organize things a bit, populate ICamera

1 files changed, 0 insertions, 419 deletions

diff --git a/src/camera/ov9281.cpp b/src/camera/ov9281.cpp
deleted file mode 100644
index 8f84255..0000000
--- a/src/camera/ov9281.cpp
+++ /dev/null
@@ -1,419 +0,0 @@
-#include "ov9281.h"
-
-#include <iostream>
-#include <thread>
-
-#include <string.h>
-#include <sys/mman.h>
-
-#include <libcamera/camera.h>
-#include <libcamera/camera_manager.h>
-#include <libcamera/control_ids.h>
-#include <libcamera/framebuffer_allocator.h>
-#include <libcamera/request.h>
-
-#include "image.h"
-#include "macro.h"
-#include "pixels.h"
-#include "rotaryencoder.h"
-#include "typedefs.h"
-
-#include <QElapsedTimer>
-
-QElapsedTimer timer;
-size_t fpsCounter{0};
-
-OV9281::OV9281(const std::shared_ptr<libcamera::Camera> &camera)
-    : INIT_FIELD(camera)
-{
-    timer.start();
-    std::cout << __func__ << ":\tid: " << m_camera->id();
-}
-
-OV9281::~OV9281()
-{
-    for (auto &[fd, mem] : m_mappedBuffers)
-    {
-        munmap(mem.first, mem.second);
-    }
-
-    m_camera->release();
-}
-
-bool OV9281::init()
-{
-    if (m_camera->acquire() != EXIT_SUCCESS)
-    {
-        std::cerr << __func__ << ": " << m_camera->id()
-                  << ": cannot acquire camera." << std::endl;
-
-        return false;
-    }
-
-    m_config = m_camera->generateConfiguration({libcamera::StreamRole::Raw});
-
-    if (m_config->empty())
-    {
-        std::cerr << __func__ << ": " << m_camera->id()
-                  << ": cannot generate configuration" << std::endl;
-
-        return false;
-    }
-
-    // m_config->orientation = libcamera::Orientation::Rotate90;
-
-    libcamera::StreamConfiguration &streamConfig = m_config->at(0);
-
-    std::cout << "supported pixel formats:\n";
-
-    for (const auto &pixelFormat : streamConfig.formats().pixelformats())
-    {
-        std::cout << "\t" << pixelFormat.toString() << std::endl;
-
-        for (const auto &size : streamConfig.formats().sizes(pixelFormat))
-        {
-            std::cout << "\t\t" << size.toString() << std::endl;
-        }
-    }
-
-    streamConfig.pixelFormat = OV9281::pixelFormat;
-    streamConfig.bufferCount = OV9281::bufferCount;
-
-    if (!validateConfig())
-    {
-        return false;
-    }
-
-    if (!applyConfig()) {
-        return false;
-    }
-
-    return true;
-}
-
-bool OV9281::validateConfig()
-{
-    using namespace libcamera;
-
-    auto status = m_config->validate();
-
-    // WARNING: unsafe
-
-    switch (status)
-    {
-    case CameraConfiguration::Status::Valid: {
-        std::cout << __func__ << ": " << "config is valid" << std::endl;
-        break;
-    }
-    case CameraConfiguration::Status::Adjusted: {
-        if (m_config->empty())
-        {
-            std::cerr << __func__ << ": " << "config is adjusted, but empty"
-                      << std::endl;
-            return false;
-        }
-
-        libcamera::StreamConfiguration &streamConfig = m_config->at(0);
-        std::cout << __func__
-                  << ":\tpixelFormat: " << streamConfig.pixelFormat.toString()
-                  << std::endl;
-        std::cout << __func__ << ":\tbufferCount: " << streamConfig.bufferCount
-                  << std::endl;
-        // std::cout << __func__ << ":\torientation: " << m_config->orientation
-        //           << std::endl;
-        break;
-    }
-    case CameraConfiguration::Status::Invalid: {
-        std::cerr << __func__ << ":\tconfig is invalid" << std::endl;
-
-        return false;
-    }
-    }
-
-    return true;
-}
-
-bool OV9281::applyConfig()
-{
-    // FIXME: may crassh even on success (e.g. by setting pixelFormat to "8")
-    if (m_camera->configure(m_config.get()) != EXIT_SUCCESS)
-    {
-        std::cerr << __func__ << ":\tcannot apply config" << std::endl;
-
-        return false;
-    }
-
-    return true;
-}
-
-/*
- * Signals operate in the libcamera CameraManager thread context, so it is
- * 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 OV9281::onRequestCompleted(libcamera::Request *completed_request)
