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-rw-r--r--src/main.cpp357
1 files changed, 0 insertions, 357 deletions
diff --git a/src/main.cpp b/src/main.cpp
index e5d6c5b..99ad57b 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -80,10 +80,6 @@ auto printPixels = [](const auto &pixels) {
std::cout << std::endl;
};
-bool initLaser();
-
-bool initCam();
-
int main(int argc, char *argv[])
{
auto sigHandler = [](int s) {
@@ -231,77 +227,6 @@ int main(int argc, char *argv[])
qHttpServer.route("/v1/sensor/image", httpGetImage);
qHttpServer.route("/v1/sensor/image2", httpGetImage);
- qHttpServer.route("/v1/pixels", [&]() -> QHttpServerResponse {
- // std::cout << "http: pixels" << std::endl;
- // return QHttpServerResponse::StatusCode::ServiceUnavailable;
-
- auto cam = dynamic_cast<VeyeIMX287m *>(camera.get());
-
- if (!cam) {
- qDebug() << "NO CAM";
- return QHttpServerResponse::StatusCode::ServiceUnavailable;
- }
-
- Image img;
- // yeaah
- // ::img = &img;
- if (!cam->getImage(img)) {
- qDebug() << "cannot get image";
- return QHttpServerResponse::StatusCode::ServiceUnavailable;
- }
-
- ::pixels = std::move(img.pixels());
- ++cam->processedCounter;
-
- // qt json does not allow to limit double precision
- const auto lines = pixelsToLines(::pixels);
-
- const auto nan2zero = [](const auto &value) {
- return qIsNaN(value) ? 0 : value;
- };
- rapidjson::Document jd;
- jd.SetObject();
- auto &al = jd.GetAllocator();
-
- rapidjson::Value rjPixels{rapidjson::kArrayType};
-
- for (size_t i = 0; i < img_width; ++i) {
- rjPixels.PushBack(nan2zero(::pixels.pixels[i]), al);
- }
-
- rapidjson::Value rjLines{rapidjson::kArrayType};
-
- 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);
-
- rjLines.PushBack(rjLinePoints, al);
- }
-
- // 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);
-
- 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 {
// std::cout << "http: profile" << std::endl;
return QHttpServerResponse::StatusCode::ServiceUnavailable;
@@ -368,72 +293,6 @@ int main(int argc, char *argv[])
return QHttpServerResponse::StatusCode::Ok;
});
- qHttpServer.route(
- "/v1/sensor/params",
- [&](const QHttpServerRequest &request) -> QHttpServerResponse {
- // std::cout << "http: params" << std::endl;
- switch (request.method()) {
- case QHttpServerRequest::Method::Get: {
- std::lock_guard<std::mutex> lg(pgm_image_mtx);
- QJsonObject json;
-
- return QHttpServerResponse(QJsonDocument(json).toJson());
- }
-
- case QHttpServerRequest::Method::Post: {
- // qDebug() << "request body:" << request.body();
-
- auto json = QJsonDocument::fromJson(request.body()).object();
-
- if (json.contains(exposureTimeKey)) {
- const int32_t value{json[exposureTimeKey].toInt()};
-
- if (value == 0)
- return QHttpServerResponse::StatusCode::
- RequestRangeNotSatisfiable;
-
- // qDebug() << "set new exposure time:" << value;
-
- // requested_params.exposureTime = value;
- if (!camera->set_exposureTime(
- std::chrono::microseconds(value))) {
- qDebug() << "cannot set exp";
- return QHttpServerResponse::StatusCode::
- RequestRangeNotSatisfiable;
- }
- }
-
- if (json.contains(gainKey)) {
- const auto value = json[gainKey].toDouble();
-
- if (value == 0)
- return QHttpServerResponse::StatusCode::
- RequestRangeNotSatisfiable;
