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unified some funcsions of U3V and U3VGenDC
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@Fixstars-momoko
Fixstars-momoko committed Aug 30, 2024
1 parent ffe048c commit 270e294
Showing 1 changed file with 28 additions and 100 deletions.
128 changes: 28 additions & 100 deletions src/bb/image-io/rt_u3v.h
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Original file line number Diff line number Diff line change
Expand Up @@ -825,6 +825,34 @@ class U3V {
}
}

void consume_old_buffer(std::vector<ArvBuffer *> &bufs, int timeout_us = 3 * 1000 * 1000){
std::vector<int32_t> N_output_buffers(num_sensor_);
for (auto i = 0; i < num_sensor_; ++i) {
int32_t num_input_buffer;
arv_stream_get_n_buffers(devices_[i].stream_, &num_input_buffer, &(N_output_buffers[i]));
}
// if all stream has N output buffers, discard N-1 of them
for (auto i = 0; i < num_sensor_; ++i) {
for (auto j = 0; j < N_output_buffers[i] - 1; ++j) {
bufs[i] = arv_stream_timeout_pop_buffer(devices_[i].stream_, timeout_us);
if (bufs[i] == nullptr) {
log::error("pop_buffer(L2) failed due to timeout ({}s)", timeout_us * 1e-6f);
throw ::std::runtime_error("buffer is null");
}
devices_[i].frame_count_ = frame_count_method_ == FrameCountMethod::TYPESPECIFIC3
? static_cast<uint32_t>(get_frame_count_from_genDC_descriptor(bufs[i], devices_[i]))
: frame_count_method_ == FrameCountMethod::TIMESTAMP
? static_cast<uint32_t>(arv_buffer_get_timestamp(bufs[i]) & 0x00000000FFFFFFFF)
: -1;
i == 0 ?
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20}) [skipped for realtime display]", devices_[i].frame_count_, "") :
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20}) [skipped for realtime display]", "", devices_[i].frame_count_);
arv_stream_push_buffer(devices_[i].stream_, bufs[i]);

}
}
}

g_object_unref_t g_object_unref;

arv_get_major_version_t arv_get_major_version;
Expand Down Expand Up @@ -1136,34 +1164,6 @@ class U3VRealCam: public U3V{
AllocateBuffers();
}
};

void consume_old_buffer(std::vector<ArvBuffer *> &bufs, int timeout_us = 3 * 1000 * 1000){
std::vector<int32_t> N_output_buffers(num_sensor_);
for (auto i = 0; i < num_sensor_; ++i) {
int32_t num_input_buffer;
arv_stream_get_n_buffers(devices_[i].stream_, &num_input_buffer, &(N_output_buffers[i]));
}
// if all stream has N output buffers, discard N-1 of them
for (auto i = 0; i < num_sensor_; ++i) {
for (auto j = 0; j < N_output_buffers[i] - 1; ++j) {
bufs[i] = arv_stream_timeout_pop_buffer(devices_[i].stream_, timeout_us);
if (bufs[i] == nullptr) {
log::error("pop_buffer(L2) failed due to timeout ({}s)", timeout_us * 1e-6f);
throw ::std::runtime_error("buffer is null");
}
devices_[i].frame_count_ = frame_count_method_ == FrameCountMethod::TYPESPECIFIC3
? static_cast<uint32_t>(get_frame_count_from_genDC_descriptor(bufs[i], devices_[i]))
: frame_count_method_ == FrameCountMethod::TIMESTAMP
? static_cast<uint32_t>(arv_buffer_get_timestamp(bufs[i]) & 0x00000000FFFFFFFF)
: -1;
i == 0 ?
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20}) [skipped for realtime display]", devices_[i].frame_count_, "") :
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20}) [skipped for realtime display]", "", devices_[i].frame_count_);
arv_stream_push_buffer(devices_[i].stream_, bufs[i]);

}
}
}
};


Expand Down Expand Up @@ -1325,78 +1325,6 @@ class U3VGenDC: public U3V{
}
};

void consume_old_buffer(std::vector<ArvBuffer *> &bufs, int timeout_us = 3 * 1000 * 1000){
std::vector<int32_t> N_output_buffers(num_sensor_);
for (auto i = 0; i < num_sensor_; ++i) {
int32_t num_input_buffer;
arv_stream_get_n_buffers(devices_[i].stream_, &num_input_buffer, &(N_output_buffers[i]));
}
// if all stream has N output buffers, discard N-1 of them
for (auto i = 0; i < num_sensor_; ++i) {
for (auto j = 0; j < N_output_buffers[i] - 1; ++j) {
bufs[i] = arv_stream_timeout_pop_buffer(devices_[i].stream_, timeout_us);
if (bufs[i] == nullptr) {
log::error("pop_buffer(L2) failed due to timeout ({}s)", timeout_us * 1e-6f);
throw ::std::runtime_error("buffer is null");
}
devices_[i].frame_count_ = frame_count_method_ == FrameCountMethod::TYPESPECIFIC3
? static_cast<uint32_t>(get_frame_count_from_genDC_descriptor(bufs[i], devices_[i]))
: frame_count_method_ == FrameCountMethod::TIMESTAMP
? static_cast<uint32_t>(arv_buffer_get_timestamp(bufs[i]) & 0x00000000FFFFFFFF)
: -1;
i == 0 ?
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20}) [skipped for realtime display]", devices_[i].frame_count_, "") :
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20}) [skipped for realtime display]", "", devices_[i].frame_count_);
arv_stream_push_buffer(devices_[i].stream_, bufs[i]);

}
}
}

void sync_frame_count(std::vector<ArvBuffer *> &bufs, int timeout_us){
uint32_t max_cnt = 0;
while (true) {
// Update max_cnt
for (int i = 0; i < num_sensor_; ++i) {
if (max_cnt < devices_[i].frame_count_) {
max_cnt = devices_[i].frame_count_;
}
}

// Check all count is same as max_cnt;
bool synchronized = true;
for (int i = 0; i < num_sensor_; ++i) {
synchronized &= devices_[i].frame_count_ == max_cnt;
}

// If it is synchronized, break the loop
if (synchronized) {
break;
}

// Acquire buffer until cnt is at least max_cnt
for (int i = 0; i < devices_.size(); ++i) {
while (devices_[i].frame_count_ < max_cnt) {
arv_stream_push_buffer(devices_[i].stream_, bufs[i]);
bufs[i] = arv_stream_timeout_pop_buffer(devices_[i].stream_, timeout_us);

if (bufs[i] == nullptr) {
log::error("pop_buffer failed when sync frame due to timeout ({}s)", timeout_us * 1e-6f);
throw ::std::runtime_error("buffer is null");
}
devices_[i].frame_count_ = frame_count_method_ == FrameCountMethod::TYPESPECIFIC3
? static_cast<uint32_t>(get_frame_count_from_genDC_descriptor(bufs[i], devices_[i]))
: frame_count_method_ == FrameCountMethod::TIMESTAMP
? static_cast<uint32_t>(arv_buffer_get_timestamp(bufs[i]) & 0x00000000FFFFFFFF)
: -1;
i == 0 ?
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20})", devices_[i].frame_count_, "") :
log::trace("All-Popped Frames (USB0, USB1)=({:20}, {:20})", "", devices_[i].frame_count_);
}
}
}
}

};

} // namespace image_io
Expand Down

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