organize things a bit, populate ICamera

1 files changed, 0 insertions, 523 deletions

diff --git a/src/camera/innomakerov9281.cpp b/src/camera/innomakerov9281.cpp
deleted file mode 100644
index 184601a..0000000
--- a/src/camera/innomakerov9281.cpp
+++ /dev/null
@@ -1,523 +0,0 @@
-#include "innomakerov9281.h"
-
-#include <errno.h>
-#include <fcntl.h>
-#include <linux/videodev2.h>
-#include <stdio.h>
-#include <string.h>
-#include <sys/ioctl.h>
-#include <sys/mman.h>
-#include <unistd.h>
-
-#include <iostream>
-#include <span>
-
-#include <QElapsedTimer>
-
-#include "constants.h"
-// #include "rotaryencoder.h"
-
-#define LOGD(...) \
-    do \
-    { \
-        printf(__VA_ARGS__); \
-        printf("\n"); \
-    } while (0)
-
-#define DBG(fmt, args...) LOGD("%s:%d, " fmt, __FUNCTION__, __LINE__, ##args);
-
-extern uint64_t dq_elapsed_ns;
-extern uint64_t get_elapsed_ns;
-extern uint64_t sum_elapsed_ns;
-extern uint64_t corr_elapsed_ns;
-extern uint64_t max_elapsed_ns;
-extern uint64_t value_elapsed_ns;
-extern uint64_t rot_elapsed_ns;
-extern uint64_t pix_elapsed_ns;
-extern uint64_t dropped_count;
-
-// constexpr char videoDevice[] = "/dev/video0";
-
-InnoMakerOV9281::InnoMakerOV9281() {}
-
-InnoMakerOV9281::~InnoMakerOV9281()
-{
-    m_streamThread.request_stop();
-    m_streamThread.join();
-
-    m_someThread.request_stop();
-    m_someThread.join();
-
-    int ret{-1};
-
-    for (int i = 0; i < BUFFER_COUNT; ++i)
-    {
-        ret = munmap(video_buffer_ptr[i], img_size);
-
-        if (ret < 0)
-        {
-            DBG("Munmap failed!!.");
-        }
-    }
-
-    // std::cout << __func__ << std::endl;
-    if (m_cam_fd >= 0)
-    {
-        int ret = close(m_cam_fd);
-
-        if (ret == -1)
-        {
-            // std::cout << __func__
-            //           << ": cannot close camera: " << strerror(errno)
-            //           << std::endl;
-        }
-    };
-
-    // std::cout << __func__ << ": success" << std::endl;
-}
-
-std::vector<std::shared_ptr<ICamera> > InnoMakerOV9281::search()
-{
-    // return only one camera for now
-    std::cout << std::boolalpha;
-    auto cam = std::make_shared<InnoMakerOV9281>();
-
-    if (!cam->init())
-        return {};
-
-    if (!cam->setExposureTimeUs(30))
-        return {};
-
-    if (!cam->setLaserLevel(1))
-        return {};
-
-    if (!cam->setGain(2))
-        return {};
-
-    if (!cam->setSomething(0)) {
-        return {};
-    }
-
-    // m_someThread = std::jthread{[=](std::stop_token stopToken) {
-    //     std::cout << "InnoMakerOV9281: start stream" << std::endl;
-    //     sleep(5);
-
-    //     static int i = 0;
-    //     while (!stopToken.stop_requested()) {
-    //         cam->setSomething(i);
-    //         i -= 1;
-    //     }
-    // }};
-
-    return {cam};
-}
-
-bool InnoMakerOV9281::startStream()
-{
-    int buffer_type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-    auto ret = ioctl(m_cam_fd, VIDIOC_STREAMON, &buffer_type);
-
-    if (ret != 0) {
-        DBG("ioctl(VIDIOC_STREAMON) failed %d(%s)", errno, strerror(errno));
-        return false;
-    }
-
-    m_streamThread = std::jthread{[&](std::stop_token stopToken) {
-        std::cout << "InnoMakerOV9281: start stream" << std::endl;
-
-        // Image image;
-        // std::shared_ptr<Image> imageCopy = std::make_shared<Image>();
-        while (!stopToken.stop_requested())
-        {
-            size_t imageIndex{};
-
-            // if (!getImage(image))
-            if (!getImage(imageIndex))
-                break;
-
-            continue;
-
-            // auto image = m_images[imageIndex];
-
-            // // // FIXME: backup emit value
-            // // #ifdef emit
-            // // #undef emit
-            // //             // std::cout << "emit new image" << std::endl << std::flush;
