = 0;

    err = spinNodeMapGetNode(hNodeMap, "Width", &hWidth);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to set width. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (IsAvailable(hWidth) && IsWritable(hWidth))
    {
        err = spinIntegerGetInc(hWidth, &widthInc);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to set width. Aborting with error %d...\n\n", err);
            return SPINNAKER_ERR_ACCESS_DENIED;
        }

        if (widthToSet % widthInc != 0)
        {
            widthToSet = (widthToSet / widthInc) * widthInc;
        }

        err = spinIntegerSetValue(hWidth, widthToSet);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to set width. Aborting with error %d...\n\n", err);
            return SPINNAKER_ERR_ACCESS_DENIED;
        }

        printf("\tWidth set to %d...\n", (int)widthToSet);
    }
    else
    {
        printf("\tUnable to set width; width for sequencer not available on all camera models...\n");
    }

    // Set height; height recorded in pixels
    spinNodeHandle hHeight = NULL;
    int64_t heightInc = 0;

    err = spinNodeMapGetNode(hNodeMap, "Height", &hHeight);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to set height. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (IsAvailable(hHeight) && IsWritable(hHeight))
    {
        err = spinIntegerGetInc(hHeight, &heightInc);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to set height. Aborting with error %d...\n\n", err);
            return SPINNAKER_ERR_ACCESS_DENIED;
        }

        if (heightToSet % heightInc != 0)
        {
            heightToSet = (heightToSet / heightInc) * heightInc;
        }

        err = spinIntegerSetValue(hHeight, heightToSet);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to set height. Aborting with error %d...\n\n", err);
            return SPINNAKER_ERR_ACCESS_DENIED;
        }

        printf("\tHeight set to %d...\n", (int)heightToSet);
    }
    else
    {
        printf("\tUnable to set height; height for sequencer not available on all camera models...\n");
    }

    // Set exposure time; exposure time recorded in microseconds
    spinNodeHandle hExposureTime = NULL;

    err = spinNodeMapGetNode(hNodeMap, "ExposureTime", &hExposureTime);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to set exposure. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hExposureTime) || !IsWritable(hExposureTime))
    {
        printf("Unable to set exposure. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinFloatSetValue(hExposureTime, exposureTimeToSet);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to set exposure. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("\tExposure time set to %f...\n", exposureTimeToSet);

    // Set gain; gain recorded in decibels
    spinNodeHandle hGain = NULL;

    err = spinNodeMapGetNode(hNodeMap, "Gain", &hGain);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to set gain. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hGain) || !IsWritable(hGain))
    {
        printf("Unable to set gain. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinFloatSetValue(hGain, gainToSet);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to set gain. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("\tGain set to %f...\n", gainToSet);

    //
    // Set the trigger type for the current sequence
    //
    // *** NOTES ***
    // It is a requirement of every state to have its trigger source set.
    // The trigger source refers to the moment when the sequencer changes
    // from one state to the next.
    //
    spinNodeHandle hSequencerTriggerSource = NULL;
    spinNodeHandle hSequencerTriggerSourceFrameStart = NULL;
    int64_t sequencerTriggerSourceFrameStart = 0;

    err = spinNodeMapGetNode(hNodeMap, "SequencerTriggerSource", &hSequencerTriggerSource);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to set trigger source. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerTriggerSource) || !IsWritable(hSequencerTriggerSource))
    {
        printf("Unable to set trigger source. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationGetEntryByName(hSequencerTriggerSource, "FrameStart", &hSequencerTriggerSourceFrameStart);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to set trigger source. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerTriggerSourceFrameStart) || !IsReadable(hSequencerTriggerSourceFrameStart))
    {
        printf("Unable to set trigger source. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationEntryGetIntValue(hSequencerTriggerSourceFrameStart, &sequencerTriggerSourceFrameStart);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to set trigger source. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationSetIntValue(hSequencerTriggerSource, sequencerTriggerSourceFrameStart);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to set trigger source. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("\tTrigger source set to start of frame...\n");

