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#include "trackhat.hpp"
#include "compat/sleep.hpp"
#include "compat/timer.hpp"
namespace trackhat_impl {
trackhat_settings::trackhat_settings() : opts{"tracker-trackhat"}
{
}
void setting_receiver::settings_changed()
{
changed = true;
}
bool setting_receiver::test_and_clear()
{
bool x = true;
return changed.compare_exchange_strong(x, false);
}
setting_receiver::setting_receiver(bool value) : changed{value}
{
}
} // ns trackhat_impl
void trackhat_camera::set_pt_options()
{
s.min_point_size = t.min_pt_size;
s.max_point_size = t.max_pt_size;
switch (t.model)
{
default:
case model_cap:
s.t_MH_x = 0; s.t_MH_y = 0; s.t_MH_z = 0;
break;
case model_mystery_meat:
case model_clip_left:
case model_mini_clip_left:
s.t_MH_x = -135; s.t_MH_y = 0; s.t_MH_z = 0;
break;
case model_clip_right:
case model_mini_clip_right:
s.t_MH_x = 135; s.t_MH_y = 0; s.t_MH_z = 0;
break;
}
switch (t.model)
{
default:
eval_once(qDebug() << "tracker/trackhat: unknown model");
[[fallthrough]];
case model_clip_left:
case model_clip_right:
s.clip_tz = 27; s.clip_ty = 43; s.clip_by = 62; s.clip_bz = 74;
break;
case model_mini_clip_left:
case model_mini_clip_right:
s.clip_tz = 13; s.clip_ty = 42; s.clip_by = 60; s.clip_bz = 38;
break;
case model_cap:
s.cap_x = 60; s.cap_y = 90; s.cap_z = 95;
break;
case model_mystery_meat:
break;
}
s.dynamic_pose = t.model == model_cap;
s.init_phase_timeout = 500;
s.camera_name = "TrackHat Sensor (WIP)";
s.active_model_panel = t.model == model_cap ? 1 : 0;
s.enable_point_filter = t.enable_point_filter;
s.point_filter_coefficient = *t.point_filter_coefficient;
}
bool trackhat_camera::set_regs(const uint8_t(*regs)[3], unsigned len)
{
unsigned attempts = 0;
constexpr unsigned max_attempts = 5;
start:
for (unsigned i = 0; i < len; i++)
{
const auto& reg = regs[i];
trackHat_SetRegister_t r{reg[0], reg[1], reg[2]};
auto status = th_check(trackHat_SetRegisterValue(&*device, &r));
if (status == TH_SUCCESS)
continue;
else if (status == TH_FAILED_TO_SET_REGISTER)
goto retry;
else if (status == TH_ERROR_DEVICE_COMUNICATION_TIMEOUT)
goto retry;
else
goto error;
}
return true;
retry:
if (attempts++ < max_attempts)
{
auto dbg = qDebug();
dbg << "tracker/trackhat: set register retry attempt";
dbg.space(); dbg.nospace();
dbg << attempts << "/" << max_attempts;
portable::sleep(50);
goto start;
}
error:
return false;
}
bool trackhat_camera::init_regs()
{
auto exp = (uint8_t)t.exposure;
auto exp2 = (uint8_t)(exp == 0xff ? 0xf0 : 0xff);
auto thres = (uint8_t)t.threshold;
auto thres2 = (uint8_t)std::clamp((int)*t.threshold_2, 0, std::max(64, thres-1));
auto gain = (uint8_t)((int)*t.gain);
auto gain_c = (uint8_t)(gain/0x10);
gain %= 0x10; gain_c %= 4;
const uint8_t regs[][3] = {
{ 0x0c, 0x0f, exp2 }, // 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
};
Timer t;
if (!set_regs(regs, std::size(regs)))
{
device.disconnect();
return false;
}
if (int elapsed = (int)t.elapsed_ms(); elapsed > 500)
qDebug() << "tracker/trackhat: setting registers took" << elapsed << "ms";
return true;
}
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