src/camera/innomakerov9281.h


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#pragma once

#include <cstdint>

#include <thread>

#include "constants.h"
#include "image.h"

#include "icamera.h"

class InnoMakerOV9281 : public ICamera
{
    constexpr static char videoDevice[] = "/dev/video0";

public:
    using buffer_t = std::array<uint8_t, img_size>;

public:
    InnoMakerOV9281();
    ~InnoMakerOV9281();

public:
    static std::vector<std::shared_ptr<ICamera>> search();

public:
    bool startStream() override;

    bool init();

    bool setExposureTimeUs(int value) override;
    bool setGain(int value) override;

    bool setLaserLevel(int value) override;

    bool getImage(Image &image);

public:
    libcamera::Signal<std::shared_ptr<Pixels>> newPixels;
    libcamera::Signal<std::shared_ptr<Image>> newImage;

private:
    bool setCamParam(unsigned int v4l2controlId, int value);
    bool openCam();
    bool selectCam(int camIdx = 0);
    bool initCam();

private:
    int m_cam_fd{-1};
    static constexpr uint8_t BUFFER_COUNT{3};
    uint8_t *video_buffer_ptr[BUFFER_COUNT];
    // buffer_t m_buf;
    std::jthread m_streamThread;
};