modified architecture: json receiving now runs asynchronously (e6d6c251) · Commits · Intelligent 3D Graphics / mi-camera_photo

sdk/src/codes.h

+2 −0

Original line number	Diff line number	Diff line
		@@ -26,6 +26,8 @@ public:
		GetCameraSettings = 4364,
		GetCameraState = 4362,

		QuerySessionHolder = 1793,

		};

		enum class ParamCameraState

sdk/src/commander.cpp

+133 −300

Original line number	Diff line number	Diff line
		#include <cerrno>
		#include <climits>
		#include <iostream>
		#include <vector>
		#include <thread>

		#include <unistd.h>

		#include "commander.h"
		#include <iostream>

		using namespace std;


		Commander::Commander() :
		_sock(TcpSocket(&_reader)),
		_token(0),
		_sock(TcpSocket()),
		_reader(CustomReader(&_sock)),

		_iso((Codes::ISO)-1),
		_speed((Codes::Speed)-1),
		@@ -21,6 +22,7 @@ Commander::Commander() :
		_bracketingBuiltIn((Codes::ParamBracketingBuiltIn)-1)
		{};


		string Commander::generateJSON(Codes::MsgId msg)
		{
		DynamicJsonDocument json(JSON_OBJECT_SIZE(2));
		@@ -33,6 +35,7 @@ string Commander::generateJSON(Codes::MsgId msg)
		return str;
		}


		template <typename T>
		string Commander::generateJSON(Codes::MsgId msg, T param)
		{
		@@ -47,6 +50,7 @@ string Commander::generateJSON(Codes::MsgId msg, T param)
		return str;
		}


		template <>
		string Commander::generateJSON(Codes::MsgId msg, string param)
		{
		@@ -61,200 +65,46 @@ string Commander::generateJSON(Codes::MsgId msg, string param)
		return str;
		}

		void Commander::handleMsgId(DynamicJsonDocument& json)
		{
		cout << "NOTIFICATION: ";

		//TODO: add more ids
		switch ((int)json["msg_id"])
		{
		case (int)Codes::MsgId::GetCameraState:
		{
		cout << "Camera state: ";
		string key = "param";
		if (!json.containsKey(key) \|\| !json[key].is<int>())
		cout << "invalid" << endl;
		else
		cout << Codes::stateToString(json[key]) << endl;

		break;
		}

		case (int)Codes::MsgId::GetSetMode:
		{
		cout << "Camera mode set to: ";
		string key = "param";
		if (!json.containsKey(key) \|\| !json[key].is<int>() \|\| json[key] < 0 \|\| json[key] > 1)
		cout << "invalid" << endl;
		else
		cout << (json[key] == (int)Codes::ParamMode::Video ? "video" : "photo" ) << endl;
		break;
		}

		default:
		cout << _reader.history << endl;
		break;
		}
		}


		bool Commander::getJSON(DynamicJsonDocument& json, int& rval, Codes::MsgId expected_msg_id)
		{
		// Get response
		for (int i = 0; i < 3; ++i) // make 3 attempts to receive json
		{
		_reader.resetHistory();
		errno = 0;
		auto err = deserializeJson(json, _reader);

		if (errno == EAGAIN \|\| errno == EWOULDBLOCK)
		{
		cerr << "recv timed out\n";
		continue;
		}

		switch (err.code())
		{
		case DeserializationError::Ok:
		break;

		case DeserializationError::NoMemory:
		//TODO
		cerr << "Error: couldn't parse JSON (" << err.c_str() << "): " << _reader.history << endl;
		return false;

