tracker/trackhat: buffer flush

2 files changed, 16 insertions, 6 deletions

diff --git a/tracker-trackhat/camera.cpp b/tracker-trackhat/camera.cpp
index 1ec3bbe7..10feef47 100644
--- a/tracker-trackhat/camera.cpp
+++ b/tracker-trackhat/camera.cpp
@@ -90,7 +90,7 @@ error:
         if (TH_ErrorCode status_ = (x); status_ != TH_SUCCESS)  \
         {                                                       \
             qDebug() << "trackhat: error"                       \
-                     << (void*)status_ << "in" << #x;           \
+                     << (void*)-status_ << "in" << #x;          \
             error_code = status_;                               \
             goto error;                                         \
         }                                                       \
@@ -147,6 +147,7 @@ error:
 bool trackhat_camera::start(const pt_settings&)
 {
     int attempts = 0;
+    constexpr int max_attempts = 5;
 
     set_pt_options();
 
@@ -170,10 +171,18 @@ start:
     return true;
 error:
     stop();
-    if (++attempts < 5)
+    switch (error_code)
     {
-        portable::sleep(100);
-        goto start;
+    case TH_ERROR_DEVICE_NOT_DETECTED:
+    case TH_ERROR_CAMERA_SELFT_TEST_FAILD:
+    case TH_ERROR_CAMERA_INTERNAL_BROKEN:
+        break;
+    default:
+        if (attempts++ < max_attempts)
+        {
+            portable::sleep(10);
+            goto start;
+        }
     }
     return false;
 }
diff --git a/tracker-trackhat/trackhat.hpp b/tracker-trackhat/trackhat.hpp
index d8d66f0e..a6309f9c 100644
--- a/tracker-trackhat/trackhat.hpp
+++ b/tracker-trackhat/trackhat.hpp
@@ -85,8 +85,6 @@ struct trackhat_camera final : pt_camera
 
     bool start(const pt_settings& s) override;
     void stop() override;
-    [[nodiscard]] int init_regs();
-    void set_pt_options();
 
     pt_camera::result get_frame(pt_frame& frame) override;
     pt_camera::result get_info() const override;
@@ -106,6 +104,9 @@ private:
     enum device_status { th_noinit, th_init, th_detect, th_connect, th_running, };
     trackhat_impl::setting_receiver sig;
 
+    [[nodiscard]] int init_regs();
+    void set_pt_options();
+
     trackHat_Device_t device {};
     device_status status = th_noinit;
     TH_ErrorCode error_code = TH_SUCCESS;