add sync moveSteps

3 files changed, 48 insertions, 0 deletions

diff --git a/src/camera/icamera.h b/src/camera/icamera.h
index 545daf9..1fa0d18 100644
--- a/src/camera/icamera.h
+++ b/src/camera/icamera.h
@@ -49,6 +49,10 @@ public:
     [[nodiscard]] virtual bool set_gain(const float value) = 0;
     [[nodiscard]] virtual std::optional<float> get_gain() = 0;
 
+    [[nodiscard]] virtual bool set_triggerExposureDelay(const std::chrono::microseconds us) = 0;
+    [[nodiscard]] virtual std::optional<const std::chrono::microseconds> get_triggerExposureDelay()
+        = 0;
+
     [[nodiscard]] virtual bool getImage(Image *image) = 0;
     [[nodiscard]] virtual std::shared_ptr<Image> getImage() = 0;
 
diff --git a/src/camera/veyeimx287m.cpp b/src/camera/veyeimx287m.cpp
index 1301c66..2a06a72 100644
--- a/src/camera/veyeimx287m.cpp
+++ b/src/camera/veyeimx287m.cpp
@@ -397,6 +397,25 @@ std::optional<float> VeyeIMX287m::get_gain()
     return *value * 10;
 }
 
+bool VeyeIMX287m::set_triggerExposureDelay(const std::chrono::microseconds us)
+{
+    using namespace veye::imx287m;
+    return m_i2c->write(static_cast<uint16_t>(Register::Trigger_Exp_Delay), us.count());
+}
+
+std::optional<const std::chrono::microseconds> VeyeIMX287m::get_triggerExposureDelay()
+{
+    using namespace veye::imx287m;
+
+    const auto value = m_i2c->read(static_cast<uint32_t>(Register::Trigger_Exp_Delay));
+
+    if (!value) {
+        return {};
+    }
+
+    return std::chrono::microseconds{*value};
+}
+
 bool VeyeIMX287m::openCam()
 {
     m_cam_fd = open(videoDevice, O_RDWR);
diff --git a/src/camera/veyeimx287m.h b/src/camera/veyeimx287m.h
index b875bb7..3a73cd2 100644
--- a/src/camera/veyeimx287m.h
+++ b/src/camera/veyeimx287m.h
@@ -25,6 +25,28 @@ class i2c;
 
 class HttpServer;
 
+/*
+ * start calibration
+ * - send move zRange/16384 mm
+ * - wait StepDelay, ignore all pixels
+ * - collect 10 (64?) profiles
+ * - dump profiles
+ */
+
+/*!
+ * \brief The VeyeIMX287m class - control and receive data from VEYE IMX287
+ * camera
+ * \todo
+ * - implement `trgnum` - The number of image frames output by one trigger signal
+ * in trigger mode. Might be helpful in calibration mode
+ * - implement `trgfilter_enable` - for rising/falling edge support
+ * - implement `trgexp_delay` - Exposure delay, i.e. the time to turn on the
+ * Strobe signal in advance. The difference between trgexp_delay and trgdelay,
+ * see manual for details. (which manual?)
+ * - implement UDP streams, http is a bit slow even over 1GbE
+ * - implement roi
+ * - blcmode/blacklevel? (does it work in this camera?)
+ */
 class VeyeIMX287m : public ICamera
 {
     constexpr static char videoDevice[] = "/dev/video0";
@@ -63,6 +85,9 @@ public:
     bool set_gain(const float value) override;
     std::optional<float> get_gain() override;
 
+    bool set_triggerExposureDelay(const std::chrono::microseconds us) override;
+    std::optional<const std::chrono::microseconds> get_triggerExposureDelay() override;
+
 public:
     /*!
      * \brief processedCounter - count of images processed in current second.