-{
-    fpsCounter++;
-
-    if (timer.elapsed() > 1000) {
-        std::cout << "fps: " << fpsCounter << std::endl;
-        timer.restart();
-        fpsCounter = 0;
-    }
-
-    using namespace libcamera;
-
-    if (completed_request->status() == Request::RequestCancelled)
-    {
-        std::cerr << __func__ << ":\trequest canceled" << std::endl;
-
-        return;
-    }
-
-    const auto &buffers = completed_request->buffers();
-
-#if 1
-    for (auto [stream, buffer] : buffers)
-    {
-        const auto &streamConfig = stream->configuration();
-        const auto &imageSize = streamConfig.size;
-        const auto &pixelFormat = streamConfig.pixelFormat;
-        const auto &stride = streamConfig.stride;
-
-        const FrameMetadata &metadata = buffer->metadata();
-
-        for (size_t i = 0; i < buffer->planes().size(); ++i)
-        {
-            const FrameBuffer::Plane &plane = buffer->planes()[i];
-            const FrameMetadata::Plane &metaplane = buffer->metadata()
-                                                        .planes()[i];
-
-            size_t size = std::min(metaplane.bytesused, plane.length);
-            // std::cout << "size is: " << size << std::endl;
-            void *data = m_mappedBuffers[plane.fd.get()].first;
-
-            auto img = std::make_shared<Image>();
-
-            img->width = imageSize.width;
-            img->height = imageSize.height;
-
-            // img->dataSize = size;
-            // img->stride = stride;
-            img->pixelFormat = pixelFormat;
-            img->counters.measurementCounter = metadata.sequence;
-            img->counters.timestampUs = metadata.timestamp / 1000;
-            img->counters.encoderPosition = RotaryEncoder::instance()->position();
-
-            img->copyFromData(data, size);
-            // memcpy(img->data, data, size);
-            img->rotate();
-
-            auto pixels = img->pixels();
-// FIXME: backup emit value
-#ifdef emit
-#undef emit
-            if (!pixels) {
-                std::cerr << "emit empty pixels" << std::endl;
-            }
-            newImage.emit(img);
-            // newPixels.emit(pixels);
-#define emit
-#endif
-        }
-    }
-#endif
-    const libcamera::ControlList &metadata = completed_request->metadata();
-    const ControlInfoMap &control_map = m_camera->controls();
-    // const ControlIdMap & ctrlIdMap = control_map.idmap();
-
-    auto frameDurationCtrl = control_map.find(&controls::FrameDurationLimits);
-    double fps = frameDurationCtrl == control_map.end() ?
-                     std::numeric_limits<double>::quiet_NaN() :
-                     (1e6 / frameDurationCtrl->second.min().get<int64_t>());
-
-    auto exp = metadata.get(controls::ExposureTime);
-    auto ag = metadata.get(controls::AnalogueGain);
-    auto ae = metadata.get(controls::AeEnable);
-    // auto br= metadata.get(controls::Brightness);
-    static auto lastControls = completed_request->controls();
-
-    completed_request->reuse(Request::ReuseBuffers);
-    // completed_request->controls().set(libcamera::controls::AeEnable, false);
-    // completed_request->controls()
-    //     .set(libcamera::controls::draft ::NoiseReductionMode,
-    //          libcamera::controls::draft ::NoiseReductionModeEnum ::
-    //              NoiseReductionModeHighQuality);
-
-    completed_request->controls().set(libcamera::controls::ExposureTime,
-                                      m_exposureTime);
-
-    m_camera->queueRequest(completed_request);
-}
-
-std::vector<std::shared_ptr<OV9281>> OV9281::search(
-    std::unique_ptr<libcamera::CameraManager> &manager)
-{
-    std::vector<std::shared_ptr<OV9281>> result;
-
-    for (const auto &camera : manager->cameras())
-    {
-        auto id = camera->id();
-        auto c = manager->get(id);
-        // auto ov9281 = std::shared_ptr<OV9281>(new OV9281(c));
-
-        // if (!ov9281->init())
-        // {
-        //     continue;
-        // }
-
-        // result.push_back(ov9281);
-    }
-
-    return result;
-}
-
-bool OV9281::startStream()
-{
