use callbacks for pixels/image, update http resps, load calibration tables in separate threads

7 files changed, 250 insertions, 110 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4b0cabb..01bf27f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,6 +13,7 @@ set(CMAKE_AUTORCC OFF)
 # set(TARGET_SYSROOT /home/nikita/rpi/rpi-sysroot)
 set(TARGET_SYSROOT /home/nikita/rpi/rpi_zero-sysroot)
 set(CMAKE_SYSROOT ${TARGET_SYSROOT})
+message("CMAKE_SYSROOT: ${CMAKE_SYSROOT}")
 set(CMAKE_LIBRARY_PATH ${CMAKE_SYSROOT}/usr/lib/aarch64-linux-gnu)
 
 # arch:
diff --git a/imagealgos.cpp b/imagealgos.cpp
index 80a1c92..801c588 100644
--- a/imagealgos.cpp
+++ b/imagealgos.cpp
@@ -65,7 +65,7 @@ size_t pgm_save(std::shared_ptr<Image> img, FILE *outfile, bool really_save)
         }
     }
 
-    std::cout << "written pgm image" << std::endl;
+    // std::cout << "written pgm image" << std::endl;
     return n;
 }
 
diff --git a/main.cpp b/main.cpp
index e8de499..53fb08b 100644
--- a/main.cpp
+++ b/main.cpp
@@ -38,7 +38,8 @@
 #include <QtConcurrent/QtConcurrent>
 
 #define try_apply_config() \
-    if (!applyConfig(config)) { \
+    if (!applyConfig(config)) \
+    { \
         camera->release(); \
         cm->stop(); \
 \
@@ -83,17 +84,19 @@ CalibrationTablePtr calibrationTableX;
 auto printPixels = [](const auto& pixels) {
     for (size_t i = (img_width - 10) / 2;
          i < img_width - ((img_width - 10) / 2);
-         ++i) {
+         ++i)
+    {
         std::cout << pixels[i] << " ";
     }
     std::cout << std::endl;
 };
 
-void onNewImage(
-    std::shared_ptr<Image> image)
+void onNewImage(std::shared_ptr<Image> image)
 {
-    std::cout << __func__ << std::endl << std::flush;
-    if (!image) {
+    // std::cout << __func__ << std::endl << std::flush;
+
+    if (!image)
+    {
         qDebug() << __func__ << "no image";
         return;
     }
@@ -101,18 +104,22 @@ void onNewImage(
     ::img = image;
 }
 
-void onNewPixels(
-    std::shared_ptr<Pixels> pixels)
+void onNewPixels(std::shared_ptr<Pixels> pixels)
 {
-    if (!pixels) {
+    // std::cout << __func__ << std::endl << std::flush;
+
+    if (!pixels)
+    {
         qDebug() << __func__ << "got null pixels";
     }
 
-    if (!*pixels) {
+    if (!*pixels)
+    {
         // qDebug() << __func__ << "got empty pixels";
     }
 
-    for (size_t i = 640 - 5; i < 640 + 5; i++) {
+    for (size_t i = 640 - 5; i < 640 + 5; i++)
+    {
         // std::cout << pixels->pixels[i] << " ";
     }
 
@@ -127,12 +134,15 @@ int main(int argc, char* argv[])
 {
     QCoreApplication app(argc, argv);
 
+    QList<QFuture<void>> initializers;
+
 #ifdef INNO_MAKER
-    if (false) {
+    if (false)
+    {
         std::cout << std::boolalpha;
         InnoMakerOV9281 innoMakerCam;
         qDebug() << "init:" << innoMakerCam.init();
-        qDebug() << "set exposure:" << innoMakerCam.setExposureTimeMs(3000);
+        qDebug() << "set exposure:" << innoMakerCam.setExposureTimeUs(3000);
         qDebug() << "set gain:" << innoMakerCam.setGain(3000);
 
         innoMakerCam.startStream();
@@ -155,22 +165,32 @@ int main(int argc, char* argv[])
 