-
- if (!camera->set_gain(value))
- return QHttpServerResponse::StatusCode::
- RequestRangeNotSatisfiable;
- }
-
- if (json.contains(laserLevelKey)) {
- const int32_t value{json[laserLevelKey].toInt()};
-
- if (!camera->setLaserLevel(value))
- return QHttpServerResponse::StatusCode::
- RequestRangeNotSatisfiable;
-
- requested_params.laserLevel = value;
- }
-
- return QHttpServerResponse(request.body());
- }
- default: {
- return QHttpServerResponse(
- QByteArray("unsupported http method"));
- }
- }
- });
-
qDebug() << "listen: " << qHttpServer.listen(QHostAddress::Any, 8081);
////////////////////////////////////////////////////////////////////////////
@@ -445,219 +304,3 @@ int main(int argc, char *argv[])
return result;
}
-
-bool initLaser()
-{
- const QLatin1String pwmChip{"pwmchip2"};
- const uint16_t pwmChannel{1};
- const QLatin1String pwmSystemRoot{"/sys/class/pwm"};
- const QString pwmChipRoot{pwmSystemRoot + "/" + pwmChip};
-
- const QString pwmExportFile{pwmChipRoot + "/export"};
-
- QFile f{pwmExportFile};
-
- if (!f.open(QFile::WriteOnly)) {
- qWarning() << "cannot open" << f.fileName() << "for writing";
- qWarning() << "error:" << f.errorString();
-
- return false;
- }
-
- QTextStream s{&f};
- s << pwmChannel;
-
- const QString pwm{QLatin1String("pwm%1").arg(QString::number(pwmChannel))};
- const QString pwmRoot{pwmChipRoot + "/" + pwm};
-
- const QString periodFilename{pwmRoot + "/period"};
- f.close();
- f.setFileName(periodFilename);
-
- if (!f.open(QFile::WriteOnly)) {
- qWarning() << "cannot open" << f.fileName() << "for writing";
- qWarning() << "error:" << f.errorString();
-
- return false;
- }
-
- const unsigned periodHz{50'000};
-
- s << periodHz;
-
- const QString dutyCycleFilename{pwmRoot + "/duty_cycle"};
- f.close();
- f.setFileName(dutyCycleFilename);
-
- if (!f.open(QFile::WriteOnly)) {
- qWarning() << "cannot open" << f.fileName() << "for writing";
- qWarning() << "error:" << f.errorString();
-
- return false;
- }
-
- const unsigned dutyCycle{3'000};
-
- s << dutyCycle;
-
- const QString enableFilename{pwmRoot + "/enable"};
- f.close();
- f.setFileName(enableFilename);
-
- if (!f.open(QFile::WriteOnly)) {
- qWarning() << "cannot open" << f.fileName() << "for writing";
- qWarning() << "error:" << f.errorString();
-
- return false;
- }
-
- const int enable{1};
-
- s << enable;
-
- return true;
-}
-
-bool initCam()
-{
- const v4l2_memory memtype = V4L2_MEMORY_MMAP;
- v4l2_buf_type type = (enum v4l2_buf_type) - 1;
- const char *devname{"/dev/video0"};
- int fd{open(devname, O_RDWR)};
-
- if (fd < 0) {
- printf("Error opening device %s: %s (%d).\n",
- devname,
- strerror(errno),
- errno);
- fflush(stdout);
- return false;
- }
-
- std::cout << devname << ": opened" << std::endl;
-
- v4l2_capability cap;
- memset(&cap, 0, sizeof cap);
- const auto ret = ioctl(fd, VIDIOC_QUERYCAP, &cap);
- if (ret < 0) {
- printf("cannot query cap for %s: %s (%d).\n",
- devname,
- strerror(errno),
- errno);
- fflush(stdout);
- return false;
- }
-
- std::cout << devname << ": got caps" << std::endl;
-
- const auto caps = cap.capabilities & V4L2_CAP_DEVICE_CAPS
- ? cap.device_caps
- : cap.capabilities;
- const bool has_video = caps
- & (V4L2_CAP_VIDEO_CAPTURE_MPLANE
- | V4L2_CAP_VIDEO_CAPTURE
