summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--CMakeLists.txt1
-rw-r--r--imagealgos.cpp2
-rw-r--r--main.cpp180
-rw-r--r--src/camera/icamera.h6
-rw-r--r--src/camera/innomakerov9281.cpp152
-rw-r--r--src/camera/innomakerov9281.h6
-rw-r--r--src/camera/ov9281.h13
7 files changed, 250 insertions, 110 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4b0cabb..01bf27f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,6 +13,7 @@ set(CMAKE_AUTORCC OFF)
# set(TARGET_SYSROOT /home/nikita/rpi/rpi-sysroot)
set(TARGET_SYSROOT /home/nikita/rpi/rpi_zero-sysroot)
set(CMAKE_SYSROOT ${TARGET_SYSROOT})
+message("CMAKE_SYSROOT: ${CMAKE_SYSROOT}")
set(CMAKE_LIBRARY_PATH ${CMAKE_SYSROOT}/usr/lib/aarch64-linux-gnu)
# arch:
diff --git a/imagealgos.cpp b/imagealgos.cpp
index 80a1c92..801c588 100644
--- a/imagealgos.cpp
+++ b/imagealgos.cpp
@@ -65,7 +65,7 @@ size_t pgm_save(std::shared_ptr<Image> img, FILE *outfile, bool really_save)
}
}
- std::cout << "written pgm image" << std::endl;
+ // std::cout << "written pgm image" << std::endl;
return n;
}
diff --git a/main.cpp b/main.cpp
index e8de499..53fb08b 100644
--- a/main.cpp
+++ b/main.cpp
@@ -38,7 +38,8 @@
#include <QtConcurrent/QtConcurrent>
#define try_apply_config() \
- if (!applyConfig(config)) { \
+ if (!applyConfig(config)) \
+ { \
camera->release(); \
cm->stop(); \
\
@@ -83,17 +84,19 @@ CalibrationTablePtr calibrationTableX;
auto printPixels = [](const auto& pixels) {
for (size_t i = (img_width - 10) / 2;
i < img_width - ((img_width - 10) / 2);
- ++i) {
+ ++i)
+ {
std::cout << pixels[i] << " ";
}
std::cout << std::endl;
};
-void onNewImage(
- std::shared_ptr<Image> image)
+void onNewImage(std::shared_ptr<Image> image)
{
- std::cout << __func__ << std::endl << std::flush;
- if (!image) {
+ // std::cout << __func__ << std::endl << std::flush;
+
+ if (!image)
+ {
qDebug() << __func__ << "no image";
return;
}
@@ -101,18 +104,22 @@ void onNewImage(
::img = image;
}
-void onNewPixels(
- std::shared_ptr<Pixels> pixels)
+void onNewPixels(std::shared_ptr<Pixels> pixels)
{
- if (!pixels) {
+ // std::cout << __func__ << std::endl << std::flush;
+
+ if (!pixels)
+ {
qDebug() << __func__ << "got null pixels";
}
- if (!*pixels) {
+ if (!*pixels)
+ {
// qDebug() << __func__ << "got empty pixels";
}
- for (size_t i = 640 - 5; i < 640 + 5; i++) {
+ for (size_t i = 640 - 5; i < 640 + 5; i++)
+ {
// std::cout << pixels->pixels[i] << " ";
}
@@ -127,12 +134,15 @@ int main(int argc, char* argv[])
{
QCoreApplication app(argc, argv);
+ QList<QFuture<void>> initializers;
+
#ifdef INNO_MAKER
- if (false) {
+ if (false)
+ {
std::cout << std::boolalpha;
InnoMakerOV9281 innoMakerCam;
qDebug() << "init:" << innoMakerCam.init();
- qDebug() << "set exposure:" << innoMakerCam.setExposureTimeMs(3000);
+ qDebug() << "set exposure:" << innoMakerCam.setExposureTimeUs(3000);
qDebug() << "set gain:" << innoMakerCam.setGain(3000);
innoMakerCam.startStream();
@@ -155,22 +165,32 @@ int main(int argc, char* argv[])
// if (false)
qDebug() << "size of raw profile" << sizeof(Pixels);
