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Diffstat (limited to 'src/camera/innomakerov9281.cpp')
-rw-r--r--src/camera/innomakerov9281.cpp523
1 files changed, 0 insertions, 523 deletions
diff --git a/src/camera/innomakerov9281.cpp b/src/camera/innomakerov9281.cpp
deleted file mode 100644
index 184601a..0000000
--- a/src/camera/innomakerov9281.cpp
+++ /dev/null
@@ -1,523 +0,0 @@
-#include "innomakerov9281.h"
-
-#include <errno.h>
-#include <fcntl.h>
-#include <linux/videodev2.h>
-#include <stdio.h>
-#include <string.h>
-#include <sys/ioctl.h>
-#include <sys/mman.h>
-#include <unistd.h>
-
-#include <iostream>
-#include <span>
-
-#include <QElapsedTimer>
-
-#include "constants.h"
-// #include "rotaryencoder.h"
-
-#define LOGD(...) \
- do \
- { \
- printf(__VA_ARGS__); \
- printf("\n"); \
- } while (0)
-
-#define DBG(fmt, args...) LOGD("%s:%d, " fmt, __FUNCTION__, __LINE__, ##args);
-
-extern uint64_t dq_elapsed_ns;
-extern uint64_t get_elapsed_ns;
-extern uint64_t sum_elapsed_ns;
-extern uint64_t corr_elapsed_ns;
-extern uint64_t max_elapsed_ns;
-extern uint64_t value_elapsed_ns;
-extern uint64_t rot_elapsed_ns;
-extern uint64_t pix_elapsed_ns;
-extern uint64_t dropped_count;
-
-// constexpr char videoDevice[] = "/dev/video0";
-
-InnoMakerOV9281::InnoMakerOV9281() {}
-
-InnoMakerOV9281::~InnoMakerOV9281()
-{
- m_streamThread.request_stop();
- m_streamThread.join();
-
- m_someThread.request_stop();
- m_someThread.join();
-
- int ret{-1};
-
- for (int i = 0; i < BUFFER_COUNT; ++i)
- {
- ret = munmap(video_buffer_ptr[i], img_size);
-
- if (ret < 0)
- {
- DBG("Munmap failed!!.");
- }
- }
-
- // std::cout << __func__ << std::endl;
- if (m_cam_fd >= 0)
- {
- int ret = close(m_cam_fd);
-
- if (ret == -1)
- {
- // std::cout << __func__
- // << ": cannot close camera: " << strerror(errno)
- // << std::endl;
- }
- };
-
- // std::cout << __func__ << ": success" << std::endl;
-}
-
-std::vector<std::shared_ptr<ICamera> > InnoMakerOV9281::search()
-{
- // return only one camera for now
- std::cout << std::boolalpha;
- auto cam = std::make_shared<InnoMakerOV9281>();
-
- if (!cam->init())
- return {};
-
- if (!cam->setExposureTimeUs(30))
- return {};
-
- if (!cam->setLaserLevel(1))
- return {};
-
- if (!cam->setGain(2))
- return {};
-
- if (!cam->setSomething(0)) {
- return {};
- }
-
- // m_someThread = std::jthread{[=](std::stop_token stopToken) {
- // std::cout << "InnoMakerOV9281: start stream" << std::endl;
- // sleep(5);
-
- // static int i = 0;
- // while (!stopToken.stop_requested()) {
- // cam->setSomething(i);
- // i -= 1;
- // }
- // }};
-
- return {cam};
-}
-
-bool InnoMakerOV9281::startStream()
-{
- int buffer_type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- auto ret = ioctl(m_cam_fd, VIDIOC_STREAMON, &buffer_type);
-
- if (ret != 0) {
- DBG("ioctl(VIDIOC_STREAMON) failed %d(%s)", errno, strerror(errno));
- return false;
- }
-
- m_streamThread = std::jthread{[&](std::stop_token stopToken) {
- std::cout << "InnoMakerOV9281: start stream" << std::endl;
-
- // Image image;
- // std::shared_ptr<Image> imageCopy = std::make_shared<Image>();
- while (!stopToken.stop_requested())
- {
- size_t imageIndex{};
-
- // if (!getImage(image))
- if (!getImage(imageIndex))
- break;
-
- continue;
-
- // auto image = m_images[imageIndex];
-
