mirror of
https://github.com/MrUnknownDE/OpenIris-ESPIDF.git
synced 2026-04-21 07:23:44 +02:00
Reformat project using clang-format
This commit is contained in:
Lorow
@@ -1,11 +1,11 @@
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#include "UVCStream.hpp"
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#ifdef CONFIG_GENERAL_INCLUDE_UVC_MODE
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#include <cstdio> // for snprintf
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#include <cstdio> // for snprintf
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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static const char *UVC_STREAM_TAG = "[UVC DEVICE]";
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static const char* UVC_STREAM_TAG = "[UVC DEVICE]";
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// Tracks whether a frame has been handed to TinyUSB and not yet returned.
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// File scope so both get_cb and return_cb can access it safely.
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@@ -13,207 +13,207 @@ static bool s_frame_inflight = false;
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extern "C"
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{
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static char serial_number_str[13];
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static char serial_number_str[13];
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const char *get_uvc_device_name()
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{
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return deviceConfig->getMDNSConfig().hostname.c_str();
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}
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const char *get_serial_number(void)
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{
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if (serial_number_str[0] == '\0')
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const char* get_uvc_device_name()
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{
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uint8_t mac_address[6];
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esp_err_t result = esp_efuse_mac_get_default(mac_address);
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if (result != ESP_OK)
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{
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ESP_LOGE(UVC_STREAM_TAG, "Failed to get MAC address of the board, returning default serial number");
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return CONFIG_TUSB_SERIAL_NUM;
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}
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// 12 hex chars without separators
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snprintf(serial_number_str, sizeof(serial_number_str), "%02X%02X%02X%02X%02X%02X",
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mac_address[0], mac_address[1], mac_address[2], mac_address[3], mac_address[4], mac_address[5]);
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return deviceConfig->getMDNSConfig().hostname.c_str();
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}
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const char* get_serial_number(void)
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{
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if (serial_number_str[0] == '\0')
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{
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uint8_t mac_address[6];
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esp_err_t result = esp_efuse_mac_get_default(mac_address);
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if (result != ESP_OK)
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{
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ESP_LOGE(UVC_STREAM_TAG, "Failed to get MAC address of the board, returning default serial number");
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return CONFIG_TUSB_SERIAL_NUM;
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}
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// 12 hex chars without separators
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snprintf(serial_number_str, sizeof(serial_number_str), "%02X%02X%02X%02X%02X%02X", mac_address[0], mac_address[1], mac_address[2], mac_address[3],
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mac_address[4], mac_address[5]);
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}
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return serial_number_str;
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}
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return serial_number_str;
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}
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}
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// single definition of shared framebuffer storage
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UVCStreamHelpers::fb_t UVCStreamHelpers::s_fb = {};
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static esp_err_t UVCStreamHelpers::camera_start_cb(uvc_format_t format, int width, int height, int rate, void *cb_ctx)
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static esp_err_t UVCStreamHelpers::camera_start_cb(uvc_format_t format, int width, int height, int rate, void* cb_ctx)
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{
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ESP_LOGI(UVC_STREAM_TAG, "Camera Start");
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ESP_LOGI(UVC_STREAM_TAG, "Format: %d, width: %d, height: %d, rate: %d", format, width, height, rate);
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framesize_t frame_size = FRAMESIZE_QVGA;
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ESP_LOGI(UVC_STREAM_TAG, "Camera Start");
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ESP_LOGI(UVC_STREAM_TAG, "Format: %d, width: %d, height: %d, rate: %d", format, width, height, rate);
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framesize_t frame_size = FRAMESIZE_QVGA;
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if (format != UVC_FORMAT_JPEG)
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{
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ESP_LOGE(UVC_STREAM_TAG, "Only support MJPEG format");
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return ESP_ERR_NOT_SUPPORTED;
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}
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if (format != UVC_FORMAT_JPEG)
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{
