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-rw-r--r--src/camera/icamera.h1
-rw-r--r--src/camera/veyeimx287m.cpp145
-rw-r--r--src/camera/veyeimx287m.h48
3 files changed, 127 insertions, 67 deletions
diff --git a/src/camera/icamera.h b/src/camera/icamera.h
index 6ceb520..545daf9 100644
--- a/src/camera/icamera.h
+++ b/src/camera/icamera.h
@@ -50,6 +50,7 @@ public:
[[nodiscard]] virtual std::optional<float> get_gain() = 0;
[[nodiscard]] virtual bool getImage(Image *image) = 0;
+ [[nodiscard]] virtual std::shared_ptr<Image> getImage() = 0;
public:
[[nodiscard]] virtual bool startStream() = 0;
diff --git a/src/camera/veyeimx287m.cpp b/src/camera/veyeimx287m.cpp
index 6491d9d..04ee7d2 100644
--- a/src/camera/veyeimx287m.cpp
+++ b/src/camera/veyeimx287m.cpp
@@ -16,6 +16,7 @@
// orpheus
#include "camera/veye_i2c.h"
#include "constants.h"
+#include "pixels.h"
#include "protocols/httpserver.h"
#include "veyeimx287m_types.h"
@@ -196,7 +197,12 @@ VeyeIMX287m::VeyeIMX287m() {}
VeyeIMX287m::~VeyeIMX287m()
{
- for (auto &t : m_calcThreads) {
+ for (auto &t : m_rotateThreads) {
+ t.request_stop();
+ t.join();
+ }
+
+ for (auto &t : m_getThreads) {
t.request_stop();
t.join();
}
@@ -211,19 +217,11 @@ VeyeIMX287m::~VeyeIMX287m()
std::cout << "cannot stop stream" << std::endl;
}
-#ifdef RADXA_ZERO_3E
- for (const auto buffer : m_buffers) {
+ for (const auto &buffer : m_buffers) {
if (munmap(buffer.mem, radxa_raw_img_size) < 0) {
DBG("Munmap failed!!.");
}
}
-#else
- for (const auto buffer : m_videoBuffers) {
- if (munmap(buffer, img_size) < 0) {
- DBG("Munmap failed!!.");
- }
- }
-#endif // RADXA_ZERO_3E
if (m_cam_fd >= 0) {
if (close(m_cam_fd) == -1) {
@@ -273,8 +271,12 @@ bool VeyeIMX287m::startStream()
return false;
}
- for (auto &t : m_calcThreads) {
- t = std::jthread{&VeyeIMX287m::calcFrameLoop, this};
+ for (auto &t : m_getThreads) {
+ t = std::jthread{&VeyeIMX287m::getFrameLoop, this};
+ }
+
+ for (auto &t : m_rotateThreads) {
+ t = std::jthread{&VeyeIMX287m::rotateFrameLoop, this};
}
std::cout << __func__ << " - OK" << std::endl;
@@ -551,15 +553,8 @@ bool VeyeIMX287m::initCam()
return false;
}
- m_videoBuffers[i] = (uint8_t *) m_buffers[i].mem;
-
- auto p1 = (Image::radxa_data_t *) m_videoBuffers[i];
- auto p2 = (Image::radxa_data_t *) m_buffers[i].mem;
- if (p1 != p2) {
- std::cout << "AAAAAAA: " << (void *) p1 << ' ' << (void *) p2 << std::endl;
- }
- m_buffers[i].size[i] = length;
- m_buffers[i].padding[i] = 0;
+ m_buffers[i].size = length;
+ m_buffers[i].padding = 0;
printf("Buffer mapped at address %p.\n", m_buffers[i].mem);
@@ -592,7 +587,7 @@ bool VeyeIMX287m::initI2C()
// return m_httpServer != nullptr;
// }
-void VeyeIMX287m::calcFrameLoop(std::stop_token stopToken)
+void VeyeIMX287m::getFrameLoop(std::stop_token stopToken)
{
QElapsedTimer t;
@@ -603,38 +598,62 @@ void VeyeIMX287m::calcFrameLoop(std::stop_token stopToken)
continue;
}
+ // std::cout << __func__ << " acquire" << std::endl;
+ // std::cout << __func__ << " acquired" << std::endl;
// ++processedCounter;
// continue;
- std::lock_guard lock{m_imageMutexes[bufferIdx]};
+ // std::lock_guard lock{m_imageMutexes[bufferIdx]};
- auto &image = m_images[bufferIdx];
+ // auto &image = m_images[bufferIdx];
+ const auto &image = m_buffers[bufferIdx].image;
{
t.start();
- auto p1 = (void *) m_videoBuffers[bufferIdx];
- auto p2 = (void *) m_buffers[bufferIdx].mem;
-
- // if (p1 != p2) {