     // if (false)
     qDebug() << "size of raw profile" << sizeof(Pixels);
-    if (true) {
+    if (true)
+    {
         // open binary calibration table
-        if (true) {
-            if (!openCalibrationTable("/home/user/dumps/binz.calibration_table",
-                                      ::calibrationTableZ)) {
-                exit(EXIT_FAILURE);
-            }
-            // interpolate(::calibrationTableZ);
-            if (!openCalibrationTable("/home/user/dumps/binx.calibration_table",
-                                      ::calibrationTableX)) {
-                exit(EXIT_FAILURE);
-            }
-            // interpolate(::calibrationTableX);
+        if (true)
+        {
+            initializers << QtConcurrent::run([&]() {
+                if (!openCalibrationTable(
+                        "/home/user/dumps/binz.calibration_table",
+                        ::calibrationTableZ))
+                {
+                    exit(EXIT_FAILURE);
+                }
+            });
+
+            initializers << QtConcurrent::run([&]() {
+                if (!openCalibrationTable(
+                        "/home/user/dumps/binx.calibration_table",
+                        ::calibrationTableX))
+                {
+                    exit(EXIT_FAILURE);
+                }
+            });
         }
 
-        if (false) {
+        if (false)
+        {
             // z
             // if (!openCalibrationTable(
             //         "/home/user/dumps/binz.calibration_table",
@@ -246,8 +266,10 @@ int main(int argc, char* argv[])
         }
 
         // load binary calibration dumps and calibrate
-        if (false) {
-            if (true) {
+        if (false)
+        {
+            if (true)
+            {
                 auto rawProfiles = openDump("/home/user/dumps/binz");
                 // auto rawProfiles = openDump("/home/user/dumps/z");
                 qDebug() << "raw z-profiles count is" << rawProfiles.size();
@@ -272,7 +294,8 @@ int main(int argc, char* argv[])
                 interpolate(::calibrationTableZ);
 
                 if (!dump(::calibrationTableZ,
-                          "/home/user/dumps/binz.calibration_table")) {
+                          "/home/user/dumps/binz.calibration_table"))
+                {
                     qApp->exit(EXIT_FAILURE);
                 }
                 // calibrationTableToImage(::calibrationTableZ)
@@ -283,7 +306,8 @@ int main(int argc, char* argv[])
             qDebug()
                 << "--------------------------------------------------------";
 
-            if (true) {
+            if (true)
+            {
                 auto rawProfiles = openDump("/home/user/dumps/binx");
                 qDebug() << "raw x-profiles count is" << rawProfiles.size();
                 // qDebug() << "height" << calibrationColumnHeight;
@@ -305,7 +329,9 @@ int main(int argc, char* argv[])
 
                 interpolate(::calibrationTableX);
 
-                if (!dump(::calibrationTableX, "/home/user/dumps/binx.calibration_table")) {
+                if (!dump(::calibrationTableX,
+                          "/home/user/dumps/binx.calibration_table"))
+                {
                     qApp->exit(EXIT_FAILURE);
                 }
 
@@ -315,14 +341,6 @@ int main(int argc, char* argv[])
         }
     }
 
-    QCryptographicHash hashZ(QCryptographicHash::Sha256);
-    hashZ.addData(QByteArrayView((char *) ::calibrationTableZ.data(), sizeof(CalibrationTable)));
-    qDebug() << "hash z" << sizeof(::calibrationTableZ) << hashZ.result().toHex();
-
-    QCryptographicHash hashX(QCryptographicHash::Sha256);
-    hashX.addData(QByteArrayView((char *) ::calibrationTableX.data(), sizeof(CalibrationTable)));
-    qDebug() << "hash x" << sizeof(::calibrationTableX) << hashX.result().toHex();
-
     // exit(EXIT_SUCCESS);
 