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ESP_LOGE(UVC_STREAM_TAG, "Only support MJPEG format");
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return ESP_ERR_NOT_SUPPORTED;
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}
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if (width == 240 && height == 240)
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{
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frame_size = FRAMESIZE_240X240;
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}
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else
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{
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ESP_LOGE(UVC_STREAM_TAG, "Unsupported frame size %dx%d", width, height);
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return ESP_ERR_NOT_SUPPORTED;
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}
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if (width == 240 && height == 240)
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{
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frame_size = FRAMESIZE_240X240;
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}
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else
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{
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ESP_LOGE(UVC_STREAM_TAG, "Unsupported frame size %dx%d", width, height);
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return ESP_ERR_NOT_SUPPORTED;
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}
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cameraHandler->setCameraResolution(frame_size);
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cameraHandler->setCameraResolution(frame_size);
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SendStreamEvent(eventQueue, StreamState_e::Stream_ON);
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SendStreamEvent(eventQueue, StreamState_e::Stream_ON);
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return ESP_OK;
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return ESP_OK;
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}
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static void UVCStreamHelpers::camera_stop_cb(void *cb_ctx)
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static void UVCStreamHelpers::camera_stop_cb(void* cb_ctx)
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{
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(void)cb_ctx;
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if (s_fb.cam_fb_p)
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{
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esp_camera_fb_return(s_fb.cam_fb_p);
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s_fb.cam_fb_p = nullptr;
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}
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(void)cb_ctx;
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if (s_fb.cam_fb_p)
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{
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esp_camera_fb_return(s_fb.cam_fb_p);
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s_fb.cam_fb_p = nullptr;
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}
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SendStreamEvent(eventQueue, StreamState_e::Stream_OFF);
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SendStreamEvent(eventQueue, StreamState_e::Stream_OFF);
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}
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static uvc_fb_t *UVCStreamHelpers::camera_fb_get_cb(void *cb_ctx)
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static uvc_fb_t* UVCStreamHelpers::camera_fb_get_cb(void* cb_ctx)
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{
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auto *mgr = static_cast<UVCStreamManager *>(cb_ctx);
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auto* mgr = static_cast<UVCStreamManager*>(cb_ctx);
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// Guard against requesting a new frame while previous is still in flight.
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// This was causing intermittent corruption/glitches because the pointer
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// to the underlying camera buffer was overwritten before TinyUSB returned it.
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// Guard against requesting a new frame while previous is still in flight.
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// This was causing intermittent corruption/glitches because the pointer
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// to the underlying camera buffer was overwritten before TinyUSB returned it.
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// --- Frame pacing BEFORE grabbing a new camera frame ---
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static int64_t next_deadline_us = 0; // next permitted capture time
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static int rem_acc = 0; // fractional remainder accumulator
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static const int target_fps = 60; // desired FPS
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static const int64_t us_per_sec = 1000000; // 1e6 microseconds
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static const int base_interval_us = us_per_sec / target_fps; // 16666
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static const int rem_us = us_per_sec % target_fps; // 40 (distributed)
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// --- Frame pacing BEFORE grabbing a new camera frame ---
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static int64_t next_deadline_us = 0; // next permitted capture time
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static int rem_acc = 0; // fractional remainder accumulator
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static const int target_fps = 60; // desired FPS
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static const int64_t us_per_sec = 1000000; // 1e6 microseconds
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static const int base_interval_us = us_per_sec / target_fps; // 16666
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static const int rem_us = us_per_sec % target_fps; // 40 (distributed)
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const int64_t now_us = esp_timer_get_time();
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if (next_deadline_us == 0)
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{
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// First allowed capture immediately
