start refactoring. non-working commit

1 files changed, 190 insertions, 281 deletions

diff --git a/main.cpp b/main.cpp
index 431e82d..5f2ba82 100644
--- a/main.cpp
+++ b/main.cpp
@@ -9,6 +9,7 @@
 
 #include "LibCamera.h"
 #include "calibration.h"
+#include "camera/ov9281.h"
 #include "dumps.h"
 #include "fuck_intel.h"
 #include "genetic_algos.h"
@@ -59,10 +60,10 @@ QMutex calibrationPixelsMutex;
 
 using namespace std::chrono_literals;
 
-static std::shared_ptr<libcamera::Camera> camera;
-std::unique_ptr<libcamera::CameraConfiguration> config;
-static std::map<int, std::pair<void*, unsigned int>> mappedBuffers_;
-std::vector<std::unique_ptr<libcamera::Request>> requests;
+// static std::shared_ptr<libcamera::Camera> camera;
+// std::unique_ptr<libcamera::CameraConfiguration> config;
+// static std::map<int, std::pair<void*, unsigned int>> mappedBuffers_;
+// std::vector<std::unique_ptr<libcamera::Request>> requests;
 libcamera::ControlList lastControls;
 
 namespace
@@ -71,12 +72,12 @@ CalibrationTablePtr calibrationTableZ;
 CalibrationTablePtr calibrationTableX;
 }  // namespace
 
-static bool applyConfig(
-    const std::unique_ptr<libcamera::CameraConfiguration>& config
-);
-static void onRequestCompleted(libcamera::Request* completed_request);
-static void printControls();
-static QList<Pixels> filter(const QList<Pixels>& rawProfiles);
+// static bool applyConfig(
+//     const std::unique_ptr<libcamera::CameraConfiguration>& config
+// );
+// static void onRequestCompleted(libcamera::Request* completed_request);
+// static void printControls();
+// static QList<Pixels> filter(const QList<Pixels>& rawProfiles);
 
 auto printPixels = [](const auto& pixels) {
     for (size_t i = (img_width - 10) / 2;
@@ -88,6 +89,21 @@ auto printPixels = [](const auto& pixels) {
     std::cout << std::endl;
 };
 
+void onNewPixels(std::shared_ptr<Pixels> pixels)
+{
+    if (!*pixels)
+    {
+        qDebug() << "got empty pixels";
+    }
+
+    ::pixels = *pixels;
+
+    if (!::pixels)
+    {
+        qDebug() << "empty pixels after copy";
+    }
+};
+
 bool initLaser();
 
 int main(int argc, char* argv[])
@@ -98,7 +114,8 @@ int main(int argc, char* argv[])
     qDebug() << "size of raw profile" << sizeof(Pixels);
     if (true)
     {
-        if (false) {
+        if (true)
+        {
             // z
             // if (!openCalibrationTable(
             //         "/home/user/dumps/binz.calibration_table",
@@ -166,14 +183,15 @@ int main(int argc, char* argv[])
                 std::cout << std::endl;
             }
 
-            exit(EXIT_SUCCESS);
+            // exit(EXIT_SUCCESS);
             interpolate(::calibrationTableX);
 
             // calibrationTableToImage(::calibrationTableX)
             //     .save("/home/user/dumps/imageX_interpolated.png");
         }
 
-        if (true) {
+        if (false)
+        {
             auto rawProfiles = openDump("/home/user/dumps/binz");
             // auto rawProfiles = openDump("/home/user/dumps/z");
             qDebug() << "raw z-profiles count is" << rawProfiles.size();
@@ -211,7 +229,8 @@ int main(int argc, char* argv[])
 
         qDebug() << "--------------------------------------------------------";
 
-        if (true) {
+        if (false)
+        {
             auto rawProfiles = openDump("/home/user/dumps/binx");
             qDebug() << "raw x-profiles count is" << rawProfiles.size();
             // qDebug() << "height" << calibrationColumnHeight;
@@ -269,27 +288,40 @@ int main(int argc, char* argv[])
         std::make_unique<libcamera::CameraManager>();
     cm->start();
 