- if (true) {
+ if (true)
+ {
// open binary calibration table
- if (true) {
- if (!openCalibrationTable("/home/user/dumps/binz.calibration_table",
- ::calibrationTableZ)) {
- exit(EXIT_FAILURE);
- }
- // interpolate(::calibrationTableZ);
- if (!openCalibrationTable("/home/user/dumps/binx.calibration_table",
- ::calibrationTableX)) {
- exit(EXIT_FAILURE);
- }
- // interpolate(::calibrationTableX);
+ if (true)
+ {
+ initializers << QtConcurrent::run([&]() {
+ if (!openCalibrationTable(
+ "/home/user/dumps/binz.calibration_table",
+ ::calibrationTableZ))
+ {
+ exit(EXIT_FAILURE);
+ }
+ });
+
+ initializers << QtConcurrent::run([&]() {
+ if (!openCalibrationTable(
+ "/home/user/dumps/binx.calibration_table",
+ ::calibrationTableX))
+ {
+ exit(EXIT_FAILURE);
+ }
+ });
}
- if (false) {
+ if (false)
+ {
// z
// if (!openCalibrationTable(
// "/home/user/dumps/binz.calibration_table",
@@ -246,8 +266,10 @@ int main(int argc, char* argv[])
}
// load binary calibration dumps and calibrate
- if (false) {
- if (true) {
+ if (false)
+ {
+ if (true)
+ {
auto rawProfiles = openDump("/home/user/dumps/binz");
// auto rawProfiles = openDump("/home/user/dumps/z");
qDebug() << "raw z-profiles count is" << rawProfiles.size();
@@ -272,7 +294,8 @@ int main(int argc, char* argv[])
interpolate(::calibrationTableZ);
if (!dump(::calibrationTableZ,
- "/home/user/dumps/binz.calibration_table")) {
+ "/home/user/dumps/binz.calibration_table"))
+ {
qApp->exit(EXIT_FAILURE);
}
// calibrationTableToImage(::calibrationTableZ)
@@ -283,7 +306,8 @@ int main(int argc, char* argv[])
qDebug()
<< "--------------------------------------------------------";
- if (true) {
+ if (true)
+ {
auto rawProfiles = openDump("/home/user/dumps/binx");
qDebug() << "raw x-profiles count is" << rawProfiles.size();
// qDebug() << "height" << calibrationColumnHeight;
@@ -305,7 +329,9 @@ int main(int argc, char* argv[])
interpolate(::calibrationTableX);
- if (!dump(::calibrationTableX, "/home/user/dumps/binx.calibration_table")) {
+ if (!dump(::calibrationTableX,
+ "/home/user/dumps/binx.calibration_table"))
+ {
qApp->exit(EXIT_FAILURE);
}
@@ -315,14 +341,6 @@ int main(int argc, char* argv[])
}
}
- QCryptographicHash hashZ(QCryptographicHash::Sha256);
- hashZ.addData(QByteArrayView((char *) ::calibrationTableZ.data(), sizeof(CalibrationTable)));
- qDebug() << "hash z" << sizeof(::calibrationTableZ) << hashZ.result().toHex();
-
- QCryptographicHash hashX(QCryptographicHash::Sha256);
- hashX.addData(QByteArrayView((char *) ::calibrationTableX.data(), sizeof(CalibrationTable)));
- qDebug() << "hash x" << sizeof(::calibrationTableX) << hashX.result().toHex();
-
// exit(EXIT_SUCCESS);
// if (!initLaser()) {
@@ -351,7 +369,8 @@ int main(int argc, char* argv[])
const auto cameras = InnoMakerOV9281::search();
// const auto cameras =
- if (cameras.empty()) {
+ if (cameras.empty())
+ {
std::cerr << "No cameras were identified on the system." << std::endl;
#ifndef INNO_MAKER
cm->stop();
@@ -369,8 +388,14 @@ int main(int argc, char* argv[])
