got 480 fps with pixels calc

1 files changed, 68 insertions, 25 deletions

diff --git a/src/main.cpp b/src/main.cpp
index fd5bd79..e05262a 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,4 +1,5 @@
 #include <chrono>
+#include <csignal>
 #include <errno.h>
 #include <fstream>
 #include <iostream>
@@ -11,6 +12,7 @@
 #include "calibration.h"
 #include "camera/innomakerov9281.h"
 #include "camera/ov9281.h"
+#include "camera/veyeimx287m.h"
 #include "dumps.h"
 #include "fuck_intel.h"
 #include "genetic_algos.h"
@@ -134,7 +136,17 @@ bool initLaser();
 
 int main(int argc, char* argv[])
 {
+    auto sigHandler = [](int s) {
+        std::cout << "got signal " << s << std::endl;
+        std::signal(s, SIG_DFL);
+        qApp->quit();
+    };
+
+    std::signal(SIGINT, sigHandler);
+    std::signal(SIGTERM, sigHandler);
+
     QCoreApplication app(argc, argv);
+    // QTimer::singleShot(4000, qApp, &QCoreApplication::quit);
 
     QList<QFuture<void>> initializers;
 
@@ -366,7 +378,8 @@ int main(int argc, char* argv[])
 #endif
     // const auto cameras = cm->cameras();
     // const auto cameras = OV9281::search(cm);
-    const auto cameras = InnoMakerOV9281::search();
+    // const auto cameras = InnoMakerOV9281::search();
+    const auto cameras = VeyeIMX287m::search();
     // const auto cameras =
 
     if (cameras.empty())
@@ -405,31 +418,60 @@ int main(int argc, char* argv[])
     }
 
     QHttpServer qHttpServer;
-    qHttpServer.route("/v1/sensor/image", [&]() {
+    auto httpGetImage = [&]() -> QHttpServerResponse {
+        // return QHttpServerResponse::StatusCode::ServiceUnavailable;
         // std::cout << "http: image" << std::endl << std::flush;
         // FILE *f = fopen("/tmp/img.pgm", "w");
         // static bool save = false;
+        auto cam = dynamic_cast<VeyeIMX287m *>(camera.get());
+
+        if (!cam) {
+            qDebug() << "NO CAM";
+            return QHttpServerResponse::StatusCode::ServiceUnavailable;
+        }
+
+        Image img;
+        // yeaah
+        ::img = &img;
+        if (!cam->getImage(img)) {
+            qDebug() << "cannot get image";
+            return QHttpServerResponse::StatusCode::ServiceUnavailable;
+        }
         pgm_save(::img);
         // save = false;
         std::lock_guard<std::mutex> lg(pgm_image_mtx);
         // qDebug() << "mutex locked";
         // qDebug() << "image saved to array";
-        return QByteArray((const char*) pgm_image, pgm_image_size);
-    });
-    qHttpServer.route("/v1/sensor/image2", [&]() {
-        // std::cout << "http: image2" << std::endl;
-        pgm_save(::img);
-
-        std::lock_guard<std::mutex> lg(pgm_image_mtx);
-        // qDebug() << "image2";
-        return QByteArray((const char*) pgm_image, pgm_image_size);
-    });
+        return QHttpServerResponse{QByteArray((const char *) pgm_image, pgm_image_size),
+                                   QHttpServerResponse::StatusCode::Ok};
+    };
+    qHttpServer.route("/v1/sensor/image", httpGetImage);
+    qHttpServer.route("/v1/sensor/image2", httpGetImage);
     // qHttpServer.route("/v1/sensor/exposureTimeUs", [&]() {
     //     // std::lock_guard<std::mutex> lg(pgm_image_mtx);
     //     return "123";
     // });
-    qHttpServer.route("/v1/pixels", [&]() {
+    qHttpServer.route("/v1/pixels", [&]() -> QHttpServerResponse {
         // std::cout << "http: pixels" << std::endl;
+        // return QHttpServerResponse::StatusCode::ServiceUnavailable;
+
+        auto cam = dynamic_cast<VeyeIMX287m *>(camera.get());
+
+        if (!cam) {
+            qDebug() << "NO CAM";
+            return QHttpServerResponse::StatusCode::ServiceUnavailable;
+        }
+
+        Image img;
+        // yeaah
+        ::img = &img;
+        if (!cam->getImage(img)) {
+            qDebug() << "cannot get image";
+            return QHttpServerResponse::StatusCode::ServiceUnavailable;
+        }
+
+        ::pixels = img.pixels();
+
         std::lock_guard<std::mutex> lg(pgm_image_mtx);
 
         QJsonArray pixels;
@@ -444,8 +486,8 @@ int main(int argc, char* argv[])
         json["pixels"] = pixels;
         // json["encoderPosition"] = qint64{encoder.position()};
         // FIXME: get prom pixels struct
-        json["measurementCounter"] = qint64{img->counters.measurementCounter};
-        json["timestampUs"] = qint64(img->counters.timestampUs);
+        json["measurementCounter"] = qint64{img.counters.measurementCounter};
+        json["timestampUs"] = qint64(img.counters.timestampUs);
 
         const auto lines = pixelsToLines(::pixels);
 
@@ -466,6 +508,7 @@ int main(int argc, char* argv[])
 
     qHttpServer.route("/v1/profile", [&]() -> QHttpServerResponse {
         // std::cout << "http: profile" << std::endl;
+        return QHttpServerResponse::StatusCode::ServiceUnavailable;
         std::lock_guard<std::mutex> lg(pgm_image_mtx);
 
         if (!::calibrationTableZ || !::calibrationTableX)
@@ -672,16 +715,16 @@ int main(int argc, char* argv[])
 
     qDebug() << "listen: " << qHttpServer.listen(QHostAddress::Any, 8081);
 
-    QFuture<void> future = QtConcurrent::run([]() {
-        Port port(8080);
-        Address addr(Ipv4::any(), port);
+    // QFuture<void> future = QtConcurrent::run([]() {
+    //     Port port(8080);
+    //     Address addr(Ipv4::any(), port);
 
-        HttpService httpService(addr);
+    //     HttpService httpService(addr);
 
-        size_t threads_count = 1;
-        httpService.init(threads_count);
-        httpService.start();
-    });
+    //     size_t threads_count = 1;
+    //     httpService.init(threads_count);
+    //     httpService.start();
+    // });
 
     ////////////////////////////////////////////////////////////////////////////
     std::clog << std::flush;
@@ -694,8 +737,8 @@ int main(int argc, char* argv[])
 
     auto result = app.exec();
 
-    future.cancel();
-    future.waitForFinished();
+    // future.cancel();
+    // future.waitForFinished();
 
     // for (auto& [fd, mem] : mappedBuffers_)
     // {