cleanup, add comments

1 files changed, 43 insertions, 51 deletions

diff --git a/src/camera/veyeimx287m.cpp b/src/camera/veyeimx287m.cpp
index 16ab344..3f3a9e6 100644
--- a/src/camera/veyeimx287m.cpp
+++ b/src/camera/veyeimx287m.cpp
@@ -16,7 +16,11 @@
 
 #include <QElapsedTimer>
 
+<<<<<<< Updated upstream
 // orpheus
+=======
+#include "camera/veye_i2c.h"
+>>>>>>> Stashed changes
 #include "constants.h"
 #include "httpservice.h"
 #include "imagealgos.h"
@@ -316,8 +320,31 @@ bool VeyeIMX287m::init()
     return true;
 }
 
+bool VeyeIMX287m::setExposureTime(const std::chrono::microseconds us)
+{
+    const std::string i2c_dev{"/dev/i2c-2"};
+    const auto address = 0x3b;
+    const auto metime_reg = 0xc10;
+    const auto val = us.count();
+
+    const int fd = open(i2c_dev.c_str(), O_RDWR);
+
+    if (!fd) {
+        std::cerr << "cannot open i2c dev: " << i2c_dev << ", errno: " << errno << " ("
+                  << strerror(errno) << ")" << std::endl;
+        return false;
+    }
+
+    return true;
+}
+
 bool VeyeIMX287m::setExposureTimeUs(int valueUs)
 {
+    std::cout << "AAAAAAAAAAAAAAAAAAAAAAAAAAAAA: " << __func__ << ": " << valueUs << std::endl;
+    const std::string i2c_dev{"/dev/i2c-2"};
+    const auto address = 0x3b;
+    const auto metime_reg = 0xc10;
+
     //return true;
     std::cout << __func__ << ": " << V4L2_CID_EXPOSURE << " - " << valueUs << std::endl
               << std::flush;
@@ -373,6 +400,8 @@ bool VeyeIMX287m::setSomething(int value)
 
 bool VeyeIMX287m::setCamParam(unsigned int v4l2controlId, int value)
 {
+    veye::imx287m::test(value);
+
     std::cout << "radxa: skip setCamParam" << std::endl;
 
     return true;
@@ -625,6 +654,7 @@ bool VeyeIMX287m::initCam()
     return true;
 }
 
+<<<<<<< Updated upstream
 bool VeyeIMX287m::initHttpServer()
 {
     m_httpServer = std::make_shared<HttpServer>(this);
@@ -647,47 +677,30 @@ void VeyeIMX287m::dequeueFrameLoop(std::stop_token stopToken)
     // std::cout << "VeyeIMX287m: stream interruption requested" << std::endl;
 }
 
+=======
+>>>>>>> Stashed changes
 void VeyeIMX287m::calcFrameLoop(std::stop_token stopToken)
 {
     QElapsedTimer t;
 
     while (!stopToken.stop_requested()) {
-        size_t bufferIdx{};
+        size_t bufferIdx{std::numeric_limits<size_t>::max()};
 
         if (!dequeueImageBuffer(bufferIdx)) {
-            std::cout << "AAAAAAAAAAAAAAAAAA" << std::endl;
             continue;
         }
 
-        // std::lock_guard img_lock{m_imageMutexes[bufferIdx]};
+        std::lock_guard lock{m_imageMutexes[bufferIdx]};
+
         auto &image = m_images[bufferIdx];
 
         {
             t.start();
-            // auto &src = *(Image::data_t *) m_videoBuffers[bufferIdx];
+
             auto &src = *(Image::radxa_data_t *) m_videoBuffers[bufferIdx];
             auto &dst = image.data;
             Image::copy(dst, src);
 
-            // #pragma omp parallel for num_threads(4)
-            // for (size_t i = 0; i < img_height; ++i) {
-            //     memcpy(dst[i].data(), src[i].data(), img_width);
-            // }
-
-            // for (std::tuple<Image::row_t, Image::row_t> dst_src : std::views::zip())
-
-            // auto &dst = *(Image::data_t *) m_videoBuffers[bufferIdx];
-            // std::transform(std::execution::unseq,
-            //                src.begin(),
-            //                src.end(),
-            //                dst.begin(),
-            //                src.begin(),
-            //                [](auto &srcRow, auto &dstRow) -> Image::row_t {
-            //                    // memcpy(dstRow.data(), srcRow.data(), img_width);
-            //                    return dstRow;
-            //                    // return Image::row_t(dst.begin(), dst.begin() + img_width);
-            //                });
-            // memcpy(&image.data, m_videoBuffers[bufferIdx], radxa_raw_img_size);
             get_elapsed_ns += t.nsecsElapsed();
         }
 
@@ -756,26 +769,17 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
     buf.length = VIDEO_MAX_PLANES;
     buf.m.planes = planes;
     static uint16_t requestIdx{0};
-    // buffer.index = BUFFER_COUNT;
-    const auto tmpIdx = requestIdx++ % BUFFER_COUNT;
     buf.index = requestIdx++ % BUFFER_COUNT;
 
     {
-        QElapsedTimer t;
-        t.start();
-
-        auto oldIdx = buf.index;
         // m_bufferMutexes[buffer.index].lock();
         {
             std::lock_guard<std::mutex> lock(m_camMtx);
+            QElapsedTimer t;
+            t.start();
             ret = ioctl(m_cam_fd, VIDIOC_DQBUF, &buf);
-        }
-
-        // m_bufferMutexes[buffer.index].unlock();
-        auto newIdx = buf.index;
-
-        if (oldIdx != newIdx) {
-            // std::cout << "AAAAAAAAAAAAAA " << oldIdx << ' ' << newIdx << std::endl;
+            ++counter;
+            dq_elapsed_ns += t.nsecsElapsed();
         }
 
         if (ret != 0) {
@@ -788,16 +792,9 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
             std::cerr << "invalid buffer index: " << buf.index << std::endl;
             return false;
         }
-
-        // std::lock_guard<std::mutex> lock(m_queueMtx);
-        // m_buffersQueue.push(buffer.index);
-        ++counter;
-        dq_elapsed_ns += t.nsecsElapsed();
     }
 
-    // auto &image = video_buffer_ptr[buffer.index];
     imageIndex = buf.index;
-    // std::cout << "index: " << imageIndex << '\t' << tmpIdx << std::endl;
     auto &image = m_images[buf.index];
     image.height = img_height;
     image.width = img_width;
@@ -830,24 +827,19 @@ bool VeyeIMX287m::getImage(Image &image)
     size_t bufferIdx{};
 
     if (!dequeueImageBuffer(bufferIdx)) {
-        std::cout << "AAAAAAAAAAAAAAAAAA" << std::endl;
         return false;
     }
 
+    // TODO: remove this bullshit. return ptr to image or copy image metainfo
+    // only, then copy data
     image = std::move(m_images[bufferIdx]);
     {
         QElapsedTimer t;
         t.start();
-        // memcpy(&image.data, m_videoBuffers[bufferIdx], img_size);
+        std::lock_guard lock{m_imageMutexes[bufferIdx]};
         auto &src = *(Image::radxa_data_t *) m_videoBuffers[bufferIdx];
         auto &dst = image.data;
         Image::copy(dst, src);
-
-        // #pragma omp parallel for num_threads(4)
-        // for (size_t i = 0; i < img_height; ++i) {
-        //     memcpy(dst[i].data(), src[i].data(), img_width);
-        // }
-        // memcpy(&image.data, buffers[bufferIdx].mem[0], img_size);
         get_elapsed_ns += t.nsecsElapsed();
     }