diff options
Diffstat (limited to 'main.cpp')
| -rw-r--r-- | main.cpp | 639 |
1 files changed, 78 insertions, 561 deletions
@@ -15,6 +15,7 @@ #include "genetic_algos.h" #include "httpservice.h" #include "imagealgos.h" +#include "laser.h" #include "pigpio.h" #include "printerclient.h" #include "profile.h" @@ -50,13 +51,12 @@ extern volatile int32_t positionSteps; requested_params_t requested_params; -namespace -{ +namespace { Image img; Pixels pixels; std::vector<Pixels> calibrationPixels; QMutex calibrationPixelsMutex; -} // namespace +} // namespace using namespace std::chrono_literals; @@ -66,11 +66,10 @@ using namespace std::chrono_literals; // std::vector<std::unique_ptr<libcamera::Request>> requests; libcamera::ControlList lastControls; -namespace -{ +namespace { CalibrationTablePtr calibrationTableZ; CalibrationTablePtr calibrationTableX; -} // namespace +} // namespace // static bool applyConfig( // const std::unique_ptr<libcamera::CameraConfiguration>& config @@ -82,40 +81,51 @@ 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 onNewPixels(std::shared_ptr<Pixels> pixels) +void onNewPixels( + std::shared_ptr<Pixels> pixels) { - if (!*pixels) - { + if (!*pixels) { qDebug() << "got empty pixels"; } ::pixels = *pixels; - if (!::pixels) - { + if (!::pixels) { qDebug() << "empty pixels after copy"; } -}; +} bool initLaser(); -int main(int argc, char* argv[]) +int main( + int argc, char* argv[]) { QCoreApplication app(argc, argv); // if (false) qDebug() << "size of raw profile" << sizeof(Pixels); - if (true) - { - if (true) - { + if (true) { + // open binary calibration table + if (false) { + 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 (false) { // z // if (!openCalibrationTable( // "/home/user/dumps/binz.calibration_table", @@ -148,23 +158,23 @@ int main(int argc, char* argv[]) ::calibrationTableX = calibrateX(std::move(filteredRawProfiles)); - for (size_t i = 9471; i < 9472; i++) { - std::cout << "row #" << i << ": "; + // 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 << ' '; - } + // for (size_t j = 0; j < 1280; ++j) { + // const auto& p = ::calibrationTableX->at(j).at(i); + // std::cout << p << ' '; + // } - std::cout << std::endl; - } + // std::cout << std::endl; + // } // x - qDebug() << "open x table"; - if (!openCalibrationTable("/home/user/dumps/binx.calibration_table", - ::calibrationTableX)) { - exit(EXIT_FAILURE); - } + // 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")) { @@ -172,16 +182,16 @@ int main(int argc, char* argv[]) // exit(EXIT_FAILURE); // } - for (size_t i = 9471; i < 9472; i++) { - std::cout << "row #" << i << ": "; + // 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 << ' '; - } + // for (size_t j = 0; j < 1280; ++j) { + // const auto& p = ::calibrationTableX->at(j).at(i); + // std::cout << p << ' '; + // } - std::cout << std::endl; - } + // std::cout << std::endl; + // } // exit(EXIT_SUCCESS); interpolate(::calibrationTableX); @@ -190,8 +200,7 @@ int main(int argc, char* argv[]) // .save("/home/user/dumps/imageX_interpolated.png"); } - 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(); @@ -229,8 +238,7 @@ int main(int argc, char* argv[]) qDebug() << "--------------------------------------------------------"; - if (false) - { + if (true) { auto rawProfiles = openDump("/home/user/dumps/binx"); qDebug() << "raw x-profiles count is" << rawProfiles.size(); // qDebug() << "height" << calibrationColumnHeight; @@ -267,8 +275,7 @@ int main(int argc, char* argv[]) // exit(EXIT_SUCCESS); - if (!initLaser()) - { + if (!initLaser()) { return EXIT_FAILURE; } @@ -291,8 +298,7 @@ int main(int argc, char* argv[]) // const auto cameras = cm->cameras(); const auto cameras = OV9281::search(cm); - if (cameras.empty()) - { + if (cameras.empty()) { std::cerr << "No cameras were identified on the system." << std::endl; cm->stop(); @@ -305,231 +311,24 @@ int main(int argc, char* argv[]) camera->newPixels.connect(&onNewPixels); - if (!camera->startStream()) - { - cm->stop(); - - return EXIT_FAILURE; - } - - /* - std::string cameraId = cameras[0]->id(); - - std::cout << "using " << cameraId << std::endl; - - // - // Note that `camera` may not compare equal to `cameras[0]`. - // In fact, it might simply be a `nullptr`, as the particular - // device might have disappeared (and reappeared) in the meantime. - // - // std::shared_ptr<Camera> camera = cm->get(cameraId); - camera = cm->get(cameraId); - - if (camera->acquire() != EXIT_SUCCESS) - { - std::cout << "Cannot acquire camera." << std::endl; - cm->stop(); - - return EXIT_FAILURE; - } - - // FIXME: nullptr - // std::unique_ptr<CameraConfiguration> config = - // camera->generateConfiguration( { StreamRole::Viewfinder } ); - config = camera->generateConfiguration({libcamera::StreamRole::Raw}); - - if (config->empty()) - { - std::cerr << "No configurations generated." << std::endl; - cm->stop(); - - return EXIT_FAILURE; - } - - config->orientation = libcamera::Orientation::Rotate90; - - // if (config->validate() != EXIT_SUCCESS) - - // if (camera->configure(config.get()) != EXIT_SUCCESS) - // { - // std::cerr << "cannot configure camera" << std::endl << std::flush; - // cm->stop(); - - // return EXIT_FAILURE; - // } - - // FIXME: nullptr - libcamera::StreamConfiguration& streamConfig = config->at(0); - std::cout << "Default viewfinder configuration is: " - << streamConfig.toString() << std::endl; - std::cout << "Pixel format is: " << streamConfig.pixelFormat.toString() - << std::endl; - std::cout << "Buffer count is: " << streamConfig.bufferCount << std::endl; - // FIXME: empty variant - std::cout << "Color space is: " - << streamConfig.colorSpace.value().toString() << std::endl; - std::cout << "Orientation is: " << config->orientation << std::endl; - // formats::R8, - // formats::R10, - // formats::R12, - // formats::R16, - // formats::R10_CSI2P, // camera->configure failure - // formats::R12_CSI2P, // camera->configure failure - // streamConfig.pixelFormat = PixelFormat::fromString("R8"); - // streamConfig.pixelFormat = PixelFormat::fromString("Y8_1X8"); - - // streamConfig.pixelFormat = formats::R8; - streamConfig.pixelFormat = libcamera::formats::R16; - streamConfig.bufferCount = 2; - // what is default R10_CSI2P? MONO_PISP_COMP1? - // MONO_PISP_COMP1 - check rpicam-apps sources for decoding algos - // streamConfig.pixelFormat = formats::R10_CSI2P; - // streamConfig.bufferCount = 16; - try_apply_config() - - // #define doit(rotation) \ - // std::cout << "set rotation to: " << libcamera::Orientation:: rotation \ - // << std::endl; \ - // config->orientation = libcamera::Orientation:: rotation; \ - // try_apply_config() - - // doit(Rotate0Mirror); - // doit(Rotate180); - // doit(Rotate180Mirror); - // doit(Rotate90Mirror); - // doit(Rotate270); - // doit(Rotate270Mirror); - // doit(Rotate90); - - std::cout - << "new config " << streamConfig.toString() << std::endl; - - // FIXME: may crassh even on success (e.g. by setting pixelFormat to "8") - if (camera->configure(config.get()) != EXIT_SUCCESS) - { - std::cout << "cannot apply config, quit." << std::endl; - camera->release(); + if (!camera->startStream()) { cm->stop(); return EXIT_FAILURE; } - // TODO: try custom FrameBufferAllocator and compare performance - - auto allocator = std::make_shared<libcamera::FrameBufferAllocator>(camera); - - auto stream = streamConfig.stream(); - - ret = allocator->allocate(stream); - - // TODO: check if zero - if (ret < 0) - { - std::cerr << "Can't allocate buffers" << std::endl; - // return -ENOMEM; - return ret; - } - - size_t allocated = size_t(ret); - std::cout << "Allocated " << allocated << " buffers for stream" - << std::endl; - - const std::vector<std::unique_ptr<libcamera::FrameBuffer>>& buffers = - allocator->buffers(stream); - - // for (size_t i = 0; i < buffers.size(); ++i) - static int expOffset = 0; - for (const auto& buffer : buffers) - { - std::unique_ptr<libcamera::Request> request = camera->createRequest(); - - if (!request) - { - std::cerr << "Can't create request" << std::endl; - return -ENOMEM; - } - - // TODO: try multiple buffers per request and compare performance - int ret = request->addBuffer(stream, buffer.get()); - - if (ret < 0) - { - std::cerr << "Can't set buffer for request" << std::endl; - - return ret; - } - - for (const auto& plane : buffer->planes()) - { - void* memory = mmap( - NULL, - plane.length, - PROT_READ, - MAP_SHARED, - plane.fd.get(), - 0 - ); - mappedBuffers_[plane.fd.get()] = - std::make_pair(memory, plane.length); - } - - size_t desiredFPS = 144; - - std::int64_t lowerUS = 1 * 1000 * 1000 / desiredFPS; - std::int64_t higherUS = lowerUS; - std::int64_t value_pair[2] = {higherUS / 2, higherUS}; - request->controls().set(libcamera::controls::AnalogueGain, 1.0); - request->controls().set(libcamera::controls::ExposureTime, 100); - request->controls().set( - libcamera::controls::FrameDurationLimits, - libcamera::Span<const std::int64_t, 2>(value_pair) - ); - - requests.push_back(std::move(request)); - } - - camera->requestCompleted.connect(onRequestCompleted); - - std::unique_ptr<libcamera::ControlList> camcontrols{ - new libcamera::ControlList() - }; - // camcontrols->set(controls::FrameDurationLimits, libcamera::Span<const - // std::int64_t, 2>({8702, 10718903})); - // camcontrols->set(controls::ExposureTime, 100); - // camcontrols->set(controls::AnalogueGain, 0.1); - - std::this_thread::sleep_for(500ms); - - if (camera->start(camcontrols.get())) - { - qDebug() << "failed to start camera"; - return EXIT_FAILURE; - } - - // camera->start(); - - for (auto& request : requests) - { - camera->queueRequest(request.get()); - } -*/ - - // std::this_thread::sleep_for(2s); - // TODO: move to thread - // Http::listenAndServe<HttpHandler>(Pistache::Address("*:8080")); - QHttpServer qHttpServer; qHttpServer.route("/v1/sensor/image", [&]() { std::cout << "http: image" << std::endl; std::lock_guard<std::mutex> lg(pgm_image_mtx); // qDebug() << "image"; - return QByteArray((const char*)pgm_image, pgm_image_size); + return QByteArray((const char*) pgm_image, pgm_image_size); }); qHttpServer.route("/v1/sensor/image2", [&]() { std::cout << "http: image2" << std::endl; std::lock_guard<std::mutex> lg(pgm_image_mtx); // qDebug() << "image"; - return QByteArray((const char*)pgm_image, pgm_image_size); + return QByteArray((const char*) pgm_image, pgm_image_size); }); // qHttpServer.route("/v1/sensor/exposureTimeUs", [&]() { // // std::lock_guard<std::mutex> lg(pgm_image_mtx); @@ -541,8 +340,7 @@ int main(int argc, char* argv[]) 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]; } @@ -559,12 +357,9 @@ int main(int argc, char* argv[]) QJsonArray jsonLines; - for (const auto& l : lines) - { - jsonLines << QJsonArray{ - QJsonArray{l.p1().x(), l.p1().y()}, - QJsonArray{l.p2().x(), l.p2().y()} - }; + for (const auto& l : lines) { + jsonLines << QJsonArray{QJsonArray{l.p1().x(), l.p1().y()}, + QJsonArray{l.p2().x(), l.p2().y()}}; } json["lines"] = jsonLines; @@ -589,8 +384,7 @@ 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; } @@ -605,8 +399,7 @@ 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; } @@ -623,8 +416,7 @@ 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; } @@ -659,8 +451,7 @@ 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; @@ -697,12 +488,10 @@ 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) - { + if (value == 0) { return QHttpServerResponse::StatusCode::NotFound; } @@ -710,12 +499,10 @@ int main(int argc, char* argv[]) requested_params.exposureTime = value; } - 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; } @@ -723,17 +510,14 @@ int main(int argc, char* argv[]) requested_params.laserLevel = value; const QString laserLevelFile{ - "/sys/class/pwm/pwmchip2/pwm1/duty_cycle" - }; + "/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(); - return QHttpServerResponse::StatusCode:: - InternalServerError; + return QHttpServerResponse::StatusCode::InternalServerError; } QTextStream s{&f}; @@ -748,8 +532,8 @@ int main(int argc, char* argv[]) return QHttpServerResponse(request.body()); } default: { - return QHttpServerResponse(QByteArray("unsupported http method") - ); + return QHttpServerResponse( + QByteArray("unsupported http