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next_deadline_us = now_us;
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}
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const int64_t now_us = esp_timer_get_time();
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if (next_deadline_us == 0)
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{
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// First allowed capture immediately
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next_deadline_us = now_us;
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}
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// If a frame is still being transmitted or we are too early, just signal no frame
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if (s_frame_inflight || now_us < next_deadline_us)
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{
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return nullptr; // host will poll again
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}
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// If a frame is still being transmitted or we are too early, just signal no frame
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if (s_frame_inflight || now_us < next_deadline_us)
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{
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return nullptr; // host will poll again
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}
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// Acquire a fresh frame only when allowed and no frame in flight
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camera_fb_t *cam_fb = esp_camera_fb_get();
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if (!cam_fb)
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{
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return nullptr;
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}
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// Acquire a fresh frame only when allowed and no frame in flight
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camera_fb_t* cam_fb = esp_camera_fb_get();
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if (!cam_fb)
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{
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return nullptr;
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}
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s_fb.cam_fb_p = cam_fb;
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s_fb.uvc_fb.buf = cam_fb->buf;
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s_fb.uvc_fb.len = cam_fb->len;
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s_fb.uvc_fb.width = cam_fb->width;
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s_fb.uvc_fb.height = cam_fb->height;
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s_fb.uvc_fb.format = UVC_FORMAT_JPEG;
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s_fb.uvc_fb.timestamp = cam_fb->timestamp;
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s_fb.cam_fb_p = cam_fb;
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s_fb.uvc_fb.buf = cam_fb->buf;
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s_fb.uvc_fb.len = cam_fb->len;
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s_fb.uvc_fb.width = cam_fb->width;
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s_fb.uvc_fb.height = cam_fb->height;
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s_fb.uvc_fb.format = UVC_FORMAT_JPEG;
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s_fb.uvc_fb.timestamp = cam_fb->timestamp;
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// Validate size fits into transfer buffer
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if (mgr && s_fb.uvc_fb.len > mgr->getUvcBufferSize())
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{
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ESP_LOGE(UVC_STREAM_TAG, "Frame size %d exceeds UVC buffer size %u", (int)s_fb.uvc_fb.len, (unsigned)mgr->getUvcBufferSize());
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esp_camera_fb_return(cam_fb);
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s_fb.cam_fb_p = nullptr;
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return nullptr;
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}
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// Validate size fits into transfer buffer
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if (mgr && s_fb.uvc_fb.len > mgr->getUvcBufferSize())
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{
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ESP_LOGE(UVC_STREAM_TAG, "Frame size %d exceeds UVC buffer size %u", (int)s_fb.uvc_fb.len, (unsigned)mgr->getUvcBufferSize());
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esp_camera_fb_return(cam_fb);
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s_fb.cam_fb_p = nullptr;
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return nullptr;
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}
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// Schedule next frame time (distribute remainder for exact long‑term 60.000 fps)
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rem_acc += rem_us;
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int extra_us = 0;
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if (rem_acc >= target_fps)
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{
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rem_acc -= target_fps;
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extra_us = 1;
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}
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const int64_t candidate_next = next_deadline_us + base_interval_us + extra_us;
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next_deadline_us = (candidate_next < now_us) ? now_us : candidate_next;
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// Schedule next frame time (distribute remainder for exact long‑term 60.000 fps)
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rem_acc += rem_us;
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int extra_us = 0;
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if (rem_acc >= target_fps)
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{
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rem_acc -= target_fps;
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extra_us = 1;
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}
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const int64_t candidate_next = next_deadline_us + base_interval_us + extra_us;