- // std::cout << (void *) p1 << ' ' << (void *) p2 << std::endl;
- // }
-
- auto &src = *(Image::radxa_data_t *) m_videoBuffers[bufferIdx];
- // auto &src = *(Image::radxa_data_t *) buffers[bufferIdx].mem[0];
- auto &dst = image.data;
+ auto &src = *(Image::radxa_data_t *) m_buffers[bufferIdx].mem;
+ auto &dst = image->data;
Image::copy(dst, src);
get_elapsed_ns += t.nsecsElapsed();
}
- image.rotate();
- const auto pixels = image.sharedPixels();
+ // m_receiverCalculatorSem.main2calc.release();
+ // std::cout << __func__ << ": main2calc.release" << std::endl;
+ // m_receiverCalculatorSem.bufferIdx = bufferIdx;
+ // m_receiverCalculatorSem.calc2main.acquire();
+ // std::cout << __func__ << ": calc2main.acquire" << std::endl;
+ // std::cout << __func__ << " released" << std::endl;
++processedCounter;
+ // return;
+
+ image->rotate();
+ const auto pixels = image->sharedPixels();
+
+ }
+}
+
+void VeyeIMX287m::rotateFrameLoop(std::stop_token stopToken)
+{
+ return;
+ while (!stopToken.stop_requested()) {
+ std::cout << __func__ << std::endl;
+
+ m_receiverCalculatorSem.main2calc.acquire();
+ std::cout << __func__ << ": main2calc.acquired" << std::endl;
+ const auto idx = m_receiverCalculatorSem.bufferIdx;
+ m_receiverCalculatorSem.calc2main.release();
+ std::cout << __func__ << ": calc2main.released" << std::endl;
+
+ const auto &image = m_buffers[idx].image;
+ image->rotate();
+ std::cout << "rotated" << std::endl;
+ const auto pixels = image->sharedPixels();
}
}
+// TODO: check if some of buffers are being overritten during processing
bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
// TODO: get Image from video_buffer_ptr
{
@@ -716,20 +735,22 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
}
imageIndex = buf.index;
- auto &image = m_images[buf.index];
- image.height = img_height;
- image.width = img_width;
+ // auto &image = m_images[buf.index];
+ const auto &image = m_buffers[buf.index].image;
+ image->height = img_height;
+ image->width = img_width;
// TODO: fill
// image.counters.encoderPosition = RotaryEncoder::instance()->position();
- image.counters.measurementCounter = buf.sequence;
+ image->counters.measurementCounter = buf.sequence;
// FIXME: git rid of static vars
- static int64_t prevCounter = buf.sequence;
- dropped_count += buf.sequence - prevCounter - 1;
- prevCounter = buf.sequence;
+ // if (not m_previousFrameCounter.has_value()) {
+ // m_previousFrameCounter = buf.sequence;
+ // }
+ dropped_count += buf.sequence - m_previousFrameCounter.value_or(buf.sequence) - 1;
+ m_previousFrameCounter = buf.sequence;
- image.counters.timestampUs = buf.timestamp.tv_sec * 1000 * 1000
- + buf.timestamp.tv_usec;
+ image->counters.timestampUs = buf.timestamp.tv_sec * 1000 * 1000 + buf.timestamp.tv_usec;
{
std::lock_guard<std::mutex> lock(m_camMtx);
@@ -761,12 +782,14 @@ bool VeyeIMX287m::getImage(Image *image)
// TODO: remove this bullshit. return ptr to image or copy image metainfo
// only, then copy data
- *image = std::move(m_images[bufferIdx]);
+ // *image = std::move(m_images[bufferIdx]);
+ *image = std::move(*m_buffers[bufferIdx].image);
{
QElapsedTimer t;
t.start();
std::lock_guard lock{m_imageMutexes[bufferIdx]};
- auto &src = *(Image::radxa_data_t *) m_videoBuffers[bufferIdx];
+
+ auto &src = *(Image::radxa_data_t *) m_buffers[bufferIdx].mem;
auto &dst = image->data;
Image::copy(dst, src);
get_elapsed_ns += t.nsecsElapsed();
@@ -774,3 +797,31 @@ bool VeyeIMX287m::getImage(Image *image)
