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-rw-r--r--src/camera/veye_i2c.cpp53
-rw-r--r--src/camera/veye_i2c.h19
-rw-r--r--src/camera/veyeimx287m.cpp94
-rw-r--r--src/camera/veyeimx287m.h25
4 files changed, 123 insertions, 68 deletions
diff --git a/src/camera/veye_i2c.cpp b/src/camera/veye_i2c.cpp
index 9d04d9b..c34da51 100644
--- a/src/camera/veye_i2c.cpp
+++ b/src/camera/veye_i2c.cpp
@@ -15,15 +15,17 @@
bool veye::imx287m::i2cRead(int fd, uint8_t i2c_addr, uint16_t reg, uint32_t &value)
{
int err;
- int i = 0;
- uint8_t buf[2] = {reg >> 8, reg & 0xff};
+ uint8_t bufin[2] = {reg >> 8, reg & 0xff};
uint8_t bufout[4] = {0};
struct i2c_msg msgs[2] = {
- {.addr = i2c_addr,
- .flags = 0,
- .len = 2,
- // .buf = (uint8_t *) (&reg),
- .buf = buf},
+ {
+ //
+ .addr = i2c_addr,
+ .flags = 0,
+ .len = 2,
+ .buf = bufin
+ //
+ },
{
.addr = i2c_addr,
.flags = I2C_M_RD,
@@ -39,7 +41,7 @@ bool veye::imx287m::i2cRead(int fd, uint8_t i2c_addr, uint16_t reg, uint32_t &va
err = ioctl(fd, I2C_RDWR, &msgset);
//printf("Read i2c addr %02X\n", i2c_addr);
if (err != msgset.nmsgs) {
- std::cerr << "Read i2c err " << err << std::endl;
+ std::cerr << "read i2c err " << err << std::endl;
return false;
}
@@ -51,7 +53,8 @@ bool veye::imx287m::i2cRead(int fd, uint8_t i2c_addr, uint16_t reg, uint32_t &va
bool veye::imx287m::test(uint32_t value)
{
- const std::string i2cDevName{"/dev/i2c-10"};
+ // const std::string i2cDevName{"/dev/i2c-10"};
+ const std::string i2cDevName{"/dev/i2c-2"};
constexpr uint32_t i2cDevAddr{0x3b};
int fd = open(i2cDevName.c_str(), O_RDWR);
@@ -104,3 +107,35 @@ bool veye::imx287m::i2cWrite(int fd, uint16_t reg, const uint32_t value)
return true;
}
+
+veye::imx287m::i2c::i2c(const std::string &name, const int address)
+ : m_name{name}
+ , m_address{address}
+{}
+
+veye::imx287m::i2c::~i2c()
+{
+ if (m_fd > 0) {
+ close(m_fd);
+ }
+}
+
+bool veye::imx287m::i2c::open()
+{
+ m_fd = ::open(m_name.c_str(), O_RDWR);
+
+ if (!m_fd) {
+ std::cerr << "cannot open i2c device " << m_name << ", error: " << strerror(errno)
+ << std::endl;
+ return false;
+ }
+
+ if (ioctl(m_fd, I2C_SLAVE_FORCE, m_address) < 0) {
+ std::cerr << "cannot set i2c slave. dev: " << m_name << ", addr: " << m_address
+ << ", error: " << strerror(errno) << std::endl;
+
+ return false;
+ }
+
+ return true;
+}
diff --git a/src/camera/veye_i2c.h b/src/camera/veye_i2c.h
index 1638976..001d483 100644
--- a/src/camera/veye_i2c.h
+++ b/src/camera/veye_i2c.h
@@ -1,9 +1,28 @@
#pragma once
#include <cstdint>
+#include <string>
namespace veye {
namespace imx287m {
+class i2c
+{
+public:
+ i2c(const std::string &name = "/dev/i2c-2", const int address = 0x3b);
+ ~i2c();
+
+public:
+ bool read(uint16_t reg, uint32_t &value);
+ bool write(uint16_t reg, const uint32_t value);
+
+private:
+ bool open();
+
+private:
+ int m_fd{-1};
+ std::string m_name;
+ int m_address{-1};
+};
bool i2cRead(int fd, uint8_t i2c_addr, uint16_t reg, uint32_t &value);
bool i2cWrite(int fd, uint16_t reg, const uint32_t value);
diff --git a/src/camera/veyeimx287m.cpp b/src/camera/veyeimx287m.cpp
index 16ab344..3f3a9e6 100644
--- a/src/camera/veyeimx287m.cpp
+++ b/src/camera/veyeimx287m.cpp
@@ -16,7 +16,11 @@
#include <QElapsedTimer>
+<<<<<<< Updated upstream
// orpheus
+=======
+#include "camera/veye_i2c.h"
+>>>>>>> Stashed changes
#include "constants.h"
#include "httpservice.h"
#include "imagealgos.h"
