Commander now executes commands asynchronously from the queue (c3a6ede0) · Commits · Intelligent 3D Graphics / mi-camera_photo

sdk/src/commander.cpp

+107 −4

Original line number	Diff line number	Diff line
		@@ -118,6 +118,7 @@ bool Commander::getCameraSettings()

		bool Commander::setISO(Codes::ISO iso)
		{
		cout << "Setting ISO" << endl;
		if (_iso != iso)
		{
		if (setParam(Codes::MsgId::GetSetISO, iso))
		@@ -126,12 +127,14 @@ bool Commander::setISO(Codes::ISO iso)
		return false;

		}
		cout << "ISO set" << endl;
		return true;
		}


		bool Commander::setSpeed(Codes::Speed speed)
		{
		cout << "Setting speed" << endl;
		if (_speed != speed)
		{
		if (setParam(Codes::MsgId::GetSetSpeed, speed))
		@@ -139,6 +142,7 @@ bool Commander::setSpeed(Codes::Speed speed)
		else
		return false;
		}
		cout << "Speed set" << endl;
		return true;
		}

		@@ -219,6 +223,7 @@ bool Commander::setBracketing(size_t evStep, size_t halfCount)
		}
		}

		cout << "Bracketing set" << endl;
		return true;
		}

		@@ -227,11 +232,13 @@ void Commander::setTimelapse(size_t interval, size_t count)
		{
		_timelapseInterval = interval;
		_timelapseCount = count;
		cout << "Timelapse set" << endl;
		}


		bool Commander::shootNormal()
		{
		cout << "Taking picture" << endl;
		vector<shared_ptr<DynamicJsonDocument>> vectorJsonPtr;
		if (!_sock.sendRecvVerify(
		generateJSON(Codes::MsgId::ShootNormal),
		@@ -256,6 +263,7 @@ bool Commander::shootNormal()

		bool Commander::shootBracketing()
		{
		cout << endl << "*** Start shooting bracketing ***" << endl;
		auto s = _speed;

		// shoot bracketing
		@@ -283,6 +291,7 @@ bool Commander::shootBracketing()
		if (!setSpeed(s))
		return false;

		cout << endl << "==== Bracketing done =====" << endl;
		return true;
		}

		@@ -325,6 +334,7 @@ bool Commander::shootBracketingBuiltIn()

		bool Commander::shootTimelapse(bool bracketing)
		{
		cout << endl << "*** Start shooting timelapse ***" << endl;
		auto interval = chrono::seconds(_timelapseInterval);
		auto next = chrono::steady_clock::now();

		@@ -333,9 +343,15 @@ bool Commander::shootTimelapse(bool bracketing)
		next += interval;

		if (bracketing)
		shootBracketing();
		{
		if (!shootBracketing())
		return false;
		}
		else
		shootNormal();
		{
		if (!shootNormal())
		return false;
		}

		unique_lock lock(_stopShootingMutex);
		if (_stopShootingCV.wait_until(lock, next, [this](){return _stopShooting;}))
		@@ -346,6 +362,7 @@ bool Commander::shootTimelapse(bool bracketing)
		}
		// else (timeout): continue shooting
		}
		cout << endl << "===== Timelapse done =====" << endl;
		return true;
		}

		@@ -382,6 +399,7 @@ bool Commander::shoot()
		bool Commander::start()
		{
		_receiverThr = thread(&Commander::runReceiver, this);
		_executorThr = thread(&Commander::runExecutor, this);
		this_thread::sleep_for(chrono::milliseconds(50));

		if (!isReceiverRunning() \|\| !getToken() \|\| !getCameraSettings())
		@@ -389,10 +407,10 @@ bool Commander::start()

		return true;
		}
		void Commander::stop()
		void Commander::join()
		{
		_sock.stopReceiver();
		_receiverThr.join();
		_executorThr.join();
		}

		bool Commander::connect()
		@@ -447,5 +465,90 @@ bool Commander::runReceiver()
		_receiverRunning = false;
		}

		disconnect();

		return true;
		}


		void Commander::enqueueCommand(std::string cmd)
		{
		lock_guard lock(_executorQueueMutex);
		_executorQueue.push(cmd);
		cout << "(Enqueued: " << cmd << ")" << endl;
		_executorQueueCV.notify_all();
		}