    //
    // Set the next state in the sequence
    //
    // *** NOTES ***
    // When setting the next state in the sequence, ensure it does not
    // exceed the maximum and that the states loop appropriately.
    //
    spinNodeHandle hSequencerSetNext = NULL;
    const unsigned int finalSequenceIndex = 4;
    unsigned int nextSequence = 0;

    err = spinNodeMapGetNode(hNodeMap, "SequencerSetNext", &hSequencerSetNext);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to set next sequence. Aborting with err %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerSetNext) || !IsWritable(hSequencerSetNext))
    {
        printf("Unable to set next sequence. Aborting with err %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (sequenceNumber != finalSequenceIndex)
    {
        nextSequence = sequenceNumber + 1;
    }

    err = spinIntegerSetValue(hSequencerSetNext, nextSequence);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to set next sequence. Aborting with err %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("\tNext sequence set to %d...\n", nextSequence);

    //
    // Save current state
    //
    // *** NOTES ***
    // Once all appropriate settings have been configured, make sure to
    // save the state to the sequence. Notice that these settings will be
    // lost when the camera is power-cycled.
    //
    spinNodeHandle hSequencerSetSave = NULL;

    err = spinNodeMapGetNode(hNodeMap, "SequencerSetSave", &hSequencerSetSave);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to save sequence. Aborting with err %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerSetSave) || !IsWritable(hSequencerSetSave))
    {
        printf("Unable to save sequence. Aborting with err %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinCommandExecute(hSequencerSetSave);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to save sequence. Aborting with err %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("\tSequence %d saved...\n\n", sequenceNumber);

    return 0;
}

// Now that the states have all been set, this function readies the camera
// to use the sequencer during image acquisition.
int ConfigureSequencerPartTwo(spinNodeMapHandle hNodeMap)
{
    spinError err = SPINNAKER_ERR_SUCCESS;

    //
    // Turn configuration mode off
    //
    // *** NOTES ***
    // Once all desired states have been set, turn sequencer
    // configuration mode off in order to turn sequencer mode on.
    //
    spinNodeHandle hSequencerConfigurationMode = NULL;
    spinNodeHandle hSequencerConfigurationModeOff = NULL;
    int64_t sequencerConfigurationModeOff = 0;

    err = spinNodeMapGetNode(hNodeMap, "SequencerConfigurationMode", &hSequencerConfigurationMode);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        PrintRetrieveNodeFailure("node", "SequencerConfigurationMode");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerConfigurationMode) || !IsWritable(hSequencerConfigurationMode))
    {
        PrintRetrieveNodeFailure("node", "SequencerConfigurationMode");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationGetEntryByName(hSequencerConfigurationMode, "Off", &hSequencerConfigurationModeOff);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        PrintRetrieveNodeFailure("entry", "SequencerConfigurationMode 'Off'");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerConfigurationModeOff) || !IsReadable(hSequencerConfigurationModeOff))
    {
        PrintRetrieveNodeFailure("entry", "SequencerConfigurationMode 'Off'");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationEntryGetIntValue(hSequencerConfigurationModeOff, &sequencerConfigurationModeOff);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to disable sequencer configuration mode. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationSetIntValue(hSequencerConfigurationMode, sequencerConfigurationModeOff);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to disable sequencer configuration mode. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("Sequencer configuration mode disabled...\n");

    //
    // Turn sequencer mode on
    //
    // *** NOTES ***
    // Once sequencer mode is turned on, the camera will begin using the
    // saved states in the order that they were set.
    //
    // *** LATER ***
    // Once all images have been captured, disable the sequencer in order
    // to restore the camera to its initial state.
    //
    spinNodeHandle hSequencerMode = NULL;
    spinNodeHandle hSequencerModeOn = NULL;
    int64_t sequencerModeOn = 0;

    err = spinNodeMapGetNode(hNodeMap, "SequencerMode", &hSequencerMode);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        PrintRetrieveNodeFailure("node", "SequencerMode");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerMode) || !IsWritable(hSequencerMode))
    {
        PrintRetrieveNodeFailure("node", "SequencerMode");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationGetEntryByName(hSequencerMode, "On", &hSequencerModeOn);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        PrintRetrieveNodeFailure("entry", "SequencerMode 'On'");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerModeOn) || !IsReadable(hSequencerModeOn))
    {
        PrintRetrieveNodeFailure("entry", "SequencerMode 'On'");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationEntryGetIntValue(hSequencerModeOn, &sequencerModeOn);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationSetIntValue(hSequencerMode, sequencerModeOn);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("Sequencer mode enabled...\n");