     // if (!initLaser()) {
@@ -351,7 +369,8 @@ int main(int argc, char* argv[])
     const auto cameras = InnoMakerOV9281::search();
     // const auto cameras =
 
-    if (cameras.empty()) {
+    if (cameras.empty())
+    {
         std::cerr << "No cameras were identified on the system." << std::endl;
 #ifndef INNO_MAKER
         cm->stop();
@@ -369,8 +388,14 @@ int main(int argc, char* argv[])
     std::cout << "connect everything" << std::endl;
     camera->newPixels.connect(&onNewPixels);
     camera->newImage.connect(&onNewImage);
+    camera->newImageCallback = &onNewImage;
+    camera->newPixelsCallback = &onNewPixels;
+
+    for (auto& i : initializers)
+        i.waitForFinished();
 
-    if (!camera->startStream()) {
+    if (!camera->startStream())
+    {
 #ifndef INNO_MAKER
         cm->stop();
 #endif
@@ -380,22 +405,22 @@ int main(int argc, char* argv[])
 
     QHttpServer qHttpServer;
     qHttpServer.route("/v1/sensor/image", [&]() {
-        std::cout << "http: image" << std::endl << std::flush;
+        // std::cout << "http: image" << std::endl << std::flush;
         // FILE *f = fopen("/tmp/img.pgm", "w");
         // static bool save = false;
         pgm_save(::img);
         // save = false;
         std::lock_guard<std::mutex> lg(pgm_image_mtx);
-        qDebug() << "mutex locked";
-        qDebug() << "image saved to array";
+        // qDebug() << "mutex locked";
+        // qDebug() << "image saved to array";
         return QByteArray((const char*) pgm_image, pgm_image_size);
     });
     qHttpServer.route("/v1/sensor/image2", [&]() {
-        std::cout << "http: image2" << std::endl;
+        // std::cout << "http: image2" << std::endl;
         pgm_save(::img);
 
         std::lock_guard<std::mutex> lg(pgm_image_mtx);
-        qDebug() << "image2";
+        // qDebug() << "image2";
         return QByteArray((const char*) pgm_image, pgm_image_size);
     });
     // qHttpServer.route("/v1/sensor/exposureTimeUs", [&]() {
@@ -403,12 +428,13 @@ int main(int argc, char* argv[])
     //     return "123";
     // });
     qHttpServer.route("/v1/pixels", [&]() {
-        std::cout << "http: pixels" << std::endl;
+        // std::cout << "http: pixels" << std::endl;
         std::lock_guard<std::mutex> lg(pgm_image_mtx);
 
         QJsonArray pixels;
 
-        for (size_t i = 0; i < img_width; ++i) {
+        for (size_t i = 0; i < img_width; ++i)
+        {
             // pixels << img_height - img.pixels[i];
             pixels << ::pixels.pixels[i];
         }
@@ -426,7 +452,8 @@ int main(int argc, char* argv[])
 
         QJsonArray jsonLines;
 
-        for (const auto& l : lines) {
+        for (const auto& l : lines)
+        {
             jsonLines << QJsonArray{QJsonArray{l.p1().x(), l.p1().y()},
                                     QJsonArray{l.p2().x(), l.p2().y()}};
         }
@@ -436,10 +463,13 @@ int main(int argc, char* argv[])
         return QHttpServerResponse(QJsonDocument(json).toJson());
     });
 
-    qHttpServer.route("/v1/profile", [&]() {
-        std::cout << "http: profile" << std::endl;
+    qHttpServer.route("/v1/profile", [&]() -> QHttpServerResponse {
+        // std::cout << "http: profile" << std::endl;
         std::lock_guard<std::mutex> lg(pgm_image_mtx);
 