std::cout << "connect everything" << std::endl;
camera->newPixels.connect(&onNewPixels);
camera->newImage.connect(&onNewImage);
+ camera->newImageCallback = &onNewImage;
+ camera->newPixelsCallback = &onNewPixels;
+
+ for (auto& i : initializers)
+ i.waitForFinished();
- if (!camera->startStream()) {
+ if (!camera->startStream())
+ {
#ifndef INNO_MAKER
cm->stop();
#endif
@@ -380,22 +405,22 @@ int main(int argc, char* argv[])
QHttpServer qHttpServer;
qHttpServer.route("/v1/sensor/image", [&]() {
- std::cout << "http: image" << std::endl << std::flush;
+ // std::cout << "http: image" << std::endl << std::flush;
// FILE *f = fopen("/tmp/img.pgm", "w");
// static bool save = false;
pgm_save(::img);
// save = false;
std::lock_guard<std::mutex> lg(pgm_image_mtx);
- qDebug() << "mutex locked";
- qDebug() << "image saved to array";
+ // 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;
+ // std::cout << "http: image2" << std::endl;
pgm_save(::img);
std::lock_guard<std::mutex> lg(pgm_image_mtx);
- qDebug() << "image2";
+ // qDebug() << "image2";
return QByteArray((const char*) pgm_image, pgm_image_size);
});
// qHttpServer.route("/v1/sensor/exposureTimeUs", [&]() {
@@ -403,12 +428,13 @@ int main(int argc, char* argv[])
// return "123";
// });
qHttpServer.route("/v1/pixels", [&]() {
- std::cout << "http: pixels" << std::endl;
+ // std::cout << "http: pixels" << std::endl;
std::lock_guard<std::mutex> lg(pgm_image_mtx);
QJsonArray pixels;
- for (size_t i = 0; i < img_width; ++i) {
+ for (size_t i = 0; i < img_width; ++i)
+ {
// pixels << img_height - img.pixels[i];
pixels << ::pixels.pixels[i];
}
@@ -426,7 +452,8 @@ int main(int argc, char* argv[])
QJsonArray jsonLines;
- for (const auto& l : lines) {
+ for (const auto& l : lines)
+ {
jsonLines << QJsonArray{QJsonArray{l.p1().x(), l.p1().y()},
QJsonArray{l.p2().x(), l.p2().y()}};
}
@@ -436,10 +463,13 @@ int main(int argc, char* argv[])
return QHttpServerResponse(QJsonDocument(json).toJson());
});
- qHttpServer.route("/v1/profile", [&]() {
- std::cout << "http: profile" << std::endl;
+ qHttpServer.route("/v1/profile", [&]() -> QHttpServerResponse {
+ // std::cout << "http: profile" << std::endl;
std::lock_guard<std::mutex> lg(pgm_image_mtx);
+ if (!::calibrationTableZ || !::calibrationTableX)
+ return QHttpServerResponse::StatusCode::ServiceUnavailable;
+
const Profile profile(::pixels,
::calibrationTableZ,
::calibrationTableX);
@@ -453,7 +483,8 @@ int main(int argc, char* argv[])
.route("/v1/commands/resetEncoder",
[&](const QHttpServerRequest& request) -> QHttpServerResponse {
std::cout << "http: resetEncoder" << std::endl;
- if (request.method() != QHttpServerRequest::Method::Post) {
+ if (request.method() != QHttpServerRequest::Method::Post)
+ {
return QHttpServerResponse::StatusCode::NotFound;
}
@@ -468,7 +499,8 @@ int main(int argc, char* argv[])
.route("/v1/commands/startCalibration",
[&](const QHttpServerRequest& request) -> QHttpServerResponse {
std::cout << "http: startCalibration" << std::endl;
- if (request.method() != QHttpServerRequest::Method::Post) {
