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

1 files changed, 113 insertions, 67 deletions

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();