- | V4L2_CAP_VIDEO_OUTPUT_MPLANE
- | V4L2_CAP_VIDEO_OUTPUT);
- const bool has_meta = caps & (V4L2_CAP_META_CAPTURE | V4L2_CAP_META_OUTPUT);
- const bool has_capture = caps
- & (V4L2_CAP_VIDEO_CAPTURE_MPLANE
- | V4L2_CAP_VIDEO_CAPTURE
- | V4L2_CAP_META_CAPTURE);
- const bool has_output = caps
- & (V4L2_CAP_VIDEO_OUTPUT_MPLANE
- | V4L2_CAP_VIDEO_OUTPUT | V4L2_CAP_META_OUTPUT);
- const bool has_mplane = caps
- & (V4L2_CAP_VIDEO_CAPTURE_MPLANE
- | V4L2_CAP_VIDEO_OUTPUT_MPLANE);
-
- printf("Device `%s' on `%s' (driver '%s') supports%s%s%s%s %s mplanes.\n",
- cap.card,
- cap.bus_info,
- cap.driver,
- has_video ? " video," : "",
- has_meta ? " meta-data," : "",
- has_capture ? " capture," : "",
- has_output ? " output," : "",
- has_mplane ? "with" : "without");
-
- const auto buf_type = [caps, devname]() -> int {
- if (caps & V4L2_CAP_VIDEO_CAPTURE_MPLANE) {
- std::cout << devname
- << ": buf_type: V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE"
- << std::endl;
- return V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
- } else if (caps & V4L2_CAP_VIDEO_OUTPUT_MPLANE) {
- std::cout << devname
- << ": buf_type: V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE"
- << std::endl;
- return V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;
- } else if (caps & V4L2_CAP_VIDEO_CAPTURE) {
- std::cout << devname << ": buf_type: V4L2_BUF_TYPE_VIDEO_CAPTURE"
- << std::endl;
- return V4L2_BUF_TYPE_VIDEO_CAPTURE;
- } else if (caps & V4L2_CAP_VIDEO_OUTPUT) {
- std::cout << devname << ": buf_type: V4L2_BUF_TYPE_VIDEO_OUTPUT"
- << std::endl;
- return V4L2_BUF_TYPE_VIDEO_OUTPUT;
- } else if (caps & V4L2_CAP_META_CAPTURE) {
- std::cout << devname << ": buf_type: V4L2_BUF_TYPE_META_CAPTURE"
- << std::endl;
- return V4L2_BUF_TYPE_META_CAPTURE;
- } else if (caps & V4L2_CAP_META_OUTPUT) {
- std::cout << devname << ": buf_type: V4L2_BUF_TYPE_META_OUTPUT"
- << std::endl;
- return V4L2_BUF_TYPE_META_OUTPUT;
- } else {
- printf("Device supports neither capture nor output.\n");
- return -EINVAL;
- }
- }();
-
- if (buf_type < 0) {
- return false;
- }
-
- if (false) {
- v4l2_format fmt;
- memset(&fmt, 0, sizeof fmt);
- fmt.type = buf_type;
-
- if (ioctl(fd, VIDIOC_G_FMT, &fmt) < 0) {
- printf("Unable to get format: %s (%d).\n", strerror(errno), errno);
-
- return false;
- }
-
- const auto width = fmt.fmt.pix_mp.width;
- const auto height = fmt.fmt.pix_mp.height;
- const auto num_planes = fmt.fmt.pix_mp.num_planes;
- struct v4l2_plane_pix_format plane_fmt[VIDEO_MAX_PLANES] = {0};
-
- printf("Video format: (%08x) %ux%u field %d, %u planes: \n",
- fmt.fmt.pix_mp.pixelformat,
- fmt.fmt.pix_mp.width,
- fmt.fmt.pix_mp.height,
- fmt.fmt.pix_mp.field,
- fmt.fmt.pix_mp.num_planes);
-
- for (int i = 0; i < fmt.fmt.pix_mp.num_planes; i++) {
- plane_fmt[i].bytesperline = fmt.fmt.pix_mp.plane_fmt[i].bytesperline;
- plane_fmt[i].sizeimage = fmt.fmt.pix_mp.plane_fmt[i].bytesperline
- ? fmt.fmt.pix_mp.plane_fmt[i].sizeimage
- : 0;
-
- printf(" * Stride %u, buffer size %u\n",
- fmt.fmt.pix_mp.plane_fmt[i].bytesperline,
- fmt.fmt.pix_mp.plane_fmt[i].sizeimage);
- }
- }
-
- unsigned int padding = 0;
- unsigned int nbufs = 8;
-
- // if ()
-
- close(fd);
-
- return true;
-}
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