-    const auto cameras = cm->cameras();
-
-    // openDump();
+    // const auto cameras = cm->cameras();
+    const auto cameras = OV9281::search(cm);
 
     if (cameras.empty())
     {
-        std::cout << "No cameras were identified on the system." << std::endl;
+        std::cerr << "No cameras were identified on the system." << std::endl;
         cm->stop();
 
         return EXIT_FAILURE;
     }
 
+    auto camera = cameras.at(0);
+
+    camera->printControls();
+
+    camera->newPixels.connect(&onNewPixels);
+
+    if (!camera->startStream())
+    {
+        cm->stop();
+
+        return EXIT_FAILURE;
+    }
+
+    /*
     std::string cameraId = cameras[0]->id();
 
     std::cout << "using " << cameraId << std::endl;
 
-    /*
-     * Note that `camera` may not compare equal to `cameras[0]`.
-     * In fact, it might simply be a `nullptr`, as the particular
-     * device might have disappeared (and reappeared) in the meantime.
-     */
+    //
+    // Note that `camera` may not compare equal to `cameras[0]`.
+    // In fact, it might simply be a `nullptr`, as the particular
+    // device might have disappeared (and reappeared) in the meantime.
+    //
     // std::shared_ptr<Camera> camera = cm->get(cameraId);
     camera = cm->get(cameraId);
 
@@ -304,8 +336,7 @@ int main(int argc, char* argv[])
     // FIXME: nullptr
     // std::unique_ptr<CameraConfiguration> config =
     // camera->generateConfiguration( { StreamRole::Viewfinder } );
-    /*std::unique_ptr<CameraConfiguration> */ config =
-        camera->generateConfiguration({libcamera::StreamRole::Raw});
+    config = camera->generateConfiguration({libcamera::StreamRole::Raw});
 
     if (config->empty())
     {
@@ -481,8 +512,7 @@ int main(int argc, char* argv[])
     {
         camera->queueRequest(request.get());
     }
-
-    printControls();
+*/
 
     // std::this_thread::sleep_for(2s);
     // TODO: move to thread
@@ -490,11 +520,13 @@ int main(int argc, char* argv[])
 
     QHttpServer qHttpServer;
     qHttpServer.route("/v1/sensor/image", [&]() {
+        std::cout << "http: image" << std::endl;
         std::lock_guard<std::mutex> lg(pgm_image_mtx);
         // qDebug() << "image";
         return QByteArray((const char*)pgm_image, pgm_image_size);
     });
     qHttpServer.route("/v1/sensor/image2", [&]() {
+        std::cout << "http: image2" << std::endl;
         std::lock_guard<std::mutex> lg(pgm_image_mtx);
         // qDebug() << "image";
         return QByteArray((const char*)pgm_image, pgm_image_size);
@@ -504,6 +536,7 @@ int main(int argc, char* argv[])
     //     return "123";
     // });
     qHttpServer.route("/v1/pixels", [&]() {
+        std::cout << "http: pixels" << std::endl;
         std::lock_guard<std::mutex> lg(pgm_image_mtx);
 
         QJsonArray pixels;
@@ -540,6 +573,7 @@ int main(int argc, char* argv[])
     });
 
     qHttpServer.route("/v1/profile", [&]() {
+        std::cout << "http: profile" << std::endl;
         std::lock_guard<std::mutex> lg(pgm_image_mtx);
 
         const Profile profile(::pixels,
@@ -554,7 +588,9 @@ int main(int argc, char* argv[])
     qHttpServer
         .route("/v1/commands/resetEncoder",
                [&](const QHttpServerRequest& request) -> QHttpServerResponse {
-                   if (request.method() != QHttpServerRequest::Method::Post) {
+                   std::cout << "http: resetEncoder" << std::endl;
+                   if (request.method() != QHttpServerRequest::Method::Post)
+                   {
                        return QHttpServerResponse::StatusCode::NotFound;
                    }
 
