hawkeye camera support(not tested)

2025-08-19 12:45:50 +02:00
parent f80b275ad8
commit 6ef6aced8d
170 changed files with 20190 additions and 72 deletions
--- a/framework/Inspectron.HawkEye/Camera/InspectronCamera.cs
+++ b/framework/Inspectron.HawkEye/Camera/InspectronCamera.cs
@@ -0,0 +1,112 @@
+using System;
+using System.Diagnostics;
+using System.Runtime.InteropServices;
+using System.Threading;
+using Inspectron.Devices.Raspberry;
+using Inspectron.HawkEye.Protocol;
+using Inspectron.HawkEye.Protocol.Interfaces;
+
+namespace Inspectron.HawkEye.Camera
+{
+    public class InspectronCamera:ICameraControl,IImageSource,ILightControl
+    {
+
+        [DllImport("libVCLibProxy.so", CallingConvention = CallingConvention.Cdecl)]
+        static extern IntPtr init(Int32 captBuf);
+        [DllImport("libVCLibProxy.so", CallingConvention = CallingConvention.Cdecl)]
+        static extern int trigger(IntPtr cpt, byte[] addr, int lines, int captBuf,ref int cancelFlag);
+        [DllImport("libVCLibProxy.so", CallingConvention = CallingConvention.Cdecl)]
+        static extern void set_parameters(IntPtr cpt, ref ImageSettings imageSettings);
+
+        [DllImport("libVCLibProxy.so", CallingConvention = CallingConvention.Cdecl)]
+        public static extern int test();
+        byte[] _buffer = new byte[2048 * 250 * 4];
+        
+        public InspectronCamera()
+        {
+            
+            _i2c = new I2CLinux(0);
+            _i2c.Open();
+            
+        }
+
+
+
+        private bool _isRunningContiniuos = false;
+        private IntPtr _cp= IntPtr.Zero;
+        private ImageSettings _imageSettings=new ImageSettings()
+        {
+            CaptureBuffer = 25,
+            Gain = 200,
+            Lines = 1000,
+            Shutter = 200,
+            SensorWidth = 1440
+        };
+
+        private I2CLinux _i2c;
+
+        private int _lastBuffer = -1;
+        public void SetParameters(CameraSettings cameraSettings)
+
+        {
+            _cameraSettings = cameraSettings;
+            ImageSettings imageSettings = cameraSettings.ImageSettings;
+            if (_lastBuffer ==-1)
+            {
+                _lastBuffer = imageSettings.CaptureBuffer;
+                _cp = init(_lastBuffer);
+            }
+
+            
+            _imageSettings = imageSettings;
+            _buffer=new byte[imageSettings.SensorWidth*(imageSettings.Lines)];
+            var cpImageSettings = imageSettings;
+            cpImageSettings.UseExternalTrigger =imageSettings.UseExternalTrigger;
+            
+            if(_lastBuffer==imageSettings.CaptureBuffer)
+                set_parameters(_cp, ref cpImageSettings);
+            else
+                Console.WriteLine("Warning! Buffer size changed. Needs restart");
+            _i2c.writeBytes(4, 2, 4, BitConverter.GetBytes(imageSettings.Divider));
+            Thread.Sleep(100);
+            _i2c.writeBytes(4,3,1, new byte[] { (byte)imageSettings.UseExternalTrigger });
+            Thread.Sleep(100);
+        }
+
+
+        private int _cancelFlag = 0;
+        private CameraSettings _cameraSettings;
+
+        public byte[] GetImage()
+        {
+            _cancelFlag = 0;
+            var sw = Stopwatch.StartNew();
+
+            _i2c.writeBytes(4, 4, 1,new byte[]{ (byte)(_cameraSettings.LaserTrigger?1:0)} );
+            //Thread.Sleep(20);
+            _i2c.writeBytes(4, 5, 4, BitConverter.GetBytes(_cameraSettings.LaserTriggerDelay));
+            //Thread.Sleep(20);
+
+            trigger(_cp, _buffer, _imageSettings.Lines, _imageSettings.CaptureBuffer,ref _cancelFlag);
+            sw.Stop();
+            Console.WriteLine("Trigger time: "+sw.ElapsedMilliseconds);
+            if(_cancelFlag==1)return new byte[0];
+            return _buffer;
+        }
+
+        public void CancelTrigger()
+        {
+            _cancelFlag = 1;
+        }
+
+        public void SetLight(int pwm1, int pwm2)
+        {
+            Console.WriteLine($"setting lights to {pwm1}/{pwm2}");
+            pwm1 = (int)(pwm1 / 100.0 * 255);
+            pwm2 = (int)(pwm2 / 100.0 * 255);
+            _i2c.writeBytes(4, 1, 2, new byte[] { (byte)pwm1,(byte)pwm2 });
+            
+            Thread.Sleep(10);
+        }
+    }
+}