diff options
Diffstat (limited to 'src/main.cpp')
| -rw-r--r-- | src/main.cpp | 259 |
1 files changed, 47 insertions, 212 deletions
diff --git a/src/main.cpp b/src/main.cpp index 2ec6c0c..422a476 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -444,10 +444,6 @@ int main(int argc, char* argv[]) QHttpServer qHttpServer; auto httpGetImage = [&]() -> QHttpServerResponse { - // return QHttpServerResponse::StatusCode::ServiceUnavailable; - // std::cout << "http: image" << std::endl << std::flush; - // FILE *f = fopen("/tmp/img.pgm", "w"); - // static bool save = false; auto cam = dynamic_cast<VeyeIMX287m *>(camera.get()); if (!cam) { @@ -456,28 +452,21 @@ int main(int argc, char* argv[]) } static Image img; - // yeaah - // ::img = &img; + if (!cam->getImage(img)) { qDebug() << "cannot get image"; return QHttpServerResponse::StatusCode::ServiceUnavailable; } - // std::cout << "http: got image" << std::endl << std::flush; - // pgm_save(::img); + pgm_save(&img); std::lock_guard<std::mutex> lg(pgm_image_mtx); - // save = false; - // qDebug() << "mutex locked"; - // qDebug() << "image saved to array"; + return QHttpServerResponse{QByteArray((const char *) pgm_image, pgm_image_size), QHttpServerResponse::StatusCode::Ok}; }; qHttpServer.route("/v1/sensor/image", httpGetImage); qHttpServer.route("/v1/sensor/image2", httpGetImage); - // qHttpServer.route("/v1/sensor/exposureTimeUs", [&]() { - // // std::lock_guard<std::mutex> lg(pgm_image_mtx); - // return "123"; - // }); + qHttpServer.route("/v1/pixels", [&]() -> QHttpServerResponse { // std::cout << "http: pixels" << std::endl; // return QHttpServerResponse::StatusCode::ServiceUnavailable; @@ -498,99 +487,51 @@ int main(int argc, char* argv[]) } ::pixels = std::move(img.pixels()); - - // std::lock_guard<std::mutex> lg(pgm_image_mtx); + ++cam->processedCounter; // qt json does not allow to limit double precision - - QJsonArray pixels; - - for (size_t i = 0; i < img_width; ++i) { - // pixels << img_height - img.pixels[i]; - pixels << ::pixels.pixels[i]; - // rjPixels.PushBack(::pixels.pixels[i], jd.GetAllocator()); - // rjPixels.PushBack(rapidjson::Value(::pixels.pixels[i]), al); - } - - QJsonObject json; - json["pixels"] = pixels; - // json["encoderPosition"] = qint64{encoder.position()}; - // FIXME: get prom pixels struct - json["measurementCounter"] = qint64{img.counters.measurementCounter}; - json["timestampUs"] = qint64(img.counters.timestampUs); - const auto lines = pixelsToLines(::pixels); - // qDebug() << "lines count is " << lines.count(); + const auto nan2zero = [](const auto &value) { return qIsNaN(value) ? 0 : value; }; + rapidjson::Document jd; + jd.SetObject(); + auto &al = jd.GetAllocator(); - QJsonArray jsonLines; + rapidjson::Value rjPixels{rapidjson::kArrayType}; - for (const auto& l : lines) - { - const auto p1 = (l.p1() * 1000).toPoint().toPointF() / 1000.; - const auto p2 = (l.p2() * 1000).toPoint().toPointF() / 1000.; - // jsonLines << QJsonArray{QJsonArray{l.p1().x(), l.p1().y()}, - // QJsonArray{l.p2().x(), l.p2().y()}}; - jsonLines << QJsonArray{QJsonArray{p1.x(), p1.y()}, QJsonArray{p2.x(), p2.y()}}; + for (size_t i = 0; i < img_width; ++i) { + rjPixels.PushBack(nan2zero(::pixels.pixels[i]), al); } - json["lines"] = jsonLines; + rapidjson::Value rjLines{rapidjson::kArrayType}; - const auto result = QJsonDocument(json).toJson(); - // qDebug() << "pixels answer size is" << result.size(); - // static bool done{false}; - // if (!done) { - // qDebug().noquote() << result; - // done = true; - // } - - { - rapidjson::Document jd; - jd.SetObject(); - auto &al = jd.GetAllocator(); - rapidjson::Value rjPixels{rapidjson::kArrayType}; - for (size_t i = 0; i < img_width; ++i) { - if (qIsNaN(::pixels.pixels[i])) { - rjPixels.PushBack(double(0), al); - } else { - rjPixels.PushBack(double(::pixels.pixels[i]), al); - } - } - jd.AddMember("measurementCounter", img.counters.measurementCounter, al); - jd.AddMember("timestampUs", img.counters.timestampUs, al); - jd.AddMember("pixels", rjPixels.Move(), al); - rapidjson::StringBuffer buffer; - rapidjson::Writer<rapidjson::StringBuffer> writer(buffer); - writer.SetMaxDecimalPlaces(2); - jd.Accept(writer); - QString res{(const char *) buffer.GetString()}; - // qDebug() << "size:" << res.size(); - // qDebug().noquote() << "ret pix"; + for (const auto &l : lines) { + rapidjson::Value rjLineP1{rapidjson::kArrayType}; + rjLineP1.PushBack(nan2zero(l.p1().x()), al).PushBack(nan2zero(l.p1().y()), al); + rapidjson::Value rjLineP2{rapidjson::kArrayType}; + rjLineP2.PushBack(nan2zero(l.p2().x()), al).PushBack(nan2zero(l.p2().y()), al); + rapidjson::Value rjLinePoints{rapidjson::kArrayType}; + rjLinePoints.PushBack(rjLineP1, al).PushBack(rjLineP2, al); - return QHttpServerResponse{res}; + rjLines.PushBack(rjLinePoints, al); } - // { - // std::srand(static_cast<unsigned>(std::time(nullptr))); - // rapidjson::Document doc; - // doc.SetObject(); - // rapidjson::Document::AllocatorType &allocator = doc.GetAllocator(); - // rapidjson::Value valuesArray(rapidjson::kArrayType); - // // for (int i = 0; i < 10; ++i) { - // // valuesArray.PushBack(rapidjson::Value(rand() % 100), allocator); - // // } - // for (size_t i = 0; i < img_width; ++i) { - // valuesArray.PushBack(rapidjson::Value(::pixels.pixels[i]), allocator); - // } - // doc.AddMember("values", valuesArray, allocator); - // rapidjson::StringBuffer buffer; - // rapidjson::Writer<rapidjson::StringBuffer> writer(buffer); - // doc.Accept(writer); - // std::cout << buffer.GetString() << "\n"; - // } + // jd.AddMember("encoderPosition", qint64{encoder.position()}); + // FIXME: get prom pixels struct + jd.AddMember("measurementCounter", img.counters.measurementCounter, al); + jd.AddMember("timestampUs", img.counters.timestampUs, al); + jd.AddMember("pixels", rjPixels.Move(), al); + jd.AddMember("lines", rjLines.Move(), al); - // qDebug() << "size:" << result.size(); - return QHttpServerResponse(result); + rapidjson::StringBuffer buffer; + rapidjson::Writer<rapidjson::StringBuffer> writer(buffer); + writer.SetMaxDecimalPlaces(2); + jd.Accept(writer); + QString res{(const char *) buffer.GetString()}; + // qDebug() << "size:" << res.size(); + // qDebug().noquote() << "ret pix"; + + return QHttpServerResponse{res}; }); qHttpServer.route("/v1/profile", [&]() -> QHttpServerResponse { @@ -644,41 +585,21 @@ int main(int argc, char* argv[]) return QHttpServerResponse::StatusCode::Ok; }); - qHttpServer - .route("/v1/commands/gCode", - [&](const QHttpServerRequest& request) -> QHttpServerResponse { - std::cout << "http: gCode" << std::endl; - if (request.method() != QHttpServerRequest::Method::Post) - { - return QHttpServerResponse::StatusCode::NotFound; - } + qHttpServer.route("/v1/commands/gCode", + [&](const QHttpServerRequest &request) -> QHttpServerResponse { + std::cout << "http: gCode" << std::endl; + if (request.method() != QHttpServerRequest::Method::Post) { + return QHttpServerResponse::StatusCode::NotFound; + } - const auto command = request.body(); + const auto command = request.body(); - qDebug() << "send gCode:" << command; + qDebug() << "send gCode:" << command; - // printerClient.sendCommand(command); + // printerClient.sendCommand(command); - return QHttpServerResponse::StatusCode::Ok; - }); - - // qHttpServer - // .route("/v1/commands/startCalibration", - // [&](const QHttpServerRequest& request) -> QHttpServerResponse { - // std::cout << "http: startCalibration" << std::endl; - // if (request.method() != QHttpServerRequest::Method::Post) - // { - // return QHttpServerResponse::StatusCode::NotFound; - // } - - // const auto command = request.body(); - - // qDebug() << "send gCode:" << command; - - // // printerClient.sendCommand(command); - - // return QHttpServerResponse::StatusCode::Ok; - // }); + return QHttpServerResponse::StatusCode::Ok; + }); qHttpServer.route( "/v1/sensor/params", @@ -690,30 +611,6 @@ int main(int argc, char* argv[]) std::lock_guard<std::mutex> lg(pgm_image_mtx); QJsonObject json; - // const libcamera::ControlIdMap& ctrlIdMap = - // camera->controls().idmap(); - - // qDebug() << "readParams:" << lastControls.size(); - // qDebug() << request.method(); - - // for (const auto& [id, value] : lastControls) - // { - // const libcamera::ControlId* controlId = ctrlIdMap.at(id); - // auto name = QString::fromStdString(controlId->name()); - // const auto valueStr = - // QString::fromStdString(value.toString()); - // qDebug() - // << "\t param:" << controlId->id() << name << valueStr; - - // name[0] = name[0].toLower(); - // json[name] = valueStr; - // } - - // json[laserLevelKey] = requested_params.laserLevel; - - // qDebug() << "response body:" << json; - - // QHttpServerResponse return QHttpServerResponse(QJsonDocument(json).toJson()); } @@ -748,9 +645,6 @@ int main(int argc, char* argv[]) return QHttpServerResponse::StatusCode:: RequestRangeNotSatisfiable; - // qDebug() << "set gain:" << value; - - // requested_params.exposureTime = value; if (!camera->setGain(value)) return QHttpServerResponse::StatusCode:: RequestRangeNotSatisfiable; @@ -760,37 +654,11 @@ int main(int argc, char* argv[]) { const int32_t value{json[laserLevelKey].toInt()}; - // if (value == 0) - // { - // return QHttpServerResponse::StatusCode::NotFound; - // } - - // qDebug() << "set new laserLevel:" << value; if (!camera->setLaserLevel(value)) return QHttpServerResponse::StatusCode:: RequestRangeNotSatisfiable; requested_params.laserLevel = value; - - // const QString laserLevelFile{ - // "/sys/class/pwm/pwmchip2/pwm1/duty_cycle"}; - // QFile f{laserLevelFile}; - - // if (!f.open(QFile::ReadWrite)) - // { - // qDebug() << "cannot open laser level file:" - // << f.errorString(); - // qDebug() << "file path is" << f.fileName(); - // return QHttpServerResponse::StatusCode::InternalServerError; - // } - - // QTextStream s{&f}; - - // s << value; - - // s >> requested_params.laserLevel; - - // qDebug() << "done with laser level"; } return QHttpServerResponse(request.body()); @@ -804,46 +672,13 @@ int main(int argc, char* argv[]) qDebug() << "listen: " << qHttpServer.listen(QHostAddress::Any, 8081); - // QFuture<void> future = QtConcurrent::run([]() { - // Port port(8080); - // Address addr(Ipv4::any(), port); - - // HttpService httpService(addr); - - // size_t threads_count = 1; - // httpService.init(threads_count); - // httpService.start(); - // }); - //////////////////////////////////////////////////////////////////////////// std::clog << std::flush; std::cerr << std::flush; std::cout << "ok for now" << std::endl << std::flush; - // camera->stop(); - // camera->release(); - // cm->stop(); - auto result = app.exec(); - // future.cancel(); - // future.waitForFinished(); - - // for (auto& [fd, mem] : mappedBuffers_) - // { - // munmap(mem.first, mem.second); - // } - - // FIXME: crash somewhere here. proper libcamera finishing needed - // requests.clear(); - // mappedBuffers_.clear(); - - // camera->stop(); - // config.reset(); - // allocator->free(stream); - // allocator.reset(); - // camera->release(); - // camera.reset(); #ifndef INNO_MAKER cm->stop(); #endif |