101 lines
3.0 KiB
C++
Executable File
101 lines
3.0 KiB
C++
Executable File
#pragma once
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#include <VmbCPP/VmbCPP.h>
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#include <thread>
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#include <mutex>
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#include <memory>
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#include <queue>
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#include <condition_variable>
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#include "MQTT.h"
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#include "Serial.h"
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using namespace VmbCPP;
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struct image_store_8bit
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{
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private:
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typedef std::vector<VmbUchar_t> data_vec;
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data_vec m_Data;
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VmbUint32_t m_Width; // frame width
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VmbUint32_t m_Height; // frame height
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VmbPixelFormat_t m_PixelFormat; // frame pixel format
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long long m_timestamp;
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public:
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image_store_8bit(const VmbUchar_t* pBuffer, VmbUint32_t BufferByteSize, VmbUint32_t Width, VmbUint32_t Height, VmbPixelFormatType PixelFormat, long long stamp)
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: m_Data(pBuffer, pBuffer + BufferByteSize)
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, m_Width(Width)
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, m_Height(Height)
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, m_PixelFormat(PixelFormat)
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, m_timestamp(stamp)
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{
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}
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long long getTimestamp() {
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return(m_timestamp);
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}
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bool equal(VmbUint32_t Width, VmbUint32_t Height, VmbPixelFormat_t PixelFormat) const
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{
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return m_Width == Width
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&& m_Height == Height
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&& m_PixelFormat == PixelFormat;
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}
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bool setData(const VmbUchar_t* Buffer, VmbUint32_t BufferSize, long long stamp)
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{
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if (BufferSize == dataSize())
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{
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std::copy(Buffer, Buffer + BufferSize, m_Data.begin());
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m_timestamp = stamp;
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return true;
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}
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return false;
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}
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VmbPixelFormat_t pixelFormat() const { return m_PixelFormat; }
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VmbUint32_t width() const { return m_Width; }
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VmbUint32_t height() const { return m_Height; }
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VmbUint32_t dataSize() const { return static_cast<VmbUint32_t>(m_Data.size()); }
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const VmbUchar_t* data() const { return &*m_Data.begin(); }
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VmbUchar_t* data() { return &*m_Data.begin(); }
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};
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class VimbaHandler
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{
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public:
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VimbaHandler(const char* cameraId, MQTTClient* mqtt_c, motor_info* motor_i);
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~VimbaHandler();
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void Open();
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void Close();
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void Start();
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void Stop();
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void evaluateCommand(std::string cmd, double val);
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void EnqueueToStoreStruct();
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void SaveImage();
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bool ChangeFramerate(double fr);
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bool TriggerCamera();
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bool cam_started = false;
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int queue_count_rgb=0;
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private:
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double jxlq = 2.0;
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double jxle = 3.0;
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const std::string fwt_name = "Dev";
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const std::string mqtt_RGB = "GGS/FWT/" + fwt_name + "/CamEvent/RGB";
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motor_info* gimbal_data;
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MQTTClient* mqtt_client;
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typedef std::shared_ptr<image_store_8bit> ImageStore8Ptr;
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typedef std::queue<ImageStore8Ptr> ImageQueue8;
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ImageQueue8 m_ImageQueueRGB8;
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std::mutex queue_mut;
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std::mutex proc_wait_mut;
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std::condition_variable cv_proc;
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bool save_thread_running = false;
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bool save_jxl = true;
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bool display_image = false;
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std::thread image_saver_thread;
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IFrameObserverPtr FO_ptr;
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VmbSystem& m_vmbSystem;
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CameraPtr m_camera;
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};
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