@@ -565,91 +601,92 @@ int main(int argc, char* argv[])
                    return QHttpServerResponse::StatusCode::Ok;
                });
 
-    qHttpServer.route(
-        "/v1/commands/startCalibration",
-        [&](const QHttpServerRequest& request) -> QHttpServerResponse {
-            if (request.method() != QHttpServerRequest::Method::Post)
-            {
-                return QHttpServerResponse::StatusCode::NotFound;
-            }
+    qHttpServer
+        .route("/v1/commands/startCalibration",
+               [&](const QHttpServerRequest& request) -> QHttpServerResponse {
+                   std::cout << "http: startCalibration" << std::endl;
+                   if (request.method() != QHttpServerRequest::Method::Post)
+                   {
+                       return QHttpServerResponse::StatusCode::NotFound;
+                   }
 
-            qDebug() << "start calibration";
+                   qDebug() << "start calibration";
 
-            // TODO: use flags
-            scanningModeFlags = ScanningModeFlags::Calibration;
-            calibrationTimer.start();
+                   // TODO: use flags
+                   scanningModeFlags = ScanningModeFlags::Calibration;
+                   calibrationTimer.start();
 
-            return QHttpServerResponse::StatusCode::Ok;
-        }
-    );
+                   return QHttpServerResponse::StatusCode::Ok;
+               });
 
-    qHttpServer.route(
-        "/v1/commands/gCode",
-        [&](const QHttpServerRequest& request) -> QHttpServerResponse {
-            if (request.method() != QHttpServerRequest::Method::Post)
-            {
-                return QHttpServerResponse::StatusCode::NotFound;
-            }
+    qHttpServer
+        .route("/v1/commands/gCode",
+               [&](const QHttpServerRequest& request) -> QHttpServerResponse {
+                   std::cout << "http: gCode" << std::endl;
+                   if (request.method() != QHttpServerRequest::Method::Post)
+                   {
+                       return QHttpServerResponse::StatusCode::NotFound;
+                   }
 
-            const auto command = request.body();
+                   const auto command = request.body();
 
-            qDebug() << "send gCode:" << command;
+                   qDebug() << "send gCode:" << command;
 
-            // printerClient.sendCommand(command);
+                   // printerClient.sendCommand(command);
 
-            return QHttpServerResponse::StatusCode::Ok;
-        }
-    );
+                   return QHttpServerResponse::StatusCode::Ok;
+               });
 
-    qHttpServer.route(
-        "/v1/commands/startCalibration",
-        [&](const QHttpServerRequest& request) -> QHttpServerResponse {
-            if (request.method() != QHttpServerRequest::Method::Post)
-            {
-                return QHttpServerResponse::StatusCode::NotFound;
-            }
+    // qHttpServer
+    //     .route("/v1/commands/startCalibration",
+    //            [&](const QHttpServerRequest& request) -> QHttpServerResponse {
+    //                std::cout << "http: startCalibration" << std::endl;
+    //                if (request.method() != QHttpServerRequest::Method::Post)
+    //                {
+    //                    return QHttpServerResponse::StatusCode::NotFound;
+    //                }
 
-            const auto command = request.body();
+    //                const auto command = request.body();
 
-            qDebug() << "send gCode:" << command;
+    //                qDebug() << "send gCode:" << command;
 
-            // printerClient.sendCommand(command);
+    //                // printerClient.sendCommand(command);
 
-            return QHttpServerResponse::StatusCode::Ok;
-        }
-    );
+    //                return QHttpServerResponse::StatusCode::Ok;
+    //            });
 
     qHttpServer.route(
         "/v1/sensor/params",
         [&](const QHttpServerRequest& request) -> QHttpServerResponse {
+            std::cout << "http: params" << std::endl;
             switch (request.method())
             {
             case QHttpServerRequest::Method::Get: {
                 std::lock_guard<std::mutex> lg(pgm_image_mtx);
                 QJsonObject json;
 
