cleanup

1 files changed, 13 insertions, 70 deletions

diff --git a/src/camera/veyeimx287m.cpp b/src/camera/veyeimx287m.cpp
index a03aa83..7b6302c 100644
--- a/src/camera/veyeimx287m.cpp
+++ b/src/camera/veyeimx287m.cpp
@@ -238,6 +238,8 @@ VeyeIMX287m::~VeyeIMX287m()
 
 std::vector<std::shared_ptr<ICamera> > VeyeIMX287m::search()
 {
+    // FIXME: use saved params, get rid of hardcode
+
     // return only one camera for now
     const auto cam = std::make_shared<VeyeIMX287m>();
 
@@ -257,18 +259,13 @@ std::vector<std::shared_ptr<ICamera> > VeyeIMX287m::search()
     if (!cam->set_gain(0.1))
         return {};
 
-    if (!cam->setLaserLevel(1))
-        return {};
-
     return {cam};
 }
 
 bool VeyeIMX287m::startStream()
 {
-    // int buffer_type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-    const auto radxa_buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
-    // auto ret = ioctl(m_cam_fd, VIDIOC_STREAMON, &buffer_type);
-    auto ret = ioctl(m_cam_fd, VIDIOC_STREAMON, &radxa_buf_type);
+    constexpr auto radxa_buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
+    const auto ret = ioctl(m_cam_fd, VIDIOC_STREAMON, &radxa_buf_type);
 
     if (ret != 0) {
         std::cerr << "ioctl(VIDIOC_STREAMON) failed: " << errno << " ("
@@ -276,14 +273,12 @@ bool VeyeIMX287m::startStream()
         return false;
     }
 
-    std::cout << "stream started" << std::endl;
-
-    // m_streamThread = std::jthread{&VeyeIMX287m::dequeueFrameLoop, this};
-
     for (auto &t : m_calcThreads) {
         t = std::jthread{&VeyeIMX287m::calcFrameLoop, this};
     }
 
+    std::cout << __func__ << " - OK" << std::endl;
+
     return true;
 }
 
@@ -292,9 +287,6 @@ bool VeyeIMX287m::init()
     if (!openCam())
         return false;
 
-    // if (!selectCam())
-    //     return false;
-
     if (!initCam())
         return false;
 
@@ -395,16 +387,6 @@ std::optional<float> VeyeIMX287m::get_gain()
     return *value * 10;
 }
 
-bool VeyeIMX287m::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 VeyeIMX287m::openCam()
 {
     m_cam_fd = open(videoDevice, O_RDWR);
@@ -420,23 +402,6 @@ bool VeyeIMX287m::openCam()
     return true;
 }
 
-bool VeyeIMX287m::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 VeyeIMX287m::initCam()
 {
     int ret{-1};
@@ -516,11 +481,13 @@ bool VeyeIMX287m::initCam()
     struct v4l2_requestbuffers rb;
     memset(&rb, 0, sizeof rb);
     rb.count = BUFFER_COUNT;
+
     if constexpr (radxa_zero_3et) {
         rb.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
     } else {
         rb.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
     }
+
     rb.memory = V4L2_MEMORY_MMAP;
 
     ret = ioctl(m_cam_fd, VIDIOC_REQBUFS, &rb);
@@ -545,10 +512,6 @@ bool VeyeIMX287m::initCam()
 
     buffers.resize(rb.count);
 
-    // memset(&buffer, 0, sizeof(buffer));
-    // buffer.type = request.type;
-    // buffer.memory = V4L2_MEMORY_MMAP;
-
     std::cout << "query buffers" << std::endl;
 
     for (uint32_t i = 0; i < rb.count; i++) {
@@ -570,9 +533,9 @@ bool VeyeIMX287m::initCam()
         ret = ioctl(m_cam_fd, VIDIOC_QUERYBUF, &buf);
 
         if (ret < 0) {
-            // std::cout << "ioctl(VIDIOC_QUERYBUF) failed: " << errno << " " << std::endl;
             std::cerr << "ioctl(VIDIOC_QUERYBUF) failed: " << errno << " ("
                       << strerror(errno) << ")" << std::endl;
+
             return false;
         }
 
@@ -591,18 +554,14 @@ bool VeyeIMX287m::initCam()
                                  MAP_SHARED,
                                  m_cam_fd,
                                  offset);
+
         if (buffers[i].mem[0] == MAP_FAILED) {
             std::cerr << "mmap() failed: " << errno << " (" << strerror(errno)
                       << ")" << std::endl;
             std::cerr << "length: " << length << std::endl;
             std::cerr << "offset: " << offset << std::endl;
-            return false;
 
-            // m_videoBuffers[i] = (uint8_t *)
-            //     mmap(NULL, buf.length, PROT_READ | PROT_WRITE, MAP_SHARED, m_cam_fd, buf.m.offset);
-            // if (m_videoBuffers[i] == MAP_FAILED) {
-            //     DBG("mmap() failed %d(%s)", errno, strerror(errno));
-            //     return false;
+            return false;
         }
 
         m_videoBuffers[i] = (uint8_t *) buffers[i].mem[0];
@@ -615,10 +574,8 @@ bool VeyeIMX287m::initCam()
                i,
                buffers[i].mem[0]);
 
-        // buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-        // buf.memory = V4L2_MEMORY_MMAP;
-        // buf.index = i;
         ret = ioctl(m_cam_fd, VIDIOC_QBUF, &buf);
+
         if (ret != 0) {
             std::cerr << "ioctl(VIDIOC_QBUF) failed: " << errno << " ("
                       << strerror(errno) << ")" << std::endl;
@@ -631,18 +588,7 @@ bool VeyeIMX287m::initCam()
     fflush(stdout);
     fflush(stderr);
 
-    // std::cout << "test return false" << std::endl;
-    // 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.");
+    std::cout << "imx287 cam initialized" << std::endl;
 
     return true;
 }
@@ -693,8 +639,6 @@ void VeyeIMX287m::calcFrameLoop(std::stop_token stopToken)
     }
 }
 
-// Image &VeyeIMX287m::dequeueImageBuffer()
-// bool VeyeIMX287m::dequeueImageBuffer(Image &image)
 bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
 // TODO: get Image from video_buffer_ptr
 {
@@ -754,7 +698,6 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
     buf.index = requestIdx++ % BUFFER_COUNT;
 
     {
-        // m_bufferMutexes[buffer.index].lock();
         {
             std::lock_guard<std::mutex> lock(m_camMtx);
             QElapsedTimer t;