		//these shouldn't happen
		case DeserializationError::InvalidInput:
		case DeserializationError::TooDeep:
		case DeserializationError::NotSupported:
		case DeserializationError::IncompleteInput: // this won't happen, as recv (deserializeJson) would time out
		cerr << "Error: couldn't parse JSON (" << err.c_str() << "): " << _reader.history << endl;
		cerr << "Restarting socket...";
		_sock.close();
		close();
		connect();
		//TODO: try again?
		return false;
		}

		string key = "msg_id";
		if (!json.containsKey(key) \|\| !json[key].is<int>())
		{
		cerr << "Unexpected JSON response: " << _reader.history << endl;
		continue;
		}
		else if (json[key] != (int)expected_msg_id)
		{
		handleMsgId(json);
		continue;
		}

		key = "rval";
		if (!json.containsKey(key) \|\| !json[key].is<int>())
		{
		//TODO: Handle message without rval
		cerr << "Error: unexpected rval (\"" << key << "\" = " << json[key] << ")" << endl;
		break;
		}

		rval = json[key];
		return true;
		}
		return false;
		}


		bool Commander::str2int (const char* s, int& i, int base)
		{
		char *end;
		long l;
		errno = 0;
		l = strtol(s, &end, base);
		if (errno != 0 \|\| s == '\0' \|\| end != '\0' \|\| l > INT_MAX \|\| l < INT_MIN)
		return false;

		i = l;
		return true;
		}


		bool Commander::connect()
		{
		_sock.setTimeout(3);

		if (!_sock.connect("127.0.0.1", 7878) \|\|
		!getToken() \|\|
		!getCameraSettings())
		return false;

		return true;
		}


		bool Commander::getToken()
		{
		if (!_sock.send(generateJSON(Codes::MsgId::GetToken)))
		return false;

		// Get response
		DynamicJsonDocument json(minCapacity);
		int rval;
		if (!getJSON(json, rval, Codes::MsgId::GetToken))
		return false;

		switch(rval)
		{
		case (int)Codes::Rval::CommandOk:
		break;
		default:
		shared_ptr<DynamicJsonDocument> jsonPtr;
		if (!_sock.sendRecvVerify(generateJSON(Codes::MsgId::GetToken), jsonPtr, make_pair(Codes::MsgId::GetToken,Codes::Rval::CommandOk)))
		return false;
		}


		string key = "param";
		if (!json.containsKey(key) \|\| !json[key].is<int>() \|\| json[key] == 0)
		if (!jsonPtr->containsKey(key) \|\| !(*jsonPtr)[key].is<int>())
		{
		cerr << "Error: unexpected JSON response: \"" << key << "\" = " << json[key] << endl;
		cerr << "Error: unexpected JSON response: \"" << key << "\" = " << (*jsonPtr)[key] << endl;
		return false;
		}
		_token = json[key];
		_token = (*jsonPtr)[key];

		return true;
		}

		bool Commander::getCameraSettings()
		{
		if (!_sock.send(generateJSON(Codes::MsgId::GetCameraSettings)))
		return false;

		DynamicJsonDocument json(JSON_OBJECT_SIZE(26) + 370);
		int rval;
		if (!getJSON(json, rval, Codes::MsgId::GetCameraSettings))
		return false;

		switch(rval)
		bool Commander::getCameraSettings()
		{
		case (int)Codes::Rval::CommandOk:
		break;
		default:
		shared_ptr<DynamicJsonDocument> jsonPtr;
		if (!_sock.sendRecvVerify(generateJSON(Codes::MsgId::GetCameraSettings), jsonPtr, make_pair(Codes::MsgId::GetCameraSettings,Codes::Rval::CommandOk)))
		return false;
		}

		string key = "still_iso";
		if (!json.containsKey(key) \|\| !json[key].is<int>())
		if (!jsonPtr->containsKey(key) \|\| !(*jsonPtr)[key].is<int>())
		{
		cerr << "Error: unexpected JSON response: \"" << key << "\" = " << json[key] << endl;
		cerr << "Error: unexpected JSON response: \"" << key << "\" = " << (*jsonPtr)[key] << endl;
		return false;
		}
		_iso = (Codes::ISO)(int)json[key];
		_iso = (Codes::ISO)(int)(*jsonPtr)[key];

