296 lines
11 KiB
C++
296 lines
11 KiB
C++
#include "CameraController.h"
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#include <sstream>
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#include <iostream>
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CameraController::CameraController(std::shared_ptr<VxCamera> camera)
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: camera_(camera), streaming_(false) {}
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std::string CameraController::processCommand(const std::string& jsonCommand) {
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std::lock_guard<std::mutex> lock(mutex_);
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// Simple JSON parsing (basic implementation)
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// Format: {"command":"name","params":{...}}
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size_t cmdPos = jsonCommand.find("\"command\"");
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if (cmdPos == std::string::npos) {
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return createErrorResponse("Missing command field");
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}
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size_t colonPos = jsonCommand.find(":", cmdPos);
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size_t quoteStart = jsonCommand.find("\"", colonPos);
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size_t quoteEnd = jsonCommand.find("\"", quoteStart + 1);
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if (quoteStart == std::string::npos || quoteEnd == std::string::npos) {
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return createErrorResponse("Invalid command format");
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}
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std::string command = jsonCommand.substr(quoteStart + 1, quoteEnd - quoteStart - 1);
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// Helper lambda to extract parameter value
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auto getParam = [&jsonCommand](const std::string& paramName) -> std::string {
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size_t pos = jsonCommand.find("\"" + paramName + "\"");
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if (pos == std::string::npos) return "";
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size_t colonPos = jsonCommand.find(":", pos);
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size_t valueStart = jsonCommand.find_first_not_of(" \t\n\r", colonPos + 1);
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if (jsonCommand[valueStart] == '\"') {
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size_t valueEnd = jsonCommand.find("\"", valueStart + 1);
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return jsonCommand.substr(valueStart + 1, valueEnd - valueStart - 1);
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} else {
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size_t valueEnd = jsonCommand.find_first_of(",}", valueStart);
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return jsonCommand.substr(valueStart, valueEnd - valueStart);
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}
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};
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// Route commands
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if (command == "set_format") {
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return handleSetFormat(getParam("width"), getParam("height"),
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getParam("framerate"), getParam("format"));
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} else if (command == "get_formats") {
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return handleGetFormats();
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} else if (command == "set_exposure") {
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return handleSetExposure(getParam("mode"), getParam("value"));
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} else if (command == "set_whitebalance") {
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return handleSetWhiteBalance(getParam("mode"), getParam("temperature"));
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} else if (command == "set_brightness") {
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return handleSetBrightness(getParam("value"));
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} else if (command == "set_contrast") {
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return handleSetContrast(getParam("value"));
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} else if (command == "set_saturation") {
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return handleSetSaturation(getParam("value"));
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} else if (command == "set_sharpness") {
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return handleSetSharpness(getParam("value"));
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} else if (command == "set_gamma") {
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return handleSetGamma(getParam("value"));
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} else if (command == "set_gain") {
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return handleSetGain(getParam("value"));
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} else if (command == "get_status") {
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return handleGetStatus();
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} else if (command == "start_stream") {
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return handleStartStream();
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} else if (command == "stop_stream") {
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return handleStopStream();
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} else {
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return createErrorResponse("Unknown command: " + command);
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}
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}
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std::string CameraController::handleSetFormat(const std::string& width, const std::string& height,
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const std::string& framerate, const std::string& format) {
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if (streaming_) {
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return createErrorResponse("Cannot change format while streaming");
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}
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try {
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VxFormat fmt;
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fmt.width = std::stoi(width);
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fmt.height = std::stoi(height);
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fmt.framerate = std::stoi(framerate);
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fmt.format = stringToFormat(format);
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fmt.mediatypeIdx = 0;
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if (VxSetFormat(camera_, fmt) != 0) {
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return createErrorResponse("Failed to set format");
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}
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return createSuccessResponse("Format set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleGetFormats() {
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std::vector<VxFormat> fmtList;
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if (VxGetFormatList(camera_, fmtList) != 0) {
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return createErrorResponse("Failed to get format list");
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}
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std::ostringstream oss;
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oss << "{\"status\":\"success\",\"formats\":[";
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for (size_t i = 0; i < fmtList.size(); i++) {
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if (i > 0) oss << ",";
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oss << "{\"width\":" << fmtList[i].width
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<< ",\"height\":" << fmtList[i].height
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<< ",\"framerate\":" << fmtList[i].framerate
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<< ",\"format\":\"" << formatToString(fmtList[i].format) << "\"}";
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}
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oss << "]}";
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return oss.str();
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}
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std::string CameraController::handleSetExposure(const std::string& mode, const std::string& value) {
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try {
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int flag = (mode == "auto") ? 1 : 0;
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long expValue = value.empty() ? 0 : std::stol(value);
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if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_EXPOSURE,
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expValue, flag) != 0) {
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return createErrorResponse("Failed to set exposure");
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}