return true;
}
+
+std::shared_ptr<Image> VeyeIMX287m::getImage()
+{
+ std::shared_ptr<Image> result;
+
+ size_t bufferIdx{};
+
+ if (!dequeueImageBuffer(bufferIdx)) {
+ return {};
+ }
+
+ // TODO: remove this bullshit. return ptr to image or copy image metainfo
+ // only, then copy data
+ // *image = std::move(m_images[bufferIdx]);
+ result = m_buffers[bufferIdx].image;
+ {
+ QElapsedTimer t;
+ t.start();
+ std::lock_guard lock{m_imageMutexes[bufferIdx]};
+
+ auto &src = *(Image::radxa_data_t *) m_buffers[bufferIdx].mem;
+ auto &dst = result->data;
+ Image::copy(dst, src);
+ get_elapsed_ns += t.nsecsElapsed();
+ }
+
+ return result;
+}
diff --git a/src/camera/veyeimx287m.h b/src/camera/veyeimx287m.h
index 7946d2f..ab7e3e5 100644
--- a/src/camera/veyeimx287m.h
+++ b/src/camera/veyeimx287m.h
@@ -6,6 +6,7 @@
#include <thread>
#include <QReadWriteLock>
+#include <QSemaphore>
#include "constants.h"
#include "image.h"
@@ -40,6 +41,7 @@ public:
bool dequeueImageBuffer(size_t &image);
// bool getImage(Image &image);
bool getImage(Image *image) override;
+ std::shared_ptr<Image> getImage() override;
bool init();
@@ -71,7 +73,8 @@ private:
bool initI2C();
// bool initHttpServer();
- void calcFrameLoop(std::stop_token stopToken);
+ void getFrameLoop(std::stop_token stopToken);
+ void rotateFrameLoop(std::stop_token stopToken);
private:
/*!
@@ -79,42 +82,47 @@ private:
*/
int m_cam_fd{-1};
- static constexpr uint8_t BUFFER_COUNT{16};
+ /*!
+ * \brief m_previousFrameCounter - used to detect dropped frames
+ */
+ std::optional<int64_t> m_previousFrameCounter{};
- struct MA
- {
- QReadWriteLock rwLock;
- Image image;
- } bbbbb[BUFFER_COUNT];
+ static constexpr uint8_t BUFFER_COUNT{16};
- std::array<Image, BUFFER_COUNT> m_images;
+ // std::array<Image, BUFFER_COUNT> m_images;
/*!
* \brief m_imageMutexes - lock while processing image from m_images
*/
std::array<std::mutex, BUFFER_COUNT> m_imageMutexes;
- /*!
- * \todo copy image right after dequeue to avoid situation with ioctl writing
- * to m_videoBuffers[i] which is being copied to m_images[i]. In theory, it
- * should not overlap if BUFFER_COUNT > theads count
- */
- std::array<uint8_t *, BUFFER_COUNT> m_videoBuffers{0};
struct buffer
{
- unsigned int padding[VIDEO_MAX_PLANES]{std::numeric_limits<unsigned int>::max()};
- unsigned int size[VIDEO_MAX_PLANES]{std::numeric_limits<unsigned int>::max()};
- // void *mem[VIDEO_MAX_PLANES]{nullptr};
+ unsigned int padding{0};
+ unsigned int size{0};
void *mem{nullptr};
+ std::shared_ptr<Image> image{std::make_shared<Image>()};
};
std::vector<buffer> m_buffers;
+ struct Semaphore
+ {
+ const uint8_t maxSize{BUFFER_COUNT};
+ uint8_t bufferIdx{std::numeric_limits<decltype(bufferIdx)>::max()};
+ std::binary_semaphore main2calc{0};
+ std::binary_semaphore calc2main{0};
+ } m_receiverCalculatorSem;
+
// std::mutex m_queueMtx;
std::mutex m_camMtx;
- std::queue<size_t> m_buffersQueue;
+ /*!
+ * \brief m_buffersQueue - queue of buffers which require extracting pixels
+ */
+ std::queue<std::remove_const<decltype(BUFFER_COUNT)>> m_buffersQueue;
std::jthread m_streamThread;
- // std::jthread m_calcThreads[1];
- std::jthread m_calcThreads[4];
+ // std::jthread m_getThreads[1];
+ std::jthread m_getThreads[4];
+ std::jthread m_rotateThreads[1];
std::shared_ptr<veye::imx287m::i2c> m_i2c;
std::shared_ptr<HttpServer> m_httpServer;
generated by cgit v1.2.3-70-g09d2 (git 2.52.0) at 2025-12-08 14:45:09 +0000