    //
    // Validate sequencer settings
    //
    // *** NOTES ***
    // Once all states have been set, it is a good idea to
    // validate them. Although this node cannot ensure that the states
    // have been set up correctly, it does ensure that the states have
    // been set up in such a way that the camera can function.
    //
    spinNodeHandle hSequencerConfigurationValid = NULL;
    spinNodeHandle hSequencerConfigurationValidCurrent = NULL;
    spinNodeHandle hSequencerConfigurationValidYes = NULL;
    int64_t sequencerConfigurationValidCurrent = 0;
    int64_t sequencerConfigurationValidYes = 0;

    err = spinNodeMapGetNode(hNodeMap, "SequencerConfigurationValid", &hSequencerConfigurationValid);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        PrintRetrieveNodeFailure("node", "SequencerConfigurationValid");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerConfigurationValid) || !IsReadable(hSequencerConfigurationValid))
    {
        PrintRetrieveNodeFailure("node", "SequencerConfigurationValid");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationGetCurrentEntry(hSequencerConfigurationValid, &hSequencerConfigurationValidCurrent);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid current");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerConfigurationValidCurrent) || !IsReadable(hSequencerConfigurationValidCurrent))
    {
        PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid current");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationGetEntryByName(hSequencerConfigurationValid, "Yes", &hSequencerConfigurationValidYes);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid 'Yes'");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerConfigurationValidYes) || !IsReadable(hSequencerConfigurationValidYes))
    {
        PrintRetrieveNodeFailure("entry", "SequencerConfigurationValid 'Yes'");
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationEntryGetIntValue(hSequencerConfigurationValidCurrent, &sequencerConfigurationValidCurrent);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf(
            "Unable to validate sequencer configuration ('current' value retrieval). Aborting with error %d...\n\n",
            err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationEntryGetIntValue(hSequencerConfigurationValidYes, &sequencerConfigurationValidYes);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf(
            "Unable to validate sequencer configuration ('yes' value retrieval). Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (sequencerConfigurationValidCurrent != sequencerConfigurationValidYes)
    {
        err = SPINNAKER_ERR_ERROR;
        printf("Sequencer configuration not valid. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("Sequencer configuration valid...\n\n");

    return 0;
}

// This function restores the camera to its default state by turning sequencer
// mode off and re-enabling automatic exposure and gain.
int ResetSequencer(spinNodeMapHandle hNodeMap)
{
    spinError err = SPINNAKER_ERR_SUCCESS;

    //
    // Turn sequencer mode back off
    //
    // *** NOTES ***
    // The sequencer is turned off in order to return the camera to its default
    // state.
    //
    spinNodeHandle hSequencerMode = NULL;
    spinNodeHandle hSequencerModeOff = NULL;
    int64_t sequencerModeOff = 0;

    err = spinNodeMapGetNode(hNodeMap, "SequencerMode", &hSequencerMode);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerMode) || !IsWritable(hSequencerMode))
    {
        printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationGetEntryByName(hSequencerMode, "Off", &hSequencerModeOff);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hSequencerMode) || !IsReadable(hSequencerMode))
    {
        printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationEntryGetIntValue(hSequencerModeOff, &sequencerModeOff);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationSetIntValue(hSequencerMode, sequencerModeOff);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to enable sequencer mode. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("Sequencer mode disabled...\n");

    //
    // Turn automatic exposure back on
    //
    // *** NOTES ***
    // Automatic exposure is turned on in order to return the camera to its
    // default state.
    //
    spinNodeHandle hExposureAuto = NULL;
    spinNodeHandle hExposureAutoContinuous = NULL;
    int64_t exposureAutoContinuous;

    err = spinNodeMapGetNode(hNodeMap, "ExposureAuto", &hExposureAuto);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to enable automatic exposure. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hExposureAuto) || !IsWritable(hExposureAuto))
    {
        printf("Unable to enable automatic exposure. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationGetEntryByName(hExposureAuto, "Continuous", &hExposureAutoContinuous);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to enable automatic exposure. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hExposureAutoContinuous) || !IsReadable(hExposureAutoContinuous))
    {
        printf("Unable to enable automatic exposure. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationEntryGetIntValue(hExposureAutoContinuous, &exposureAutoContinuous);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to enable automatic exposure. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationSetIntValue(hExposureAuto, exposureAutoContinuous);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to enable automatic exposure. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("Automatic exposure enabled...\n");

