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#include "trackhat.hpp"
#include "compat/sleep.hpp"
#include <algorithm>
#include <cstdio>
namespace trackhat_impl {
TH_ErrorCode log_error(TH_ErrorCode error, const char* source,
const char* file, int line, const char* function)
{
if (error == TH_ERROR_DEVICE_ALREADY_OPEN)
error = TH_SUCCESS;
if (error)
{
auto logger = QMessageLogger(file, line, function).warning();
logger << "tracker/trackhat: error" << (void*)-error << "in" << source;
}
return error;
}
} // ns trackhat_impl
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,*/ })
{
slider->connect_to(&sig, &trackhat_impl::setting_receiver::settings_changed, Qt::DirectConnection);
}
}
trackhat_camera::~trackhat_camera()
{
stop();
}
pt_camera::result trackhat_camera::get_frame(pt_frame& frame_)
{
if (!device.ensure_connected())
goto error;
if (sig.test_and_clear() && !init_regs())
goto error;
set_pt_options();
{
trackHat_ExtendedPoints_t points;
if (!!th_check(trackHat_GetDetectedPointsExtended(&*device, &points)))
goto error;
auto& frame = *frame_.as<trackhat_frame>();
frame.init_points(points, t.min_pt_size, t.max_pt_size);
using trackhat_impl::led_state;
int count =
std::count_if(frame.points.cbegin(), frame.points.cend(),
[](const point& pt) { return pt.ok; });
led.update(&*device, *t.led,
count == 3
? led_state::tracking
: led_state::not_tracking);
}
return {true, get_desired()};
error:
stop();
return {false, {}};
}
static void log_handler(const char* file, int line, const char* function, char level, const char* str, size_t len)
{
if (level != 'E')
return;
char file_[128];
snprintf(file_, std::size(file_), "trackhat/%s", file);
auto logger = QMessageLogger(file_, line, function).debug();
logger << "tracker/trackhat:";
logger.noquote() << QLatin1String(str, (int)len);
}
bool trackhat_camera::start(const pt_settings&)
{
trackHat_SetDebugHandler(log_handler);
if constexpr(debug_mode)
trackHat_EnableDebugMode();
else
trackHat_DisableDebugMode();
if (!device.ensure_device_exists())
return false;
set_pt_options();
led.update(&*device, *t.led, trackhat_impl::led_state::stopped);
return true;
}
void trackhat_camera::stop()
{
if (device)
led.update(&*device, *t.led, trackhat_impl::led_state::stopped);
device.disconnect();
}
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