+        if (!::calibrationTableZ || !::calibrationTableX)
+            return QHttpServerResponse::StatusCode::ServiceUnavailable;
+
         const Profile profile(::pixels,
                               ::calibrationTableZ,
                               ::calibrationTableX);
@@ -453,7 +483,8 @@ int main(int argc, char* argv[])
         .route("/v1/commands/resetEncoder",
                [&](const QHttpServerRequest& request) -> QHttpServerResponse {
                    std::cout << "http: resetEncoder" << std::endl;
-                   if (request.method() != QHttpServerRequest::Method::Post) {
+                   if (request.method() != QHttpServerRequest::Method::Post)
+                   {
                        return QHttpServerResponse::StatusCode::NotFound;
                    }
 
@@ -468,7 +499,8 @@ int main(int argc, char* argv[])
         .route("/v1/commands/startCalibration",
                [&](const QHttpServerRequest& request) -> QHttpServerResponse {
                    std::cout << "http: startCalibration" << std::endl;
-                   if (request.method() != QHttpServerRequest::Method::Post) {
+                   if (request.method() != QHttpServerRequest::Method::Post)
+                   {
                        return QHttpServerResponse::StatusCode::NotFound;
                    }
 
@@ -485,7 +517,8 @@ int main(int argc, char* argv[])
         .route("/v1/commands/gCode",
                [&](const QHttpServerRequest& request) -> QHttpServerResponse {
                    std::cout << "http: gCode" << std::endl;
-                   if (request.method() != QHttpServerRequest::Method::Post) {
+                   if (request.method() != QHttpServerRequest::Method::Post)
+                   {
                        return QHttpServerResponse::StatusCode::NotFound;
                    }
 
@@ -520,7 +553,8 @@ int main(int argc, char* argv[])
         "/v1/sensor/params",
         [&](const QHttpServerRequest& request) -> QHttpServerResponse {
             std::cout << "http: params" << std::endl;
-            switch (request.method()) {
+            switch (request.method())
+            {
             case QHttpServerRequest::Method::Get: {
                 std::lock_guard<std::mutex> lg(pgm_image_mtx);
                 QJsonObject json;
@@ -557,21 +591,28 @@ int main(int argc, char* argv[])
 
                 auto json = QJsonDocument::fromJson(request.body()).object();
 
-                if (json.contains(exposureTimeKey)) {
+                if (json.contains(exposureTimeKey))
+                {
                     const int32_t value{json[exposureTimeKey].toInt()};
 
-                    if (value == 0) {
-                        return QHttpServerResponse::StatusCode::NotFound;
-                    }
+                    if (value == 0)
+                        return QHttpServerResponse::StatusCode::
+                            RequestRangeNotSatisfiable;
 
                     qDebug() << "set new exposure time:" << value;
-                    requested_params.exposureTime = value;
+
+                    // requested_params.exposureTime = value;
+                    if (!camera->setExposureTimeUs(value))
+                        return QHttpServerResponse::StatusCode::
+                            RequestRangeNotSatisfiable;
                 }
 
-                if (json.contains(laserLevelKey)) {
+                if (json.contains(laserLevelKey))
+                {
                     const int32_t value{json[laserLevelKey].toInt()};
 
-                    if (value == 0) {
+                    if (value == 0)
+                    {
                         return QHttpServerResponse::StatusCode::NotFound;
                     }
 
@@ -582,7 +623,8 @@ int main(int argc, char* argv[])
                         "/sys/class/pwm/pwmchip2/pwm1/duty_cycle"};
                     QFile f{laserLevelFile};
 
-                    if (!f.open(QFile::ReadWrite)) {
+                    if (!f.open(QFile::ReadWrite))
+                    {
                         qDebug() << "cannot open laser level file:"
                                  << f.errorString();
                         qDebug() << "file path is" << f.fileName();
@@ -667,7 +709,8 @@ bool initLaser()
 
     QFile f{pwmExportFile};
 
-    if (!f.open(QFile::WriteOnly)) {
+    if (!f.open(QFile::WriteOnly))
+    {
         qWarning() << "cannot open" << f.fileName() << "for writing";
         qWarning() << "error:" << f.errorString();
 
