From a554cb955012adc51ab0d82af32206fd38a88da8 Mon Sep 17 00:00:00 2001
From: Nikita Kostovsky <nikita@kostovsky.me>
Date: Sat, 22 Feb 2025 11:37:25 +0100
Subject: add veye imx287 support: initial commit

---
 src/camera/innomakerov9281.cpp | 81 ++++++++++++++++++++++++++----------------
 1 file changed, 50 insertions(+), 31 deletions(-)

(limited to 'src/camera')

diff --git a/src/camera/innomakerov9281.cpp b/src/camera/innomakerov9281.cpp
index 79ae0b4..01f485d 100644
--- a/src/camera/innomakerov9281.cpp
+++ b/src/camera/innomakerov9281.cpp
@@ -33,6 +33,7 @@ extern uint64_t corr_elapsed_ns;
 extern uint64_t max_elapsed_ns;
 extern uint64_t value_elapsed_ns;
 extern uint64_t rot_elapsed_ns;
+extern uint64_t dropped_count;
 
 // constexpr char videoDevice[] = "/dev/video0";
 
@@ -83,7 +84,7 @@ std::vector<std::shared_ptr<ICamera> > InnoMakerOV9281::search()
     if (!cam->init())
         return {};
 
-    if (!cam->setExposureTimeUs(68000))
+    if (!cam->setExposureTimeUs(30))
         return {};
 
     if (!cam->setLaserLevel(1))
@@ -124,7 +125,7 @@ bool InnoMakerOV9281::startStream()
         std::cout << "InnoMakerOV9281: start stream" << std::endl;
 
         // Image image;
-        std::shared_ptr<Image> imageCopy = std::make_shared<Image>();
+        // std::shared_ptr<Image> imageCopy = std::make_shared<Image>();
         while (!stopToken.stop_requested())
         {
             size_t imageIndex{};
@@ -133,31 +134,33 @@ bool InnoMakerOV9281::startStream()
             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);
-            }
-            // 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;
+
+            // 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);
+            // }
+            // // 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
@@ -184,6 +187,7 @@ bool InnoMakerOV9281::init()
 
 bool InnoMakerOV9281::setExposureTimeUs(int valueUs)
 {
+    return true;
     std::cout << __func__ << ": " << valueUs << std::endl << std::flush;
 
     /*
@@ -210,21 +214,28 @@ bool InnoMakerOV9281::setGain(int value)
 {
     std::cout << __func__ << ": " << value << std::endl << std::flush;
 
-    return setCamParam(V4L2_CID_GAIN, value);
+    // return setCamParam(V4L2_CID_GAIN, value);
+    // FIXME: tmp workaround for imx287llr
+    return true;
 }
 
 bool InnoMakerOV9281::setLaserLevel(int value)
 {
     std::cout << __func__ << ": " << value << std::endl << std::flush;
 
-    return setCamParam(V4L2_CID_FLASH_TIMEOUT, value);
+    // return setCamParam(V4L2_CID_FLASH_TIMEOUT, value);
+
+    // FIXME: tmp workaround for imx287llr
+    return true;
 }
 
 bool InnoMakerOV9281::setSomething(int value)
 {
     std::cout << __func__ << ": " << value << std::endl << std::flush;
 
-    return setCamParam(V4L2_CID_FLASH_INTENSITY, value);
+    // return setCamParam(V4L2_CID_FLASH_INTENSITY, value);
+    // FIXME: tmp workaround for imx287llr
+    return true;
 }
 
 bool InnoMakerOV9281::setCamParam(unsigned int v4l2controlId, int value)
@@ -415,8 +426,10 @@ bool InnoMakerOV9281::getImage(size_t &imageIndex)
     if (elapsedTime > 1000.)
     {
         fprintf(stderr,
-                "fps: %d\tsec: %d\tdq: %d\tget: %d\trot: %d\tsum: %d,\tcorr: %d,\tval: %d\n",
+                "fps: %d\tdropped: %d\tsec: %d\tdq: %d\tget: %d\trot: %d\tsum: %d,\tcorr: "
+                "%d,\tval: %d\n",
                 counter,
+                dropped_count,
                 curr.tv_sec % 1000,
                 dq_elapsed_ns / 1000 / counter,
                 get_elapsed_ns / 1000 / counter,
@@ -433,6 +446,7 @@ bool InnoMakerOV9281::getImage(size_t &imageIndex)
         max_elapsed_ns = 0;
         value_elapsed_ns = 0;
         rot_elapsed_ns = 0;
+        dropped_count = 0;
 
         counter = 0;
         prev = curr;
@@ -472,12 +486,17 @@ bool InnoMakerOV9281::getImage(size_t &imageIndex)
     // TODO: fill
     // image.counters.encoderPosition = RotaryEncoder::instance()->position();
     image.counters.measurementCounter = buffer.sequence;
+
+    static int64_t prevCounter = buffer.sequence;
+    dropped_count += buffer.sequence - prevCounter - 1;
+    prevCounter = buffer.sequence;
+
     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);
+        // 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();
     }
-- 
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