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#pragma once
// c/cpp
#include <cstdint>
#include <linux/videodev2.h>
#include <queue>
#include <thread>
// qt
#include <QQueue>
#include <QReadWriteLock>
#include <QSemaphore>
// orpheus
#include "constants.h"
#include "icamera.h"
#include "image.h"
// TODO: remove this include
#include "printerclient.h"
#include "utils/sem_queue.h"
namespace veye {
namespace imx287m {
class i2c;
} // namespace imx287m
} // namespace veye
class HttpServer;
class IStand;
/*
* start calibration
* - send move zRange/16384 mm
* - wait StepDelay, ignore all pixels
* - collect 10 (64?) profiles
* - dump profiles
*/
/*!
* \brief The VeyeIMX287m class - control and receive data from VEYE IMX287
* camera
* \todo
* - implement `trgnum` - The number of image frames output by one trigger signal
* in trigger mode. Might be helpful in calibration mode
* - implement `trgfilter_enable` - for rising/falling edge support
* - implement `trgexp_delay` - Exposure delay, i.e. the time to turn on the
* Strobe signal in advance. The difference between trgexp_delay and trgdelay,
* see manual for details. (which manual?)
* - implement UDP streams, http is a bit slow even over 1GbE
* - implement roi
* - blcmode/blacklevel? (does it work in this camera?)
*/
class VeyeIMX287m : public ICamera
{
constexpr static char videoDevice[] = "/dev/video0";
public:
using buffer_t = std::array<uint8_t, img_size>;
public:
VeyeIMX287m();
~VeyeIMX287m() override;
public slots:
void onMoveFinished() override;
public:
static std::vector<std::shared_ptr<ICamera>> search();
public:
bool startStream() override;
void startCalibration(std::shared_ptr<IStand> stand, double zRangeMm) override;
bool dequeueImageBuffer(size_t &image);
std::shared_ptr<Image> getImage() override;
bool init();
// parameters
public:
[[nodiscard]] bool set_autoExposure(const bool enable) override;
[[nodiscard]] std::optional<bool> get_autoExposure() override;
[[nodiscard]] bool set_autoGain(const bool enable) override;
[[nodiscard]] std::optional<bool> get_autoGain() override;
[[nodiscard]] bool set_exposureTime(const std::chrono::microseconds us) override;
[[nodiscard]] std::optional<const std::chrono::microseconds> get_exposureTime() override;
[[nodiscard]] bool set_gain(const float value) override;
[[nodiscard]] std::optional<float> get_gain() override;
[[nodiscard]] bool set_triggerExposureDelay(const std::chrono::microseconds us) override;
[[nodiscard]] std::optional<const std::chrono::microseconds> get_triggerExposureDelay() override;
public:
/*!
* \brief processedCounter - count of images processed in current second.
* Used for performance measurement and bottlenecks analysing
*/
uint32_t processedCounter{0};
private:
bool openCam();
bool initCam();
bool initI2C();
// bool initHttpServer();
void getFrameLoop(std::stop_token stopToken);
void rotateFrameLoop(std::stop_token stopToken);
void calcPixelsLoop(std::stop_token stopToken);
private:
/*!
* \brief m_cam_fd - camera file descriptor
*/
int m_cam_fd{-1};
/*!
* \brief m_previousFrameCounter - used to detect dropped frames
*/
std::optional<int64_t> m_previousFrameCounter{};
static constexpr uint8_t BUFFER_COUNT{4};
// std::array<Image, BUFFER_COUNT> m_images;
/*!
* \brief m_imageMutexes - lock while processing image from m_images
*/
std::array<std::mutex, BUFFER_COUNT> m_imageMutexes;
// TODO: split this
// there should be no chance of changing image by ioctl during futher processing
struct buffer
{
void *mem{nullptr};
// std::shared_ptr<Image> image{std::make_shared<Image>()};
};
std::vector<buffer> m_rawBuffers;
struct Semaphore
{
sem_queue<std::shared_ptr<Image>, BUFFER_COUNT> rawSemQueue;
// sem_queue<size_t, BUFFER_COUNT> rawSemQueue;
sem_queue<std::shared_ptr<Image>, BUFFER_COUNT> rotSemQueue;
// sem_queue<size_t, BUFFER_COUNT> rotSemQueue;
} m_sync;
std::mutex m_camMtx;
/*!
* \brief m_buffersQueue - queue of buffers which require extracting pixels
*/
std::queue<std::remove_const<decltype(BUFFER_COUNT)>> m_buffersQueue;
std::jthread m_streamThread;
std::jthread m_getThreads[1];
// std::jthread m_getThreads[4];
// TODO: sync all loops somehow to guarantee frames order
std::jthread m_rotateThreads[2];
std::jthread m_calcPixelsThreads[2];
std::mutex m_lastImageMtx;
std::shared_ptr<Image> m_lastProcessedImage{};
std::shared_ptr<veye::imx287m::i2c> m_i2c;
std::shared_ptr<HttpServer> m_httpServer;
// calibration
// TODO: re-organize this logic
bool m_isCalibrating{false};
bool m_ignoreFrames{false};
std::vector<std::shared_ptr<Pixels>> m_calibrationPixels;
std::shared_ptr<IStand> m_stand;
double m_zRangeMm{std::numeric_limits<double>::quiet_NaN()};
bool m_isMoving{false};
};
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