+ if (request.method() != QHttpServerRequest::Method::Post)
+ {
return QHttpServerResponse::StatusCode::NotFound;
}
@@ -485,7 +517,8 @@ int main(int argc, char* argv[])
.route("/v1/commands/gCode",
[&](const QHttpServerRequest& request) -> QHttpServerResponse {
std::cout << "http: gCode" << std::endl;
- if (request.method() != QHttpServerRequest::Method::Post) {
+ if (request.method() != QHttpServerRequest::Method::Post)
+ {
return QHttpServerResponse::StatusCode::NotFound;
}
@@ -520,7 +553,8 @@ int main(int argc, char* argv[])
"/v1/sensor/params",
[&](const QHttpServerRequest& request) -> QHttpServerResponse {
std::cout << "http: params" << std::endl;
- switch (request.method()) {
+ switch (request.method())
+ {
case QHttpServerRequest::Method::Get: {
std::lock_guard<std::mutex> lg(pgm_image_mtx);
QJsonObject json;
@@ -557,21 +591,28 @@ int main(int argc, char* argv[])
auto json = QJsonDocument::fromJson(request.body()).object();
- if (json.contains(exposureTimeKey)) {
+ if (json.contains(exposureTimeKey))
+ {
const int32_t value{json[exposureTimeKey].toInt()};
- if (value == 0) {
- return QHttpServerResponse::StatusCode::NotFound;
- }
+ if (value == 0)
+ return QHttpServerResponse::StatusCode::
+ RequestRangeNotSatisfiable;
qDebug() << "set new exposure time:" << value;
- requested_params.exposureTime = value;
+
+ // requested_params.exposureTime = value;
+ if (!camera->setExposureTimeUs(value))
+ return QHttpServerResponse::StatusCode::
+ RequestRangeNotSatisfiable;
}
- if (json.contains(laserLevelKey)) {
+ if (json.contains(laserLevelKey))
+ {
const int32_t value{json[laserLevelKey].toInt()};
- if (value == 0) {
+ if (value == 0)
+ {
return QHttpServerResponse::StatusCode::NotFound;
}
@@ -582,7 +623,8 @@ int main(int argc, char* argv[])
"/sys/class/pwm/pwmchip2/pwm1/duty_cycle"};
QFile f{laserLevelFile};
- if (!f.open(QFile::ReadWrite)) {
+ if (!f.open(QFile::ReadWrite))
+ {
qDebug() << "cannot open laser level file:"
<< f.errorString();
qDebug() << "file path is" << f.fileName();
@@ -667,7 +709,8 @@ bool initLaser()
QFile f{pwmExportFile};
- if (!f.open(QFile::WriteOnly)) {
+ if (!f.open(QFile::WriteOnly))
+ {
qWarning() << "cannot open" << f.fileName() << "for writing";
qWarning() << "error:" << f.errorString();
@@ -684,7 +727,8 @@ bool initLaser()
f.close();
f.setFileName(periodFilename);
- if (!f.open(QFile::WriteOnly)) {
+ if (!f.open(QFile::WriteOnly))
+ {
qWarning() << "cannot open" << f.fileName() << "for writing";
qWarning() << "error:" << f.errorString();
@@ -699,7 +743,8 @@ bool initLaser()
f.close();
f.setFileName(dutyCycleFilename);
- if (!f.open(QFile::WriteOnly)) {
+ if (!f.open(QFile::WriteOnly))
+ {
qWarning() << "cannot open" << f.fileName() << "for writing";
qWarning() << "error:" << f.errorString();
@@ -714,7 +759,8 @@ bool initLaser()
f.close();
f.setFileName(enableFilename);
- if (!f.open(QFile::WriteOnly)) {
+ if (!f.open(QFile::WriteOnly))
+ {
qWarning() << "cannot open" << f.fileName() << "for writing";
qWarning() << "error:" << f.errorString();
