feat(osx uvc): data pipeline debug complete.
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Tiny
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@ -16,39 +16,352 @@
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#include <vector>
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#include <atomic>
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#include <mutex>
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#include <chrono>
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#include <fstream>
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#include <sstream>
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#include <string>
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#include "mynteye/logger.h"
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#include "mynteye/uvc/uvc.h"
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#include "libuvc/libuvc.h"
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#include "AVfoundationCamera.h"
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#define MYNT_DEV_NAME "MYNT-EYE-S"
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// #define ENABLE_DEBUG_SPAM
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MYNTEYE_BEGIN_NAMESPACE
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namespace uvc {
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struct context {
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context() {
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VLOG(2) << __func__;
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}
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~context() {
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VLOG(2) << __func__;
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}
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};
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struct buffer {
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void *start;
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size_t length;
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};
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void printConfig(std::vector<CameraConfig> cfg_list) {
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if(cfg_list.size()==0) return;
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int device = -1;
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int width = -1;
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int height = -1;
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float fps = -1;
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int format = -1;
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int frame_mode = -1;
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for (int i=0;i<(int)cfg_list.size();i++) {
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if (cfg_list[i].device != device) {
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if (device>=0) printf("\b fps\n");
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device = cfg_list[i].device;
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if(strncmp(cfg_list[i].name, MYNT_DEV_NAME, strlen(MYNT_DEV_NAME)) == 0) {
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printf("*");
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} else {
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printf(" ");
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}
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printf(" %d: %s\n",cfg_list[i].device,cfg_list[i].name);
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format = -1;
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}
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if ((cfg_list[i].cam_format != format) || (cfg_list[i].frame_mode != frame_mode)) {
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if (format>=0) printf("\b fps\n");
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format = cfg_list[i].cam_format;
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if(cfg_list[i].frame_mode<0) printf(" format: %s",fstr[cfg_list[i].cam_format]);
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else printf(" format7_%d: %s",cfg_list[i].frame_mode,fstr[cfg_list[i].cam_format]);
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//if(cfg_list[i].compress) printf(" (default)");
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width = height = fps = -1;
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printf("\n");
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}
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if ((cfg_list[i].cam_width != width) || (cfg_list[i].cam_height != height)) {
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if (width>0) printf("\b fps\n");
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printf(" %dx%d ",cfg_list[i].cam_width,cfg_list[i].cam_height);
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width = cfg_list[i].cam_width;
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height = cfg_list[i].cam_height;
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fps = INT_MAX;
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}
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if (cfg_list[i].frame_mode>=0) printf("max|");
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else if (cfg_list[i].cam_fps != fps) {
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if(int(cfg_list[i].cam_fps)==cfg_list[i].cam_fps)
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printf("%d|",int(cfg_list[i].cam_fps));
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else printf("%.1f|",cfg_list[i].cam_fps);
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fps = cfg_list[i].cam_fps;
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}
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}
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printf("\b fps\n");
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}
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std::vector<CameraConfig> findDevicesConfig() {
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std::vector<CameraConfig> dev_list;
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std::vector<CameraConfig> sys_list = AVfoundationCamera::getCameraConfigs();
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dev_list.insert(dev_list.end(), sys_list.begin(), sys_list.end());
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return dev_list;
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}
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void pv_sleep(int ms=1) {
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usleep(ms*1000);
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}
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/*
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struct CameraConfig {
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char path[256];
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int driver;
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int device;
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char name[256];
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char src[256];
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bool color;
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bool frame;
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int cam_format;
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int src_format;
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int buf_format;
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int cam_width;
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int cam_height;
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float cam_fps;
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int frame_width;
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int frame_height;
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int frame_xoff;
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int frame_yoff;
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int frame_mode;
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int brightness;
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int contrast;
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int sharpness;
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int gain;
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int shutter;
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int exposure;
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int focus;
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int gamma;
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int white;
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int powerline;
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int backlight;
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int saturation;
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int hue;
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int red;
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int blue;
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int green;
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bool force;
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bool operator < (const CameraConfig& c) const;
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};
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*/
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struct device;
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struct device : public AVfoundationCamera{
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const std::shared_ptr<context> parent;
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static std::vector <struct device*> s_devices;
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int _vendor_id = -1;
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int _product_id = -1;
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CameraConfig _config;
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video_channel_callback callback = nullptr;
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bool is_capturing = false;
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std::vector<buffer> buffers;
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std::thread thread;
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volatile bool pause_ = false;
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volatile bool stop = false;
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unsigned char *cameraBuffer = NULL;
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unsigned char *cameraWriteBuffer = NULL;
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std::mutex _devices_mutex;
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device(std::shared_ptr<context> parent, CameraConfig &config)
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: AVfoundationCamera(&config), parent(parent), _config(config){
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VLOG(2) << __func__;
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if(strncmp(config.name, MYNT_DEV_NAME, strlen(MYNT_DEV_NAME)) == 0) {
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_vendor_id = MYNTEYE_VID;// 0x04B4
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_product_id = MYNTEYE_PID;// 0x00F9
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open();
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}
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std::lock_guard<std::mutex> lock(_devices_mutex);
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s_devices.push_back(this);
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}
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~device() {
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VLOG(2) << __func__;
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std::lock_guard<std::mutex> lock(_devices_mutex);
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for(unsigned long i = 0 ; i < s_devices.size() ; i++) {
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if(this == s_devices[i]) {
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s_devices.erase(s_devices.begin()+i);
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}
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}
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pause_ = true;
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}
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void open() {
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setup_camera();
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}
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// void set_format(