		key = "still_shutter";
		if (!json.containsKey(key) \|\| !json[key].is<int>())
		if (!jsonPtr->containsKey(key) \|\| !(*jsonPtr)[key].is<int>())
		{
		cerr << "Error: unexpected JSON response: \"" << key << "\" = " << json[key] << endl;
		cerr << "Error: unexpected JSON response: \"" << key << "\" = " << (*jsonPtr)[key] << endl;
		return false;
		}
		_speed = (Codes::Speed)(int)json[key];
		_speed = (Codes::Speed)(int)(*jsonPtr)[key];

		return true;
		}
		@@ -303,22 +153,9 @@ bool Commander::setBracketingBuiltIn(Codes::ParamBracketingBuiltIn bracketing)
		template <typename T>
		bool Commander::setParam(Codes::MsgId msgid, T param)
		{
		if (!_sock.send(generateJSON(msgid, (int)param)))
		return false;

		// Get response
		DynamicJsonDocument json(minCapacity);
		int rval;
		if (!getJSON(json, rval, msgid))
		return false;

		switch(rval)
		{
		case (int)Codes::Rval::CommandOk:
		break;
		default:
		shared_ptr<DynamicJsonDocument> jsonPtr;
		if (!_sock.sendRecvVerify(generateJSON(msgid, (int)param), jsonPtr, make_pair(msgid,Codes::Rval::CommandOk)))
		return false;
		}

		return true;
		}
		@@ -326,47 +163,22 @@ bool Commander::setParam(Codes::MsgId msgid, T param)
		template <typename T>
		bool Commander::getParam(Codes::MsgId msgid, T& param_out)
		{
		if (!_sock.send(generateJSON(msgid)))
		return false;

		// Get response
		DynamicJsonDocument json(minCapacity);
		int rval;
		if (!getJSON(json, rval, msgid))
		return false;

		switch(rval)
		{
		case (int)Codes::Rval::CommandOk:
		break;
		default:
		shared_ptr<DynamicJsonDocument> jsonPtr;
		if (!_sock.sendRecvVerify(generateJSON(msgid), jsonPtr, make_pair(msgid,Codes::Rval::CommandOk)))
		return false;
		}

		string key = "param";
		if (!json.containsKey(key) \|\| !json[key].is<T>())
		if (!jsonPtr->containsKey(key) \|\| !(*jsonPtr)[key].is<T>())
		{
		cerr << "Error: unexpected JSON response: \"" << key << "\" = " << json[key] << endl;
		cerr << "Error: unexpected JSON response: \"" << key << "\" = " << (*jsonPtr)[key] << endl;
		return false;
		}

		param_out = json[key];
		param_out = (*jsonPtr)[key];
		return true;
		}


		/**
		* 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 Commander::setBracketing(size_t evStep, size_t halfCount)
		{
		if (_bracketingStep != evStep \|\| _bracketingHalfCount != halfCount)
		@@ -409,46 +221,25 @@ bool Commander::setBracketing(size_t evStep, size_t halfCount)

		bool Commander::shootNormal()
		{
		if (!_sock.send(generateJSON(Codes::MsgId::ShootNormal)))
		return false;


		// await "capture was enqueued"
		DynamicJsonDocument json(minCapacity);
		int rval;
		if (!getJSON(json, rval, Codes::MsgId::ShootNormal))
		return false;

		switch(rval)
		{
		case (int)Codes::Rval::CommandOk:
		break;
		default:
		return false;
		}

		// await "capture has finished"
		json = DynamicJsonDocument(JSON_OBJECT_SIZE(9) + 140);
		if (!getJSON(json, rval, Codes::MsgId::ImgCaptured))
		return false;

		switch(rval)
		vector<shared_ptr<DynamicJsonDocument>> vectorJsonPtr;
		if (!_sock.sendRecvVerify(
		generateJSON(Codes::MsgId::ShootNormal),
		vectorJsonPtr,
		{
		case (int)Codes::Rval::NotificationOk:
		break;
		default:
		make_pair(Codes::MsgId::ShootNormal, Codes::Rval::CommandOk),
		make_pair(Codes::MsgId::ImgCaptured, Codes::Rval::NotificationOk)
		})
		)
		return false;
		}

		string key = "param";
		if (!json.containsKey(key) \|\| !json[key].is<string>())
		if (!vectorJsonPtr[1]->containsKey(key) \|\| !(*vectorJsonPtr[1])[key].is<string>())
		{
		cerr << "Error: unexpected JSON response: \"" << key << "\" = " << json[key] << endl;
		cerr << "Error: unexpected JSON response: \"" << key << "\" = " << (*vectorJsonPtr[1])[key] << endl;
		return false;
		}

		cout << "Image captured: " << json[key] << endl;

		cout << "Image captured: " << (*vectorJsonPtr[1])[key] << endl;
		return true;
		}

