LeptonCamera::LeptonCamera()
: result(RowPacketBytes*FrameHeight)
, rawData(FrameWords)
, tx(RowPacketBytes, 0)
{
mode = 0;
bits = 8;
speed = 16000000;
delay = 0;
initialised = false;
#if HAVE_LEPTON
if (initLepton())
{
std::cout << "Successfully initialized the Lepton SPI interface" << std::endl;
}
#endif
errors = resets = 0;
}
void LeptonThread::run() {
#if HAVE_LEPTON
if (!initLepton()) return;
usleep(250000);
_tr.tx_buf = (unsigned long) &tx[0];
_tr.len = RowPacketBytes;
_tr.delay_usecs = delay;
_tr.speed_hz = speed;
_tr.bits_per_word = bits;
#endif
int resets = 0; // Number of times we've reset the 0...59 loop for packets
int errors = 0; // Number of error-packets received
while (true) {
int iRow;
for (iRow = 0; iRow < FrameHeight; ) {
unsigned char *packet = &result[iRow*RowPacketBytes];
if (getPacket(iRow, packet) < 1) {
qDebug() << "Error transferring SPI packet";
return;
}
int packetNumber;
if ((packet[0] & 0xf)==0xf)
packetNumber = -1;
else
packetNumber = packet[1];
#if DEBUG_LEPTON
if (sequence.empty() || sequence.back().first!=packetNumber)
sequence.push_back(std::make_pair(packetNumber, 1));
else
++sequence.back().second;
#endif
if (packetNumber==-1) {
usleep(1000);
if (++errors > 300) break;
continue;
}
if (packetNumber != iRow) {
usleep(1000);
break;
}
++iRow;
}
if (iRow < FrameHeight) {
if (++resets >= 750) {
qDebug() << "Packet reset counter hit 750";
resets = 0;
usleep(750000);
}
continue;
}
#if DEBUG_LEPTON
QString msg;
QTextStream os(&msg);
bool chain = false, first = true; int chain0, chain1;
for (std::list< std::pair<int, int> >::iterator iSeq = sequence.begin(); iSeq != sequence.end(); ++iSeq) {
if (chain && iSeq->first==chain1+1) { ++chain1; continue; }
if (chain && chain1!=chain0) os << "-" << chain1;
if (iSeq->first >= 0 && !chain) { chain = true; chain0 = chain1 = iSeq->first; }
if (first) first = false; else os << " ";
if (iSeq->first==-1) os << "*"; else os << iSeq->first;
if (iSeq->second!=1) { os << "^" << iSeq->second; chain = false; }
}
if (chain && chain1!=chain0) os << "-" << chain1;
qDebug() << msg;
sequence.clear();
// qDebug() << resets << "resets," << errors << "errors";
#endif
resets = 0; errors = 0;
uint16_t minValue = 65535;
uint16_t maxValue = 0;
unsigned char *in = &result[0];
unsigned short *out = &rawData[0];
for (int iRow = 0; iRow < FrameHeight; ++iRow) {
in += 4;
for (int iCol = 0; iCol < FrameWidth; ++iCol) {
unsigned short value = in[0];
unsigned short datapoint = in[0];
datapoint <<= 8;
datapoint |= in[1];
value |= (in[1] <<= 8);
in += 2;
if (value > maxValue) maxValue = value;
if (value < minValue) minValue = value;
//*(out++) = value;
*(out++) = datapoint;
}
}
emit updateImage(&rawData[0], minValue, maxValue);
#if !HAVE_LEPTON
usleep(50000); // Need to slow things down if no ioctl call!
counter = (counter + 1)%520;
#endif
}
}