diff --git a/src/camera/icamera.h b/src/camera/icamera.h
index 4245a68..588b23e 100644
--- a/src/camera/icamera.h
+++ b/src/camera/icamera.h
@@ -32,8 +32,14 @@
class ICamera
{
public:
+ virtual bool setExposureTimeUs(int value) = 0;
+ virtual bool setGain(int value) = 0;
+
+public:
libcamera::Signal<std::shared_ptr<Pixels>> newPixels;
libcamera::Signal<std::shared_ptr<Image>> newImage;
+ std::function<void(std::shared_ptr<Pixels>)> newPixelsCallback;
+ std::function<void(std::shared_ptr<Image>)> newImageCallback;
public:
virtual bool startStream() = 0;
diff --git a/src/camera/innomakerov9281.cpp b/src/camera/innomakerov9281.cpp
index a2d3136..73ceacb 100644
--- a/src/camera/innomakerov9281.cpp
+++ b/src/camera/innomakerov9281.cpp
@@ -15,7 +15,8 @@
// #include "rotaryencoder.h"
#define LOGD(...) \
- do { \
+ do \
+ { \
printf(__VA_ARGS__); \
printf("\n"); \
} while (0)
@@ -38,19 +39,23 @@ InnoMakerOV9281::~InnoMakerOV9281()
int ret{-1};
- for (int i = 0; i < BUFFER_COUNT; ++i) {
+ for (int i = 0; i < BUFFER_COUNT; ++i)
+ {
ret = munmap(video_buffer_ptr[i], img_size);
- if (ret < 0) {
+ if (ret < 0)
+ {
DBG("Munmap failed!!.");
}
}
// std::cout << __func__ << std::endl;
- if (m_cam_fd >= 0) {
+ if (m_cam_fd >= 0)
+ {
int ret = close(m_cam_fd);
- if (ret == -1) {
+ if (ret == -1)
+ {
// std::cout << __func__
// << ": cannot close camera: " << strerror(errno)
// << std::endl;
@@ -69,7 +74,7 @@ std::vector<std::shared_ptr<ICamera> > InnoMakerOV9281::search()
if (!cam->init())
return {};
- if (!cam->setExposureTimeMs(3000))
+ if (!cam->setExposureTimeUs(3000))
return {};
if (!cam->setGain(3000))
@@ -83,20 +88,30 @@ bool InnoMakerOV9281::startStream()
m_streamThread = std::jthread{[&](std::stop_token stopToken) {
std::cout << "InnoMakerOV9281: start stream" << std::endl;
- while (!stopToken.stop_requested()) {
+ while (!stopToken.stop_requested())
+ {
std::shared_ptr<Image> image = std::make_shared<Image>();
getImage(*image);
// FIXME: backup emit value
#ifdef emit
#undef emit
- std::cout << "emit new image" << std::endl << std::flush;
- newImage.emit(image);
- auto pixels = image->pixels();
- newPixels.emit(pixels);
+ // std::cout << "emit new image" << std::endl << std::flush;
+ // newImage.emit(image);
+ if (newImageCallback)
+ {
+ newImageCallback(image);
+ }
+ // newPixels.emit(pixels);
+ if (newPixelsCallback)
+ {
+ auto pixels = image->pixels();
+ newPixelsCallback(pixels);
+ }
}
#define emit
#endif
- std::cout << "InnoMakerOV9281: stream interruption requested" << std::endl;
+ std::cout << "InnoMakerOV9281: stream interruption requested"
+ << std::endl;
}};
return true;
@@ -116,9 +131,23 @@ bool InnoMakerOV9281::init()
return true;
}
-bool InnoMakerOV9281::setExposureTimeMs(int value)
+bool InnoMakerOV9281::setExposureTimeUs(int valueUs)
{
- return setCamParam(V4L2_CID_EXPOSURE, value);
+ std::cout << __func__ << ": " << valueUs << std::endl << std::flush;
+
+ /*
+ * Shutter Time. Value is from 8721ns to 8721*885ns, must be integral
+ * multiple of 8721ns .