		void Commander::runExecutor()
		{
		while (true)
		{
		string msg;
		{
		// wait until some command is in the queue
		unique_lock lock(_executorQueueMutex);
		_executorQueueCV.wait(lock, [this](){
		if (_executorQueue.empty())
		{cout << "EXECUTOR GOING TO SLEEP..." << endl; return false;}
		else
		return true;
		});
		msg = move(_executorQueue.front());
		_executorQueue.pop();
		}
		cout << endl << "Executing: " << msg << endl;
		DynamicJsonDocument json(JSON_OBJECT_SIZE(7+90)); //TODO: find needed json capacity
		auto err = deserializeJson(json, msg);


		if (err)
		{
		cerr << err.c_str() << " : " << msg << endl;
		continue;
		}

		string key = "cmd";
		if(!json[key].is<string>())
		{
		cerr << "Invalid data from user: " << msg << endl;
		continue;
		}


		if (json[key] == "SHOOT")
		{
		if (!(json["speed"].is<int>() &&
		json["iso"].is<int>() &&
		json["bracketingHalf"].is<int>() &&
		json["bracketingEV"].is<int>() &&
		json["timelapseCount"].is<int>() &&
		json["timelapseInterval"].is<int>()))
		// whitebalance
		// compensation
		//
		{
		cerr << "Invalid data from user: " << msg << endl;
		continue;
		}
		if ( !(setISO((Codes::ISO)(int)json["iso"]) && setSpeed((Codes::Speed)(int)json["speed"])))
		{
		//TODO: send warning
		continue;
		}
		setBracketing((int)json["bracketingEV"], (int)json["bracketingHalf"]);
		setTimelapse((int)json["timelapseInterval"], (int)json["timelapseCount"]);

		if (!shoot())
		{
		//TODO: send warning
		}

		}
		else
		{

		}

		}
		}
		No newline at end of file

sdk/src/commander.h

+48 −38

Original line number	Diff line number	Diff line
		@@ -18,49 +18,21 @@ class Commander
		public:
		Commander();


		bool setISO(Codes::ISO iso);
		bool setSpeed(Codes::Speed speed);
		bool setBracketingBuiltIn(Codes::ParamBracketingBuiltIn);

		template <typename T> bool setParam(Codes::MsgId msgid, T param);
		template <typename T> bool getParam(Codes::MsgId msgid, T& param_out);


		/**
		* Set commander's bracketing settings -
		*
		* Computes and saves 'halfCount' shutter speeds above and below currently set
		* shutter speed, so each two 'adjecent' speeds differ !APPROXIMATELY! by 'evStep' EV
		* (shutter speeds supported by camera does not always differ exactly by 1EV,
		* e.g. ... 1/3200s,1/2000s,1/1000s ... 1/4s,1s,2s ...)
		*
		* @param evStep number of exposure steps between two images
		* @param halfCount number of pictures to be taken above and below currently set exposure
		* @return true if setting was successful, otherwise false
		*/
		bool setBracketing(size_t evStep, size_t halfCount);
		void setTimelapse(size_t interval, size_t count);

		void stopShooting();//TODO
		bool shoot();

		bool getToken();
		bool getCameraSettings();


		bool runReceiver();
		bool stopReceiver();
		bool isReceiverRunning();

		bool start();
		void stop();
		void join();

		void enqueueCommand(std::string cmd);

		private:
		std::thread _receiverThr;
		bool _receiverRunning;
		std::mutex _receiverRunningMutex;

		std::thread _executorThr;
		std::queue<std::string> _executorQueue;
		std::mutex _executorQueueMutex;
		std::condition_variable _executorQueueCV;

		CustomReader _reader;
		TcpSocket _sock;
		int _token;
		@@ -82,22 +54,60 @@ private:
		std::condition_variable _stopShootingCV;








		bool connect();
		void disconnect();

		void handleNotification(DynamicJsonDocument& json);
		void runExecutor();
		bool runReceiver();
		bool isReceiverRunning();

		bool shoot();
		void stopShooting();//TODO

		bool shootNormal();
		bool shootBracketing();

		bool shootBracketing(const std::vector<Codes::Speed>& speeds);
		bool shootBracketingBuiltIn();
		bool shootTimelapse(bool bracketing);

		template <typename T> bool setParam(Codes::MsgId msgid, T param);
		template <typename T> bool getParam(Codes::MsgId msgid, T& param_out);


