Merge branch 'main' into ac/editor

5 files changed, 38 insertions, 12 deletions

diff --git a/pi/Camera.tcl b/pi/Camera.tcl
index 76f007dc..7a6359d6 100644
--- a/pi/Camera.tcl
+++ b/pi/Camera.tcl
@@ -72,8 +72,7 @@ namespace eval Camera {
         if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) quit("no capture");
         if (!(cap.capabilities & V4L2_CAP_STREAMING)) quit("no streaming");
 
-        struct v4l2_format format;
-        memset(&format, 0, sizeof format);
+        struct v4l2_format format = {0};
         format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
         format.fmt.pix.width = camera->width;
         format.fmt.pix.height = camera->height;
@@ -85,8 +84,7 @@ namespace eval Camera {
         } while (ret == EBUSY);
         if (ret == -1) quit("VIDIOC_S_FMT");
 
-        struct v4l2_requestbuffers req;
-        memset(&req, 0, sizeof req);
+        struct v4l2_requestbuffers req = {0};
         req.count = 4;
         req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
         req.memory = V4L2_MEMORY_MMAP;
@@ -94,6 +92,27 @@ namespace eval Camera {
         camera->buffer_count = req.count;
         camera->buffers = calloc(req.count, sizeof (buffer_t));
 
+        struct v4l2_streamparm streamparm = {0};
+        streamparm.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+        if (xioctl(camera->fd, VIDIOC_G_PARM, &streamparm) == -1) quit("VIDIOC_G_PARM");
+        if (streamparm.parm.capture.capability & V4L2_CAP_TIMEPERFRAME) {
+            int req_rate_numerator = 1;
+            int req_rate_denominator = 60;
+            streamparm.parm.capture.timeperframe.numerator = req_rate_numerator;
+            streamparm.parm.capture.timeperframe.denominator = req_rate_denominator;
+            if (xioctl(camera->fd, VIDIOC_S_PARM, &streamparm) == -1) { quit("VIDIOC_S_PARM"); }
+
+            if (streamparm.parm.capture.timeperframe.numerator != req_rate_denominator ||
+                streamparm.parm.capture.timeperframe.denominator != req_rate_numerator) {
+                fprintf(stderr,
+                        "the driver changed the time per frame from "
+                        "%d/%d to %d/%d\n",
+                        req_rate_denominator, req_rate_numerator,
+                        streamparm.parm.capture.timeperframe.numerator,
+                        streamparm.parm.capture.timeperframe.denominator);
+            }
+        }
+
         size_t buf_max = 0;
         for (size_t i = 0; i < camera->buffer_count; i++) {
             struct v4l2_buffer buf;
diff --git a/virtual-programs/apriltags.folk b/virtual-programs/apriltags.folk
index ac2c4f8b..8bdd415a 100644
--- a/virtual-programs/apriltags.folk
+++ b/virtual-programs/apriltags.folk
@@ -114,6 +114,7 @@ On process {
 set ::tagsCache [dict create]
 # TODO: Garbage-collect this cache.
 
+set ::aprilTime none
 When the collected matches for [list /someone/ detects tags /tags/ at /timestamp/ in time /aprilTime/] are /matches/ {
     set tagsSeen [dict create]
     foreach match $matches {
@@ -136,5 +137,6 @@ When the collected matches for [list /someone/ detects tags /tags/ at /timestamp
         Claim tag $id has center [dict get $tag center] size [dict get $tag size]
         Claim tag $id has corners [dict get $tag corners]
     }
-    Claim the AprilTag time is [lmap m $matches {dict get $m aprilTime}]
+    set ::aprilTime [lmap m $matches {dict get $m aprilTime}]
+    Claim the AprilTag time is $::aprilTime
 }
diff --git a/virtual-programs/archive/metrics.folk b/virtual-programs/archive/metrics.folk
index fe6baebd..e5389512 100644
--- a/virtual-programs/archive/metrics.folk
+++ b/virtual-programs/archive/metrics.folk
@@ -1,13 +1,13 @@
-When $::thisNode has step count /c/ & the camera time is /cameraTime/ & the AprilTag time is /aprilTime/ {
+When $::thisNode has step count /c/ {
   Wish $this is labelled [string trim "
 
 Metrics
 ----
 step count: $c
 step time: $::stepTime
-camera time: $cameraTime
-AprilTag time: $aprilTime
-display time: $::Display::displayTime
+camera time: $::cameraTime
+AprilTag time: $::aprilTime
+display time: $::displayTime
 
 "]
 }
diff --git a/virtual-programs/camera.folk b/virtual-programs/camera.folk
index 0a95c8f0..428c4195 100644
--- a/virtual-programs/camera.folk
+++ b/virtual-programs/camera.folk
@@ -29,6 +29,10 @@ On process {
     }
 }
 
+set ::cameraTime none
+When the camera time is /cameraTime/ {
+    set ::cameraTime $cameraTime
+}
 # For backward compatibility.
 When the camera frame is /grayFrame/ at /timestamp/ {
     Claim the camera frame is $grayFrame
diff --git a/virtual-programs/display.folk b/virtual-programs/display.folk
index d3f6b610..674cf1f7 100644
--- a/virtual-programs/display.folk
+++ b/virtual-programs/display.folk
@@ -35,8 +35,6 @@ namespace eval ::Display {
     proc fillPolygon args {
         uplevel [list Wish display runs [list Display::fillPolygon {*}$args] on layer $::Display::LAYER]
     }
-
-    variable displayTime none
 }
 
 On process {
@@ -87,7 +85,10 @@ On process {
         Step
     }
 }
-# TODO: remove this compatibility hack
+
+set ::Display::displayTime none
+set ::displayTime none
 When the display time is /displayTime/ {
     set ::Display::displayTime $displayTime
+    set ::displayTime $displayTime
 }