@@ -316,8 +320,31 @@ bool VeyeIMX287m::init()
return true;
}
+bool VeyeIMX287m::setExposureTime(const std::chrono::microseconds us)
+{
+ const std::string i2c_dev{"/dev/i2c-2"};
+ const auto address = 0x3b;
+ const auto metime_reg = 0xc10;
+ const auto val = us.count();
+
+ const int fd = open(i2c_dev.c_str(), O_RDWR);
+
+ if (!fd) {
+ std::cerr << "cannot open i2c dev: " << i2c_dev << ", errno: " << errno << " ("
+ << strerror(errno) << ")" << std::endl;
+ return false;
+ }
+
+ return true;
+}
+
bool VeyeIMX287m::setExposureTimeUs(int valueUs)
{
+ std::cout << "AAAAAAAAAAAAAAAAAAAAAAAAAAAAA: " << __func__ << ": " << valueUs << std::endl;
+ const std::string i2c_dev{"/dev/i2c-2"};
+ const auto address = 0x3b;
+ const auto metime_reg = 0xc10;
+
//return true;
std::cout << __func__ << ": " << V4L2_CID_EXPOSURE << " - " << valueUs << std::endl
<< std::flush;
@@ -373,6 +400,8 @@ bool VeyeIMX287m::setSomething(int value)
bool VeyeIMX287m::setCamParam(unsigned int v4l2controlId, int value)
{
+ veye::imx287m::test(value);
+
std::cout << "radxa: skip setCamParam" << std::endl;
return true;
@@ -625,6 +654,7 @@ bool VeyeIMX287m::initCam()
return true;
}
+<<<<<<< Updated upstream
bool VeyeIMX287m::initHttpServer()
{
m_httpServer = std::make_shared<HttpServer>(this);
@@ -647,47 +677,30 @@ void VeyeIMX287m::dequeueFrameLoop(std::stop_token stopToken)
// std::cout << "VeyeIMX287m: stream interruption requested" << std::endl;
}
+=======
+>>>>>>> Stashed changes
void VeyeIMX287m::calcFrameLoop(std::stop_token stopToken)
{
QElapsedTimer t;
while (!stopToken.stop_requested()) {
- size_t bufferIdx{};
+ size_t bufferIdx{std::numeric_limits<size_t>::max()};
if (!dequeueImageBuffer(bufferIdx)) {
- std::cout << "AAAAAAAAAAAAAAAAAA" << std::endl;
continue;
}
- // std::lock_guard img_lock{m_imageMutexes[bufferIdx]};
+ std::lock_guard lock{m_imageMutexes[bufferIdx]};
+
auto &image = m_images[bufferIdx];
{
t.start();
- // auto &src = *(Image::data_t *) m_videoBuffers[bufferIdx];
+
auto &src = *(Image::radxa_data_t *) m_videoBuffers[bufferIdx];
auto &dst = image.data;
Image::copy(dst, src);
- // #pragma omp parallel for num_threads(4)
- // for (size_t i = 0; i < img_height; ++i) {
- // memcpy(dst[i].data(), src[i].data(), img_width);
- // }
-
- // for (std::tuple<Image::row_t, Image::row_t> dst_src : std::views::zip())
-
- // auto &dst = *(Image::data_t *) m_videoBuffers[bufferIdx];
- // std::transform(std::execution::unseq,
- // src.begin(),
- // src.end(),
- // dst.begin(),
- // src.begin(),
- // [](auto &srcRow, auto &dstRow) -> Image::row_t {
- // // memcpy(dstRow.data(), srcRow.data(), img_width);
- // return dstRow;
- // // return Image::row_t(dst.begin(), dst.begin() + img_width);
- // });
- // memcpy(&image.data, m_videoBuffers[bufferIdx], radxa_raw_img_size);
get_elapsed_ns += t.nsecsElapsed();
}
@@ -756,26 +769,17 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
buf.length = VIDEO_MAX_PLANES;
buf.m.planes = planes;
static uint16_t requestIdx{0};
- // buffer.index = BUFFER_COUNT;
- const auto tmpIdx = requestIdx++ % BUFFER_COUNT;
buf.index = requestIdx++ % BUFFER_COUNT;
{
- QElapsedTimer t;
- t.start();
-
- auto oldIdx = buf.index;
// m_bufferMutexes[buffer.index].lock();
{
std::lock_guard<std::mutex> lock(m_camMtx);
+ QElapsedTimer t;
+ t.start();
ret = ioctl(m_cam_fd, VIDIOC_DQBUF, &buf);
- }
-
- // m_bufferMutexes[buffer.index].unlock();
- auto newIdx = buf.index;
