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#pragma once
#include <cstdint>
#include <linux/videodev2.h>
#include <queue>
#include <thread>
#include "constants.h"
#include "image.h"
#include "icamera.h"
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 init();
bool setExposureTimeUs(int value) override;
bool setGain(int value) override;
bool setLaserLevel(int value) override;
bool setSomething(int value) override;
// bool dequeueImageBuffer(Image &image);
bool dequeueImageBuffer(size_t &image);
bool getImage(Image &image);
// Image &getImage();
public:
// libcamera::Signal<std::shared_ptr<Pixels>> newPixels;
// libcamera::Signal<std::shared_ptr<Image>> newImage;
uint32_t processedCounter{0};
private:
bool setCamParam(unsigned int v4l2controlId, int value);
bool openCam();
bool selectCam(int camIdx = 0);
bool initCam();
void dequeueFrameLoop(std::stop_token stopToken);
void calcFrameLoop(std::stop_token stopToken);
private:
int m_cam_fd{-1};
static constexpr uint8_t BUFFER_COUNT{16};
struct v4l2_plane planes[VIDEO_MAX_PLANES];
std::array<std::mutex, BUFFER_COUNT> m_imageMutexes;
std::array<Image, BUFFER_COUNT> m_images;
std::array<std::mutex, BUFFER_COUNT> m_bufferMutexes;
std::array<uint8_t *, BUFFER_COUNT> m_videoBuffers;
struct buffer
{
unsigned int idx;
unsigned int padding[VIDEO_MAX_PLANES];
unsigned int size[VIDEO_MAX_PLANES];
void *mem[VIDEO_MAX_PLANES];
};
std::vector<buffer> buffers;
// std::mutex m_queueMtx;
std::mutex m_camMtx;
std::queue<size_t> m_buffersQueue;
std::jthread m_streamThread;
// std::jthread m_calcThreads[1];
std::jthread m_calcThreads[4];
};
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