- // // // FIXME: backup emit value
- // // #ifdef emit
- // // #undef emit
- // // // std::cout << "emit new image" << std::endl << std::flush;
- // // // newImage.emit(image);
- // if (newImageCallback) {
- // // memcpy(imageCopy.get(), &image, sizeof(Image));
- // // newImageCallback(imageCopy);
- // newImageCallback(image);
- // }
- // // continue;
- // // // // newPixels.emit(pixels);
- // // auto &img = *image;
- // // image->rotate();
- // // img.rotate();
- // image.rotate();
- // // image.rotate();
- // if (newPixelsCallback) {
- // // auto pixels = image->pixels();
- // auto pixels = image.pixels();
- // newPixelsCallback(pixels);
- // }
- // continue;
- }
- // #define emit
- // #endif
- std::cout << "InnoMakerOV9281: stream interruption requested"
- << std::endl;
- }};
-
- return true;
-}
-
-bool InnoMakerOV9281::init()
-{
- if (!openCam())
- return false;
-
- if (!selectCam())
- return false;
-
- if (!initCam())
- return false;
-
- return true;
-}
-
-bool InnoMakerOV9281::setExposureTimeUs(int valueUs)
-{
- return true;
- 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);
- // setGain(rand() % 254);
- // setGain(3);
- // setLaserLevel(rand() % 0x7fffffff);
- // setLaserLevel(rand() % 100);
- // int exp = rand() % 10;
- // return setCamParam(V4L2_CID_EXPOSURE, exp * exp * exp * exp * exp * exp);
- return setCamParam(V4L2_CID_EXPOSURE, valueUs);
-}
-
-bool InnoMakerOV9281::setGain(int value)
-{
- std::cout << __func__ << ": " << value << std::endl << std::flush;
-
- // return setCamParam(V4L2_CID_GAIN, value);
- // FIXME: tmp workaround for imx287llr
- return true;
-}
-
-bool InnoMakerOV9281::setLaserLevel(int value)
-{
- std::cout << __func__ << ": " << value << std::endl << std::flush;
-
- // return setCamParam(V4L2_CID_FLASH_TIMEOUT, value);
-
- // FIXME: tmp workaround for imx287llr
- return true;
-}
-
-bool InnoMakerOV9281::setSomething(int value)
-{
- std::cout << __func__ << ": " << value << std::endl << std::flush;
-
- // return setCamParam(V4L2_CID_FLASH_INTENSITY, value);
- // FIXME: tmp workaround for imx287llr
- return true;
-}
-
-bool InnoMakerOV9281::setCamParam(unsigned int v4l2controlId, int value)
-{
- v4l2_control ctl{v4l2controlId, value};
-
- int ret = ioctl(m_cam_fd, VIDIOC_S_CTRL, &ctl);
-
- if (ret < 0)
- {
- fprintf(stderr,
- "cannot set cam param: id - %d, error - '%s'\n",
- v4l2controlId,
- strerror(errno));
- fflush(stderr);
-
- 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));
-
- fflush(stderr);
-
- return false;
- }
-
- std::cout << __func__ << ": new value is " << ctl.value << std::endl;
-
- return true;
-}
-
-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));
- return false;
- }
-
- return true;
-}
-
-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));
-
- return false;
- }
-
- return true;
-}
-
-bool InnoMakerOV9281::initCam()
-{
- v4l2_format format;
- memset(&format, 0, sizeof(v4l2_format));
- format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- format.fmt.pix.pixelformat = V4L2_PIX_FMT_GREY;
- format.fmt.pix.width = img_width;
- format.fmt.pix.height = img_height;
-
- int ret = ioctl(m_cam_fd, VIDIOC_TRY_FMT, &format);
-
- if (ret < 0)
- {
- fprintf(stderr,
- "cannot try cam format: error - '%s'\n",
- strerror(errno));
-
- return false;
- }
-
- // TODO: remove this?