method")); } } }); @@ -801,269 +585,6 @@ int main(int argc, char* argv[]) return result; } -/* - * Signals operate in the libcamera CameraManager thread context, so it is - * important not to block the thread for a long time, as this blocks internal - * processing of the camera pipelines, and can affect realtime performance. - */ -/* -void onRequestCompleted(libcamera::Request* completed_request) -{ - using namespace libcamera; - - static std::chrono::steady_clock::time_point fpsTimstamp = - std::chrono::steady_clock::now(); - - QElapsedTimer t; - t.start(); - static uint32_t performanceCounter{0}; - static uint32_t elapsedSum{0}; - - bool verbose = false; - - if (completed_request->status() == Request::RequestCancelled) - { - std::cerr << "request canceled" << std::endl; - - return; - } - - const std::map<const Stream*, FrameBuffer*>& buffers = - completed_request->buffers(); - - // std::cout << "request completed, buffers count is " << buffers.size(); - - // // TODO: rewrite this shit - for (auto [stream, buffer] : buffers) - { - const auto& streamConfig = stream->configuration(); - const auto& imageSize = streamConfig.size; - const auto& pixelFormat = streamConfig.pixelFormat; - const auto& stride = streamConfig.stride; - - const FrameMetadata& metadata = buffer->metadata(); - - for (size_t i = 0; i < buffer->planes().size(); ++i) - { - const FrameBuffer::Plane& plane = buffer->planes()[i]; - const FrameMetadata::Plane& metaplane = - buffer->metadata().planes()[i]; - - size_t size = std::min(metaplane.bytesused, plane.length); - void* data = mappedBuffers_[plane.fd.get()].first; - - // FIXME: remove hardcode - img.width = imageSize.width; - img.height = imageSize.height; - // img.data = data; - memcpy(img.data, data, size); - img.dataSize = size; - img.stride = stride; - img.pixelFormat = pixelFormat; - img.counters.measurementCounter = metadata.sequence; - img.counters.timestampUs = metadata.timestamp / 1000; - img.counters.encoderPosition = - RotaryEncoder::instance()->position(); - // qDebug() << "pos:" << img.counters.encoderPosition; - - // uint16_t unpacked[img.width * img.height] = { 0 }; - // unpack_16bit((uint8_t*)img.data, img, (uint16_t*)&unpacked); - // img.data = unpacked; - // img.dataSize = img.width * img.height * sizeof(uint16_t); - img.rotate(); - Pixels pixels = process_columns(img); - ::pixels = pixels; - - // qDebug() << "calibration mode" << scanningModeFlags; - - if (scanningModeFlags == ScanningModeFlags::Calibration) - { - const int32_t maxEncoderPosition = - int32_t(hardcodedZRangeMm) * requested_params.stepsPerMm; - // qDebug() << "calibration max range" << maxEncoderPosition; - // qDebug() << "calibration encoder pos" << - // pixels.counters.encoderPosition; - if (pixels.counters.encoderPosition >= 0 && - pixels.counters.encoderPosition <= maxEncoderPosition) - { - qDebug() << "calibration save at pos:" - << pixels.counters.encoderPosition; - QMutexLocker l(&calibrationPixelsMutex); - ::calibrationPixels.push_back(std::move(pixels)); - } - else if (pixels.counters.encoderPosition > maxEncoderPosition) - { - // save to files - QMutexLocker l(&calibrationPixelsMutex); - qDebug() << "calibration pixels count:" - << ::calibrationPixels.size(); - qDebug() << "calibration elapsed (s):" - << calibrationTimer.elapsed() / 1000; - // ::calibrationPixels.clear(); - // TODO: use flags - // qDebug() << "stop calibration mode"; - scanningModeFlags = ScanningModeFlags::None; - - { - QMutexLocker l(&calibrationPixelsMutex); - // QFuture<void> dumpCalirationPixelsFuture - // = QtConcurrent::run(&dumpCalibrationPixels, - // calibrationPixels); - auto future = QtConcurrent::run([&]() { - dumpCalibrationPixels( - std::move(::calibrationPixels)); - }); - } - } - else - { - // qDebug() << "calibration skip at pos:" << - // pixels.counters.encoderPosition; - } - } - - pgm_save(&img, nullptr); - } - } - - const libcamera::ControlList& metadata = completed_request->metadata(); - const ControlInfoMap& control_map = camera->controls(); - // const ControlIdMap & ctrlIdMap = control_map.idmap(); - - auto