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-rw-r--r--src/camera/icamera.h29
-rw-r--r--src/camera/veyeimx287m.cpp53
-rw-r--r--src/camera/veyeimx287m.h12
3 files changed, 38 insertions, 56 deletions
diff --git a/src/camera/icamera.h b/src/camera/icamera.h
index 44ed4b3..6ceb520 100644
--- a/src/camera/icamera.h
+++ b/src/camera/icamera.h
@@ -32,34 +32,25 @@ public:
virtual ~ICamera() = default;
public:
- virtual bool set_autoExposure(const bool enable) = 0;
- /*!
- * \brief get_autoExposure - check if auto exposure is enabled
- * \param ok - indicates successful read
- * \return true if enabled, false otherwise
- */
+ [[nodiscard]] virtual bool set_autoExposure(const bool enable) = 0;
/*!
* \brief get_autoExposure - check if auto exposure is enabled
* \return non-empty value on success, empty value on failure
*/
- virtual std::optional<bool> get_autoExposure() = 0;
+ [[nodiscard]] virtual std::optional<bool> get_autoExposure() = 0;
- virtual bool set_exposureTime(const std::chrono::microseconds us) = 0;
- virtual std::optional<const std::chrono::microseconds> get_exposureTime() = 0;
+ [[nodiscard]] virtual bool set_exposureTime(const std::chrono::microseconds us) = 0;
+ [[nodiscard]] virtual std::optional<const std::chrono::microseconds> get_exposureTime() = 0;
- virtual bool set_autoGain(const bool enable) = 0;
- virtual std::optional<bool> get_autoGain() = 0;
+ [[nodiscard]] virtual bool set_autoGain(const bool enable) = 0;
+ [[nodiscard]] virtual std::optional<bool> get_autoGain() = 0;
- virtual bool set_gain(const float value) = 0;
- virtual std::optional<float> get_gain() = 0;
+ [[nodiscard]] virtual bool set_gain(const float value) = 0;
+ [[nodiscard]] virtual std::optional<float> get_gain() = 0;
- virtual bool getImage(Image *image) = 0;
-
-public:
- std::function<void(std::shared_ptr<Pixels>)> newPixelsCallback;
- std::function<void(Image &)> newImageCallback;
+ [[nodiscard]] virtual bool getImage(Image *image) = 0;
public:
- virtual bool startStream() = 0;
+ [[nodiscard]] virtual bool startStream() = 0;
};
diff --git a/src/camera/veyeimx287m.cpp b/src/camera/veyeimx287m.cpp
index 2e4a4aa..6491d9d 100644
--- a/src/camera/veyeimx287m.cpp
+++ b/src/camera/veyeimx287m.cpp
@@ -212,8 +212,8 @@ VeyeIMX287m::~VeyeIMX287m()
}
#ifdef RADXA_ZERO_3E
- for (const auto buffer : buffers) {
- if (munmap(buffer.mem[0], radxa_raw_img_size) < 0) {
+ for (const auto buffer : m_buffers) {
+ if (munmap(buffer.mem, radxa_raw_img_size) < 0) {
DBG("Munmap failed!!.");
}
}
@@ -500,17 +500,13 @@ bool VeyeIMX287m::initCam()
return false;
}
- std::cout << "buffers requested" << std::endl;
-
if (rb.count < BUFFER_COUNT) {
fprintf(stderr, "cannot set cam request buffers\n");
return false;
}
- std::cout << "buffers count is ok: " << rb.count << std::endl;
-
- buffers.resize(rb.count);
+ m_buffers.resize(rb.count);
std::cout << "query buffers" << std::endl;
@@ -529,7 +525,6 @@ bool VeyeIMX287m::initCam()
buf.length = VIDEO_MAX_PLANES;
buf.m.planes = planes;
- std::cout << "run ioctl(VIDIOC_QUERYBUF) for buf #" << i << std::endl;
ret = ioctl(m_cam_fd, VIDIOC_QUERYBUF, &buf);
if (ret < 0) {
@@ -539,23 +534,15 @@ bool VeyeIMX287m::initCam()