		/**
		* Set commander's bracketing settings -
		*
		* Computes and saves 'halfCount' shutter speeds above and below currently set
		* shutter speed, so each two 'adjecent' speeds differ !APPROXIMATELY! by 'evStep' EV
		* (shutter speeds supported by camera does not always differ exactly by 1EV,
		* e.g. ... 1/3200s,1/2000s,1/1000s ... 1/4s,1s,2s ...)
		*
		* @param evStep number of exposure steps between two images
		* @param halfCount number of pictures to be taken above and below currently set exposure
		* @return true if setting was successful, otherwise false
		*/
		bool setBracketing(size_t evStep, size_t halfCount);
		bool setBracketingBuiltIn(Codes::ParamBracketingBuiltIn);
		bool setISO(Codes::ISO iso);
		bool setSpeed(Codes::Speed speed);
		void setTimelapse(size_t interval, size_t count);

		bool getToken();
		bool getCameraSettings();



		template <typename T>
		std::string generateJSON(Codes::MsgId msg, T param);
		std::string generateJSON(Codes::MsgId msg);


		std::vector<Codes::Speed> speedOrder =
		{
		Codes::Speed::S1_6400,

sdk/src/customReader.h

+1 −0

Original line number	Diff line number	Diff line
		@@ -3,6 +3,7 @@

		#include <queue>
		#include "tcpSocket.h"
		//#include "App.h"

		class TcpSocket;

sdk/src/main.cpp

+4 −18

Original line number	Diff line number	Diff line
		@@ -9,24 +9,10 @@ using namespace std;
		int main(int argc , char *argv[])
		{
		Commander comm;
		comm.start() &&
		comm.setISO(Codes::ISO::Auto)
		&& cout << "====== ISO set ======\n\n" &&
		comm.setSpeed(Codes::Speed::S1_120)
		&& cout << "===== Speed set =====\n\n";
		comm.start();

		comm.setBracketing(1, 1)
		&& cout << "====== Bracketing set =====\n\n";
		comm.setTimelapse(10, 3);
		cout << "====== Timelapse set =====\n\n";
		comm.enqueueCommand("{\"cmd\":\"SHOOT\",\"speed\":32772,\"iso\":100,\"bracketingHalf\":1,\"bracketingEV\":1,\"timelapseCount\":2,\"timelapseInterval\":5}");
		comm.enqueueCommand("{\"cmd\":\"SHOOT\",\"speed\":32772,\"iso\":100,\"bracketingHalf\":1,\"bracketingEV\":1,\"timelapseCount\":2,\"timelapseInterval\":5}");

		comm.shoot()
		&& cout << "====== Bracketing OK =====\n\n";

		/*comm.setBracketingBuiltIn(Codes::ParamBracketingBuiltIn::EV2)
		&& cout << "====== Bracketing set =====\n\n" &&
		comm.shootBracketingBuiltIn()
		&& cout << "====== Bracketing OK =====\n\n";*/

		comm.stop();
		comm.join();
		}
		No newline at end of file

sdk/src/tcpSocket.cpp

+10 −4

Original line number	Diff line number	Diff line
		@@ -46,12 +46,15 @@ void TcpSocket::setTimeout(int sec, int microsec)

		bool TcpSocket::sendString(const string& msg)
		{
		errno = 0;
		if(net::send(_socket_desc , msg.c_str(), msg.size(), 0) < 0)
		{
		cerr << "send failed\n";
		cerr << "send failed: " << msg << endl;
		cout << "errno = " << errno << endl;
		return false;
		}
		cout << " Sent: " << msg << endl;

		return true;
		}

		@@ -101,7 +104,9 @@ size_t attempts
		cerr << "trying again\n\n";

		if (!sendString(msg))
		{
		continue;
		}

		unique_lock ulock(recvQueueMutex);
		if (!recvQueueCV.wait_for(ulock, wait, [this](){return !recvQueue.empty();} ))
		@@ -427,5 +432,6 @@ bool TcpSocket::runReceiver()
		}
		}//unlock revExpectedMutex
		}//while

		return true;
		}
		No newline at end of file