- format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
-
- ret = ioctl(m_cam_fd, VIDIOC_S_FMT, &format);
-
- if (ret < 0)
- {
- fprintf(stderr,
- "cannot set cam format: error - '%s'\n",
- strerror(errno));
-
- return false;
- }
-
- struct v4l2_requestbuffers request;
- request.count = BUFFER_COUNT;
- request.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- 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));
-
- return false;
- }
-
- if (request.count < BUFFER_COUNT)
- {
- fprintf(stderr, "cannot set cam request buffers\n");
-
- return false;
- }
-
- struct v4l2_buffer buffer;
- memset(&buffer, 0, sizeof(buffer));
- buffer.type = request.type;
- buffer.memory = V4L2_MEMORY_MMAP;
-
- for (uint32_t i = 0; i < request.count; i++)
- {
- buffer.index = i;
- ret = ioctl(m_cam_fd, VIDIOC_QUERYBUF, &buffer);
-
- 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) {
- DBG("mmap() failed %d(%s)", errno, strerror(errno));
- return false;
- }
-
- buffer.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- buffer.memory = V4L2_MEMORY_MMAP;
- buffer.index = i;
- ret = ioctl(m_cam_fd, VIDIOC_QBUF, &buffer);
- if (ret != 0)
- {
- DBG("ioctl(VIDIOC_QBUF) failed %d(%s)", errno, strerror(errno));
- return false;
- }
- }
-
- // int buffer_type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- // ret = ioctl(m_cam_fd, VIDIOC_STREAMON, &buffer_type);
- // if (ret != 0)
- // {
- // DBG("ioctl(VIDIOC_STREAMON) failed %d(%s)", errno, strerror(errno));
- // return false;
- // }
-
- DBG("cam init done.");
-
- return true;
-}
-
-// Image &InnoMakerOV9281::getImage()
-// bool InnoMakerOV9281::getImage(Image &image)
-bool InnoMakerOV9281::getImage(size_t &imageIndex)
-// TODO: get Image from video_buffer_ptr
-{
- static struct timeval curr, prev;
- static uint16_t counter = 0;
- gettimeofday(&curr, NULL);
- ++counter;
-
- 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.)
- {
- fprintf(stderr,
- "fps: %d\tdropped: %d\tsec: %d\t"
- "dq: %d\tget: %d\trot: %d\tpix: %d\tsum: %d,\tcorr: "
- "%d,\tval: %d\n",
- counter,
- dropped_count,
- curr.tv_sec % 1000,
- dq_elapsed_ns / 1000 / counter,
- get_elapsed_ns / 1000 / counter,
- rot_elapsed_ns / 1000 / counter,
- pix_elapsed_ns / 1000 / counter,
- sum_elapsed_ns / 1000 / counter,
- corr_elapsed_ns / 1000 / counter,
- // max_elapsed_ns / 1000 / counter,
- value_elapsed_ns / 1000 / counter);
-
- dq_elapsed_ns = 0;
- get_elapsed_ns = 0;
- sum_elapsed_ns = 0;
- corr_elapsed_ns = 0;
- max_elapsed_ns = 0;
- value_elapsed_ns = 0;
- rot_elapsed_ns = 0;
- pix_elapsed_ns = 0;
- dropped_count = 0;
-
- counter = 0;
- prev = curr;
- }
-
- int ret;
- struct v4l2_buffer buffer;
-
- memset(&buffer, 0, sizeof(buffer));
- buffer.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
- buffer.memory = V4L2_MEMORY_MMAP;
- buffer.index = BUFFER_COUNT;
-
- {
- QElapsedTimer t;
- t.start();
- ret = ioctl(m_cam_fd, VIDIOC_DQBUF, &buffer);
- dq_elapsed_ns += t.nsecsElapsed();
- }
-
- if (ret != 0) {
- DBG("ioctl(VIDIOC_DQBUF) failed %d(%s)", errno, strerror(errno));
- return false;
- }
-
- if (buffer.index < 0 || buffer.index >= BUFFER_COUNT)
- {
- DBG("invalid buffer index: %d", buffer.index);
- return false;
- }
-
- // auto &image = video_buffer_ptr[buffer.index];
- imageIndex = buffer.index;
- auto &image = m_images[buffer.index];
- image.height = img_height;
- image.width = img_width;
- // TODO: fill
- // image.counters.encoderPosition = RotaryEncoder::instance()->position();
- image.counters.measurementCounter = buffer.sequence;
-
- static int64_t prevCounter = buffer.sequence;
- dropped_count += buffer.sequence - prevCounter - 1;
- prevCounter = buffer.sequence;
-
- image.counters.timestampUs = buffer.timestamp.tv_sec * 1000 * 1000 + buffer.timestamp.tv_usec;
-
- {
- QElapsedTimer t;
- t.start();
- // memcpy(&image.data, video_buffer_ptr[buffer.index], img_size);
- // std::cout << (void *) video_buffer_ptr[buffer.index] << std::endl;
- get_elapsed_ns += t.nsecsElapsed();
- }
-
- static bool done{false};
-
- if (!done) {
- // memcpy(image.data.data(), video_buffer_ptr[buffer.index], img_size);
- done = true;
- }
-
- ret = ioctl(m_cam_fd, VIDIOC_QBUF, &buffer);
-
- if (ret != 0) {
- DBG("ioctl(VIDIOC_QBUF) failed %d(%s)", errno, strerror(errno));
- return false;
- }
-
- return true;
-}
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