-
- if (oldIdx != newIdx) {
- // std::cout << "AAAAAAAAAAAAAA " << oldIdx << ' ' << newIdx << std::endl;
+ ++counter;
+ dq_elapsed_ns += t.nsecsElapsed();
}
if (ret != 0) {
@@ -788,16 +792,9 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
std::cerr << "invalid buffer index: " << buf.index << std::endl;
return false;
}
-
- // std::lock_guard<std::mutex> lock(m_queueMtx);
- // m_buffersQueue.push(buffer.index);
- ++counter;
- dq_elapsed_ns += t.nsecsElapsed();
}
- // auto &image = video_buffer_ptr[buffer.index];
imageIndex = buf.index;
- // std::cout << "index: " << imageIndex << '\t' << tmpIdx << std::endl;
auto &image = m_images[buf.index];
image.height = img_height;
image.width = img_width;
@@ -830,24 +827,19 @@ bool VeyeIMX287m::getImage(Image &image)
size_t bufferIdx{};
if (!dequeueImageBuffer(bufferIdx)) {
- std::cout << "AAAAAAAAAAAAAAAAAA" << std::endl;
return false;
}
+ // TODO: remove this bullshit. return ptr to image or copy image metainfo
+ // only, then copy data
image = std::move(m_images[bufferIdx]);
{
QElapsedTimer t;
t.start();
- // memcpy(&image.data, m_videoBuffers[bufferIdx], img_size);
+ std::lock_guard lock{m_imageMutexes[bufferIdx]};
auto &src = *(Image::radxa_data_t *) m_videoBuffers[bufferIdx];
auto &dst = image.data;
Image::copy(dst, src);
-
- // #pragma omp parallel for num_threads(4)
- // for (size_t i = 0; i < img_height; ++i) {
- // memcpy(dst[i].data(), src[i].data(), img_width);
- // }
- // memcpy(&image.data, buffers[bufferIdx].mem[0], img_size);
get_elapsed_ns += t.nsecsElapsed();
}
diff --git a/src/camera/veyeimx287m.h b/src/camera/veyeimx287m.h
index 5afc84b..7d7e2c6 100644
--- a/src/camera/veyeimx287m.h
+++ b/src/camera/veyeimx287m.h
@@ -31,6 +31,7 @@ public:
bool init();
+ bool setExposureTime(const std::chrono::microseconds us);
bool setExposureTimeUs(int value) override;
bool setGain(int value) override;
@@ -38,14 +39,14 @@ public:
bool setSomething(int value) override;
- // bool dequeueImageBuffer(Image &image);
bool dequeueImageBuffer(size_t &image);
bool getImage(Image &image);
- // Image &getImage();
public:
- // libcamera::Signal<std::shared_ptr<Pixels>> newPixels;
- // libcamera::Signal<std::shared_ptr<Image>> newImage;
+ /*!
+ * \brief processedCounter - count of images processed in current second.
+ * Used for performance measurement and bottlenecks analysing
+ */
uint32_t processedCounter{0};
private:
@@ -55,18 +56,26 @@ private:
bool initCam();
bool initHttpServer();
- void dequeueFrameLoop(std::stop_token stopToken);
void calcFrameLoop(std::stop_token stopToken);
private:
+ /*!
+ * \brief m_cam_fd - camera file descriptor
+ */
int m_cam_fd{-1};
static constexpr uint8_t BUFFER_COUNT{16};
- struct v4l2_plane planes[VIDEO_MAX_PLANES];
- std::array<std::mutex, BUFFER_COUNT> m_imageMutexes;
std::array<Image, BUFFER_COUNT> m_images;
- std::array<std::mutex, BUFFER_COUNT> m_bufferMutexes;
+ /*!
+ * \brief m_imageMutexes - lock while processing image from m_images
+ */
+ std::array<std::mutex, BUFFER_COUNT> m_imageMutexes;
+ /*!
+ * \todo copy image right after dequeue to avoid situation with ioctl writing
+ * to m_videoBuffers[i] which is being copied to m_images[i]. In theory, it
+ * should not overlap if BUFFER_COUNT > theads count
+ */
std::array<uint8_t *, BUFFER_COUNT> m_videoBuffers;
struct buffer
generated by cgit v1.2.3-70-g09d2 (git 2.52.0) at 2025-12-08 12:54:03 +0000