@@ -684,7 +727,8 @@ bool initLaser()
     f.close();
     f.setFileName(periodFilename);
 
-    if (!f.open(QFile::WriteOnly)) {
+    if (!f.open(QFile::WriteOnly))
+    {
         qWarning() << "cannot open" << f.fileName() << "for writing";
         qWarning() << "error:" << f.errorString();
 
@@ -699,7 +743,8 @@ bool initLaser()
     f.close();
     f.setFileName(dutyCycleFilename);
 
-    if (!f.open(QFile::WriteOnly)) {
+    if (!f.open(QFile::WriteOnly))
+    {
         qWarning() << "cannot open" << f.fileName() << "for writing";
         qWarning() << "error:" << f.errorString();
 
@@ -714,7 +759,8 @@ bool initLaser()
     f.close();
     f.setFileName(enableFilename);
 
-    if (!f.open(QFile::WriteOnly)) {
+    if (!f.open(QFile::WriteOnly))
+    {
         qWarning() << "cannot open" << f.fileName() << "for writing";
         qWarning() << "error:" << f.errorString();
 
diff --git a/src/camera/icamera.h b/src/camera/icamera.h
index 4245a68..588b23e 100644
--- a/src/camera/icamera.h
+++ b/src/camera/icamera.h
@@ -32,8 +32,14 @@
 class ICamera
 {
 public:
+    virtual bool setExposureTimeUs(int value) = 0;
+    virtual bool setGain(int value) = 0;
+
+public:
     libcamera::Signal<std::shared_ptr<Pixels>> newPixels;
     libcamera::Signal<std::shared_ptr<Image>> newImage;
+    std::function<void(std::shared_ptr<Pixels>)> newPixelsCallback;
+    std::function<void(std::shared_ptr<Image>)> newImageCallback;
 
 public:
     virtual bool startStream() = 0;
diff --git a/src/camera/innomakerov9281.cpp b/src/camera/innomakerov9281.cpp
index a2d3136..73ceacb 100644
--- a/src/camera/innomakerov9281.cpp
+++ b/src/camera/innomakerov9281.cpp
@@ -15,7 +15,8 @@
 // #include "rotaryencoder.h"
 
 #define LOGD(...) \
-    do { \
+    do \
+    { \
         printf(__VA_ARGS__); \
         printf("\n"); \
     } while (0)
@@ -38,19 +39,23 @@ InnoMakerOV9281::~InnoMakerOV9281()
 
     int ret{-1};
 
-    for (int i = 0; i < BUFFER_COUNT; ++i) {
+    for (int i = 0; i < BUFFER_COUNT; ++i)
+    {
         ret = munmap(video_buffer_ptr[i], img_size);
 
-        if (ret < 0) {
+        if (ret < 0)
+        {
             DBG("Munmap failed!!.");
         }
     }
 
     // std::cout << __func__ << std::endl;
-    if (m_cam_fd >= 0) {
+    if (m_cam_fd >= 0)
+    {
         int ret = close(m_cam_fd);
 
-        if (ret == -1) {
+        if (ret == -1)
+        {
             // std::cout << __func__
             //           << ": cannot close camera: " << strerror(errno)
             //           << std::endl;
@@ -69,7 +74,7 @@ std::vector<std::shared_ptr<ICamera> > InnoMakerOV9281::search()
     if (!cam->init())
         return {};
 
-    if (!cam->setExposureTimeMs(3000))
+    if (!cam->setExposureTimeUs(3000))
         return {};
 
     if (!cam->setGain(3000))
@@ -83,20 +88,30 @@ bool InnoMakerOV9281::startStream()
     m_streamThread = std::jthread{[&](std::stop_token stopToken) {
         std::cout << "InnoMakerOV9281: start stream" << std::endl;
 
