commit 309dd72c9be9a2ef8bbbba29adb64d53a2536b8b
author Parker Schuh <parker.schuh+gerrit_code_review@gmail.com> Sat Feb 25 11:31:18 2017 -0800
committer Parker Schuh <parker.schuh+gerrit_code_review@gmail.com> Sun Feb 26 13:23:46 2017 -0800
tree 85ae669b983844f1d6013cbf294a9adacc3718dc
parent 009b09ffa5200866c10c3147be915d0827589953

Sundry tweaks to aos/vision libs

Change-Id: Ia5578dcf2d42ac53b81af239bf329eb084fcf1d9

aos/vision/image/reader.cc

diff --git a/aos/vision/image/reader.cc b/aos/vision/image/reader.cc
index 95729da..3a4b349 100644
--- a/aos/vision/image/reader.cc
+++ b/aos/vision/image/reader.cc
@@ -29,6 +29,9 @@
   }
 
   Init();
+
+  InitMMap();
+  LOG(INFO, "Bat Vision Successfully Initialized.\n");
 }
 
 void Reader::QueueBuffer(v4l2_buffer *buf) {
@@ -57,6 +60,18 @@
   }
   --queued_;
 
+  if (tick_id_ % 10 == 0) {
+    if (!SetCameraControl(V4L2_CID_EXPOSURE_AUTO, "V4L2_CID_EXPOSURE_AUTO",
+                          V4L2_EXPOSURE_MANUAL)) {
+      LOG(FATAL, "Failed to set exposure\n");
+    }
+
+    if (!SetCameraControl(V4L2_CID_EXPOSURE_ABSOLUTE,
+                          "V4L2_CID_EXPOSURE_ABSOLUTE", params_.exposure)) {
+      LOG(FATAL, "Failed to set exposure\n");
+    }
+  }
+  ++tick_id_;
   // Get a timestamp now as proxy for when the image was taken
   // TODO(ben): the image should come with a timestamp, parker
   // will know how to get it.
@@ -66,6 +81,7 @@
                reinterpret_cast<const char *>(buffers_[buf.index].start),
                buf.bytesused),
            time);
+
   QueueBuffer(&buf);
 }
 
@@ -105,7 +121,7 @@
     }
   }
   queued_ = kNumBuffers;
-  if (req.count < kNumBuffers) {
+  if (req.count != kNumBuffers) {
     LOG(FATAL, "Insufficient buffer memory on %s\n", dev_name_.c_str());
   }
 }
@@ -236,9 +252,6 @@
       setfps->parm.capture.timeperframe.numerator,
       setfps->parm.capture.timeperframe.denominator);
   // #endif
-
-  InitMMap();
-  LOG(INFO, "Bat Vision Successfully Initialized.\n");
 }
 
 aos::vision::ImageFormat Reader::get_format() {