-    if (m_config->empty())
-    {
-        std::cerr << __func__ << ":\tconfig is empty" << std::endl;
-        return false;
-    }
-
-    auto &streamConfig = m_config->at(0);
-    m_allocator = std::make_unique<libcamera::FrameBufferAllocator>(m_camera);
-    auto stream = streamConfig.stream();
-    auto ret = m_allocator->allocate(stream);
-
-    // TODO: check if zero
-    if (ret < 0)
-    {
-        std::cerr << __func__ << ":\tcan't allocate buffers: " << strerror(ret)
-                  << std::endl;
-        return false;
-    }
-
-    auto allocatedCount = ret;
-    std::cout << __func__ << ":\tallocated " << allocatedCount
-              << " buffers for stream" << std::endl;
-
-    const auto &buffers = m_allocator->buffers(stream);
-
-    for (const auto &buffer : buffers)
-    {
-        auto request = m_camera->createRequest();
-
-        if (!request)
-        {
-            std::cerr << __func__ << ":\tcan't create request" << std::endl;
-
-            return false;
-        }
-
-        // TODO: try multiple buffers per request and compare performance
-        ret = request->addBuffer(stream, buffer.get());
-
-        if (ret < 0)
-        {
-            std::cerr << __func__
-                      << ":\tcan't set buffer for request: " << strerror(ret)
-                      << std::endl;
-
-            return false;
-        }
-
-        for (const auto &plane : buffer->planes())
-        {
-            void *memory = mmap(NULL,
-                                plane.length,
-                                PROT_READ,
-                                MAP_SHARED,
-                                plane.fd.get(),
-                                0);
-            m_mappedBuffers[plane.fd.get()] = std::make_pair(memory,
-                                                             plane.length);
-        }
-
-        std::int64_t lowerUS = 1 * 1000 * 1000 / desiredFPS;
-        std::int64_t higherUS = lowerUS;
-        std::int64_t value_pair[2] = {higherUS / 2, higherUS};
-        request->controls().set(libcamera::controls::AnalogueGain, 1.0);
-        request->controls().set(libcamera::controls::ExposureTime, 100);
-        request->controls().set(libcamera::controls::FrameDurationLimits,
-                                libcamera::Span<const std::int64_t, 2>(
-                                    value_pair));
-
-        m_requests.push_back(std::move(request));
-    }
-
-    m_camera->requestCompleted.connect(this, &OV9281::onRequestCompleted);
-
-    // FIXME: memleak
-    std::unique_ptr<libcamera::ControlList> camcontrols{
-        new libcamera::ControlList()};
-
-    {
-        using namespace std::chrono_literals;
-        std::this_thread::sleep_for(500ms);
-    }
-
-    ret = m_camera->start(camcontrols.get());
-
-    if (ret)
-    {
-        std::cerr << __func__ << ":\tfailed to start camera: " << strerror(ret)
-                  << std::endl;
-
-        return false;
-    }
-
-    for (auto &request : m_requests)
-    {
-        ret = m_camera->queueRequest(request.get());
-
-        if (ret)
-        {
-            std::cerr << __func__
-                      << ":\tfailed to queue request: " << strerror(ret)
-                      << std::endl;
-
-            return false;
-        }
-    }
-
-    return true;
-}
-
-void OV9281::printControls()
-{
-    using namespace libcamera;
-    const libcamera::ControlInfoMap &control_map = m_camera->controls();
-
-    // 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;
-
-        std::cout << "\tc " << id->name() << " (" << id->id()
-                  << "): " << info.toString()
-                  << (info.def().isNone() ?
-                          "" :
-                          " (dflt:" + info.def().toString() + ")");
-
-        if (!info.values().size())
-        {
-            std::cout << std::endl;
-            continue;
-        }
-
-        std::cout << " - [";
-
-        for (const auto &v : info.values())
-        {
-            std::cout << " " << v.toString();
-        }
-
-        std::cout << " ]\n";
-    }
-}