diff options
Diffstat (limited to 'main.cpp')
| -rw-r--r-- | main.cpp | 795 |
1 files changed, 0 insertions, 795 deletions
diff --git a/main.cpp b/main.cpp deleted file mode 100644 index 2166b3a..0000000 --- a/main.cpp +++ /dev/null @@ -1,795 +0,0 @@ -#include <chrono> -#include <errno.h> -#include <fstream> -#include <iostream> -#include <iterator> -#include <string.h> -#include <sys/mman.h> -#include <thread> - -#include "LibCamera.h" -#include "calibration.h" -#include "camera/innomakerov9281.h" -#include "camera/ov9281.h" -#include "dumps.h" -#include "fuck_intel.h" -#include "genetic_algos.h" -#include "httpservice.h" -#include "imagealgos.h" -#include "laser.h" -#include "macro.h" -#include "pigpio.h" -#include "printerclient.h" -#include "profile.h" -#include "rotaryencoder.h" - -#include <QCoreApplication> -#include <QDebug> -#include <QDir> -#include <QFile> -#include <QHttpServer> -#include <QImage> -#include <QJsonArray> -#include <QJsonDocument> -#include <QJsonObject> -#include <QSerialPort> -#include <QTextStream> -#include <QTimer> -#include <QtConcurrent/QtConcurrent> - -#define try_apply_config() \ - if (!applyConfig(config)) \ - { \ - camera->release(); \ - cm->stop(); \ -\ - return EXIT_FAILURE; \ - } - -ScanningModeFlags scanningModeFlags{ScanningModeFlags::None}; - -QElapsedTimer calibrationTimer; - -extern volatile int32_t positionSteps; - -requested_params_t requested_params; - -namespace { -std::shared_ptr<Image> img; -Pixels pixels; -std::vector<Pixels> calibrationPixels; -QMutex calibrationPixelsMutex; -} // namespace - -using namespace std::chrono_literals; - -// static std::shared_ptr<libcamera::Camera> camera; -// std::unique_ptr<libcamera::CameraConfiguration> config; -// static std::map<int, std::pair<void*, unsigned int>> mappedBuffers_; -// std::vector<std::unique_ptr<libcamera::Request>> requests; -libcamera::ControlList lastControls; - -namespace { -CalibrationTablePtr calibrationTableZ; -CalibrationTablePtr calibrationTableX; -} // namespace - -// static bool applyConfig( -// const std::unique_ptr<libcamera::CameraConfiguration>& config -// ); -// static void onRequestCompleted(libcamera::Request* completed_request); -// static void printControls(); -// static QList<Pixels> filter(const QList<Pixels>& rawProfiles); - -auto printPixels = [](const auto& pixels) { - for (size_t i = (img_width - 10) / 2; - i < img_width - ((img_width - 10) / 2); - ++i) - { - std::cout << pixels[i] << " "; - } - std::cout << std::endl; -}; - -void onNewImage(std::shared_ptr<Image> image) -{ - // std::cout << __func__ << std::endl << std::flush; - - if (!image) - { - qDebug() << __func__ << "no image"; - return; - } - - ::img = image; -} - -void onNewPixels(std::shared_ptr<Pixels> pixels) -{ - // std::cout << __func__ << std::endl << std::flush; - - if (!pixels) - { - qDebug() << __func__ << "got null pixels"; - } - - if (!*pixels) - { - // qDebug() << __func__ << "got empty pixels"; - } - - for (size_t i = 640 - 5; i < 640 + 5; i++) - { - // std::cout << pixels->pixels[i] << " "; - } - - // std::cout << std::endl - - ::pixels = *pixels; -} - -bool initLaser(); - -int main(int argc, char* argv[]) -{ - QCoreApplication app(argc, argv); - - QList<QFuture<void>> initializers; - -#ifdef INNO_MAKER - if (false) - { - std::cout << std::boolalpha; - InnoMakerOV9281 innoMakerCam; - qDebug() << "init:" << innoMakerCam.init(); - qDebug() << "set exposure:" << innoMakerCam.setExposureTimeUs(3000000); - qDebug() << "set