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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 setSomething(int value) override;
// bool getImage(Image &image);
bool getImage(size_t &image);
// Image &getImage();
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};
// #ifdef USER_PTR
Image m_images[BUFFER_COUNT];
// #else
uint8_t *video_buffer_ptr[BUFFER_COUNT];
// #endif
// buffer_t m_buf;
std::jthread m_streamThread;
static inline std::jthread m_someThread;
};
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