    //
    // Turn automatic gain back on
    //
    // *** NOTES ***
    // Automatic gain is turned on in order to return the camera to its
    // default state.
    //
    spinNodeHandle hGainAuto = NULL;
    spinNodeHandle hGainAutoContinuous = NULL;
    int64_t gainAutoContinuous;

    err = spinNodeMapGetNode(hNodeMap, "GainAuto", &hGainAuto);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to enable automatic gain. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hGainAuto) || !IsWritable(hGainAuto))
    {
        printf("Unable to enable automatic gain. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationGetEntryByName(hGainAuto, "Continuous", &hGainAutoContinuous);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to enable automatic gain. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hGainAutoContinuous) || !IsReadable(hGainAutoContinuous))
    {
        printf("Unable to enable automatic gain. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationEntryGetIntValue(hGainAutoContinuous, &gainAutoContinuous);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to enable automatic gain. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationSetIntValue(hGainAuto, gainAutoContinuous);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to enable automatic gain. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("Automatic gain enabled...\n\n");

    return 0;
}

// This function prints the device information of the camera from the transport
// layer; please see NodeMapInfo_C example for more in-depth comments on
// printing device information from the nodemap.
int PrintDeviceInfo(spinNodeMapHandle hNodeMap)
{
    spinError err = SPINNAKER_ERR_SUCCESS;
    unsigned int i = 0;

    printf("\n*** DEVICE INFORMATION ***\n\n");

    // Retrieve device information category node
    spinNodeHandle hDeviceInformation = NULL;

    err = spinNodeMapGetNode(hNodeMap, "DeviceInformation", &hDeviceInformation);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to retrieve node. Non-fatal error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hDeviceInformation) || !IsReadable(hDeviceInformation))
    {
        printf("Unable to retrieve node. Non-fatal error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    // Retrieve number of nodes within device information node
    size_t numFeatures = 0;

    err = spinCategoryGetNumFeatures(hDeviceInformation, &numFeatures);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to retrieve number of nodes. Non-fatal error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    // Iterate through nodes and print information
    for (i = 0; i < numFeatures; i++)
    {
        spinNodeHandle hFeatureNode = NULL;

        err = spinCategoryGetFeatureByIndex(hDeviceInformation, i, &hFeatureNode);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to retrieve node. Non-fatal error %d...\n\n", err);
            continue;
        }

        spinNodeType featureType = UnknownNode;

        char featureName[MAX_BUFF_LEN];
        size_t lenFeatureName = MAX_BUFF_LEN;
        err = spinNodeGetName(hFeatureNode, featureName, &lenFeatureName);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            strcpy(featureName, "Unknown name");
        }

        if (IsAvailable(hFeatureNode) && IsReadable(hFeatureNode))
        {
            err = spinNodeGetType(hFeatureNode, &featureType);
            if (err != SPINNAKER_ERR_SUCCESS)
            {
                printf("Unable to retrieve node type. Non-fatal error %d...\n\n", err);
                continue;
            }
        }
        else
        {
            printf("%s: Node not readable\n", featureName);
            continue;
        }

        char featureValue[MAX_BUFF_LEN];
        size_t lenFeatureValue = MAX_BUFF_LEN;
        err = spinNodeToString(hFeatureNode, featureValue, &lenFeatureValue);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            strcpy(featureValue, "Unknown value");
        }

        printf("%s: %s\n", featureName, featureValue);
    }

    return 0;
}

// This function acquires and saves 10 images from a device; please see
// Acquisition_C example for more in-depth comments on the acquisition of
// images.
int AcquireImages(spinCamera hCam, spinNodeMapHandle hNodeMap, spinNodeMapHandle hNodeMapTLDevice, uint64_t timeout)
{
    spinError err = SPINNAKER_ERR_SUCCESS;

    printf("\n*** IMAGE ACQUISITION ***\n\n");

