diff options
| -rw-r--r-- | tracker-trackhat/camera.cpp | 57 | ||||
| -rw-r--r-- | tracker-trackhat/settings.cpp | 4 | ||||
| -rw-r--r-- | tracker-trackhat/trackhat.hpp | 3 |
3 files changed, 37 insertions, 27 deletions
diff --git a/tracker-trackhat/camera.cpp b/tracker-trackhat/camera.cpp index 2ba29bf3..486ff66f 100644 --- a/tracker-trackhat/camera.cpp +++ b/tracker-trackhat/camera.cpp @@ -50,11 +50,37 @@ trackhat_camera::~trackhat_camera() stop(); } +#define CHECK(x) \ + do { \ + if (TH_ErrorCode status_ = (x); status_ != TH_SUCCESS) \ + { \ + qDebug() << "trackhat: error" \ + << (void*)-status_ << "in" << #x; \ + error_code = status_; \ + goto error; \ + } \ + } while (false) + pt_camera::result trackhat_camera::get_frame(pt_frame& frame_) { start: - if (status < th_running || error_code != TH_SUCCESS) - goto error; + switch (status) + { + case th_noinit: + case th_init: + return {false, get_desired()}; + case th_detect: + CHECK(trackHat_Connect(&device, TH_FRAME_EXTENDED)); + status = th_connect; + goto start; + case th_connect: + uint32_t uptime; + CHECK(trackHat_GetUptime(&device, &uptime)); + status = th_running; + break; + case th_running: + break; + } if (sig.test_and_clear()) { @@ -76,49 +102,28 @@ start: error: if (status >= th_running) - { qDebug() << "trackhat: error" << (void*)error_code; - } stop(); - if (start(s)) - goto start; return {false, get_desired()}; } -#define CHECK(x) \ - do { \ - if (TH_ErrorCode status_ = (x); status_ != TH_SUCCESS) \ - { \ - qDebug() << "trackhat: error" \ - << (void*)-status_ << "in" << #x; \ - error_code = status_; \ - goto error; \ - } \ - } while (false) - bool trackhat_camera::start(const pt_settings&) { int attempts = 0; constexpr int max_attempts = 5; - set_pt_options(); - - if (status >= th_running) + if (status != th_noinit) return true; start: - stop(); - trackHat_DisableDebugMode(); + trackHat_EnableDebugMode(); + set_pt_options(); - [[maybe_unused]] uint32_t uptime = 0; error_code = TH_SUCCESS; status = th_noinit; CHECK(trackHat_Initialize(&device)); status = th_init; CHECK(trackHat_DetectDevice(&device)); status = th_detect; - CHECK(trackHat_Connect(&device, TH_FRAME_EXTENDED)); status = th_connect; - CHECK(trackHat_GetUptime(&device, &uptime)); - CHECK((TH_ErrorCode)init_regs()); status = th_running; return true; error: diff --git a/tracker-trackhat/settings.cpp b/tracker-trackhat/settings.cpp index 1aac6082..39be318f 100644 --- a/tracker-trackhat/settings.cpp +++ b/tracker-trackhat/settings.cpp @@ -18,6 +18,10 @@ bool setting_receiver::test_and_clear() return changed.compare_exchange_strong(x, false); } +setting_receiver::setting_receiver(bool value) : changed{value} +{ +} + } // ns trackhat_impl void trackhat_camera::set_pt_options() diff --git a/tracker-trackhat/trackhat.hpp b/tracker-trackhat/trackhat.hpp index 348d3cd6..b1118c1c 100644 --- a/tracker-trackhat/trackhat.hpp +++ b/tracker-trackhat/trackhat.hpp @@ -43,6 +43,7 @@ class setting_receiver : public QObject Q_OBJECT public: + explicit setting_receiver(bool value); bool test_and_clear(); public slots: void settings_changed(); @@ -102,7 +103,7 @@ struct trackhat_camera final : pt_camera private: enum device_status { th_noinit, th_init, th_detect, th_connect, th_running, }; - trackhat_impl::setting_receiver sig; + trackhat_impl::setting_receiver sig{true}; [[nodiscard]] int init_regs(); void set_pt_options(); |