1 files changed, 73 insertions, 0 deletions
diff --git a/src/camera/veyeimx287m.h b/src/camera/veyeimx287m.h
new file mode 100644
index 0000000..9986e59
--- /dev/null
+++ b/src/camera/veyeimx287m.h
@@ -0,0 +1,73 @@
+#pragma once
+
+#include <cstdint>
+
+#include <queue>
+#include <thread>
+
+#include "constants.h"
+#include "image.h"
+
+#include "icamera.h"
+
+class VeyeIMX287m : public ICamera
+{
+    constexpr static char videoDevice[] = "/dev/video0";
+
+public:
+    using buffer_t = std::array<uint8_t, img_size>;
+
+public:
+    VeyeIMX287m();
+    ~VeyeIMX287m() override;
+
+public:
+    static std::vector<std::shared_ptr<ICamera>> search();
+
+public:
+    bool startStream() override;
+
+    bool init();
+
+    bool setExposureTimeUs(int value) override;
+    bool setGain(int value) override;
+
+    bool setLaserLevel(int value) override;
+
+    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;
+
+private:
+    bool setCamParam(unsigned int v4l2controlId, int value);
+    bool openCam();
+    bool selectCam(int camIdx = 0);
+    bool initCam();
+
+    void dequeueFrameLoop(std::stop_token stopToken);
+    void calcFrameLoop(std::stop_token stopToken);
+
+private:
+    int m_cam_fd{-1};
+
+    static constexpr uint8_t BUFFER_COUNT{8};
+
+    std::array<std::mutex, BUFFER_COUNT> m_imageMutexes;
+    std::array<Image, BUFFER_COUNT> m_images;
+    std::array<std::mutex, BUFFER_COUNT> m_bufferMutexes;
+    std::array<uint8_t *, BUFFER_COUNT> m_videoBuffers;
+
+    // std::mutex m_queueMtx;
+    std::mutex m_camMtx;
+    std::queue<size_t> m_buffersQueue;
+
+    std::jthread m_streamThread;
+    std::jthread m_calcThreads[4];
+};