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53 lines
1.3 KiB
53 lines
1.3 KiB
#pragma once
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#include "config.h"
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#include "frame_queue.h"
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#include <string>
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#include <thread>
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#include <atomic>
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#include <vector>
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class CameraCapture {
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public:
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CameraCapture(int cam_id, const std::string& dev_path, const SystemConfig& config);
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~CameraCapture();
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bool start();
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void stop();
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bool getFrame(CapturedFrame& out_frame, int timeout_ms = 100);
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bool isRunning() const { return running_.load(); }
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bool isOpened() const { return v4l2_fd_ >= 0; }
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int getCameraId() const { return cam_id_; }
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uint64_t getFrameCount() const { return frame_count_.load(); }
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private:
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void captureLoop();
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// V4L2 初始化步骤（拆分为小函数便于调试）
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bool openDevice();
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bool setFormat();
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bool requestBuffers();
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bool mmapBuffers();
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bool queueAllBuffers();
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bool streamOn();
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void streamOff();
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void cleanup();
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int cam_id_;
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std::string dev_path_;
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SystemConfig config_;
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int v4l2_fd_ = -1;
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std::thread capture_thread_;
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std::atomic<bool> running_{false};
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FrameQueue<CapturedFrame> frame_queue_;
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struct V4L2Buffer {
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void* start = nullptr;
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size_t length = 0;
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};
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std::vector<V4L2Buffer> v4l2_buffers_;
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std::atomic<uint64_t> frame_count_{0};
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}; |