-            // //             // newImage.emit(image);
-            // if (newImageCallback) {
-            //     // memcpy(imageCopy.get(), &image, sizeof(Image));
-            //     // newImageCallback(imageCopy);
-            //     newImageCallback(image);
-            // }
-            // // continue;
-            // //             // // newPixels.emit(pixels);
-            // // auto &img = *image;
-            // // image->rotate();
-            // // img.rotate();
-            // image.rotate();
-            // //             image.rotate();
-            // if (newPixelsCallback) {
-            //     // auto pixels = image->pixels();
-            //     auto pixels = image.pixels();
-            //     newPixelsCallback(pixels);
-            // }
-            // continue;
-        }
-        // #define emit
-        // #endif
-        std::cout << "InnoMakerOV9281: stream interruption requested"
-                  << std::endl;
-    }};
-
-    return true;
-}
-
-bool InnoMakerOV9281::init()
-{
-    if (!openCam())
-        return false;
-
-    if (!selectCam())
-        return false;
-
-    if (!initCam())
-        return false;
-
-    return true;
-}
-
-bool InnoMakerOV9281::setExposureTimeUs(int valueUs)
-{
-    return true;
-    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);
-    // setGain(rand() % 254);
-    // setGain(3);
-    // setLaserLevel(rand() % 0x7fffffff);
-    // setLaserLevel(rand() % 100);
-    // int exp = rand() % 10;
-    // return setCamParam(V4L2_CID_EXPOSURE, exp * exp * exp * exp * exp * exp);
-    return setCamParam(V4L2_CID_EXPOSURE, valueUs);
-}
-
-bool InnoMakerOV9281::setGain(int value)
-{
-    std::cout << __func__ << ": " << value << std::endl << std::flush;
-
-    // return setCamParam(V4L2_CID_GAIN, value);
-    // FIXME: tmp workaround for imx287llr
-    return true;
-}
-
-bool InnoMakerOV9281::setLaserLevel(int value)
-{
-    std::cout << __func__ << ": " << value << std::endl << std::flush;
-
-    // return setCamParam(V4L2_CID_FLASH_TIMEOUT, value);
-
-    // FIXME: tmp workaround for imx287llr
-    return true;
-}
-
-bool InnoMakerOV9281::setSomething(int value)
-{
-    std::cout << __func__ << ": " << value << std::endl << std::flush;
-
-    // return setCamParam(V4L2_CID_FLASH_INTENSITY, value);
-    // FIXME: tmp workaround for imx287llr
-    return true;
-}
-
-bool InnoMakerOV9281::setCamParam(unsigned int v4l2controlId, int value)
-{
-    v4l2_control ctl{v4l2controlId, value};
-
-    int ret = ioctl(m_cam_fd, VIDIOC_S_CTRL, &ctl);
-
-    if (ret < 0)
-    {
-        fprintf(stderr,
-                "cannot set cam param: id - %d, error - '%s'\n",
-                v4l2controlId,
-                strerror(errno));
-        fflush(stderr);
-
-        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));
-
-        fflush(stderr);
-
-        return false;
-    }
-
-    std::cout << __func__ << ": new value is " << ctl.value << std::endl;
-
-    return true;
-}
-
-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));
-        return false;
-    }
-
-    return true;
-}
-
-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));
-
-        return false;
-    }
-
-    return true;
-}
-
-bool InnoMakerOV9281::initCam()
-{
-    v4l2_format format;
-    memset(&format, 0, sizeof(v4l2_format));
-    format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-    format.fmt.pix.pixelformat = V4L2_PIX_FMT_GREY;
-    format.fmt.pix.width = img_width;
-    format.fmt.pix.height = img_height;
-
-    int ret = ioctl(m_cam_fd, VIDIOC_TRY_FMT, &format);
-
-    if (ret < 0)
-    {
-        fprintf(stderr,
-                "cannot try cam format: error - '%s'\n",
-                strerror(errno));
-
-        return false;
-    }
-
-    // TODO: remove this?