-        while (!stopToken.stop_requested()) {
+        while (!stopToken.stop_requested())
+        {
             std::shared_ptr<Image> image = std::make_shared<Image>();
             getImage(*image);
 // FIXME: backup emit value
 #ifdef emit
 #undef emit
-            std::cout << "emit new image" << std::endl << std::flush;
-            newImage.emit(image);
-            auto pixels = image->pixels();
-            newPixels.emit(pixels);
+            // std::cout << "emit new image" << std::endl << std::flush;
+            // newImage.emit(image);
+            if (newImageCallback)
+            {
+                newImageCallback(image);
+            }
+            // newPixels.emit(pixels);
+            if (newPixelsCallback)
+            {
+                auto pixels = image->pixels();
+                newPixelsCallback(pixels);
+            }
         }
 #define emit
 #endif
-        std::cout << "InnoMakerOV9281: stream interruption requested" << std::endl;
+        std::cout << "InnoMakerOV9281: stream interruption requested"
+                  << std::endl;
     }};
 
     return true;
@@ -116,9 +131,23 @@ bool InnoMakerOV9281::init()
     return true;
 }
 
-bool InnoMakerOV9281::setExposureTimeMs(int value)
+bool InnoMakerOV9281::setExposureTimeUs(int valueUs)
 {
-    return setCamParam(V4L2_CID_EXPOSURE, value);
+    std::cout << __func__ << ": " << valueUs << std::endl << std::flush;
+
+    /*
+     * Shutter Time. Value is from 8721ns to 8721*885ns, must be integral
+     * multiple of 8721ns .
+     * 8721xN(N =1,2,3,4,5.....855)
+     */
+    // constexpr int exposureStep{8721};
+    // constexpr int maxExposureStepMultiplier{885};
+    // auto valueNs = valueUs;
+    // valueNs = (valueNs / exposureStep) * exposureStep;
+
+    // std::clamp(valueNs, exposureStep, exposureStep * maxExposureStepMultiplier);
+
+    return setCamParam(V4L2_CID_EXPOSURE, valueUs);
 }
 
 bool InnoMakerOV9281::setGain(int value)
@@ -132,7 +161,8 @@ bool InnoMakerOV9281::setCamParam(unsigned int v4l2controlId, int value)
 
     int ret = ioctl(m_cam_fd, VIDIOC_S_CTRL, &ctl);
 
-    if (ret < 0) {
+    if (ret < 0)
+    {
         fprintf(stderr,
                 "cannot set cam param: id - %d, error - '%s'\n",
                 v4l2controlId,
@@ -141,6 +171,20 @@ bool InnoMakerOV9281::setCamParam(unsigned int v4l2controlId, int value)
         return false;
     }
 
+    ret = ioctl(m_cam_fd, VIDIOC_G_CTRL, &ctl);
+
+    if (ret < 0)
+    {
+        fprintf(stderr,
+                "cannot get cam param: id - %d, error - '%s'\n",
+                v4l2controlId,
+                strerror(errno));
+
+        return false;
+    }
+
+    std::cout << __func__ << ": new value is " << ctl.value << std::endl;
+
     return true;
 }
 
@@ -148,8 +192,12 @@ bool InnoMakerOV9281::openCam()
 {
     m_cam_fd = open(videoDevice, O_RDWR);
 
-    if (m_cam_fd < 0) {
-        fprintf(stderr, "cannot open cam '%s', error: '%s'\n", videoDevice, strerror(errno));
+    if (m_cam_fd < 0)
+    {
+        fprintf(stderr,
+                "cannot open cam '%s', error: '%s'\n",
+                videoDevice,
+                strerror(errno));
         return false;
     }
 
@@ -161,8 +209,12 @@ bool InnoMakerOV9281::selectCam(int camIdx)
     int input = camIdx;
     int ret = ioctl(m_cam_fd, VIDIOC_S_INPUT, &input);
 