    // Set acquisition mode to continuous
    spinNodeHandle hAcquisitionMode = NULL;
    spinNodeHandle hAcquisitionModeContinuous = NULL;
    int64_t acquisitionModeContinuous = 0;

    err = spinNodeMapGetNode(hNodeMap, "AcquisitionMode", &hAcquisitionMode);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to set acquisition mode to continuous (node retrieval). Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hAcquisitionMode) || !IsWritable(hAcquisitionMode))
    {
        printf("Unable to set acquisition mode to continuous (node retrieval). Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationGetEntryByName(hAcquisitionMode, "Continuous", &hAcquisitionModeContinuous);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf(
            "Unable to set acquisition mode to continuous (entry 'continuous' retrieval). Aborting with error "
            "%d...\n\n",
            err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hAcquisitionModeContinuous) || !IsReadable(hAcquisitionModeContinuous))
    {
        printf(
            "Unable to set acquisition mode to continuous (entry 'continuous' retrieval). Aborting with error "
            "%d...\n\n",
            err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationEntryGetIntValue(hAcquisitionModeContinuous, &acquisitionModeContinuous);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf(
            "Unable to set acquisition mode to continuous (entry int value retrieval). Aborting with error %d...\n\n",
            err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinEnumerationSetIntValue(hAcquisitionMode, acquisitionModeContinuous);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf(
            "Unable to set acquisition mode to continuous (entry int value setting). Aborting with error %d...\n\n",
            err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("Acquisition mode set to continuous...\n");

    // Begin acquiring images
    err = spinCameraBeginAcquisition(hCam);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to begin image acquisition. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("Acquiring images...\n");

    // Retrieve device serial number for filename
    spinNodeHandle hDeviceSerialNumber = NULL;
    char deviceSerialNumber[MAX_BUFF_LEN];
    size_t lenDeviceSerialNumber = MAX_BUFF_LEN;

    err = spinNodeMapGetNode(hNodeMapTLDevice, "DeviceSerialNumber", &hDeviceSerialNumber);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        strcpy(deviceSerialNumber, "");
        lenDeviceSerialNumber = 0;
    }
    else
    {
        if (!IsAvailable(hDeviceSerialNumber) || !IsReadable(hDeviceSerialNumber))
        {
            strcpy(deviceSerialNumber, "");
            lenDeviceSerialNumber = 0;
        }
        else
        {

            err = spinStringGetValue(hDeviceSerialNumber, deviceSerialNumber, &lenDeviceSerialNumber);
            if (err != SPINNAKER_ERR_SUCCESS)
            {
                strcpy(deviceSerialNumber, "");
                lenDeviceSerialNumber = 0;
            }

            printf("Device serial number retrieved as %s...\n", deviceSerialNumber);
        }
    }
    printf("\n");

    // Retrieve, convert, and save images
    const unsigned int k_numImages = 10;
    unsigned int imageCnt = 0;

    for (imageCnt = 0; imageCnt < k_numImages; imageCnt++)
    {
        // Retrieve next received image
        spinImage hResultImage = NULL;

        err = spinCameraGetNextImageEx(hCam, timeout, &hResultImage);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to get next image. Non-fatal error %d...\n\n", err);
            continue;
        }

        // Ensure image completion
        bool8_t isIncomplete = False;
        bool8_t hasFailed = False;

        err = spinImageIsIncomplete(hResultImage, &isIncomplete);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to determine image completion. Non-fatal error %d...\n\n", err);
            hasFailed = True;
        }

        if (isIncomplete)
        {
            spinImageStatus imageStatus = IMAGE_NO_ERROR;

            err = spinImageGetStatus(hResultImage, &imageStatus);
            if (err != SPINNAKER_ERR_SUCCESS)
            {
                printf("Unable to retrieve image status. Non-fatal error %d...\n\n", err);
            }
            else
            {
                printf("Image incomplete with image status %d...\n", imageStatus);
            }

            hasFailed = True;
        }

        // Release incomplete or failed image
        if (hasFailed)
        {
            err = spinImageRelease(hResultImage);
            if (err != SPINNAKER_ERR_SUCCESS)
            {
                printf("Unable to release image. Non-fatal error %d...\n\n", err);
            }

            continue;
        }

        // Print image information
        size_t width = 0;
        size_t height = 0;

        err = spinImageGetWidth(hResultImage, &width);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to retrieve image width. Non-fatal error %d...\n", err);
        }

        err = spinImageGetHeight(hResultImage, &height);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to retrieve image height. Non-fatal error %d...\n", err);
        }

        printf("Grabbed image %u, width = %u, height = %u\n", imageCnt, (unsigned int)width, (unsigned int)height);

