WMR camera interface. More...

#include "math/m_api.h"
#include "os/os_threading.h"
#include "xrt/xrt_byte_order.h"
#include "util/u_autoexpgain.h"
#include "util/u_debug.h"
#include "util/u_var.h"
#include "util/u_sink.h"
#include "util/u_frame.h"
#include "util/u_trace_marker.h"
#include "wmr_config.h"
#include "wmr_protocol.h"
#include "wmr_camera.h"
#include <libusb.h>
#include <stdlib.h>
#include <assert.h>

Include dependency graph for wmr_camera.c:

Data Structures
struct	wmr_camera_active_cmd

struct	wmr_camera_gain_cmd

struct	wmr_camera

struct	wmr_camera::wmr_camera_expgain

Macros
#define	WMR_CAM_TRACE(c, ...) U_LOG_IFL_T((c)->log_level, __VA_ARGS__)

#define	WMR_CAM_DEBUG(c, ...) U_LOG_IFL_D((c)->log_level, __VA_ARGS__)

#define	WMR_CAM_INFO(c, ...) U_LOG_IFL_I((c)->log_level, __VA_ARGS__)

#define	WMR_CAM_WARN(c, ...) U_LOG_IFL_W((c)->log_level, __VA_ARGS__)

#define	WMR_CAM_ERROR(c, ...) U_LOG_IFL_E((c)->log_level, __VA_ARGS__)

#define	CAM_ENDPOINT 0x05

#define	NUM_XFERS 9

#define	WMR_CAMERA_CMD_GAIN 0x80

#define	WMR_CAMERA_CMD_ON 0x81

#define	WMR_CAMERA_CMD_OFF 0x82

#define	DEFAULT_EXPOSURE 6000

#define	DEFAULT_GAIN 127

#define	WMR_FRAMETYPE_SLAM 0x0

#define	WMR_FRAMETYPE_CONTROLLER 0x2

#define	WMR_DEBUG_SINK_SLAM 0

#define	WMR_DEBUG_SINK_CONTROLLER 1

Functions
static int	update_expgain (struct wmr_camera cam, struct xrt_frame *frames)
	Specifies whether the user wants to enable autoexposure from the start.

struct wmr_camera_active_cmd	__attribute__ ((packed))

static bool	compute_frame_size (struct wmr_camera *cam)

static void *	wmr_cam_usb_thread (void *ptr)

static int	send_buffer_to_device (struct wmr_camera cam, uint8_t buf, uint8_t len)

static int	set_active (struct wmr_camera *cam, bool active)

static void LIBUSB_CALL	img_xfer_cb (struct libusb_transfer *xfer)

struct wmr_camera *	wmr_camera_open (struct wmr_camera_open_config *config)

void	wmr_camera_free (struct wmr_camera *cam)

bool	wmr_camera_start (struct wmr_camera *cam)
	Starts the cameras.

bool	wmr_camera_stop (struct wmr_camera *cam)

int	wmr_camera_set_exposure_gain (struct wmr_camera *cam, uint8_t camera_id, uint16_t exposure, uint8_t gain)
	Set manual exposure and gain values.

Variables
__le32	magic

__le32	len

__le32	cmd

__le16	camera_id

__le16	exposure
	observed 60 to 6000 (but supports up to ~9000)

__le16	gain
	observed 16 to 255

__le16	camera_id2
	same as camera_id

struct wmr_camera	__attribute__

Detailed Description

WMR camera interface.

Author: Jan Schmidt jan@c.nosp@m.entr.nosp@m.icula.nosp@m.r.co.nosp@m.m; Philipp Zabel phili.nosp@m.pp.z.nosp@m.abel@.nosp@m.gmai.nosp@m.l.com; Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m

Function Documentation

◆ update_expgain()

static int update_expgain	(	struct wmr_camera *	cam,
		struct xrt_frame **	frames
	)

static

Specifies whether the user wants to enable autoexposure from the start.

Specifies whether the user wants to use the same exp/gain values for all cameras

References wmr_camera::ceg, wmr_camera::tcam_confs, wmr_camera::tcam_count, u_autoexpgain_get_exposure(), u_autoexpgain_get_gain(), u_autoexpgain_update(), wmr_camera::unify_expgains, and wmr_camera_set_exposure_gain().

Referenced by wmr_camera_start().

◆ wmr_cam_usb_thread()

static void * wmr_cam_usb_thread ( void * ptr )

static

Todo:: Think this is not needed? what condition are we waiting for?

◆ wmr_camera_set_exposure_gain()

int wmr_camera_set_exposure_gain	(	struct wmr_camera *	cam,
		uint8_t	camera_id,
		uint16_t	exposure,
		uint8_t	gain
	)

Set manual exposure and gain values.

Parameters

cam	Camera container
camera_id	Which camera to affect
exposure	Time the shutter is open, observed values 60-6000.
gain	Amplification of the analog signal, observed values: 16-255.

References exposure, and gain.

Referenced by update_expgain().

◆ wmr_camera_start()

bool wmr_camera_start ( struct wmr_camera * cam )

Starts the cameras.

References update_expgain().

Variable Documentation

◆ camera_id2

__le16 camera_id2

same as camera_id

◆ exposure

__le16 exposure

observed 60 to 6000 (but supports up to ~9000)

Referenced by brightness_to_expgain(), and wmr_camera_set_exposure_gain().

◆ gain

__le16 gain

observed 16 to 255