-    if (ret < 0) {
-        fprintf(stderr, "cannot select cam: idx - %d, error - '%s'\n", camIdx, strerror(errno));
+    if (ret < 0)
+    {
+        fprintf(stderr,
+                "cannot select cam: idx - %d, error - '%s'\n",
+                camIdx,
+                strerror(errno));
 
         return false;
     }
@@ -181,8 +233,11 @@ bool InnoMakerOV9281::initCam()
 
     int ret = ioctl(m_cam_fd, VIDIOC_TRY_FMT, &format);
 
-    if (ret < 0) {
-        fprintf(stderr, "cannot try cam format: error - '%s'\n", strerror(errno));
+    if (ret < 0)
+    {
+        fprintf(stderr,
+                "cannot try cam format: error - '%s'\n",
+                strerror(errno));
 
         return false;
     }
@@ -192,8 +247,11 @@ bool InnoMakerOV9281::initCam()
 
     ret = ioctl(m_cam_fd, VIDIOC_S_FMT, &format);
 
-    if (ret < 0) {
-        fprintf(stderr, "cannot set cam format: error - '%s'\n", strerror(errno));
+    if (ret < 0)
+    {
+        fprintf(stderr,
+                "cannot set cam format: error - '%s'\n",
+                strerror(errno));
 
         return false;
     }
@@ -204,13 +262,17 @@ bool InnoMakerOV9281::initCam()
     request.memory = V4L2_MEMORY_MMAP;
     ret = ioctl(m_cam_fd, VIDIOC_REQBUFS, &request);
 
-    if (ret < 0) {
-        fprintf(stderr, "cannot set cam request buffers: ioctl error - '%s'\n", strerror(errno));
+    if (ret < 0)
+    {
+        fprintf(stderr,
+                "cannot set cam request buffers: ioctl error - '%s'\n",
+                strerror(errno));
 
         return false;
     }
 
-    if (request.count < BUFFER_COUNT) {
+    if (request.count < BUFFER_COUNT)
+    {
         fprintf(stderr, "cannot set cam request buffers\n");
 
         return false;
@@ -221,20 +283,27 @@ bool InnoMakerOV9281::initCam()
     buffer.type = request.type;
     buffer.memory = V4L2_MEMORY_MMAP;
 
-    for (uint32_t i = 0; i < request.count; i++) {
+    for (uint32_t i = 0; i < request.count; i++)
+    {
         buffer.index = i;
         ret = ioctl(m_cam_fd, VIDIOC_QUERYBUF, &buffer);
 
-        if (ret < 0) {
+        if (ret < 0)
+        {
             DBG("ioctl(VIDIOC_QUERYBUF) failed %d(%s)", errno, strerror(errno));
             return false;
         }
 
         DBG("buffer.length: %d", buffer.length);
         DBG("buffer.m.offset: %d", buffer.m.offset);
-        video_buffer_ptr[i] = (uint8_t *)
-            mmap(NULL, buffer.length, PROT_READ | PROT_WRITE, MAP_SHARED, m_cam_fd, buffer.m.offset);
-        if (video_buffer_ptr[i] == MAP_FAILED) {
+        video_buffer_ptr[i] = (uint8_t *) mmap(NULL,
+                                               buffer.length,
+                                               PROT_READ | PROT_WRITE,
+                                               MAP_SHARED,
+                                               m_cam_fd,
+                                               buffer.m.offset);
+        if (video_buffer_ptr[i] == MAP_FAILED)
+        {
             DBG("mmap() failed %d(%s)", errno, strerror(errno));
             return false;
         }
@@ -243,7 +312,8 @@ bool InnoMakerOV9281::initCam()
         buffer.memory = V4L2_MEMORY_MMAP;
         buffer.index = i;
         ret = ioctl(m_cam_fd, VIDIOC_QBUF, &buffer);
-        if (ret != 0) {
+        if (ret != 0)
+        {
             DBG("ioctl(VIDIOC_QBUF) failed %d(%s)", errno, strerror(errno));
             return false;
         }
@@ -251,7 +321,8 @@ bool InnoMakerOV9281::initCam()
 
