refactoring

1 files changed, 59 insertions, 36 deletions

diff --git a/src/main.cpp b/src/main.cpp
index 208004f..2d86dac 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -68,11 +68,6 @@ QMutex calibrationPixelsMutex;
 
 using namespace std::chrono_literals;
 
-namespace {
-CalibrationTablePtr calibrationTableZ;
-CalibrationTablePtr calibrationTableX;
-} // namespace
-
 auto printPixels = [](const auto &pixels) {
     for (size_t i = (img_width - 10) / 2;
          i < img_width - ((img_width - 10) / 2);
@@ -99,30 +94,44 @@ int main(int argc, char *argv[])
     QList<QFuture<void>> initializers;
 
     qDebug() << "size of raw profile" << sizeof(Pixels);
-    if (false) {
+
+    // Pixels p;
+    // p.counters.encoderPosition = 123;
+    // if (!p.save("/tmp/tmp.pixels")) {
+    //     return EXIT_FAILURE;
+    // }
+
+    // Pixels p1;
+    // if (!p1.load("/tmp/tmp.pixels")) {
+    //     return EXIT_FAILURE;
+    // }
+    // qDebug() << p.counters.encoderPosition << p.counters.encoderPosition;
+    // return EXIT_SUCCESS;
+
+    if (true) {
         // open binary calibration table
-        if (true) {
+        if (false) {
             initializers << QtConcurrent::run([&]() {
-                if (!openCalibrationTable(
-                        "/home/user/dumps/binz.calibration_table",
-                        // "/tmp/binz.calibration_table",
-                        ::calibrationTableZ)) {
+                if (!openCalibrationTable(QStringLiteral("/home/%1/dumps/binz.calibration_table")
+                                              .arg(user),
+                                          // "/tmp/binz.calibration_table",
+                                          ::calibrationTableZ)) {
                     exit(EXIT_FAILURE);
                 }
             });
 
             initializers << QtConcurrent::run([&]() {
-                if (!openCalibrationTable(
-                        "/home/user/dumps/binx.calibration_table",
-                        // "/tmp/binx.calibration_table",
-                        ::calibrationTableX)) {
+                if (!openCalibrationTable(QStringLiteral("/home/%1/dumps/binx.calibration_table")
+                                              .arg(user),
+                                          // "/tmp/binx.calibration_table",
+                                          ::calibrationTableX)) {
                     exit(EXIT_FAILURE);
                 }
             });
         }
 
         if (false) {
-            auto rawProfiles = openDump("/home/user/dumps/binx");
+            auto rawProfiles = openDump(QStringLiteral("/home/%1/dumps/binx").arg(user));
             qDebug() << "raw x-profiles count is" << rawProfiles.size();
             // qDebug() << "height" << calibrationColumnHeight;
 
@@ -136,22 +145,29 @@ int main(int argc, char *argv[])
         }
 
         // load binary calibration dumps and calibrate
-        if (false) {
+        if (true) {
             if (true) {
-                auto rawProfiles = openDump("/home/user/dumps/binz");
+                auto rawProfiles = openDump(QStringLiteral("/home/%1/dumps/binz").arg(user));
                 qDebug() << "raw z-profiles count is" << rawProfiles.size();
 
+                if (rawProfiles.empty()) {
+                    return EXIT_FAILURE;
+                }
+
                 auto filteredRawProfiles = filter(std::move(rawProfiles));
                 qDebug() << "filtered z-profiles count is"
                          << filteredRawProfiles.count();
 
                 ::calibrationTableZ = calibrateZ(std::move(filteredRawProfiles),
                                                  requested_params.stepsPerMm);
+                // DEBUG
+                ::calibrationTableX = CalibrationTablePtr{new CalibrationTable{{0}}};
+                memset(::calibrationTableX.get(), 0, sizeof(CalibrationTable));
 
                 interpolate(::calibrationTableZ);
 
                 if (!dump(::calibrationTableZ,
-                          "/home/user/dumps/binz.calibration_table")) {
+                          QStringLiteral("/home/%1/dumps/binz.calibration_table").arg(user))) {
                     qApp->exit(EXIT_FAILURE);
                 }
             }
@@ -159,8 +175,8 @@ int main(int argc, char *argv[])
             qDebug()
                 << "--------------------------------------------------------";
 