gain:" << innoMakerCam.setGain(2); - - innoMakerCam.startStream(); - QThread::sleep(3); - qDebug() << "should be stopped"; - // Image buf; - - // for (size_t i = 0; i < 1000; ++i) { - // if (!innoMakerCam.getImage(buf)) { - // break; - // } - - // buf.rotate(); - // auto pixels = buf.pixels(); - // } - } - // qDebug() << "ok"; - // exit(EXIT_SUCCESS); -#endif - - // if (false) - qDebug() << "size of raw profile" << sizeof(Pixels); - if (true) - { - // open binary calibration table - 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) - { - // z - // if (!openCalibrationTable( - // "/home/user/dumps/binz.calibration_table", - // ::calibrationTableZ - // )) - // { - // exit(EXIT_FAILURE); - // } - - // if (!calibrationTableToImage(::calibrationTableZ) - // .save("/home/user/dumps/imageZ.png")) - // { - // qDebug() << "cannot save imageZ.png"; - // exit(EXIT_FAILURE); - // } - - // interpolate(::calibrationTableZ); - // exit(EXIT_SUCCESS); - - // calibrationTableToImage(::calibrationTableZ) - // .save("/home/user/dumps/imageZ_interpolated.png"); - - auto rawProfiles = openDump("/home/user/dumps/binx"); - qDebug() << "raw x-profiles count is" << rawProfiles.size(); - // qDebug() << "height" << calibrationColumnHeight; - - auto filteredRawProfiles = filter(std::move(rawProfiles)); - qDebug() << "filtered x-profiles count is" - << filteredRawProfiles.count(); - - ::calibrationTableX = calibrateX(std::move(filteredRawProfiles)); - - // for (size_t i = 9471; i < 9472; i++) { - // std::cout << "row #" << i << ": "; - - // for (size_t j = 0; j < 1280; ++j) { - // const auto& p = ::calibrationTableX->at(j).at(i); - // std::cout << p << ' '; - // } - - // std::cout << std::endl; - // } - - // x - // qDebug() << "open x table"; - // if (!openCalibrationTable("/home/user/dumps/binx.calibration_table", - // ::calibrationTableX)) { - // exit(EXIT_FAILURE); - // } - - // if (!calibrationTableToImage(::calibrationTableX) - // .save("/home/user/dumps/imageX.png")) { - // qDebug() << "cannot save imageX.png"; - // exit(EXIT_FAILURE); - // } - - // for (size_t i = 9471; i < 9472; i++) { - // std::cout << "row #" << i << ": "; - - // for (size_t j = 0; j < 1280; ++j) { - // const auto& p = ::calibrationTableX->at(j).at(i); - // std::cout << p << ' '; - // } - - // std::cout << std::endl; - // } - - // exit(EXIT_SUCCESS); - interpolate(::calibrationTableX); - - // calibrationTableToImage(::calibrationTableX) - // .save("/home/user/dumps/imageX_interpolated.png"); - } - - // load binary calibration dumps and calibrate - 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(); - // qDebug() << "height" << calibrationColumnHeight; - - auto filteredRawProfiles = filter(std::move(rawProfiles)); - qDebug() << "filtered z-profiles count is" - << filteredRawProfiles.count(); - - ::calibrationTableZ = calibrateZ(std::move(filteredRawProfiles), - requested_params.stepsPerMm); - - // bool ok = calibrationTableToImage(::calibrationTableZ) - // .save("/home/user/dumps/z/imageZ.png"); - - // if (!ok) - // { - // qDebug() << "cannot save imageZ.png"; - // exit(EXIT_FAILURE); - // } - - interpolate(::calibrationTableZ); - - if (!dump(::calibrationTableZ, - "/home/user/dumps/binz.calibration_table")) - { - qApp->exit(EXIT_FAILURE); - } - // calibrationTableToImage(::calibrationTableZ) - // .save("/home/user/dumps/z/imageZ_interpolated.png"); - // exit(EXIT_SUCCESS); - } - - qDebug() - << "--------------------------------------------------------"; - - if (true) - { - auto rawProfiles = openDump("/home/user/dumps/binx"); - qDebug() << "raw x-profiles count