     int buffer_type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
     ret = ioctl(m_cam_fd, VIDIOC_STREAMON, &buffer_type);
-    if (ret != 0) {
+    if (ret != 0)
+    {
         DBG("ioctl(VIDIOC_STREAMON) failed %d(%s)", errno, strerror(errno));
         return false;
     }
@@ -271,7 +342,8 @@ bool InnoMakerOV9281::getImage(Image &image)
     double elapsedTime = (curr.tv_sec - prev.tv_sec) * 1000.0; // sec to ms
     elapsedTime += (curr.tv_usec - prev.tv_usec) / 1000.0;     // us to ms
 
-    if (elapsedTime > 1000.) {
+    if (elapsedTime > 1000.)
+    {
         // fprintf(stderr, "fps: %d, sec: %d\n", counter, curr.tv_sec);
         fprintf(stderr,
                 "sum: %d,\tcorr: %d,\tval: %d\n",
@@ -298,12 +370,14 @@ bool InnoMakerOV9281::getImage(Image &image)
 
     ret = ioctl(m_cam_fd, VIDIOC_DQBUF, &buffer);
 
-    if (ret != 0) {
+    if (ret != 0)
+    {
         DBG("ioctl(VIDIOC_DQBUF) failed %d(%s)", errno, strerror(errno));
         return false;
     }
 
-    if (buffer.index < 0 || buffer.index >= BUFFER_COUNT) {
+    if (buffer.index < 0 || buffer.index >= BUFFER_COUNT)
+    {
         DBG("invalid buffer index: %d", buffer.index);
         return false;
     }
@@ -313,12 +387,14 @@ bool InnoMakerOV9281::getImage(Image &image)
     // TODO: fill
     // image.counters.encoderPosition = RotaryEncoder::instance()->position();
     image.counters.measurementCounter = buffer.sequence;
-    image.counters.timestampUs = buffer.timestamp.tv_sec * 1000 * 1000 + buffer.timestamp.tv_usec;
+    image.counters.timestampUs = buffer.timestamp.tv_sec * 1000 * 1000 +
+                                 buffer.timestamp.tv_usec;
     memcpy(image.data, video_buffer_ptr[buffer.index], img_size);
 
     ret = ioctl(m_cam_fd, VIDIOC_QBUF, &buffer);
 
-    if (ret != 0) {
+    if (ret != 0)
+    {
         DBG("ioctl(VIDIOC_QBUF) failed %d(%s)", errno, strerror(errno));
         return false;
     }
diff --git a/src/camera/innomakerov9281.h b/src/camera/innomakerov9281.h
index 2c1fb7c..8c3a14e 100644
--- a/src/camera/innomakerov9281.h
+++ b/src/camera/innomakerov9281.h
@@ -24,12 +24,12 @@ public:
     static std::vector<std::shared_ptr<ICamera>> search();
 
 public:
-    bool startStream();
+    bool startStream() override;
 
     bool init();
 
-    bool setExposureTimeMs(int value);
-    bool setGain(int value);
+    bool setExposureTimeUs(int value) override;
+    bool setGain(int value) override;
 
     bool getImage(Image &image);
 
diff --git a/src/camera/ov9281.h b/src/camera/ov9281.h
index 83a86ac..6014483 100644
--- a/src/camera/ov9281.h
+++ b/src/camera/ov9281.h
@@ -23,7 +23,7 @@ class Pixels;
 
 class OV9281 : public QObject, public ICamera
 {
-    Q_OBJECT
+    // Q_OBJECT
 
 public:
     ~OV9281();
@@ -37,6 +37,17 @@ public:
     bool startStream() override;
     void printControls();
 
+    bool setExposureTimeUs(int value) override
+    {
+        assert(false);
+        return false;
+    };
+    bool setGain(int value) override
+    {
+        assert(false);
+        return false;
+    };
+
     // signals
 public:
     // TODO: image->pixels in separate thread