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next_deadline_us = (candidate_next < now_us) ? now_us : candidate_next;
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s_frame_inflight = true;
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return &s_fb.uvc_fb;
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s_frame_inflight = true;
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return &s_fb.uvc_fb;
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}
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static void UVCStreamHelpers::camera_fb_return_cb(uvc_fb_t *fb, void *cb_ctx)
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static void UVCStreamHelpers::camera_fb_return_cb(uvc_fb_t* fb, void* cb_ctx)
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{
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(void)cb_ctx;
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assert(fb == &s_fb.uvc_fb);
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if (s_fb.cam_fb_p)
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{
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esp_camera_fb_return(s_fb.cam_fb_p);
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s_fb.cam_fb_p = nullptr;
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}
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s_frame_inflight = false;
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(void)cb_ctx;
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assert(fb == &s_fb.uvc_fb);
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if (s_fb.cam_fb_p)
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{
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esp_camera_fb_return(s_fb.cam_fb_p);
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s_fb.cam_fb_p = nullptr;
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}
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s_frame_inflight = false;
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}
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esp_err_t UVCStreamManager::setup()
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{
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ESP_LOGI(UVC_STREAM_TAG, "Setting up UVC Stream");
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// Allocate a fixed-size transfer buffer (compile-time constant)
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uvc_buffer_size = UVCStreamManager::UVC_MAX_FRAMESIZE_SIZE;
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uvc_buffer = static_cast<uint8_t *>(malloc(uvc_buffer_size));
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if (uvc_buffer == nullptr)
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{
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ESP_LOGE(UVC_STREAM_TAG, "Allocating buffer for UVC Device failed");
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return ESP_FAIL;
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}
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ESP_LOGI(UVC_STREAM_TAG, "Setting up UVC Stream");
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// Allocate a fixed-size transfer buffer (compile-time constant)
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uvc_buffer_size = UVCStreamManager::UVC_MAX_FRAMESIZE_SIZE;
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uvc_buffer = static_cast<uint8_t*>(malloc(uvc_buffer_size));
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if (uvc_buffer == nullptr)
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{
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ESP_LOGE(UVC_STREAM_TAG, "Allocating buffer for UVC Device failed");
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return ESP_FAIL;
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}
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uvc_device_config_t config = {
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.uvc_buffer = uvc_buffer,
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.uvc_buffer_size = UVCStreamManager::UVC_MAX_FRAMESIZE_SIZE,
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.start_cb = UVCStreamHelpers::camera_start_cb,
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.fb_get_cb = UVCStreamHelpers::camera_fb_get_cb,
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.fb_return_cb = UVCStreamHelpers::camera_fb_return_cb,
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.stop_cb = UVCStreamHelpers::camera_stop_cb,
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.cb_ctx = this,
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};
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uvc_device_config_t config = {
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.uvc_buffer = uvc_buffer,
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.uvc_buffer_size = UVCStreamManager::UVC_MAX_FRAMESIZE_SIZE,
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.start_cb = UVCStreamHelpers::camera_start_cb,
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.fb_get_cb = UVCStreamHelpers::camera_fb_get_cb,
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.fb_return_cb = UVCStreamHelpers::camera_fb_return_cb,
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.stop_cb = UVCStreamHelpers::camera_stop_cb,
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.cb_ctx = this,
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};
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esp_err_t ret = uvc_device_config(0, &config);
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if (ret != ESP_OK)
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{
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ESP_LOGE(UVC_STREAM_TAG, "Configuring UVC Device failed: %s", esp_err_to_name(ret));
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return ret;
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}
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ESP_LOGI(UVC_STREAM_TAG, "Configured UVC Device");
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esp_err_t ret = uvc_device_config(0, &config);
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if (ret != ESP_OK)
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{
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ESP_LOGE(UVC_STREAM_TAG, "Configuring UVC Device failed: %s", esp_err_to_name(ret));
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return ret;
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}
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ESP_LOGI(UVC_STREAM_TAG, "Configured UVC Device");
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ESP_LOGI(UVC_STREAM_TAG, "Initializing UVC Device");
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ret = uvc_device_init();