is" << rawProfiles.size(); - // qDebug() << "height" << calibrationColumnHeight; - - auto filteredRawProfiles = filter(std::move(rawProfiles)); - qDebug() << "filtered x-profiles count is" - << filteredRawProfiles.count(); - - ::calibrationTableX = calibrateX(std::move(filteredRawProfiles)); - - // bool ok = calibrationTableToImage(::calibrationTableX) - // .save("/home/user/dumps/z/imageX.png"); - - // if (!ok) - // { - // qDebug() << "cannot save imageX.png"; - // exit(EXIT_FAILURE); - // } - - interpolate(::calibrationTableX); - - if (!dump(::calibrationTableX, - "/home/user/dumps/binx.calibration_table")) - { - qApp->exit(EXIT_FAILURE); - } - - // calibrationTableToImage(::calibrationTableX) - // .save("/home/user/dumps/z/imageX_interpolated.png"); - } - } - } - - // exit(EXIT_SUCCESS); - - // if (!initLaser()) { - // return EXIT_FAILURE; - // } - - // PrinterClient printerClient; - - QElapsedTimer t; - t.start(); - - qDebug() << "msecs before encoder:" << t.elapsed(); - - RotaryEncoder encoder; - - qDebug() << "msecs before camera:" << t.elapsed(); - // FIXME: don't use one var for everything - int ret; -#ifndef INNO_MAKER - std::unique_ptr<libcamera::CameraManager> cm = - std::make_unique<libcamera::CameraManager>(); - cm->start(); -#endif - // const auto cameras = cm->cameras(); - // const auto cameras = OV9281::search(cm); - const auto cameras = InnoMakerOV9281::search(); - // const auto cameras = - - if (cameras.empty()) - { - std::cerr << "No cameras were identified on the system." << std::endl; -#ifndef INNO_MAKER - cm->stop(); -#endif - - return EXIT_FAILURE; - } - - auto camera = cameras.at(0); - -#ifndef INNO_MAKER - camera->printControls(); -#endif - - 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()) - { -#ifndef INNO_MAKER - cm->stop(); -#endif - - return EXIT_FAILURE; - } - - QHttpServer qHttpServer; - qHttpServer.route("/v1/sensor/image", [&]() { - // 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"; - 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); - }); - // qHttpServer.route("/v1/sensor/exposureTimeUs", [&]() { - // // std::lock_guard<std::mutex> lg(pgm_image_mtx); - // return "123"; - // }); - qHttpServer.route("/v1/pixels", [&]() { - // 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) - { - // pixels << img_height - img.pixels[i]; - pixels << ::pixels.pixels[i]; - } - - QJsonObject json; - 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); - - const auto lines = pixelsToLines(::pixels); - - // qDebug() << "lines count is " << lines.count(); - - QJsonArray jsonLines; - - for (const auto& l : lines) - { - jsonLines << QJsonArray{QJsonArray{l.p1().x(), l.p1().y()}, - QJsonArray{l.p2().x(), l.p2().y()}}; - } - - json["lines"] = jsonLines; - - return QHttpServerResponse(QJsonDocument(json).toJson()); - }); - - 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); - - const QJsonObject json{{"profile", QJsonObject(profile)}}; - - return QHttpServerResponse(QJsonDocument(json).toJson()); - }); - - qHttpServer - .route("/v1/commands/resetEncoder", - [&](const QHttpServerRequest& request) -> QHttpServerResponse { - std::cout << "http: resetEncoder" << std::endl; - if (request.method() != QHttpServerRequest::Method::Post) - { - return QHttpServerResponse::StatusCode::NotFound; - } - - qDebug() << "reset encoder"; - - positionSteps = 0; - - return QHttpServerResponse::StatusCode::Ok; - }); - - qHttpServer - .route("/v1/commands/startCalibration", - [&](const QHttpServerRequest& request) -> QHttpServerResponse { - std::cout << "http: startCalibration" << std::endl; - if (request.method() != QHttpServerRequest::Method::Post) - { - return QHttpServerResponse::StatusCode::NotFound; - } - - qDebug() << "start calibration"; - - // TODO: use flags - scanningModeFlags = ScanningModeFlags::Calibration; - calibrationTimer.start(); - - return QHttpServerResponse::StatusCode::Ok; - }); - - qHttpServer - .route("/v1/commands/gCode", - [&](const QHttpServerRequest& request) -> QHttpServerResponse { - std::cout << "http: gCode" << std::endl; - if (request.method() != QHttpServerRequest::Method::Post) - { - return QHttpServerResponse::StatusCode::NotFound; - } - - const auto command = request.body(); - - qDebug() << "send gCode:" << command; - - // printerClient.sendCommand(command); - - return QHttpServerResponse::StatusCode::Ok; - }); - - // qHttpServer - // .route("/v1/commands/startCalibration", - // [&](const QHttpServerRequest& request) -> QHttpServerResponse { - // std::cout << "http: startCalibration" << std::endl; - // if (request.method() != QHttpServerRequest::Method::Post) - // { - // return QHttpServerResponse::StatusCode::NotFound; - // } - - // const auto command = request.body(); - - // qDebug() << "send gCode:" << command; - - // // printerClient.sendCommand(command); - - // return QHttpServerResponse::StatusCode::Ok; - // }); - - qHttpServer.route( - "/v1/sensor/params", - [&](const QHttpServerRequest& request) -> QHttpServerResponse { - // std::cout << "http: params" << std::endl; - switch (request.method()) - { - case QHttpServerRequest::Method::Get: { - std::lock_guard<std::mutex> lg(pgm_image_mtx); - QJsonObject json; - - // const libcamera::ControlIdMap& ctrlIdMap = - // camera->controls().idmap(); - - // qDebug() << "readParams:" << lastControls.size(); - // qDebug() << request.method(); - - // for (const auto& [id, value] : lastControls) - // { - // const libcamera::ControlId* controlId = ctrlIdMap.at(id); - // auto name = QString::fromStdString(controlId->name()); - // const auto valueStr = - // QString::fromStdString(value.toString()); - // qDebug() - // << "\t param:" << controlId->id() << name << valueStr; - - // name[0] = name[0].toLower(); - // json[name] = valueStr; - // } - - // json[laserLevelKey] = requested_params.laserLevel; - - // qDebug() << "response body:" << json; - - // QHttpServerResponse - return QHttpServerResponse(QJsonDocument(json).toJson()); - } - - case QHttpServerRequest::Method::Post: { - // qDebug() << "request body:" << request.body(); - - auto json = QJsonDocument::fromJson(request.body()).object(); - - if (json.contains(exposureTimeKey)) - { - const int32_t value{json[exposureTimeKey].toInt()}; - - if (value == 0) - return QHttpServerResponse::StatusCode:: - RequestRangeNotSatisfiable; - - // qDebug() << "set new exposure time:" << value; - - // requested_params.exposureTime = value; - if (!camera->setExposureTimeUs(value)) - return QHttpServerResponse::StatusCode:: - RequestRangeNotSatisfiable; - } - - if (json.contains(gainKey)) - { - const int32_t value{json[gainKey].toInt()}; - - if (value == 0) - return QHttpServerResponse::StatusCode:: - RequestRangeNotSatisfiable; - - // qDebug() << "set gain:" << value; - - // requested_params.exposureTime = value; - if (!camera->setGain(value)) - return QHttpServerResponse::StatusCode:: - RequestRangeNotSatisfiable; - } - - if (json.contains(laserLevelKey)) - { - const int32_t value{json[laserLevelKey].toInt()}; - - // if (value == 0) - // { - // return QHttpServerResponse::StatusCode::NotFound; - // } - - // qDebug() << "set