-                const libcamera::ControlIdMap& ctrlIdMap =
-                    camera->controls().idmap();
+                // const libcamera::ControlIdMap& ctrlIdMap =
+                //     camera->controls().idmap();
 
-                qDebug() << "readParams:" << lastControls.size();
-                qDebug() << request.method();
+                // qDebug() << "readParams:" << lastControls.size();
+                // qDebug() << request.method();
 
-                for (const auto& [id, value] : lastControls)
-                {
-                    const libcamera::ControlId* controlId = ctrlIdMap.at(id);
-                    auto name = QString::fromStdString(controlId->name());
-                    const auto valueStr =
-                        QString::fromStdString(value.toString());
-                    qDebug()
-                        << "\t param:" << controlId->id() << name << valueStr;
+                // for (const auto& [id, value] : lastControls)
+                // {
+                //     const libcamera::ControlId* controlId = ctrlIdMap.at(id);
+                //     auto name = QString::fromStdString(controlId->name());
+                //     const auto valueStr =
+                //         QString::fromStdString(value.toString());
+                //     qDebug()
+                //         << "\t param:" << controlId->id() << name << valueStr;
 
-                    name[0] = name[0].toLower();
-                    json[name] = valueStr;
-                }
+                //     name[0] = name[0].toLower();
+                //     json[name] = valueStr;
+                // }
 
-                json[laserLevelKey] = requested_params.laserLevel;
+                // json[laserLevelKey] = requested_params.laserLevel;
 
-                qDebug() << "response body:" << json;
+                // qDebug() << "response body:" << json;
 
                 // QHttpServerResponse
                 return QHttpServerResponse(QJsonDocument(json).toJson());
@@ -715,8 +752,7 @@ int main(int argc, char* argv[])
                 );
             }
             }
-        }
-    );
+        });
 
     qDebug() << "listen: " << qHttpServer.listen(QHostAddress::Any, 8081);
 
@@ -745,97 +781,24 @@ int main(int argc, char* argv[])
     future.cancel();
     future.waitForFinished();
 
-    for (auto& [fd, mem] : mappedBuffers_)
-    {
-        munmap(mem.first, mem.second);
-    }
+    // for (auto& [fd, mem] : mappedBuffers_)
+    // {
+    //     munmap(mem.first, mem.second);
+    // }
 
     // FIXME: crash somewhere here. proper libcamera finishing needed
-    requests.clear();
-    mappedBuffers_.clear();
+    // requests.clear();
+    // mappedBuffers_.clear();
 
-    camera->stop();
-    config.reset();
-    allocator->free(stream);
-    allocator.reset();
-    camera->release();
-    camera.reset();
+    // camera->stop();
+    // config.reset();
+    // allocator->free(stream);
+    // allocator.reset();
+    // camera->release();
+    // camera.reset();
     cm->stop();
 