-            if (true) {
-                auto rawProfiles = openDump("/home/user/dumps/binx");
+            if (false) {
+                auto rawProfiles = openDump(QStringLiteral("/home/%1/dumps/binx").arg(user));
                 qDebug() << "raw x-profiles count is" << rawProfiles.size();
 
                 auto filteredRawProfiles = filter(std::move(rawProfiles));
@@ -172,13 +188,15 @@ int main(int argc, char *argv[])
                 interpolate(::calibrationTableX);
 
                 if (!dump(::calibrationTableX,
-                          "/home/user/dumps/binx.calibration_table")) {
+                          QStringLiteral("/home/%1/dumps/binx.calibration_table").arg(user))) {
                     qApp->exit(EXIT_FAILURE);
                 }
             }
         }
     }
 
+    // exit(EXIT_SUCCESS);
+
     QElapsedTimer t;
     t.start();
 
@@ -205,32 +223,29 @@ int main(int argc, char *argv[])
         return EXIT_FAILURE;
     }
 
-    auto httpServer = std::make_shared<HttpServer>(camera);
-
-    const auto scanner
-        = std::make_shared<Scanner>(camera,
-                                    std::vector<std::shared_ptr<IProtocol>>{
-                                        httpServer});
+    // TODO: refactor: scanner and http server depend on each other
+    const auto scanner = std::make_shared<Scanner>(camera);
+    auto httpServer = std::make_shared<HttpServer>(scanner);
 
     scanner->startAllProtocols();
+    httpServer->start();
 
-    Esp32Stand stand{QHostAddress{"192.168.18.248"}, 80, 1600};
+    auto stand = std::make_shared<Esp32Stand>(QHostAddress{"192.168.18.248"}, 80, 1600);
 
     QHttpServer qHttpServer;
 
     qHttpServer.route("/v1/profile", [&]() -> QHttpServerResponse {
         // std::cout << "http: profile" << std::endl;
-        return QHttpServerResponse::StatusCode::ServiceUnavailable;
+        // return QHttpServerResponse::StatusCode::ServiceUnavailable;
         std::lock_guard<std::mutex> lg(pgm_image_mtx);
 
-        if (!::calibrationTableZ || !::calibrationTableX)
-            return QHttpServerResponse::StatusCode::ServiceUnavailable;
+        // if (!::calibrationTableZ || !::calibrationTableX)
+        //     return QHttpServerResponse::StatusCode::ServiceUnavailable;
 
-        const Profile profile(::pixels,
-                              ::calibrationTableZ,
-                              ::calibrationTableX);
+        const Profile profile{::pixels, ::calibrationTableZ, ::calibrationTableX};
 
         const QJsonObject json{{"profile", QJsonObject(profile)}};
+        // qDebug() << "profile:" << QJsonDocument(json).toJson();
 
         return QHttpServerResponse(QJsonDocument(json).toJson());
     });
@@ -263,6 +278,14 @@ int main(int argc, char *argv[])
                    // TODO: use flags
                    scanningModeFlags = ScanningModeFlags::Calibration;
                    calibrationTimer.start();
+                   QObject::connect(camera.get(), &ICamera::moveMm, stand.get(), &IStand::moveMm);
+                   QObject::connect(stand.get(),
+                                    &IStand::moveFinished,
+                                    camera.get(),
+                                    &ICamera::onMoveFinished);
+
+                   //camera->startCalibration(stand, 200);
+                   camera->startCalibration(stand, 200);
 
                    return QHttpServerResponse::StatusCode::Ok;
                });
@@ -284,7 +307,7 @@ int main(int argc, char *argv[])
                    distanceMm.remove(0, 1);
 
                    // printerClient.sendCommand(command);
-                   stand.moveMm(distanceMm.toInt());
+                   stand->moveMm(distanceMm.toInt());
 
                    return QHttpServerResponse::StatusCode::Ok;
                });