new laserLevel:" << value; - if (!camera->setLaserLevel(value)) - return QHttpServerResponse::StatusCode:: - RequestRangeNotSatisfiable; - - requested_params.laserLevel = value; - - // const QString laserLevelFile{ - // "/sys/class/pwm/pwmchip2/pwm1/duty_cycle"}; - // QFile f{laserLevelFile}; - - // if (!f.open(QFile::ReadWrite)) - // { - // qDebug() << "cannot open laser level file:" - // << f.errorString(); - // qDebug() << "file path is" << f.fileName(); - // return QHttpServerResponse::StatusCode::InternalServerError; - // } - - // QTextStream s{&f}; - - // s << value; - - // s >> requested_params.laserLevel; - - // qDebug() << "done with laser level"; - } - - return QHttpServerResponse(request.body()); - } - default: { - return QHttpServerResponse( - QByteArray("unsupported http method")); - } - } - }); - - qDebug() << "listen: " << qHttpServer.listen(QHostAddress::Any, 8081); - - QFuture<void> future = QtConcurrent::run([]() { - Port port(8080); - Address addr(Ipv4::any(), port); - - HttpService httpService(addr); - - size_t threads_count = 1; - httpService.init(threads_count); - httpService.start(); - }); - - //////////////////////////////////////////////////////////////////////////// - std::clog << std::flush; - std::cerr << std::flush; - std::cout << "ok for now" << std::endl << std::flush; - - // camera->stop(); - // camera->release(); - // cm->stop(); - - auto result = app.exec(); - - future.cancel(); - future.waitForFinished(); - - // for (auto& [fd, mem] : mappedBuffers_) - // { - // munmap(mem.first, mem.second); - // } - - // FIXME: crash somewhere here. proper libcamera finishing needed - // requests.clear(); - // mappedBuffers_.clear(); - - // camera->stop(); - // config.reset(); - // allocator->free(stream); - // allocator.reset(); - // camera->release(); - // camera.reset(); -#ifndef INNO_MAKER - cm->stop(); -#endif - - return result; -} - -bool initLaser() -{ - const QLatin1String pwmChip{"pwmchip2"}; - const uint16_t pwmChannel{1}; - const QLatin1String pwmSystemRoot{"/sys/class/pwm"}; - const QString pwmChipRoot{pwmSystemRoot + "/" + pwmChip}; - - const QString pwmExportFile{pwmChipRoot + "/export"}; - - QFile f{pwmExportFile}; - - if (!f.open(QFile::WriteOnly)) - { - qWarning() << "cannot open" << f.fileName() << "for writing"; - qWarning() << "error:" << f.errorString(); - - return false; - } - - QTextStream s{&f}; - s << pwmChannel; - - const QString pwm{QLatin1String("pwm%1").arg(QString::number(pwmChannel))}; - const QString pwmRoot{pwmChipRoot + "/" + pwm}; - - const QString periodFilename{pwmRoot + "/period"}; - f.close(); - f.setFileName(periodFilename); - - if (!f.open(QFile::WriteOnly)) - { - qWarning() << "cannot open" << f.fileName() << "for writing"; - qWarning() << "error:" << f.errorString(); - - return false; - } - - const unsigned periodHz{50'000}; - - s << periodHz; - - const QString dutyCycleFilename{pwmRoot + "/duty_cycle"}; - f.close(); - f.setFileName(dutyCycleFilename); - - if (!f.open(QFile::WriteOnly)) - { - qWarning() << "cannot open" << f.fileName() << "for writing"; - qWarning() << "error:" << f.errorString(); - - return false; - } - - const unsigned dutyCycle{3'000}; - - s << dutyCycle; - - const QString enableFilename{pwmRoot + "/enable"}; - f.close(); - f.setFileName(enableFilename); - - if (!f.open(QFile::WriteOnly)) - { - qWarning() << "cannot open" << f.fileName() << "for writing"; - qWarning() << "error:" << f.errorString(); - - return false; - } - - const int enable{1}; - - s << enable; - - return true; -} |