add support of inno-maker ov9281

1 files changed, 111 insertions, 75 deletions

diff --git a/main.cpp b/main.cpp
index 341693e..481d6f1 100644
--- a/main.cpp
+++ b/main.cpp
@@ -9,6 +9,7 @@
 
 #include "LibCamera.h"
 #include "calibration.h"
+#include "camera/innomakerov9281.h"
 #include "camera/ov9281.h"
 #include "dumps.h"
 #include "fuck_intel.h"
@@ -52,7 +53,7 @@ extern volatile int32_t positionSteps;
 requested_params_t requested_params;
 
 namespace {
-Image img;
+std::shared_ptr<Image> img;
 Pixels pixels;
 std::vector<Pixels> calibrationPixels;
 QMutex calibrationPixelsMutex;
@@ -87,42 +88,73 @@ auto printPixels = [](const auto& pixels) {
     std::cout << std::endl;
 };
 
+void onNewImage(
+    std::shared_ptr<Image> image)
+{
+    if (!image) {
+        qDebug() << __func__ << "no image";
+        return;
+    }
+
+    ::img = image;
+}
+
 void onNewPixels(
     std::shared_ptr<Pixels> pixels)
 {
+    if (!pixels) {
+        qDebug() << __func__ << "got null pixels";
+    }
+
     if (!*pixels) {
-        qDebug() << "got empty pixels";
+        // qDebug() << __func__ << "got empty pixels";
     }
 
     ::pixels = *pixels;
-
-    if (!::pixels) {
-        qDebug() << "empty pixels after copy";
-    }
 }
 
 bool initLaser();
 
-int main(
-    int argc, char* argv[])
+int main(int argc, char* argv[])
 {
     QCoreApplication app(argc, argv);
 
+    {
+        std::cout << std::boolalpha;
+        InnoMakerOV9281 innoMakerCam;
+        qDebug() << "init:" << innoMakerCam.init();
+        qDebug() << "set exposure:" << innoMakerCam.setExposureTimeMs(3000);
+        qDebug() << "set gain:" << innoMakerCam.setGain(3000);
+
+        Image buf;
+
+        for (size_t i = 0; i < 1000; ++i) {
+            if (!innoMakerCam.getImage(buf)) {
+                break;
+            }
+
+            buf.rotate();
+            auto pixels = buf.pixels();
+        }
+    }
+    qDebug() << "ok";
+    exit(EXIT_SUCCESS);
+
     // if (false)
     qDebug() << "size of raw profile" << sizeof(Pixels);
-    if (true) {
+    if (false) {
         // open binary calibration table
-        if (false) {
+        if (true) {
             if (!openCalibrationTable("/home/user/dumps/binz.calibration_table",
                                       ::calibrationTableZ)) {
                 exit(EXIT_FAILURE);
             }
-            interpolate(::calibrationTableZ);
+            // interpolate(::calibrationTableZ);
             if (!openCalibrationTable("/home/user/dumps/binx.calibration_table",
                                       ::calibrationTableX)) {
                 exit(EXIT_FAILURE);
             }
-            interpolate(::calibrationTableX);
+            // interpolate(::calibrationTableX);
         }
 
         if (false) {
@@ -200,84 +232,82 @@ int main(
             //     .save("/home/user/dumps/imageX_interpolated.png");
         }
 
-        if (true) {
-            auto rawProfiles = openDump("/home/user/dumps/binz");
-            // auto rawProfiles = openDump("/home/user/dumps/z");
-            qDebug() << "raw z-profiles count is" << rawProfiles.size();
-            // qDebug() << "height" << calibrationColumnHeight;
+        // load binary calibration dumps and calibrate
+        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();
+                // qDebug() << "height" << calibrationColumnHeight;
 
-            auto filteredRawProfiles = filter(std::move(rawProfiles));
-            qDebug() << "filtered z-profiles count is"
-                     << filteredRawProfiles.count();
+                auto filteredRawProfiles = filter(std::move(rawProfiles));
+                qDebug() << "filtered z-profiles count is"
+                         << filteredRawProfiles.count();
 
-            ::calibrationTableZ = calibrateZ(std::move(filteredRawProfiles),
-                                             requested_params.stepsPerMm);
-            // if (!dump(
-            //         ::calibrationTableZ,
-            //         "/home/user/dumps/binz.calibration_table"
-            //     ))
-            // {
-            //     qApp->exit(EXIT_FAILURE);
-            // }
+                ::calibrationTableZ = calibrateZ(std::move(filteredRawProfiles),
+                                                 requested_params.stepsPerMm);
 
-            // bool ok = calibrationTableToImage(::calibrationTableZ)
-            //               .save("/home/user/dumps/z/imageZ.png");
+                // bool ok = calibrationTableToImage(::calibrationTableZ)
+                //               .save("/home/user/dumps/z/imageZ.png");
 
-            // if (!ok)
-            // {
-            //     qDebug() << "cannot save imageZ.png";
-            //     exit(EXIT_FAILURE);
-            // }
+                // if (!ok)
+                // {
+                //     qDebug() << "cannot save imageZ.png";
+                //     exit(EXIT_FAILURE);
+                // }
 
