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#pragma once
#include <map>
#include <memory>
#include <vector>
#include <libcamera/base/signal.h>
#include <libcamera/formats.h>
namespace libcamera {
class Camera;
class CameraConfiguration;
class CameraManager;
class FrameBufferAllocator;
class Request;
} // namespace libcamera
class Image;
class Pixels;
class OV9281
{
public:
~OV9281();
public:
static std::vector<std::shared_ptr<OV9281>> search(
std::unique_ptr<libcamera::CameraManager> &manager);
// public functions
public:
bool startStream();
void printControls();
// signals
public:
// TODO: image->pixels in separate thread
// TODO: respect sender/receiver threads
libcamera::Signal<std::shared_ptr<Pixels>> newPixels;
libcamera::Signal<std::shared_ptr<Image>> newImage;
private:
explicit OV9281(const std::shared_ptr<libcamera::Camera> &camera);
// private functions
private:
bool init();
bool validateConfig();
bool applyConfig();
void onRequestCompleted(libcamera::Request *completed_request);
// constants
private:
static inline constexpr auto pixelFormat{libcamera::formats::R8};
static inline constexpr unsigned int bufferCount{2};
static inline constexpr size_t desiredFPS{144};
// member variables
private:
std::shared_ptr<libcamera::Camera> m_camera{nullptr};
std::unique_ptr<libcamera::CameraConfiguration> m_config{nullptr};
std::map<int, std::pair<void *, unsigned int>> m_mappedBuffers;
std::vector<std::unique_ptr<libcamera::Request>> m_requests;
std::unique_ptr<libcamera::FrameBufferAllocator> m_allocator{nullptr};
// TODO: set exposureTime from outside
int32_t m_exposureTime{3000};
};
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