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-rw-r--r--src/camera/icamera.h4
-rw-r--r--src/camera/innomakerov9281.cpp180
-rw-r--r--src/camera/innomakerov9281.h11
-rw-r--r--src/camera/ov9281.cpp12
4 files changed, 150 insertions, 57 deletions
diff --git a/src/camera/icamera.h b/src/camera/icamera.h
index 3fccc4b..11919bb 100644
--- a/src/camera/icamera.h
+++ b/src/camera/icamera.h
@@ -35,12 +35,14 @@ public:
virtual bool setExposureTimeUs(int value) = 0;
virtual bool setGain(int value) = 0;
virtual bool setLaserLevel(int value) = 0;
+ virtual bool setSomething(int value) = 0;
public:
libcamera::Signal<std::shared_ptr<Pixels>> newPixels;
libcamera::Signal<std::shared_ptr<Image>> newImage;
std::function<void(std::shared_ptr<Pixels>)> newPixelsCallback;
- std::function<void(std::shared_ptr<Image>)> newImageCallback;
+ // std::function<void(std::shared_ptr<Image>)> newImageCallback;
+ std::function<void(Image &)> newImageCallback;
public:
virtual bool startStream() = 0;
diff --git a/src/camera/innomakerov9281.cpp b/src/camera/innomakerov9281.cpp
index b7c5cd4..79ae0b4 100644
--- a/src/camera/innomakerov9281.cpp
+++ b/src/camera/innomakerov9281.cpp
@@ -10,6 +10,9 @@
#include <unistd.h>
#include <iostream>
+#include <span>
+
+#include <QElapsedTimer>
#include "constants.h"
// #include "rotaryencoder.h"
@@ -23,10 +26,13 @@
#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;
// constexpr char videoDevice[] = "/dev/video0";
@@ -37,6 +43,9 @@ 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)
@@ -74,43 +83,84 @@ std::vector<std::shared_ptr<ICamera> > InnoMakerOV9281::search()
if (!cam->init())
return {};
- if (!cam->setExposureTimeUs(3000))
+ if (!cam->setExposureTimeUs(68000))
+ return {};
+
+ if (!cam->setLaserLevel(1))
+ return {};
+
+ if (!cam->setGain(2))
return {};
- if (!cam->setGain(3000))
+ 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())
{
- std::shared_ptr<Image> image = std::make_shared<Image>();
- getImage(*image);
-// FIXME: backup emit value
-#ifdef emit
-#undef emit
- // std::cout << "emit new image" << std::endl << std::flush;
- // newImage.emit(image);
- if (newImageCallback)
- {
+ size_t imageIndex{};
+
+ // if (!getImage(image))
+ if (!getImage(imageIndex))
+ break;
+
+ 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);
}
- // newPixels.emit(pixels);
- image->rotate();
- if (newPixelsCallback)
- {
- auto pixels = image->pixels();
+ // 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
+ // #define emit
+ // #endif
std::cout << "InnoMakerOV9281: stream interruption requested"
<< std::endl;
}};
@@ -170,6 +220,13 @@ bool InnoMakerOV9281::setLaserLevel(int value)
return setCamParam(V4L2_CID_FLASH_TIMEOUT, value);
}
+bool InnoMakerOV9281::setSomething(int value)
+{
+ std::cout << __func__ << ": " << value << std::endl << std::flush;
+
+ return setCamParam(V4L2_CID_FLASH_INTENSITY, value);
+}
+
bool InnoMakerOV9281::setCamParam(unsigned int v4l2controlId, int value)
{
v4l2_control ctl{v4l2controlId, value};
@@ -182,6 +239,7 @@ bool InnoMakerOV9281::setCamParam(unsigned int v4l2controlId, int value)
"cannot set cam param: id - %d, error - '%s'\n",
v4l2controlId,
strerror(errno));
+ fflush(stderr);
return false;
}
@@ -195,6 +253,8 @@ bool InnoMakerOV9281::setCamParam(unsigned int v4l2controlId, int value)
v4l2controlId,
strerror(errno));
+ fflush(stderr);
+
return false;
}
@@ -277,11 +337,8 @@ bool InnoMakerOV9281::initCam()
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));
+ if (ret < 0) {
+ fprintf(stderr, "cannot set cam request buffers: ioctl error - '%s'\n", strerror(errno));
return false;
}
@@ -311,14 +368,9 @@ bool InnoMakerOV9281::initCam()
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)
- {
+ 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;
}
@@ -334,20 +386,23 @@ bool InnoMakerOV9281::initCam()
}
}
- 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;
- }
+ // 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;
}
-bool InnoMakerOV9281::getImage(Image &image)
+// 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;
@@ -359,17 +414,25 @@ bool InnoMakerOV9281::getImage(Image &image)
if (elapsedTime > 1000.)