-            interpolate(::calibrationTableZ);
+                interpolate(::calibrationTableZ);
 
-            // calibrationTableToImage(::calibrationTableZ)
-            //     .save("/home/user/dumps/z/imageZ_interpolated.png");
-            // exit(EXIT_SUCCESS);
-        }
+                if (!dump(::calibrationTableZ,
+                          "/home/user/dumps/binz.calibration_table")) {
+                    qApp->exit(EXIT_FAILURE);
+                }
+                // calibrationTableToImage(::calibrationTableZ)
+                //     .save("/home/user/dumps/z/imageZ_interpolated.png");
+                // exit(EXIT_SUCCESS);
+            }
 
-        qDebug() << "--------------------------------------------------------";
+            qDebug()
+                << "--------------------------------------------------------";
 
-        if (true) {
-            auto rawProfiles = openDump("/home/user/dumps/binx");
-            qDebug() << "raw x-profiles count is" << rawProfiles.size();
-            // qDebug() << "height" << calibrationColumnHeight;
+            if (true) {
+                auto rawProfiles = openDump("/home/user/dumps/binx");
+                qDebug() << "raw x-profiles count is" << rawProfiles.size();
+                // qDebug() << "height" << calibrationColumnHeight;
 
-            auto filteredRawProfiles = filter(std::move(rawProfiles));
-            qDebug() << "filtered x-profiles count is"
-                     << filteredRawProfiles.count();
+                auto filteredRawProfiles = filter(std::move(rawProfiles));
+                qDebug() << "filtered x-profiles count is"
+                         << filteredRawProfiles.count();
 
-            ::calibrationTableX = calibrateX(std::move(filteredRawProfiles));
+                ::calibrationTableX = calibrateX(std::move(filteredRawProfiles));
 
-            // if (!dump(
-            //         ::calibrationTableZ,
-            //         "/home/user/dumps/binx.calibration_table"
-            //     ))
-            // {
-            //     qApp->exit(EXIT_FAILURE);
-            // }
+                // bool ok = calibrationTableToImage(::calibrationTableX)
+                //               .save("/home/user/dumps/z/imageX.png");
 
-            // bool ok = calibrationTableToImage(::calibrationTableX)
-            //               .save("/home/user/dumps/z/imageX.png");
+                // if (!ok)
+                // {
+                //     qDebug() << "cannot save imageX.png";
+                //     exit(EXIT_FAILURE);
+                // }
 
-            // if (!ok)
-            // {
-            //     qDebug() << "cannot save imageX.png";
-            //     exit(EXIT_FAILURE);
-            // }
+                interpolate(::calibrationTableX);
 
-            interpolate(::calibrationTableX);
+                if (!dump(::calibrationTableZ,
+                          "/home/user/dumps/binx.calibration_table")) {
+                    qApp->exit(EXIT_FAILURE);
+                }
 
-            // calibrationTableToImage(::calibrationTableX)
-            //     .save("/home/user/dumps/z/imageX_interpolated.png");
+                // calibrationTableToImage(::calibrationTableX)
+                //     .save("/home/user/dumps/z/imageX_interpolated.png");
+            }
         }
     }
 
     // exit(EXIT_SUCCESS);
 
-    if (!initLaser()) {
-        return EXIT_FAILURE;
-    }
+    // if (!initLaser()) {
+    //     return EXIT_FAILURE;
+    // }
 
     // PrinterClient printerClient;
 
@@ -310,6 +340,7 @@ int main(
     camera->printControls();
 
     camera->newPixels.connect(&onNewPixels);
+    camera->newImage.connect(&onNewImage);
 
     if (!camera->startStream()) {
         cm->stop();
@@ -319,15 +350,19 @@ int main(
 
     QHttpServer qHttpServer;
     qHttpServer.route("/v1/sensor/image", [&]() {
-        std::cout << "http: image" << std::endl;
+        std::cout << "http: image" << std::endl << std::flush;
+        pgm_save(::img);
         std::lock_guard<std::mutex> lg(pgm_image_mtx);
-        // qDebug() << "image";
+        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;
+        pgm_save(::img);
+
         std::lock_guard<std::mutex> lg(pgm_image_mtx);
-        // qDebug() << "image";
+        qDebug() << "image2";
         return QByteArray((const char*) pgm_image, pgm_image_size);
     });
     // qHttpServer.route("/v1/sensor/exposureTimeUs", [&]() {
@@ -348,8 +383,9 @@ int main(
         QJsonObject json;
         json["pixels"] = pixels;
         json["encoderPosition"] = qint64{encoder.position()};
-        json["measurementCounter"] = qint64{img.counters.measurementCounter};
-        json["timestampUs"] = qint64(img.counters.timestampUs);
+        // FIXME: get prom pixels struct
+        json["measurementCounter"] = qint64{img->counters.measurementCounter};
+        json["timestampUs"] = qint64(img->counters.timestampUs);
 
         const auto lines = pixelsToLines(::pixels);