     return result;
-
-    // time_t start_time = time(0);
-    // int frame_count = 0;
-
-    // LibCamera cam;
-    // uint32_t width = 1280;
-    // uint32_t height = 800;
-    // uint32_t stride;
-    // char key;
-
-    // ret = cam.initCamera();
-
-    // if (ret != EXIT_SUCCESS)
-    // {
-    //     std::cerr << "cannot open camera" << std::endl;
-
-    //     return EXIT_FAILURE;
-    // }
-
-    // cam.configureStill(width, height, formats::R8, 1, 0);
-    // // ControlList controls_;
-    // int64_t frame_time = 1000000 / 10;
-    // // Set frame rate
-    // // controls_.set( controls::FrameDurationLimits, libcamera::Span<const
-    // int64_t, 2>(
-    // // { frame_time, frame_time } ));
-    // // Adjust the brightness of the output images, in the range -1.0 to 1.0
-    // // controls_.set(controls::Brightness, 0.5);
-    // // Adjust the contrast of the output image, where 1.0 = normal contrast
-    // // controls_.set(controls::Contrast, 1.5);
-    // // Set the exposure time
-    // // controls_.set(controls::ExposureTime, 20000);
-    // // cam.set(controls_);
-
-    // std::cout << std::flush;
-
-    // // NOTE: already checked
-    // if (ret == EXIT_SUCCESS) {
-    //     bool flag;
-    //     LibcameraOutData frameData;
-    //     cam.startCamera();
-    //     cam.VideoStream(&width, &height, &stride);
-
-    //     while (true) {
-    //         flag = cam.readFrame(&frameData);
-    //         if (!flag)
-    //             continue;
-
-    //         // key = waitKey(1);
-    //         // if (key == 'q') {
-    //         //     break;
-    //         // } else if (key == 'f') {
-    //         // ControlList controls;
-    //         //     controls.set(controls::AfMode, controls::AfModeAuto);
-    //         //     controls.set(controls::AfTrigger, 0);
-    //         //     cam.set(controls);
-    //         // }
-
-    //         frame_count++;
-    //         if ((time(0) - start_time) >= 1){
-    //             printf("fps: %d\n", frame_count);
-    //             frame_count = 0;
-    //             start_time = time(0);
-    //         }
-    //         cam.returnFrameBuffer(frameData);
-    //     }
-
-    //     cam.stopCamera();
-    // }
-
-    // cam.closeCamera();
-
-    // return EXIT_SUCCESS;
 }
 
 /*
@@ -843,6 +806,7 @@ int main(int argc, char* argv[])
  * important not to block the thread for a long time, as this blocks internal
  * processing of the camera pipelines, and can affect realtime performance.
  */
+/*
 void onRequestCompleted(libcamera::Request* completed_request)
 {
     using namespace libcamera;
@@ -879,13 +843,6 @@ void onRequestCompleted(libcamera::Request* completed_request)
 
         const FrameMetadata& metadata = buffer->metadata();
 
-        // if (verbose)
-        // {
-        //     std::cout << " seq: " << std::setw(6) << std::setfill('0')
-        //     << metadata.sequence
-        //     << " bytesused: ";
-        // }
-
         for (size_t i = 0; i < buffer->planes().size(); ++i)
         {
             const FrameBuffer::Plane& plane = buffer->planes()[i];
@@ -913,7 +870,7 @@ void onRequestCompleted(libcamera::Request* completed_request)
             // unpack_16bit((uint8_t*)img.data, img, (uint16_t*)&unpacked);
             // img.data = unpacked;
             // img.dataSize = img.width * img.height * sizeof(uint16_t);
-            rotate(img);
+            img.rotate();
             Pixels pixels = process_columns(img);
             ::pixels = pixels;
 
@@ -1040,120 +997,72 @@ void onRequestCompleted(libcamera::Request* completed_request)
 
     // qDebug() << "-------------------------------------------";
 }
+*/
 
-static bool applyConfig(
-    const std::unique_ptr<libcamera::CameraConfiguration>& config
-)
-{
-    using namespace libcamera;
-
-    auto status = config->validate();
-
-    // WARNING: unsafe
-    libcamera::StreamConfiguration& streamConfig = config->at(0);
-
-    switch (status)
-    {
-    case CameraConfiguration::Status::Valid:
-        std::cout << "config is valid" << std::endl;
-        break;
-    case CameraConfiguration::Status::Adjusted:
-        std::cout << "\tpixelFormat: " << streamConfig.pixelFormat.toString()
-                  << std::endl;
-        std::cout << "\tbufferCount: " << streamConfig.bufferCount << std::endl;
-        std::cout << "\torientation: " << config->orientation << std::endl;
-        break;
-    case CameraConfiguration::Status::Invalid:
-        std::cout << "config is invalid, quit." << std::endl;
-
-        return false;
-    }
-
-    return true;
-}
-
-static void printControls()
-{
-    using namespace libcamera;
-    const libcamera::ControlInfoMap& control_map = camera->controls();
+// static bool applyConfig(
+//     const std::unique_ptr<libcamera::CameraConfiguration>& config
+// )
+// {
+//     using namespace libcamera;
 
