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#include "trackhat.hpp"
#include "compat/sleep.hpp"
#include <QDebug>
pt_camera::result trackhat_camera::get_info() const
{
return {true, get_desired() };
}
pt_camera_info trackhat_camera::get_desired() const
{
pt_camera_info ret = {};
ret.fov = sensor_fov;
ret.fps = 250;
ret.res_x = sensor_size;
ret.res_y = sensor_size;
return ret;
}
QString trackhat_camera::get_desired_name() const
{
return QStringLiteral("TrackHat sensor");
}
QString trackhat_camera::get_active_name() const
{
return get_desired_name();
}
void trackhat_camera::set_fov(pt_camera::f) {}
void trackhat_camera::show_camera_settings() {}
trackhat_camera::trackhat_camera()
{
s.set_raii_dtor_state(false);
t.set_raii_dtor_state(false);
for (auto* slider : { &t.exposure, &t.gain, &t.threshold, &t.threshold_2 })
{
QObject::connect(slider, options::value_::value_changed<options::slider_value>(),
&sig, &trackhat_impl::setting_receiver::settings_changed,
Qt::DirectConnection);
}
}
trackhat_camera::~trackhat_camera()
{
stop();
}
pt_camera::result trackhat_camera::get_frame(pt_frame& frame_)
{
start:
if (status < th_running || error_code != TH_SUCCESS)
goto error;
if (sig.test_and_clear())
{
set_pt_options();
if ((error_code = (decltype(error_code))init_regs()) != TH_SUCCESS)
goto error;
}
if (trackHat_ExtendedPoints_t points = {};
(error_code = trackHat_GetDetectedPointsExtended(&device, &points)) == TH_SUCCESS)
{
auto& frame = *frame_.as<trackhat_frame>();
frame.init_points(points, t.min_pt_size, t.max_pt_size);
}
else
goto error;
return {true, get_desired()};
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)
int trackhat_camera::init_regs()
{
unsigned attempts = 0;
constexpr unsigned max_attempts = 5;
auto exp = (uint8_t)t.exposure;
auto thres = (uint8_t)t.threshold;
auto thres2 = (uint8_t)std::clamp((int)*t.threshold_2, 0, std::max(0, (int)*t.threshold - 1));
auto gain = (uint8_t)*t.gain;
auto gain_c = (uint8_t)(gain < 0x0f ? 0 : (gain / 0x0f + 1) & 3);
gain %= 0x0f;
const uint8_t regs[][3] = {
{ 0x0c, 0x0f, 0xf0 }, // exposure lo
{ 0x0c, 0x10, exp }, // exposure hi
{ 0x00, 0x0b, 0xff }, // blob area max size
{ 0x00, 0x0c, 0x03 }, // blob area min size
{ 0x0c, 0x08, gain }, // gain
{ 0x0c, 0x0c, gain_c }, // gain multiplier
{ 0x0c, 0x47, thres }, // min brightness
{ 0x00, 0x0f, thres2 }, // brightness margin, formula is `thres >= px > thres - fuzz'
{ 0x00, 0x01, 0x01 }, // bank0 sync
{ 0x01, 0x01, 0x01 }, // bank1 sync
};
start:
for (const auto& reg : regs)
{
trackHat_SetRegister_t r{reg[0], reg[1], reg[2]};
if (TH_ErrorCode error = trackHat_SetRegisterValue(&device, &r); error != TH_SUCCESS)
goto error;
}
return TH_SUCCESS;
error:
if (attempts++ < max_attempts)
{
portable::sleep(50);
goto start;
}
return error_code;
}
bool trackhat_camera::start(const pt_settings&)
{
int attempts = 0;
set_pt_options();
if (status >= th_running)
return true;
start:
stop();
trackHat_DisableDebugMode();
[[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:
stop();
if (++attempts < 5)
{
portable::sleep(100);
goto start;
}
return false;
}
void trackhat_camera::stop()
{
#if 0
if (status >= th_connect)
{
uint32_t uptime = 0;
if (TH_ErrorCode status = trackHat_GetUptime(&device, &uptime); status == TH_SUCCESS)
qDebug() << "trackhat stop: device uptime" << uptime << "seconds";
}
#endif
if (status >= th_connect)
(void)trackHat_Disconnect(&device);
if (status >= th_init)
(void)trackHat_Deinitialize(&device);
status = th_noinit;
device = {};
}
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