        // Convert image to mono 8
        spinImage hConvertedImage = NULL;

        err = spinImageCreateEmpty(&hConvertedImage);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to create image. Non-fatal error %d...\n\n", err);
            hasFailed = True;
        }

        err = spinImageConvert(hResultImage, PixelFormat_Mono8, hConvertedImage);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to convert image. Non-fatal error %d...\n\n", err);
            hasFailed = True;
        }

        // Create unique file name
        char filename[MAX_BUFF_LEN];

        if (lenDeviceSerialNumber == 0)
        {
            sprintf(filename, "Sequencer-C-%d.jpg", imageCnt);
        }
        else
        {
            sprintf(filename, "Sequencer-C-%s-%d.jpg", deviceSerialNumber, imageCnt);
        }

        // Save image
        err = spinImageSave(hConvertedImage, filename, JPEG);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to save image. Non-fatal error %d...\n", err);
        }
        else
        {
            printf("Image saved at %s\n\n", filename);
        }

        // Destroy converted image
        err = spinImageDestroy(hConvertedImage);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to destroy image. Non-fatal error %d...\n\n", err);
        }

        // Release image
        err = spinImageRelease(hResultImage);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to release image. Non-fatal error %d...\n\n", err);
        }
    }

    // End acquisition
    err = spinCameraEndAcquisition(hCam);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to end acquisition. Non-fatal error %d...\n\n", err);
    }

    return 0;
}

// This function acts very similarly to the RunSingleCamera() functions of other
// examples, except that the values for the sequences are also calculated here;
// please see NodeMapInfo example for additional information on the steps in
// this function.
int RunSingleCamera(spinCamera hCam)
{
    spinError err = SPINNAKER_ERR_SUCCESS;
    int result = 0;

    // Retrieve TL device nodemap and print device information
    spinNodeMapHandle hNodeMapTLDevice = NULL;

    err = spinCameraGetTLDeviceNodeMap(hCam, &hNodeMapTLDevice);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to retrieve TL device nodemap. Non-fatal error %d...\n\n", err);
    }
    else
    {
        result = PrintDeviceInfo(hNodeMapTLDevice);
    }

    // Initialize camera
    err = spinCameraInit(hCam);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to initialize camera. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    // Retrieve GenICam nodemap
    spinNodeMapHandle hNodeMap = NULL;

    err = spinCameraGetNodeMap(hCam, &hNodeMap);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to retrieve GenICam nodemap. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    // Configure sequencer to be ready to set sequences
    if (ConfigureSequencerPartOne(hNodeMap) != 0)
    {
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    //
    // Set sequences
    //
    // *** NOTES ***
    // In the following section, the sequencer values are calculated. This
    // section does not appear in the configuration, as the values
    // calculated are somewhat arbitrary: width and height are both set to
    // 25% of their maximum values, incrementing by 10%; exposure time is
    // set to its minimum, also incrementing by 10% of its maximum; and gain
    // is set to its minimum, incrementing by 2% of its maximum.
    //
    const unsigned int k_numSequences = 5;