-    // for (const auto & [id, info]: control_map)
-    for (const std::pair<const ControlId*, ControlInfo>& pair : control_map)
-    {
-        const ControlId* const& id = pair.first;
-        const ControlInfo& info = pair.second;
+//     auto status = config->validate();
 
-        std::cout << "\tc " << id->name() << " (" << id->id()
-                  << "): " << info.toString()
-                  << (info.def().isNone()
-                          ? ""
-                          : " (dflt:" + info.def().toString() + ")");
+//     // WARNING: unsafe
+//     libcamera::StreamConfiguration& streamConfig = config->at(0);
 
-        if (!info.values().size())
-        {
-            std::cout << std::endl;
-            continue;
-        }
+//     switch (status)
+//     {
+//     case CameraConfiguration::Status::Valid:
+//         std::cout << "config is valid" << std::endl;
+//         break;
+//     case CameraConfiguration::Status::Adjusted:
+//         std::cout << "\tpixelFormat: " << streamConfig.pixelFormat.toString()
+//                   << std::endl;
+//         std::cout << "\tbufferCount: " << streamConfig.bufferCount << std::endl;
+//         std::cout << "\torientation: " << config->orientation << std::endl;
+//         break;
+//     case CameraConfiguration::Status::Invalid:
+//         std::cout << "config is invalid, quit." << std::endl;
 
-        std::cout << " - [";
+//         return false;
+//     }
 
-        for (const auto& v : info.values())
-        {
-            std::cout << " " << v.toString();
-        }
+//     return true;
+// }
 
-        std::cout << " ]\n";
-    }
-}
-
-static QList<Pixels> filter(const QList<Pixels>& rawProfiles)
-{
-    QList<Pixels> result;
+// static void printControls()
+// {
+//     using namespace libcamera;
+//     const libcamera::ControlInfoMap& control_map = camera->controls();
 
-    QList<Pixels>::const_iterator it = rawProfiles.constBegin();
+//     // for (const auto & [id, info]: control_map)
+//     for (const std::pair<const ControlId*, ControlInfo>& pair : control_map)
+//     {
+//         const ControlId* const& id = pair.first;
+//         const ControlInfo& info = pair.second;
 
-    // for (size_t i = 0; i < 10; ++i)
-    // {
-    //     std::cout << "pos - " << rawProfiles.at(i).counters.encoderPosition
-    //     << std::endl;
-    // }
+//         std::cout << "\tc " << id->name() << " (" << id->id()
+//                   << "): " << info.toString()
+//                   << (info.def().isNone()
+//                           ? ""
+//                           : " (dflt:" + info.def().toString() + ")");
 
-    // ++it;
-    while (it != rawProfiles.constEnd())
-    {
-        Pixels sum = *it;
-        // std::cout << "current pos is " << sum.counters.encoderPosition
-        // << std::endl;
+//         if (!info.values().size())
+//         {
+//             std::cout << std::endl;
+//             continue;
+//         }
 
-        // printPixels(sum.pixels);
+//         std::cout << " - [";
 
-        size_t count{1};
-        ++it;
+//         for (const auto& v : info.values())
+//         {
+//             std::cout << " " << v.toString();
+//         }
 
-        // std::cout << "here\n";
-        while (it != rawProfiles.constEnd() &&
-               it->counters.encoderPosition == sum.counters.encoderPosition)
-        {
-            // std::cout << "here2\n";
-            // std::cout << "\tadd to pos " << it->counters.encoderPosition
-            // << std::endl;
-            sum += *it;
-            // std::cout << "\tadded" << std::endl;
-            ++count;
-            ++it;
-        }
-
-        // std::cout << "here3\n";
-        sum /= float(count);
-        // printPixels(sum.pixels);
-
-        result << sum;
-
-        // return result;
-    }
-
-    return result;
-}
+//         std::cout << " ]\n";
+//     }
+// }
 
 bool initLaser()
 {