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d/wmr: Add debug gain control

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Add a control to the debug UI for adjusting the
camera gain setting when testing.
This commit is contained in:
Jan Schmidt 2021-11-25 20:00:27 +11:00
parent a090655e16
commit 0fab912c5c
1 changed files with 18 additions and 0 deletions
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18
src/xrt/drivers/wmr/wmr_camera.c
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@ -82,6 +82,8 @@ struct wmr_camera
struct libusb_transfer *xfers[NUM_XFERS];
uint8_t last_gain, debug_gain;
struct u_sink_debug debug_sinks[2];
enum u_logging_level log_level;
@ -291,6 +293,18 @@ img_xfer_cb(struct libusb_transfer *xfer)
xrt_frame_reference(&xf, NULL);
cam->last_seq = seq;
if (cam->last_gain != cam->debug_gain) {
int i;
for (i = 0; i < cam->config_count; i++) {
const struct wmr_camera_config *config = &cam->configs[i];
if (config->purpose != WMR_CAMERA_PURPOSE_HEAD_TRACKING) {
continue;
}
wmr_camera_set_gain(cam, config->location, cam->debug_gain);
}
}
out:
libusb_submit_transfer(xfer);
}
@ -309,6 +323,7 @@ wmr_camera_open(struct xrt_prober_device *dev_holo, enum u_logging_level log_lev
int res, i;
cam->log_level = log_level;
cam->debug_gain = DEFAULT_GAIN;
if (os_thread_helper_init(&cam->usb_thread) != 0) {
WMR_CAM_ERROR(cam, "Failed to initialise threading");
@ -349,6 +364,7 @@ wmr_camera_open(struct xrt_prober_device *dev_holo, enum u_logging_level log_lev
u_sink_debug_init(&cam->debug_sinks[1]);
u_var_add_root(cam, "WMR Camera", true);
u_var_add_log_level(cam, &cam->log_level, "Log level");
u_var_add_u8(cam, &cam->debug_gain, "Gain");
u_var_add_sink_debug(cam, &cam->debug_sinks[0], "SLAM");
u_var_add_sink_debug(cam, &cam->debug_sinks[1], "Controllers");
@ -503,5 +519,7 @@ wmr_camera_set_gain(struct wmr_camera *cam, uint8_t camera_id, uint8_t gain)
.camera_id2 = __cpu_to_le16(camera_id),
};
cam->last_gain = gain;
return send_buffer_to_device(cam, (uint8_t *)&cmd, sizeof(cmd));
}