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if (ret != ESP_OK)
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{
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ESP_LOGE(UVC_STREAM_TAG, "Initializing UVC Device failed: %s", esp_err_to_name(ret));
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return ret;
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}
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ESP_LOGI(UVC_STREAM_TAG, "Initialized UVC Device");
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ESP_LOGI(UVC_STREAM_TAG, "Initializing UVC Device");
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ret = uvc_device_init();
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if (ret != ESP_OK)
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{
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ESP_LOGE(UVC_STREAM_TAG, "Initializing UVC Device failed: %s", esp_err_to_name(ret));
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return ret;
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}
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ESP_LOGI(UVC_STREAM_TAG, "Initialized UVC Device");
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// Initial state is OFF
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SendStreamEvent(eventQueue, StreamState_e::Stream_OFF);
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// Initial state is OFF
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SendStreamEvent(eventQueue, StreamState_e::Stream_OFF);
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return ESP_OK;
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return ESP_OK;
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}
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esp_err_t UVCStreamManager::start()
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{
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ESP_LOGI(UVC_STREAM_TAG, "Starting UVC streaming");
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// UVC device is already initialized in setup(), just log that we're starting
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return ESP_OK;
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ESP_LOGI(UVC_STREAM_TAG, "Starting UVC streaming");
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// UVC device is already initialized in setup(), just log that we're starting
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return ESP_OK;
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}
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#endif
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@@ -5,15 +5,15 @@
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#include "sdkconfig.h"
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#ifdef CONFIG_GENERAL_INCLUDE_UVC_MODE
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#include "esp_timer.h"
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#include "esp_mac.h"
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#include "esp_camera.h"
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#include <CameraManager.hpp>
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#include <StateManager.hpp>
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#include "esp_camera.h"
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#include "esp_log.h"
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#include "usb_device_uvc.h"
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#include "esp_mac.h"
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#include "esp_timer.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/queue.h"
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#include "usb_device_uvc.h"
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// we need access to the camera manager
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// in order to update the frame settings
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@@ -25,8 +25,8 @@ extern "C"
|
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{
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#endif
|
||||
|
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const char *get_uvc_device_name();
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const char *get_serial_number(void);
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const char* get_uvc_device_name();
|
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const char* get_serial_number(void);
|
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|
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#ifdef __cplusplus
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}
|
||||
@@ -37,33 +37,36 @@ extern QueueHandle_t eventQueue;
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||||
|
||||
namespace UVCStreamHelpers
|
||||
{
|
||||
typedef struct
|
||||
{
|
||||
camera_fb_t *cam_fb_p;
|
||||
typedef struct
|
||||
{
|
||||
camera_fb_t* cam_fb_p;
|
||||
uvc_fb_t uvc_fb;
|
||||
} fb_t;
|
||||
} fb_t;
|
||||
|
||||
// single storage is defined in UVCStream.cpp
|
||||
extern fb_t s_fb;
|
||||
// single storage is defined in UVCStream.cpp
|
||||
extern fb_t s_fb;
|
||||
|
||||
static esp_err_t camera_start_cb(uvc_format_t format, int width, int height, int rate, void *cb_ctx);
|
||||
static void camera_stop_cb(void *cb_ctx);
|
||||
static uvc_fb_t *camera_fb_get_cb(void *cb_ctx);
|
||||
static void camera_fb_return_cb(uvc_fb_t *fb, void *cb_ctx);
|
||||
}
|
||||
static esp_err_t camera_start_cb(uvc_format_t format, int width, int height, int rate, void* cb_ctx);
|
||||
static void camera_stop_cb(void* cb_ctx);
|
||||
static uvc_fb_t* camera_fb_get_cb(void* cb_ctx);
|
||||
static void camera_fb_return_cb(uvc_fb_t* fb, void* cb_ctx);
|
||||
} // namespace UVCStreamHelpers
|
||||
|
||||
class UVCStreamManager
|
||||
{
|
||||
uint8_t *uvc_buffer = nullptr;
|
||||
uint32_t uvc_buffer_size = 0;
|
||||
uint8_t* uvc_buffer = nullptr;
|
||||
uint32_t uvc_buffer_size = 0;
|
||||
|
||||
public:
|
||||
// Compile-time buffer size; keep conservative headroom for MJPEG QVGA
|
||||
static constexpr uint32_t UVC_MAX_FRAMESIZE_SIZE = 75 * 1024;
|
||||
esp_err_t setup();
|
||||
esp_err_t start();
|
||||
uint32_t getUvcBufferSize() const { return uvc_buffer_size; }
|
||||
public:
|
||||
// Compile-time buffer size; keep conservative headroom for MJPEG QVGA
|
||||
static constexpr uint32_t UVC_MAX_FRAMESIZE_SIZE = 75 * 1024;
|
||||
esp_err_t setup();
|
||||
esp_err_t start();
|
||||
uint32_t getUvcBufferSize() const
|
||||
{
|
||||
return uvc_buffer_size;
|
||||
}
|
||||
};
|
||||
|
||||
#endif // UVCSTREAM_HPP
|
||||
#endif // UVCSTREAM_HPP
|
||||
#endif
|
||||
Reference in New Issue
Block a user