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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"
#include "utils/sem_queue.h"
namespace veye {
namespace imx287m {
class i2c;
} // namespace imx287m
} // namespace veye
class HttpServer;
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:
static std::vector<std::shared_ptr<ICamera>> search();
public:
bool startStream() override;
bool dequeueImageBuffer(size_t &image);
// bool getImage(Image &image);
bool getImage(Image *image) override;
std::shared_ptr<Image> getImage() override;
bool init();
// parameters
public:
bool set_autoExposure(const bool enable) override;
std::optional<bool> get_autoExposure() override;
bool set_autoGain(const bool enable) override;
std::optional<bool> get_autoGain() override;
bool set_exposureTime(const std::chrono::microseconds us) override;
std::optional<const std::chrono::microseconds> get_exposureTime() override;
bool set_gain(const float value) override;
std::optional<float> get_gain() 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{16};
// 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_buffers;
struct Semaphore
{
Semaphore()
{
// rawBufferIndices.reserve(BUFFER_COUNT);
rotatedBufferIndices.reserve(BUFFER_COUNT);
}
const uint8_t maxSize{BUFFER_COUNT};
sem_queue<size_t, BUFFER_COUNT> rawSemQueue;
sem_queue<size_t, BUFFER_COUNT> rotSemQueue;
// std::mutex rawBufferMtx;
// QQueue<size_t> rawBufferIndices;
// QSemaphore freeRawBuffers{BUFFER_COUNT};
// QSemaphore usedRawBuffers{};
std::mutex rotatedBufferMtx;
QQueue<size_t> rotatedBufferIndices;
QSemaphore freeRotatedBuffers{BUFFER_COUNT};
QSemaphore usedRotatedBuffers{};
// uint8_t bufferIdx{std::numeric_limits<decltype(bufferIdx)>::max()};
// std::binary_semaphore main2calc{0};
// std::binary_semaphore calc2main{0};
} 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];
size_t m_lastProcessedIdx{std::numeric_limits<size_t>::max()};
std::shared_ptr<veye::imx287m::i2c> m_i2c;
std::shared_ptr<HttpServer> m_httpServer;
};
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