return false;
}
- std::cout << "ioctl(VIDIOC_QUERYBUF) is ok: " << std::endl;
-
std::cout << "buffer.length: " << buf.length << std::endl;
std::cout << "buffer.m.offset: " << buf.m.offset << std::endl;
-
- buffers[i].idx = i;
+ std::cout << "buffer.index: " << buf.index << " " << i << std::endl;
const auto length = buf.m.planes[0].length;
const auto offset = buf.m.planes[0].m.mem_offset;
- buffers[i].mem[0] = mmap(0,
- length,
- PROT_READ | PROT_WRITE,
- MAP_SHARED,
- m_cam_fd,
- offset);
+ m_buffers[i].mem = mmap(0, length, PROT_READ | PROT_WRITE, MAP_SHARED, m_cam_fd, offset);
- if (buffers[i].mem[0] == MAP_FAILED) {
+ if (m_buffers[i].mem == MAP_FAILED) {
std::cerr << "mmap() failed: " << errno << " (" << strerror(errno)
<< ")" << std::endl;
std::cerr << "length: " << length << std::endl;
@@ -564,15 +551,17 @@ bool VeyeIMX287m::initCam()
return false;
}
- m_videoBuffers[i] = (uint8_t *) buffers[i].mem[0];
+ m_videoBuffers[i] = (uint8_t *) m_buffers[i].mem;
- buffers[i].size[i] = length;
- buffers[i].padding[i] = 0;
+ auto p1 = (Image::radxa_data_t *) m_videoBuffers[i];
+ auto p2 = (Image::radxa_data_t *) m_buffers[i].mem;
+ if (p1 != p2) {
+ std::cout << "AAAAAAA: " << (void *) p1 << ' ' << (void *) p2 << std::endl;
+ }
+ m_buffers[i].size[i] = length;
+ m_buffers[i].padding[i] = 0;
- printf("Buffer %u/%u mapped at address %p.\n",
- buffers[i].idx,
- i,
- buffers[i].mem[0]);
+ printf("Buffer mapped at address %p.\n", m_buffers[i].mem);
ret = ioctl(m_cam_fd, VIDIOC_QBUF, &buf);
@@ -581,15 +570,11 @@ bool VeyeIMX287m::initCam()
<< strerror(errno) << ")" << std::endl;
return false;
}
-
- std::cout << "ioctl(VIDIOC_QBUF) is OK" << std::endl;
}
fflush(stdout);
fflush(stderr);
- std::cout << "imx287 cam initialized" << std::endl;
-
return true;
}
@@ -628,7 +613,15 @@ void VeyeIMX287m::calcFrameLoop(std::stop_token stopToken)
{
t.start();
+ auto p1 = (void *) m_videoBuffers[bufferIdx];
+ auto p2 = (void *) m_buffers[bufferIdx].mem;
+
+ // if (p1 != p2) {
+ // std::cout << (void *) p1 << ' ' << (void *) p2 << std::endl;
+ // }
+
auto &src = *(Image::radxa_data_t *) m_videoBuffers[bufferIdx];
+ // auto &src = *(Image::radxa_data_t *) buffers[bufferIdx].mem[0];
auto &dst = image.data;
Image::copy(dst, src);
diff --git a/src/camera/veyeimx287m.h b/src/camera/veyeimx287m.h
index 03b7df9..7946d2f 100644
--- a/src/camera/veyeimx287m.h
+++ b/src/camera/veyeimx287m.h
@@ -101,14 +101,12 @@ private:
struct buffer
{
- unsigned int idx{std::numeric_limits<unsigned int>::max()};
- unsigned int padding[VIDEO_MAX_PLANES]{
- std::numeric_limits<unsigned int>::max()};
- unsigned int size[VIDEO_MAX_PLANES]{
- std::numeric_limits<unsigned int>::max()};
- void *mem[VIDEO_MAX_PLANES]{nullptr};
+ unsigned int padding[VIDEO_MAX_PLANES]{std::numeric_limits<unsigned int>::max()};
+ unsigned int size[VIDEO_MAX_PLANES]{std::numeric_limits<unsigned int>::max()};
+ // void *mem[VIDEO_MAX_PLANES]{nullptr};
+ void *mem{nullptr};
};
- std::vector<buffer> buffers;
+ std::vector<buffer> m_buffers;
// std::mutex m_queueMtx;
std::mutex m_camMtx;
generated by cgit v1.2.3-70-g09d2 (git 2.52.0) at 2025-12-08 14:41:11 +0000