		@@ -464,7 +255,7 @@ bool Commander::shootBracketing()
		if (!shootNormal())
		return false;

		usleep(300000); //wait for 300ms
		this_thread::sleep_for(chrono::milliseconds(300));
		}

		// set back shutter speed
		@@ -474,68 +265,110 @@ bool Commander::shootBracketing()
		return true;
		}


		bool Commander::shootBracketingBuiltIn()
		{
		if (!_sock.send(generateJSON(Codes::MsgId::ShootBracketing)))
		return false;
		vector<shared_ptr<DynamicJsonDocument>> vectorJsonPtr;
		if (!_sock.sendRecvVerify(
		generateJSON(Codes::MsgId::ShootBracketing),
		vectorJsonPtr,
		{
		make_pair(Codes::MsgId::ShootBracketing, Codes::Rval::CommandOk),

		make_pair(Codes::MsgId::ShootBracketing, Codes::Rval::NotificationOk),
		make_pair(Codes::MsgId::ImgCaptured, Codes::Rval::NotificationOk),

		// await "bracketing was enqueued"
		DynamicJsonDocument json(minCapacity);
		int rval;
		if (!getJSON(json, rval, Codes::MsgId::ShootBracketing))
		make_pair(Codes::MsgId::ShootBracketing, Codes::Rval::NotificationOk),
		make_pair(Codes::MsgId::ImgCaptured, Codes::Rval::NotificationOk),

		make_pair(Codes::MsgId::ShootBracketing, Codes::Rval::NotificationOk),
		make_pair(Codes::MsgId::ImgCaptured, Codes::Rval::NotificationOk),
		})
		)
		return false;

		switch(rval)
		for (int i = 2; i < 7; i+=2)
		{
		case (int)Codes::Rval::CommandOk:
		break;
		default:
		string key = "param";
		if (!vectorJsonPtr[i]->containsKey(key) \|\| !(*vectorJsonPtr[i])[key].is<string>())
		{
		cerr << "Error: unexpected JSON response: \"" << key << "\" = " << (*vectorJsonPtr[i])[key] << endl;
		return false;
		}

		string key = "param";
		for (int i = 0; i < 3; ++i)
		cout << "Image captured: " << (*vectorJsonPtr[i])[key] << endl;
		}
		return true;
		}


		bool Commander::start()
		{
		json = DynamicJsonDocument(minCapacity);
		if (!getJSON(json, rval, Codes::MsgId::ShootBracketing))
		receiverThr = thread(&Commander::runReceiver, this);
		this_thread::sleep_for(chrono::milliseconds(50));

		if (!isReceiverRunning() \|\| !getToken() \|\| !getCameraSettings())
		return false;

		switch(rval)
		return true;
		}
		void Commander::stop()
		{
		case (int)Codes::Rval::NotificationOk:
		break;
		default:
		return false;
		_sock.stopReceiver();
		receiverThr.join();
		}

		json = DynamicJsonDocument(JSON_OBJECT_SIZE(10) + 140);
		// await "capture has finished"
		if (!getJSON(json, rval, Codes::MsgId::ImgCaptured))
		bool Commander::connect()
		{
		if (!_sock.connectTo("127.0.0.1", 7878))
		return false;

		switch(rval)
		_sock.setTimeout(1);

		return true;
		}

		void Commander::disconnect()
		{
		case (int)Codes::Rval::NotificationOk:
		break;
		default:
		return false;
		_token = 0;
		_sock.closeSocket();
		}

		if (!json.containsKey(key) \|\| !json[key].is<string>())
		bool Commander::isReceiverRunning()
		{
		cerr << "Error: unexpected JSON response: \"" << key << "\" = " << json[key] << endl;
		return false;
		lock_guard lock(receiverRunningMutex);
		return receiverRunning;
		}

		cout << "Image captured: " << json[key] << endl;
		bool Commander::runReceiver()
		{
		while (true)
		{
		if (!connect())
		return false;