    // Retrieve maximum width; width recorded in pixels
    spinNodeHandle hWidth = NULL;
    int64_t widthMax = 0;

    err = spinNodeMapGetNode(hNodeMap, "Width", &hWidth);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to get max width (node retrieval). Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hWidth) || !IsReadable(hWidth))
    {
        printf("Unable to get max width (node retrieval). Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinIntegerGetMax(hWidth, &widthMax);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to get max width (max retrieval). Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    // Retrieve maximum height; height recorded in pixels
    spinNodeHandle hHeight = NULL;
    int64_t heightMax = 0;

    err = spinNodeMapGetNode(hNodeMap, "Height", &hHeight);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to get max height (node retrieval). Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hHeight) || !IsReadable(hHeight))
    {
        printf("Unable to get max height (node retrieval). Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinIntegerGetMax(hHeight, &heightMax);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to get max height (max retrieval). Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    // Retrieve maximum exposure time; exposure time recorded in microseconds
    spinNodeHandle hExposureTime = NULL;
    const double exposureTimeMaxToSet = 2000000.0;
    double exposureTimeMax = 0.0;
    double exposureTimeMin = 0.0;

    err = spinNodeMapGetNode(hNodeMap, "ExposureTime", &hExposureTime);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to retrieve exposure time node. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hHeight) || !IsReadable(hHeight))
    {
        printf("Unable to retrieve exposure time node. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinFloatGetMax(hExposureTime, &exposureTimeMax);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to retrieve maximum exposure time. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (exposureTimeMax > exposureTimeMaxToSet)
    {
        exposureTimeMax = exposureTimeMaxToSet;
    }

    err = spinFloatGetMin(hExposureTime, &exposureTimeMin);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to retrieve minimum exposure time. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    // Retrieve maximum and minimum gain; gain recorded in decibels
    spinNodeHandle hGain = NULL;
    double gainMax = 0.0;
    double gainMin = 0.0;

    err = spinNodeMapGetNode(hNodeMap, "Gain", &hGain);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to retrieve gain node. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    if (!IsAvailable(hGain) || !IsReadable(hGain))
    {
        printf("Unable to retrieve gain node. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinFloatGetMax(hGain, &gainMax);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to retrieve maximum gain. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinFloatGetMin(hGain, &gainMin);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to retrieve minimum gain. Aborting with error %d...\n\n", err);
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    // Set individual sequences
    unsigned int sequenceNumber;
    int64_t widthToSet = widthMax / 4;
    int64_t heightToSet = heightMax / 4;
    double exposureTimeToSet = exposureTimeMin;
    double gainToSet = gainMin;

    for (sequenceNumber = 0; sequenceNumber < k_numSequences; sequenceNumber++)
    {
        if (SetSingleState(hNodeMap, sequenceNumber, widthToSet, heightToSet, exposureTimeToSet, gainToSet) != 0)
        {
            return SPINNAKER_ERR_ACCESS_DENIED;
        }

        widthToSet += widthMax / 10;
        heightToSet += heightMax / 10;
        exposureTimeToSet += exposureTimeMax / 10.0;
        gainToSet += gainMax / 50.0;
    }

    // Calculate appropriate acquisition grab timeout window based on exposure time
    // Note: exposureTimeToSet is in microseconds and needs to be converted to milliseconds
    uint64_t timeout = (uint64_t)((exposureTimeToSet / 1000) + 1000);

    // Configure sequencer to acquire images
    if (ConfigureSequencerPartTwo(hNodeMap) != 0)
    {
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    // Acquire images
    if (AcquireImages(hCam, hNodeMap, hNodeMapTLDevice, timeout) != 0)
    {
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    // Reset sequencer
    if (ResetSequencer(hNodeMap) != 0)
    {
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    // Deinitialize camera
    err = spinCameraDeInit(hCam);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to deinitialize camera. Non-fatal error %d...\n\n", err);
    }

    return result;
}

// Example entry point; please see Enumeration_C example for more in-depth
// comments on preparing and cleaning up the system.
int main(/*int argc, char** argv*/)
{
    int errReturn = 0;
    spinError err = SPINNAKER_ERR_SUCCESS;
    unsigned int i = 0;

    // Since this application saves images in the current folder
    // we must ensure that we have permission to write to this folder.
    // If we do not have permission, fail right away.
    FILE* tempFile;
    tempFile = fopen("test.txt", "w+");
    if (tempFile == NULL)
    {
        printf("Failed to create file in current folder.  Please check "
               "permissions.\n");
        printf("Press Enter to exit...\n");
        getchar();
        return SPINNAKER_ERR_ACCESS_DENIED;
    }
    fclose(tempFile);
    remove("test.txt");

    // Print application build information
    printf("Application build date: %s %s \n\n", __DATE__, __TIME__);