+ * 8721xN(N =1,2,3,4,5.....855)
+ */
+ // constexpr int exposureStep{8721};
+ // constexpr int maxExposureStepMultiplier{885};
+ // auto valueNs = valueUs;
+ // valueNs = (valueNs / exposureStep) * exposureStep;
+
+ // std::clamp(valueNs, exposureStep, exposureStep * maxExposureStepMultiplier);
+
+ return setCamParam(V4L2_CID_EXPOSURE, valueUs);
}
bool InnoMakerOV9281::setGain(int value)
@@ -132,7 +161,8 @@ bool InnoMakerOV9281::setCamParam(unsigned int v4l2controlId, int value)
int ret = ioctl(m_cam_fd, VIDIOC_S_CTRL, &ctl);
- if (ret < 0) {
+ if (ret < 0)
+ {
fprintf(stderr,
"cannot set cam param: id - %d, error - '%s'\n",
v4l2controlId,
@@ -141,6 +171,20 @@ bool InnoMakerOV9281::setCamParam(unsigned int v4l2controlId, int value)
return false;
}
+ ret = ioctl(m_cam_fd, VIDIOC_G_CTRL, &ctl);
+
+ if (ret < 0)
+ {
+ fprintf(stderr,
+ "cannot get cam param: id - %d, error - '%s'\n",
+ v4l2controlId,
+ strerror(errno));
+
+ return false;
+ }
+
+ std::cout << __func__ << ": new value is " << ctl.value << std::endl;
+
return true;
}
@@ -148,8 +192,12 @@ bool InnoMakerOV9281::openCam()
{
m_cam_fd = open(videoDevice, O_RDWR);
- if (m_cam_fd < 0) {
- fprintf(stderr, "cannot open cam '%s', error: '%s'\n", videoDevice, strerror(errno));
+ if (m_cam_fd < 0)
+ {
+ fprintf(stderr,
+ "cannot open cam '%s', error: '%s'\n",
+ videoDevice,
+ strerror(errno));
return false;
}
@@ -161,8 +209,12 @@ bool InnoMakerOV9281::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));
+ if (ret < 0)
+ {
+ fprintf(stderr,
+ "cannot select cam: idx - %d, error - '%s'\n",
+ camIdx,
+ strerror(errno));
return false;
}
@@ -181,8 +233,11 @@ bool InnoMakerOV9281::initCam()
int ret = ioctl(m_cam_fd, VIDIOC_TRY_FMT, &format);
- if (ret < 0) {
- fprintf(stderr, "cannot try cam format: error - '%s'\n", strerror(errno));
+ if (ret < 0)
+ {
+ fprintf(stderr,
+ "cannot try cam format: error - '%s'\n",
+ strerror(errno));
return false;
}
@@ -192,8 +247,11 @@ bool InnoMakerOV9281::initCam()
ret = ioctl(m_cam_fd, VIDIOC_S_FMT, &format);
- if (ret < 0) {
- fprintf(stderr, "cannot set cam format: error - '%s'\n", strerror(errno));
+ if (ret < 0)
+ {
+ fprintf(stderr,
+ "cannot set cam format: error - '%s'\n",
+ strerror(errno));
return false;
}
@@ -204,13 +262,17 @@ bool InnoMakerOV9281::initCam()
request.memory = V4L2_MEMORY_MMAP;
ret = ioctl(m_cam_fd, VIDIOC_REQBUFS, &request);
- if (ret < 0) {
- fprintf(stderr, "cannot set cam request buffers: ioctl error - '%s'\n", strerror(errno));
+ if (ret < 0)
+ {
+ fprintf(stderr,
+ "cannot set cam request buffers: ioctl error - '%s'\n",
+ strerror(errno));
return false;
}
- if (request.count < BUFFER_COUNT) {
+ if (request.count < BUFFER_COUNT)
+ {
fprintf(stderr, "cannot set cam request buffers\n");
return false;
@@ -221,20 +283,27 @@ bool InnoMakerOV9281::initCam()
buffer.type = request.type;
buffer.memory = V4L2_MEMORY_MMAP;
- for (uint32_t i = 0; i < request.count; i++) {
+ for (uint32_t i = 0; i < request.count; i++)
+ {
buffer.index = i;
ret = ioctl(m_cam_fd, VIDIOC_QUERYBUF, &buffer);
- if (ret < 0) {
+ if (ret < 0)
+ {
DBG("ioctl(VIDIOC_QUERYBUF) failed %d(%s)", errno, strerror(errno));
return false;
}
DBG("buffer.length: %d", buffer.length);
DBG("buffer.m.offset: %d", buffer.m.offset);
- video_buffer_ptr[i] = (uint8_t *)
- mmap(NULL, buffer.length, PROT_READ | PROT_WRITE, MAP_SHARED, m_cam_fd, buffer.m.offset);
- if (video_buffer_ptr[i] == MAP_FAILED) {
+ video_buffer_ptr[i] = (uint8_t *) mmap(NULL,
+ buffer.length,
+ PROT_READ | PROT_WRITE,
+ MAP_SHARED,
+ m_cam_fd,
+ buffer.m.offset);
+ if (video_buffer_ptr[i] == MAP_FAILED)
+ {
DBG("mmap() failed %d(%s)", errno, strerror(errno));
return false;
}
@@ -243,7 +312,8 @@ bool InnoMakerOV9281::initCam()
buffer.memory = V4L2_MEMORY_MMAP;
buffer.index = i;
ret = ioctl(m_cam_fd, VIDIOC_QBUF, &buffer);
- if (ret != 0) {
+ if (ret != 0)
+ {
DBG("ioctl(VIDIOC_QBUF) failed %d(%s)", errno, strerror(errno));
return false;
}
@@ -251,7 +321,8 @@ bool InnoMakerOV9281::initCam()
int buffer_type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
ret = ioctl(m_cam_fd, VIDIOC_STREAMON, &buffer_type);
- if (ret != 0) {
+ if (ret != 0)
+ {
DBG("ioctl(VIDIOC_STREAMON) failed %d(%s)", errno, strerror(errno));
return false;
}
@@ -271,7 +342,8 @@ bool InnoMakerOV9281::getImage(Image &image)
double elapsedTime = (curr.tv_sec - prev.tv_sec) * 1000.0; // sec to ms
elapsedTime += (curr.tv_usec - prev.tv_usec) / 1000.0; // us to ms
- if (elapsedTime > 1000.) {
+ if (elapsedTime > 1000.)