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// int width, int height, int format, int fps,
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// video_channel_callback callback) {
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// this->width = width;
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// this->height = height;
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// this->format = format;
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// this->fps = fps;
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// this->callback = callback;
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// }
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// static void uvc_frame_callback (struct uvc_frame *frame, void *user_ptr)
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// {
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// for(unsigned long i = 0 ; i < s_devices.size() ; i++) {
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// if(user_ptr == (void*)s_devices[i]) {
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// printf("bingo\n");
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// }
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// }
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// }
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void start_capture() {
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if (is_capturing) {
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LOG(WARNING) << "Start capture failed, is capturing already";
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return;
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}
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is_capturing = true;
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startCamera();
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}
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void stop_capture() {
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if (!is_capturing)
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return;
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is_capturing = false;
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}
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std::string get_name() const{
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return std::string(_config.name);
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}
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int get_vendor_id() const{
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return _vendor_id;
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}
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int get_product_id() const{
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return _product_id;
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}
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std::string get_video_name() const{
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return std::string("video name is not supported on osx.");
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}
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void setup_camera() {
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if(initCamera()) {
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printInfo();
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} else {
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printf("could not initialize selected camera\n");
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closeCamera();
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return;
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}
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}
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void poll() {
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if(is_capturing) {
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//long start_time = VisionEngine::currentMicroSeconds();
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cameraBuffer = getFrame();
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if (cameraBuffer!=NULL) {
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// cameraWriteBuffer = engine->ringBuffer->getNextBufferToWrite();
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// if (cameraWriteBuffer!=NULL) {
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// memcpy(cameraWriteBuffer,cameraBuffer,engine->ringBuffer->size());
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// engine->framenumber_++;
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// engine->ringBuffer->writeFinished();
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// //long driver_time = VisionEngine::currentMicroSeconds() - start_time;
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// //std::cout << "camera latency: " << driver_time/1000.0f << "ms" << std::endl;
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// }
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if (callback) {
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callback(cameraBuffer, [this]() mutable {
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// todo
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});
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}
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pv_sleep();
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} else {
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if ((is_capturing) && (!stillRunning())) {
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printf("error!\n");
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} else pv_sleep();
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}
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} else pv_sleep(5);
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}
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void pause(bool pause) {
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pause_ = pause;
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}
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void start_streaming() {
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if (!callback) {
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LOG(WARNING) << __func__ << " failed: video_channel_callback is empty";
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return;
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}
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start_capture();
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thread = std::thread([this]() {
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while (!stop)
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poll();
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});
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}
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void stop_streaming() {
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if (thread.joinable()) {
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stop = true;
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thread.join();
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stop = false;
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stop_capture();
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}
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}
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};
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std::vector <struct device*> device::s_devices;
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// Enumerate devices
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MYNTEYE_API std::shared_ptr<context> create_context() {
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//too
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return std::make_shared<context>();
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}
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MYNTEYE_API std::vector<std::shared_ptr<device>> query_devices(
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std::shared_ptr<context> context) {
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//todo
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std::vector<std::shared_ptr<device>> devices;
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auto camerasConfig = findDevicesConfig();
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printConfig(camerasConfig);
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for (unsigned int i = 0; i < camerasConfig.size(); i++) {
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auto dev = std::make_shared<device>(context, camerasConfig[i]);
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devices.push_back(dev);
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}
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return devices;
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}
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// Static device properties
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MYNTEYE_API std::string get_name(const device &device) {
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//todo
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return device.get_name();
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}
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MYNTEYE_API int get_vendor_id(const device &device) {
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//todo
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return device.get_vendor_id();
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}
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MYNTEYE_API int get_product_id(const device &device) {
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//todo
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return device.get_product_id();
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}
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MYNTEYE_API std::string get_video_name(const device &device) {
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//todo
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return device.get_video_name();
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}
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MYNTEYE_API bool pu_control_range(
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@ -65,24 +378,24 @@ MYNTEYE_API bool pu_control_query(
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MYNTEYE_API bool xu_control_range(
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const device &device, const xu &xu, uint8_t selector, uint8_t id,
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int32_t *min, int32_t *max, int32_t *def) {
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//todo
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// not supported on osx
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}
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MYNTEYE_API bool xu_control_query( // XU_QUERY_SET, XU_QUERY_GET
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const device &device, const xu &xu, uint8_t selector, xu_query query,
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uint16_t size, uint8_t *data) {
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//todo
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// not supported on osx
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}
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MYNTEYE_API void set_device_mode(
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device &device, int width, int height, int fourcc, int fps, // NOLINT
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video_channel_callback callback) {
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//todo
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device.callback = callback;
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}
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MYNTEYE_API void start_streaming(device &device, int num_transfer_bufs) {
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//todo
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device.start_streaming();
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}
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MYNTEYE_API void stop_streaming(device &device) {
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//todo
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device.stop_streaming();
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}
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} // namespace uvc
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