    // Retrieve singleton reference to system object
    spinSystem hSystem = NULL;

    err = spinSystemGetInstance(&hSystem);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to retrieve system instance. Aborting with error %d...\n\n", err);
        printf("\nDone! Press Enter to exit...\n");
        getchar();
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    // Print out current library version
    spinLibraryVersion hLibraryVersion;

    spinSystemGetLibraryVersion(hSystem, &hLibraryVersion);
    printf(
        "Spinnaker library version: %d.%d.%d.%d\n\n",
        hLibraryVersion.major,
        hLibraryVersion.minor,
        hLibraryVersion.type,
        hLibraryVersion.build);

    // Retrieve list of cameras from the system
    spinCameraList hCameraList = NULL;

    err = spinCameraListCreateEmpty(&hCameraList);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to create camera list. Aborting with error %d...\n\n", err);
        printf("\nDone! Press Enter to exit...\n");
        getchar();
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinSystemGetCameras(hSystem, hCameraList);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to retrieve camera list. Aborting with error %d...\n\n", err);
        printf("\nDone! Press Enter to exit...\n");
        getchar();
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    // Retrieve number of cameras
    size_t numCameras = 0;

    err = spinCameraListGetSize(hCameraList, &numCameras);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to retrieve number of cameras. Aborting with error %d...\n\n", err);
        printf("\nDone! Press Enter to exit...\n");
        getchar();
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("Number of cameras detected: %u\n\n", (unsigned int)numCameras);

    // Finish if there are no cameras
    if (numCameras == 0)
    {
        // Clear and destroy camera list before releasing system
        err = spinCameraListClear(hCameraList);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to clear camera list. Aborting with error %d...\n\n", err);
            printf("\nDone! Press Enter to exit...\n");
            getchar();
            return SPINNAKER_ERR_ACCESS_DENIED;
        }

        err = spinCameraListDestroy(hCameraList);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to destroy camera list. Aborting with error %d...\n\n", err);
            printf("\nDone! Press Enter to exit...\n");
            getchar();
            return SPINNAKER_ERR_ACCESS_DENIED;
        }

        // Release system
        err = spinSystemReleaseInstance(hSystem);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to release system instance. Aborting with error %d...\n\n", err);
            printf("\nDone! Press Enter to exit...\n");
            getchar();
            return SPINNAKER_ERR_ACCESS_DENIED;
        }

        printf("Not enough cameras!\n");
        printf("Done! Press Enter to exit...\n");
        getchar();

        return -1;
    }

    // Run example on each camera
    for (i = 0; i < numCameras; i++)
    {
        printf("\nRunning example for camera %d...\n", i);

        // Select camera
        spinCamera hCamera = NULL;

        err = spinCameraListGet(hCameraList, i, &hCamera);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            printf("Unable to retrieve camera from list. Aborting with error %d...\n\n", err);
            errReturn = -1;
        }
        else
        {
            // Run example
            if (RunSingleCamera(hCamera) != 0)
            {
                errReturn = -1;
            }
        }

        // Release camera
        err = spinCameraRelease(hCamera);
        if (err != SPINNAKER_ERR_SUCCESS)
        {
            errReturn = -1;
            printf("Unable to release camera instance. Aborting with error %d...\n\n", err);
            continue;
        }

        printf("Camera %d example complete...\n\n", i);
    }

    // Clear and destroy camera list before releasing system
    err = spinCameraListClear(hCameraList);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to clear camera list. Aborting with error %d...\n\n", err);
        printf("\nDone! Press Enter to exit...\n");
        getchar();
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    err = spinCameraListDestroy(hCameraList);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to destroy camera list. Aborting with error %d...\n\n", err);
        printf("\nDone! Press Enter to exit...\n");
        getchar();
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    // Release system
    err = spinSystemReleaseInstance(hSystem);
    if (err != SPINNAKER_ERR_SUCCESS)
    {
        printf("Unable to release system instance. Aborting with error %d...\n\n", err);
        printf("\nDone! Press Enter to exit...\n");
        getchar();
        return SPINNAKER_ERR_ACCESS_DENIED;
    }

    printf("\nDone! Press Enter to exit...\n");
    getchar();

    return errReturn;
}