-    format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-
-    ret = ioctl(m_cam_fd, VIDIOC_S_FMT, &format);
-
-    if (ret < 0)
-    {
-        fprintf(stderr,
-                "cannot set cam format: error - '%s'\n",
-                strerror(errno));
-
-        return false;
-    }
-
-    struct v4l2_requestbuffers request;
-    request.count = BUFFER_COUNT;
-    request.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-    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));
-
-        return false;
-    }
-
-    if (request.count < BUFFER_COUNT)
-    {
-        fprintf(stderr, "cannot set cam request buffers\n");
-
-        return false;
-    }
-
-    struct v4l2_buffer buffer;
-    memset(&buffer, 0, sizeof(buffer));
-    buffer.type = request.type;
-    buffer.memory = V4L2_MEMORY_MMAP;
-
-    for (uint32_t i = 0; i < request.count; i++)
-    {
-        buffer.index = i;
-        ret = ioctl(m_cam_fd, VIDIOC_QUERYBUF, &buffer);
-
-        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) {
-            DBG("mmap() failed %d(%s)", errno, strerror(errno));
-            return false;
-        }
-
-        buffer.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-        buffer.memory = V4L2_MEMORY_MMAP;
-        buffer.index = i;
-        ret = ioctl(m_cam_fd, VIDIOC_QBUF, &buffer);
-        if (ret != 0)
-        {
-            DBG("ioctl(VIDIOC_QBUF) failed %d(%s)", errno, strerror(errno));
-            return false;
-        }
-    }
-
-    // int buffer_type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-    // ret = ioctl(m_cam_fd, VIDIOC_STREAMON, &buffer_type);
-    // if (ret != 0)
-    // {
-    //     DBG("ioctl(VIDIOC_STREAMON) failed %d(%s)", errno, strerror(errno));
-    //     return false;
-    // }
-
-    DBG("cam init done.");
-
-    return true;
-}
-
-// Image &InnoMakerOV9281::getImage()
-// bool InnoMakerOV9281::getImage(Image &image)
-bool InnoMakerOV9281::getImage(size_t &imageIndex)
-// TODO: get Image from video_buffer_ptr
-{
-    static struct timeval curr, prev;
-    static uint16_t counter = 0;
-    gettimeofday(&curr, NULL);
-    ++counter;
-
-    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.)
-    {
-        fprintf(stderr,
-                "fps: %d\tdropped: %d\tsec: %d\t"
-                "dq: %d\tget: %d\trot: %d\tpix: %d\tsum: %d,\tcorr: "
-                "%d,\tval: %d\n",
-                counter,
-                dropped_count,
-                curr.tv_sec % 1000,
-                dq_elapsed_ns / 1000 / counter,
-                get_elapsed_ns / 1000 / counter,
-                rot_elapsed_ns / 1000 / counter,
-                pix_elapsed_ns / 1000 / counter,
-                sum_elapsed_ns / 1000 / counter,
-                corr_elapsed_ns / 1000 / counter,
-                // max_elapsed_ns / 1000 / counter,
-                value_elapsed_ns / 1000 / counter);
-
-        dq_elapsed_ns = 0;
-        get_elapsed_ns = 0;
-        sum_elapsed_ns = 0;
-        corr_elapsed_ns = 0;
-        max_elapsed_ns = 0;
-        value_elapsed_ns = 0;
-        rot_elapsed_ns = 0;
-        pix_elapsed_ns = 0;
-        dropped_count = 0;
-
-        counter = 0;
-        prev = curr;
-    }
-
-    int ret;
-    struct v4l2_buffer buffer;
-
-    memset(&buffer, 0, sizeof(buffer));
-    buffer.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-    buffer.memory = V4L2_MEMORY_MMAP;
-    buffer.index = BUFFER_COUNT;
-
-    {
-        QElapsedTimer t;
-        t.start();
-        ret = ioctl(m_cam_fd, VIDIOC_DQBUF, &buffer);
-        dq_elapsed_ns += t.nsecsElapsed();
-    }
-
-    if (ret != 0) {
-        DBG("ioctl(VIDIOC_DQBUF) failed %d(%s)", errno, strerror(errno));
-        return false;
-    }
-
-    if (buffer.index < 0 || buffer.index >= BUFFER_COUNT)
-    {
-        DBG("invalid buffer index: %d", buffer.index);
-        return false;
-    }
-
-    // auto &image = video_buffer_ptr[buffer.index];
-    imageIndex = buffer.index;
-    auto &image = m_images[buffer.index];
-    image.height = img_height;
-    image.width = img_width;
-    // TODO: fill
-    // image.counters.encoderPosition = RotaryEncoder::instance()->position();
-    image.counters.measurementCounter = buffer.sequence;
-
-    static int64_t prevCounter = buffer.sequence;
-    dropped_count += buffer.sequence - prevCounter - 1;
-    prevCounter = buffer.sequence;
-
-    image.counters.timestampUs = buffer.timestamp.tv_sec * 1000 * 1000 + buffer.timestamp.tv_usec;
-
-    {
-        QElapsedTimer t;
-        t.start();
-        // memcpy(&image.data, video_buffer_ptr[buffer.index], img_size);
-        // std::cout << (void *) video_buffer_ptr[buffer.index] << std::endl;
-        get_elapsed_ns += t.nsecsElapsed();
-    }
-
-    static bool done{false};
-
-    if (!done) {
-        // memcpy(image.data.data(), video_buffer_ptr[buffer.index], img_size);
-        done = true;
-    }
-
-    ret = ioctl(m_cam_fd, VIDIOC_QBUF, &buffer);
-
-    if (ret != 0) {
-        DBG("ioctl(VIDIOC_QBUF) failed %d(%s)", errno, strerror(errno));
-        return false;
-    }
-
-    return true;
-}