Hard forking reader.h because jevois kernel is weird.
Change-Id: I5f59dca9b245050aa17bca7faf3643370ddc698a
diff --git a/y2019/jevois/camera/reader.h b/y2019/jevois/camera/reader.h
new file mode 100644
index 0000000..53d83c7
--- /dev/null
+++ b/y2019/jevois/camera/reader.h
@@ -0,0 +1,70 @@
+#ifndef AOS_VISION_IMAGE_READER_H_
+#define AOS_VISION_IMAGE_READER_H_
+
+#include <inttypes.h>
+#include <functional>
+#include <string>
+
+#include "aos/time/time.h"
+#include "aos/vision/image/V4L2.h"
+#include "aos/vision/image/camera_params.pb.h"
+#include "aos/vision/image/image_types.h"
+
+namespace y2019 {
+namespace camera {
+
+aos::vision::CameraParams MakeCameraParams(int32_t width, int32_t height,
+ int32_t exposure, int32_t brightness,
+ int32_t gain, int32_t fps);
+
+class Reader {
+ public:
+ using ProcessCb = std::function<void(
+ aos::vision::DataRef data, aos::monotonic_clock::time_point timestamp)>;
+ Reader(const std::string &dev_name, ProcessCb process,
+ aos::vision::CameraParams params);
+
+ aos::vision::ImageFormat get_format();
+
+ void HandleFrame();
+ void StartAsync() {
+ MMapBuffers();
+ Start();
+ }
+ int fd() { return fd_; }
+
+ private:
+ void QueueBuffer(v4l2_buffer *buf);
+ void InitMMap();
+ bool SetCameraControl(uint32_t id, const char *name, int value);
+ void Init();
+ void Start();
+ void MMapBuffers();
+ // File descriptor of the camera
+ int fd_;
+ // Name of the camera device.
+ std::string dev_name_;
+
+ ProcessCb process_;
+
+ int tick_id_ = 0;
+ // The number of buffers currently queued in v4l2.
+ uint32_t queued_;
+ struct Buffer;
+ // TODO(parker): This should be a smart pointer, but it cannot
+ // because the buffers are not ummapped.
+ Buffer *buffers_;
+
+ // TODO(parker): The timestamps should be queue insertion timestamps
+ // which will remove the impact of kNumBuffers.
+ // TODO(parker): Flush the queue (or tweak the FPS) if we fall behind.
+ static const unsigned int kNumBuffers = 5;
+
+ // set only at initialize
+ aos::vision::CameraParams params_;
+};
+
+} // namespace camera
+} // namespace y2019
+
+#endif // AOS_VISION_IMAGE_READER_H_