{
- fprintf(stderr, "fps: %d, sec: %d\n", counter, curr.tv_sec);
fprintf(stderr,
- "sum: %d,\tcorr: %d,\tval: %d\n",
+ "fps: %d\tsec: %d\tdq: %d\tget: %d\trot: %d\tsum: %d,\tcorr: %d,\tval: %d\n",
+ counter,
+ curr.tv_sec % 1000,
+ dq_elapsed_ns / 1000 / counter,
+ get_elapsed_ns / 1000 / counter,
+ rot_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;
counter = 0;
prev = curr;
@@ -383,10 +446,14 @@ bool InnoMakerOV9281::getImage(Image &image)
buffer.memory = V4L2_MEMORY_MMAP;
buffer.index = BUFFER_COUNT;
- ret = ioctl(m_cam_fd, VIDIOC_DQBUF, &buffer);
-
- if (ret != 0)
{
+ 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;
}
@@ -397,19 +464,34 @@ bool InnoMakerOV9281::getImage(Image &image)
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;
- image.counters.timestampUs = buffer.timestamp.tv_sec * 1000 * 1000 +
- buffer.timestamp.tv_usec;
- memcpy(image.data, video_buffer_ptr[buffer.index], img_size);
+ 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)
- {
+ if (ret != 0) {
DBG("ioctl(VIDIOC_QBUF) failed %d(%s)", errno, strerror(errno));
return false;
}
diff --git a/src/camera/innomakerov9281.h b/src/camera/innomakerov9281.h
index ccfe1ac..7f2d206 100644
--- a/src/camera/innomakerov9281.h
+++ b/src/camera/innomakerov9281.h
@@ -33,7 +33,11 @@ public:
bool setLaserLevel(int value) override;
- bool getImage(Image &image);
+ bool setSomething(int value) override;
+
+ // bool getImage(Image &image);
+ bool getImage(size_t &image);
+ // Image &getImage();
public:
libcamera::Signal<std::shared_ptr<Pixels>> newPixels;
@@ -48,7 +52,12 @@ private:
private:
int m_cam_fd{-1};
static constexpr uint8_t BUFFER_COUNT{3};
+ // #ifdef USER_PTR
+ Image m_images[BUFFER_COUNT];
+ // #else
uint8_t *video_buffer_ptr[BUFFER_COUNT];
+ // #endif
// buffer_t m_buf;
std::jthread m_streamThread;
+ static inline std::jthread m_someThread;
};
diff --git a/src/camera/ov9281.cpp b/src/camera/ov9281.cpp
index 1a324e4..5b6936d 100644
--- a/src/camera/ov9281.cpp
+++ b/src/camera/ov9281.cpp
@@ -259,14 +259,14 @@ std::vector<std::shared_ptr<OV9281>> OV9281::search(
{
auto id = camera->id();
auto c = manager->get(id);
- auto ov9281 = std::shared_ptr<OV9281>(new OV9281(c));
+ // auto ov9281 = std::shared_ptr<OV9281>(new OV9281(c));
- if (!ov9281->init())
- {
- continue;
- }
+ // if (!ov9281->init())
+ // {
+ // continue;
+ // }
- result.push_back(ov9281);
+ // result.push_back(ov9281);
}
return result;
generated by cgit v1.2.3-70-g09d2 (git 2.52.0) at 2025-12-08 14:45:16 +0000