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#pragma once
#include "../tracker-pt/pt-api.hpp"
#include "compat/macros.hpp"
#include "compat/timer.hpp"
#include "options/options.hpp"
#include <track_hat_driver.h>
#include <array>
#include <atomic>
#include <optional>
#include <opencv2/core/mat.hpp>
enum model_type : int
{
model_cap = 1,
model_clip_left,
model_clip_right,
model_mini_clip_left,
model_mini_clip_right,
model_mystery_meat,
};
namespace trackhat_impl
{
using namespace options;
TH_ErrorCode log_error(TH_ErrorCode error, const char* source, const char* file, int line, const char* function);
#define th_check_(expr, expr2) ::trackhat_impl::log_error((expr), expr2)
#define th_check(expr) ::trackhat_impl::log_error((expr), #expr, __FILE__, __LINE__, function_name)
enum class led_mode : unsigned char {
off, constant, dynamic,
};
struct trackhat_settings : opts
{
static constexpr int min_gain = 1, max_gain = 47,
min_exposure = 0x10, max_exposure = 0xff;
static constexpr int num_exposure_steps = max_gain + max_exposure - min_gain - min_exposure;
trackhat_settings();
value<slider_value> exposure{b, "exposure", {min_exposure + max_exposure*2/3, min_exposure, max_exposure}};
value<slider_value> gain{b, "gain", {min_gain + max_gain*2/3, min_gain, max_gain}};
//value<slider_value> threshold{b, "threshold", {0x97, 64, 0xfe}};
value<model_type> model{b, "model", model_mini_clip_left};
value<double> min_pt_size{b, "min-point-size", 10};
value<double> max_pt_size{b, "max-point-size", 50};
value<bool> enable_point_filter{b, "enable-point-filter", true };
value<slider_value> point_filter_coefficient{b, "point-filter-coefficient", { 1.5, 1, 4 }};
value<slider_value> point_filter_limit { b, "point-filter-limit", { 0.1, 0.01, 1 }};
value<slider_value> point_filter_deadzone { b, "point-filter-deadzone", {0, 0, 1}};
value<led_mode> led { b, "led-mode", led_mode::dynamic };
};
class setting_receiver : public QObject
{
Q_OBJECT
public:
explicit setting_receiver(bool value);
bool test_and_clear();
public slots:
void settings_changed();
private:
std::atomic<bool> changed{false};
};
enum class led_state : unsigned char {
invalid, stopped, not_tracking, tracking,
};
struct led_updater final {
trackHat_SetLeds_t leds_ {TH_UNCHANGED, TH_UNCHANGED, TH_UNCHANGED};
std::optional<Timer> timer_;
led_state state_ = led_state::invalid;
trackHat_SetLeds_t next_state(led_mode mode, led_state new_state);
void update_(trackHat_Device_t* device, trackHat_SetLeds_t leds);
void update(trackHat_Device_t* device, led_mode mode, led_state new_state);
static constexpr int SWITCH_TIME_MS = 2000;
static constexpr
trackHat_SetLeds_t LED_idle = {TH_OFF, TH_SOLID, TH_OFF},
LED_off = {TH_OFF, TH_OFF, TH_OFF},
LED_tracking {TH_OFF, TH_SOLID, TH_SOLID},
LED_not_tracking {TH_SOLID, TH_OFF, TH_OFF};
};
} // ns trackhat_impl
using trackhat_impl::trackhat_settings;
using trackhat_impl::led_updater;
struct trackhat_metadata final : pt_runtime_traits
{
pt_runtime_traits::pointer<pt_camera> make_camera() const override;
pt_runtime_traits::pointer<pt_point_extractor> make_point_extractor() const override;
pt_runtime_traits::pointer<pt_frame> make_frame() const override;
pt_runtime_traits::pointer<pt_preview> make_preview(int w, int h) const override;
QString get_module_name() const override;
OTR_DISABLE_MOVE_COPY(trackhat_metadata);
trackhat_metadata() = default;
~trackhat_metadata() override = default;
static const QString module_name;
};
struct point
{
int brightness = 0, area, x, y, W, H;
bool ok = false;
};
struct camera_handle final
{
OTR_DISABLE_MOVE_COPY(camera_handle);
trackHat_Device_t* operator->() { return &device_; }
trackHat_Device_t& operator*() { return device_; }
camera_handle() = default;
~camera_handle() = default;
constexpr operator bool() const { return state_ >= st_streaming; }
[[nodiscard]] bool ensure_connected();
[[nodiscard]] bool ensure_device_exists();
void disconnect();
private:
trackHat_Device_t device_ = {};
enum state { st_stopped, st_detected, st_streaming, };
state state_ = st_stopped;
};
struct trackhat_camera final : pt_camera
{
trackhat_camera();
~trackhat_camera() override;
OTR_DISABLE_MOVE_COPY(trackhat_camera);
bool start(const pt_settings& s) override;
void stop() override;
pt_camera::result get_frame(pt_frame& frame) override;
pt_camera::result get_info() const override;
pt_camera_info get_desired() const override;
QString get_desired_name() const override;
QString get_active_name() const override;
void set_fov(f value) override;
void show_camera_settings() override;
f deadzone_amount() const override { return 10; }
static constexpr int sensor_size = 2940;
static constexpr int sensor_fov = 52;
static constexpr int point_count = TRACK_HAT_NUMBER_OF_POINTS;
static constexpr bool debug_mode = true;
private:
trackhat_impl::setting_receiver sig{true};
[[nodiscard]] bool init_regs();
void set_pt_options();
camera_handle device;
pt_settings s{trackhat_metadata::module_name};
trackhat_settings t;
led_updater led;
};
struct trackhat_frame final : pt_frame
{
void init_points(const trackHat_ExtendedPoints_t& points, double min_size, double max_size);
trackhat_frame() = default;
~trackhat_frame() override = default;
std::array<point, trackhat_camera::point_count> points;
};
struct trackhat_preview final : pt_preview
{
QImage get_bitmap() override;
void draw_head_center(f x, f y) override;
void set_last_frame(const pt_frame&) override; // NOLINT(misc-unconventional-assign-operator)
trackhat_preview(int w, int h);
~trackhat_preview() override = default;
void draw_points();
void draw_center();
OTR_DISABLE_MOVE_COPY(trackhat_preview);
cv::Mat frame_bgr, frame_bgra;
numeric_types::vec2 center{-1, -1};
std::array<point, trackhat_camera::point_count> points;
};
struct trackhat_extractor final : pt_point_extractor
{
void extract_points(const pt_frame& data, pt_preview&, bool, std::vector<vec2>& points) override;
OTR_DISABLE_MOVE_COPY(trackhat_extractor);
trackhat_extractor() = default;
~trackhat_extractor() override = default;
};
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