+ {
// fprintf(stderr, "fps: %d, sec: %d\n", counter, curr.tv_sec);
fprintf(stderr,
"sum: %d,\tcorr: %d,\tval: %d\n",
@@ -298,12 +370,14 @@ bool InnoMakerOV9281::getImage(Image &image)
ret = ioctl(m_cam_fd, VIDIOC_DQBUF, &buffer);
- if (ret != 0) {
+ if (ret != 0)
+ {
DBG("ioctl(VIDIOC_DQBUF) failed %d(%s)", errno, strerror(errno));
return false;
}
- if (buffer.index < 0 || buffer.index >= BUFFER_COUNT) {
+ if (buffer.index < 0 || buffer.index >= BUFFER_COUNT)
+ {
DBG("invalid buffer index: %d", buffer.index);
return false;
}
@@ -313,12 +387,14 @@ bool InnoMakerOV9281::getImage(Image &image)
// TODO: fill
// image.counters.encoderPosition = RotaryEncoder::instance()->position();
image.counters.measurementCounter = buffer.sequence;
- image.counters.timestampUs = buffer.timestamp.tv_sec * 1000 * 1000 + buffer.timestamp.tv_usec;
+ image.counters.timestampUs = buffer.timestamp.tv_sec * 1000 * 1000 +
+ buffer.timestamp.tv_usec;
memcpy(image.data, video_buffer_ptr[buffer.index], img_size);
ret = ioctl(m_cam_fd, VIDIOC_QBUF, &buffer);
- if (ret != 0) {
+ if (ret != 0)
+ {
DBG("ioctl(VIDIOC_QBUF) failed %d(%s)", errno, strerror(errno));
return false;
}
diff --git a/src/camera/innomakerov9281.h b/src/camera/innomakerov9281.h
index 2c1fb7c..8c3a14e 100644
--- a/src/camera/innomakerov9281.h
+++ b/src/camera/innomakerov9281.h
@@ -24,12 +24,12 @@ public:
static std::vector<std::shared_ptr<ICamera>> search();
public:
- bool startStream();
+ bool startStream() override;
bool init();
- bool setExposureTimeMs(int value);
- bool setGain(int value);
+ bool setExposureTimeUs(int value) override;
+ bool setGain(int value) override;
bool getImage(Image &image);
diff --git a/src/camera/ov9281.h b/src/camera/ov9281.h
index 83a86ac..6014483 100644
--- a/src/camera/ov9281.h
+++ b/src/camera/ov9281.h
@@ -23,7 +23,7 @@ class Pixels;
class OV9281 : public QObject, public ICamera
{
- Q_OBJECT
+ // Q_OBJECT
public:
~OV9281();
@@ -37,6 +37,17 @@ public:
bool startStream() override;
void printControls();
+ bool setExposureTimeUs(int value) override
+ {
+ assert(false);
+ return false;
+ };
+ bool setGain(int value) override
+ {
+ assert(false);
+ return false;
+ };
+
// signals
public:
// TODO: image->pixels in separate thread
generated by cgit v1.2.3-70-g09d2 (git 2.52.0) at 2025-12-08 12:50:24 +0000