frameDurationCtrl = control_map.find(&controls::FrameDurationLimits); - // auto expTimeCtrl = control_map.find(&controls::ExposureTime); - double fps = frameDurationCtrl == control_map.end() - ? std::numeric_limits<double>::quiet_NaN() - : (1e6 / frameDurationCtrl->second.min().get<int64_t>()); - - auto exp = metadata.get(controls::ExposureTime); - auto ag = metadata.get(controls::AnalogueGain); - auto ae = metadata.get(controls::AeEnable); - // auto br= metadata.get(controls::Brightness); - lastControls = completed_request->controls(); - - if (verbose) - { - std::cout << "fps: " << fps << " exp: " << *exp << " ag: " - << *ag - // << " br: " << *br - << " ae: " << *ae << " aa: " - << *completed_request->controls().get( - libcamera::controls::ExposureTime - ) - << std::endl; - } - - completed_request->reuse(Request::ReuseBuffers); - completed_request->controls().set(libcamera::controls::AeEnable, false); - completed_request->controls().set( - libcamera::controls::draft ::NoiseReductionMode, - libcamera::controls::draft ::NoiseReductionModeEnum :: - NoiseReductionModeHighQuality - ); - completed_request->controls().set( - libcamera::controls::ExposureTime, - requested_params.exposureTime - ); - - camera->queueRequest(completed_request); - - ++performanceCounter; - elapsedSum += t.elapsed(); - - // if (performanceCounter == 20) - std::chrono::steady_clock::time_point now = - std::chrono::steady_clock::now(); - - if ((now - fpsTimstamp) > 1000ms) - { - auto msPerFrame{float(elapsedSum / performanceCounter)}; - - double configFps = - frameDurationCtrl == control_map.end() - ? std::numeric_limits<double>::quiet_NaN() - : (1e6 / frameDurationCtrl->second.min().get<int64_t>()); - - auto fps{1000.f / msPerFrame}; - - // qDebug() << "fps ideal/real is" << configFps << "/" << fps - // << "; ms per frame is" << msPerFrame << "counted fps" - // << performanceCounter; - - elapsedSum = 0; - performanceCounter = 0; - fpsTimstamp = now; - } - - // qDebug() << "-------------------------------------------"; -} -*/ - -// static bool applyConfig( -// const std::unique_ptr<libcamera::CameraConfiguration>& config -// ) -// { -// using namespace libcamera; - -// auto status = config->validate(); - -// // WARNING: unsafe -// libcamera::StreamConfiguration& streamConfig = config->at(0); - -// switch (status) -// { -// case CameraConfiguration::Status::Valid: -// std::cout << "config is valid" << std::endl; -// break; -// case CameraConfiguration::Status::Adjusted: -// std::cout << "\tpixelFormat: " << streamConfig.pixelFormat.toString() -// << std::endl; -// std::cout << "\tbufferCount: " << streamConfig.bufferCount << std::endl; -// std::cout << "\torientation: " << config->orientation << std::endl; -// break; -// case CameraConfiguration::Status::Invalid: -// std::cout << "config is invalid, quit." << std::endl; - -// return false; -// } - -// return true; -// } - -// static void printControls() -// { -// using namespace libcamera; -// const libcamera::ControlInfoMap& control_map = camera->controls(); - -// // for (const auto & [id, info]: control_map) -// for (const std::pair<const ControlId*, ControlInfo>& pair : control_map) -// { -// const ControlId* const& id = pair.first; -// const ControlInfo& info = pair.second; - -// std::cout << "\tc " << id->name() << " (" << id->id() -// << "): " << info.toString() -// << (info.def().isNone() -// ? "" -// : " (dflt:" + info.def().toString() + ")"); - -// if (!info.values().size()) -// { -// std::cout << std::endl; -// continue; -// } - -// std::cout << " - ["; - -// for (const auto& v : info.values()) -// { -// std::cout << " " << v.toString(); -// } - -// std::cout << " ]\n"; -// } -// } - bool initLaser() { const QLatin1String pwmChip{"pwmchip2"}; @@ -1075,8 +596,7 @@ 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(); @@ -1093,8 +613,7 @@ 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(); @@ -1109,8 +628,7 @@ 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(); @@ -1125,8 +643,7 @@ 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(); |