		{
		lock_guard lock(receiverRunningMutex);
		receiverRunning = true;
		}

		return true;
		if (_sock.runReceiver())
		break;

		{
		lock_guard lock(receiverRunningMutex);
		receiverRunning = false;
		}

		//if TcpSocket::runReceiver() returns false, reconnect
		cerr << "Restarting socket..." << endl;
		disconnect();
		}

		void Commander::close()
		{
		_token = 0;
		_sock.close();
		lock_guard lock(receiverRunningMutex);
		receiverRunning = false;
		}

		return true;
		}
		No newline at end of file

sdk/src/commander.h

+41 −17

Original line number	Diff line number	Diff line
		@@ -2,8 +2,9 @@
		#define COMMANDER_H

		#include <map>
		#include <queue>
		#include <memory>
		#include <vector>
		#include <thread>

		#include <ArduinoJson.h>

		@@ -16,7 +17,7 @@ class Commander
		{
		public:
		Commander();
		bool connect();


		bool setISO(Codes::ISO iso);
		bool setSpeed(Codes::Speed speed);
		@@ -25,20 +26,44 @@ public:
		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 shootNormal();
		bool shootBracketing();
		bool shootBracketingBuiltIn();

		void close();
		bool getToken();
		bool getCameraSettings();


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

		bool start();
		void stop();

		private:
		const int minCapacity = (JSON_OBJECT_SIZE(5) + 50);
		int _token;
		TcpSocket _sock;
		std::thread receiverThr;
		bool receiverRunning;
		std::mutex receiverRunningMutex;

		CustomReader _reader;
		TcpSocket _sock;
		int _token;

		Codes::ISO _iso;
		Codes::Speed _speed;
		@@ -48,19 +73,18 @@ private:

		Codes::ParamBracketingBuiltIn _bracketingBuiltIn;

		bool getToken();
		bool getCameraSettings();
		bool getJSON(DynamicJsonDocument& json, int& rval, Codes::MsgId expected_msg_id);
		void handleMsgId(DynamicJsonDocument& json);

		static bool str2int (const char* s, int& i, int base = 0);
		bool connect();
		void disconnect();

		void handleNotification(DynamicJsonDocument& json);

		std::string generateJSON(Codes::MsgId msg);
		bool shootBracketing(const std::vector<Codes::Speed>& speeds);

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

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

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

sdk/src/customReader.cpp

+4 −3

Original line number	Diff line number	Diff line
		@@ -2,14 +2,15 @@

		using namespace std;

		CustomReader::CustomReader(TcpSocket* sock) : sock(sock) {};
		CustomReader::CustomReader(){};

		// Reads one byte, or returns -1
		int CustomReader::read()
		{
		if (q.empty())
		{
		string str;
		if (!sock->recv(str))
		if (!sock->receive(str))
		return -1;

		for (size_t i = 0; i < str.size(); ++i)
		@@ -32,7 +33,7 @@ size_t CustomReader::readBytes(char* buffer, size_t length)
		while (q.size() < length)
		{
		std::string str;
		if (!sock->recv(str))
		if (!sock->receive(str))
		break;

		for (size_t i = 0; i < str.size(); ++i)

sdk/src/customReader.h

+3 −1

Original line number	Diff line number	Diff line
		@@ -4,9 +4,11 @@
		#include <queue>
		#include "tcpSocket.h"

		class TcpSocket;

		struct CustomReader
		{
		CustomReader(TcpSocket* sock);
		CustomReader();

		// Reads one byte, or returns -1
		int read();