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return createSuccessResponse("Exposure set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleSetWhiteBalance(const std::string& mode, const std::string& temperature) {
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try {
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int flag = (mode == "auto") ? 1 : 0;
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long tempValue = temperature.empty() ? 0 : std::stol(temperature);
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if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_WHITEBALANCE,
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tempValue, flag) != 0) {
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return createErrorResponse("Failed to set white balance");
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}
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return createSuccessResponse("White balance set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleSetBrightness(const std::string& value) {
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try {
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long val = std::stol(value);
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if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_BRIGHTNESS,
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val, 0) != 0) {
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return createErrorResponse("Failed to set brightness");
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}
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return createSuccessResponse("Brightness set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleSetContrast(const std::string& value) {
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try {
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long val = std::stol(value);
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if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_CONTRAST,
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val, 0) != 0) {
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return createErrorResponse("Failed to set contrast");
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}
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return createSuccessResponse("Contrast set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleSetSaturation(const std::string& value) {
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try {
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long val = std::stol(value);
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if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_SATURATION,
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val, 0) != 0) {
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return createErrorResponse("Failed to set saturation");
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}
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return createSuccessResponse("Saturation set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleSetSharpness(const std::string& value) {
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try {
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long val = std::stol(value);
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if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_SHARPNESS,
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val, 0) != 0) {
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return createErrorResponse("Failed to set sharpness");
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}
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return createSuccessResponse("Sharpness set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleSetGamma(const std::string& value) {
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try {
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long val = std::stol(value);
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if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_GAMMA,
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val, 0) != 0) {
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return createErrorResponse("Failed to set gamma");
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}
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return createSuccessResponse("Gamma set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleSetGain(const std::string& value) {
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try {
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long val = std::stol(value);
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if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_GAIN,
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val, 0) != 0) {
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return createErrorResponse("Failed to set gain");
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}
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return createSuccessResponse("Gain set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleGetStatus() {
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std::ostringstream oss;
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oss << "{\"status\":\"success\",\"streaming\":" << (streaming_ ? "true" : "false") << "}";
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return oss.str();
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}
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std::string CameraController::handleStartStream() {
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if (streaming_) {
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return createErrorResponse("Already streaming");
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}
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if (VxStartStreaming(camera_) != 0) {
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return createErrorResponse("Failed to start streaming");
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}
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streaming_ = true;
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return createSuccessResponse("Streaming started");
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}
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std::string CameraController::handleStopStream() {
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if (!streaming_) {
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return createErrorResponse("Not streaming");
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}
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if (VxStopStreaming(camera_) != 0) {
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return createErrorResponse("Failed to stop streaming");
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}
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streaming_ = false;
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return createSuccessResponse("Streaming stopped");
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}
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VX_IMAGE_FORMAT CameraController::stringToFormat(const std::string& format) {
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if (format == "YUY2") return VX_IMAGE_FORMAT::YUY2;
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if (format == "UYVY") return VX_IMAGE_FORMAT::UYVY;
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if (format == "NV12") return VX_IMAGE_FORMAT::NV12;
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if (format == "MJPG") return VX_IMAGE_FORMAT::MJPG;
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if (format == "BGR") return VX_IMAGE_FORMAT::BGR;
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if (format == "RGB") return VX_IMAGE_FORMAT::RGB;
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return VX_IMAGE_FORMAT::NONE;
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}
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std::string CameraController::formatToString(VX_IMAGE_FORMAT format) {
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switch (format) {
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case VX_IMAGE_FORMAT::YUY2: return "YUY2";
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case VX_IMAGE_FORMAT::UYVY: return "UYVY";
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case VX_IMAGE_FORMAT::NV12: return "NV12";
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case VX_IMAGE_FORMAT::MJPG: return "MJPG";
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case VX_IMAGE_FORMAT::BGR: return "BGR";
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case VX_IMAGE_FORMAT::RGB: return "RGB";
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default: return "NONE";
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}
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}
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std::string CameraController::createErrorResponse(const std::string& error) {
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return "{\"status\":\"error\",\"message\":\"" + error + "\"}";
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}
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std::string CameraController::createSuccessResponse(const std::string& message) {
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if (message.empty()) {
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return "{\"status\":\"success\"}";
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}
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return "{\"status\":\"success\",\"message\":\"" + message + "\"}";
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}
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