4 files changed, 61 insertions, 3 deletions

diff --git a/src/camera/icamera.h b/src/camera/icamera.h
index 94408b6..daee920 100644
--- a/src/camera/icamera.h
+++ b/src/camera/icamera.h
@@ -67,6 +67,12 @@ public:
     [[nodiscard]] virtual std::optional<const std::chrono::microseconds> get_triggerExposureDelay()
         = 0;
 
+    [[nodiscard]] virtual bool set_isBlackLevelManual(const bool manual) = 0;
+    [[nodiscard]] virtual std::optional<bool> get_isBlackLevelManual() = 0;
+
+    [[nodiscard]] virtual bool set_blackLevel(const uint32_t level) = 0;
+    [[nodiscard]] virtual std::optional<uint32_t> get_blackLevel() = 0;
+
     [[nodiscard]] virtual std::shared_ptr<Image> getImage() = 0;
 
 public:
diff --git a/src/camera/veyeimx287m.cpp b/src/camera/veyeimx287m.cpp
index 4556112..83ad32f 100644
--- a/src/camera/veyeimx287m.cpp
+++ b/src/camera/veyeimx287m.cpp
@@ -426,6 +426,7 @@ std::optional<float> VeyeIMX287m::get_gain()
 bool VeyeIMX287m::set_triggerExposureDelay(const std::chrono::microseconds us)
 {
     using namespace veye::imx287m;
+    std::cout << __func__ << ": " << us << std::endl;
     return m_i2c->write(static_cast<uint16_t>(Register::Trigger_Exp_Delay), us.count());
 }
 
@@ -442,6 +443,49 @@ std::optional<const std::chrono::microseconds> VeyeIMX287m::get_triggerExposureD
     return std::chrono::microseconds{*value};
 }
 
+bool VeyeIMX287m::set_isBlackLevelManual(const bool manual)
+{
+    using namespace veye::imx287m;
+    std::cout << __func__ << ": " << manual << std::endl;
+    return m_i2c->write(static_cast<uint16_t>(Register::BLC_Mode),
+                        static_cast<uint32_t>(manual
+                                                  ? BlackLevelCalibrationMode::ManuallySpecified
+                                                  : BlackLevelCalibrationMode::AutomaticOrDefault));
+}
+
+std::optional<bool> VeyeIMX287m::get_isBlackLevelManual()
+{
+    using namespace veye::imx287m;
+
+    const auto value = m_i2c->read(static_cast<uint32_t>(Register::BLC_Mode));
+
+    if (!value) {
+        return {};
+    }
+
+    return *value == static_cast<uint32_t>(BlackLevelCalibrationMode::ManuallySpecified);
+}
+
+bool VeyeIMX287m::set_blackLevel(const uint32_t level)
+{
+    using namespace veye::imx287m;
+    std::cout << __func__ << ": " << level << std::endl;
+    return m_i2c->write(static_cast<uint16_t>(Register::Black_Level), level);
+}
+
+std::optional<uint32_t> VeyeIMX287m::get_blackLevel()
+{
+    using namespace veye::imx287m;
+
+    const auto value = m_i2c->read(static_cast<uint32_t>(Register::Black_Level));
+
+    if (!value) {
+        return {};
+    }
+
+    return value;
+}
+
 bool VeyeIMX287m::openCam()
 {
     m_cam_fd = open(videoDevice, O_RDWR);
@@ -739,7 +783,7 @@ void VeyeIMX287m::calcPixelsLoop(std::stop_token stopToken)
                             tmp.insert(tmp.begin(), p.cbegin(), p.cend());
                         }
                         // dumpCalibrationPixels(m_calibrationPixels);
-                        dumpCalibrationPixels(tmp, DumpFormat::Binary);
+                        op::dumpCalibrationPixels(tmp, op::DumpFormat::Binary);
                         m_calibrationPixels.clear();
                     }
                 }
@@ -760,7 +804,7 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
 
     // TODO: move this shit to some beautiful place
     if (elapsedTime > 1000. && processedCounter != 0) {
-        if (false) {
+        if (true) {
             fprintf(stderr,
                     "fps: %d\tdropped: %lu sec: %ld "
                     "dq: %lu get: %lu rot: %lu pix: %lu sum: %lu corr: "
diff --git a/src/camera/veyeimx287m.h b/src/camera/veyeimx287m.h
index 326a43a..764ede8 100644
--- a/src/camera/veyeimx287m.h
+++ b/src/camera/veyeimx287m.h
@@ -94,6 +94,12 @@ public:
     [[nodiscard]] bool set_triggerExposureDelay(const std::chrono::microseconds us) override;
     [[nodiscard]] std::optional<const std::chrono::microseconds> get_triggerExposureDelay() override;
 
+    [[nodiscard]] bool set_isBlackLevelManual(const bool manual) override;
+    [[nodiscard]] std::optional<bool> get_isBlackLevelManual() override;
+
+    [[nodiscard]] bool set_blackLevel(const uint32_t level) override;
+    [[nodiscard]] std::optional<uint32_t> get_blackLevel() override;
+
 public:
     /*!
      * \brief processedCounter - count of images processed in current second.
@@ -161,7 +167,7 @@ private:
     std::jthread m_getThreads[1];
     // std::jthread m_getThreads[4];
     // TODO: sync all loops somehow to guarantee frames order
-    std::jthread m_rotateThreads[2];
+    std::jthread m_rotateThreads[1];
     std::jthread m_calcPixelsThreads[1];
     std::mutex m_lastImageMtx;
     std::shared_ptr<Image> m_lastProcessedImage{};
diff --git a/src/camera/veyeimx287m_types.h b/src/camera/veyeimx287m_types.h
index 8cb74ba..a19a8ea 100644
--- a/src/camera/veyeimx287m_types.h
+++ b/src/camera/veyeimx287m_types.h
@@ -138,6 +138,8 @@ enum class GainMode : uint32_t {
     AutoGainContinious = 2
 };
 
+enum class BlackLevelCalibrationMode : uint32_t { AutomaticOrDefault = 0, ManuallySpecified = 1 };
+
 class Params : public QObject
 {
     // Q_OBJECT