适配新的传感器

            

            
import logging

import hololink as hololink_module


class MyCamera:
    CAMERA_I2C_BUS_ADDRESS = 0x34

    def __init__(self, hololink_channel, hololink_i2c_controller_address):
        # Get handles to these controllers but don't actually talk to them yet
        self._hololink = hololink_channel.hololink()
        self._i2c = self._hololink.get_i2c(hololink_i2c_controller_address)

    def get_version(self):
        VERSION = 0x100
        return self.get_register(VERSION)

    def get_register(self, register):
        # write_buffer will contain the big-endian 2-byte address
        # of the register we're reading.
        write_buffer = bytearray(10)  # must be at least 2
        serializer = hololink_module.Serializer(write_buffer)
        serializer.append_uint16_be(register)
        # send write_buffer to the peripheral device,
        # and return data read back from it. reply will
        # be a 4 byte buffer, or None if there's a problem
        read_byte_count = 4
        reply = self._i2c.i2c_transaction(
            self.CAMERA_I2C_BUS_ADDRESS,
            serializer.data(),  # same as write_buffer[:serializer.length()]
            read_byte_count
        )
        # deserializer fetches data from reply; this
        # raises an exception if reply is None
        deserializer = hololink_module.Deserializer(reply)
        # Fetch an unsigned 32-bit value stored in big-endian format
        r = deserializer.next_u32_be()
        return r
        

            

            
def main():
    # Get a handle to the Hololink port we're connected to.
    channel_metadata = hololink_module.Enumerator.find_channel(channel_ip="192.168.0.2")
    hololink_channel = hololink_module.DataChannel(channel_metadata)
    # Instantiate the camera itself; CAM_I2C_CTRL is the base address of the I2C
    # controller our camera is attached to
    camera = MyCamera(hololink_channel, hololink_module.CAM_I2C_CTRL)
    # Establish a connection to the hololink device
    hololink = hololink_channel.hololink()
    hololink.start()
    # Fetch the device version.
    version = camera.get_version()
    logging.info(f"{version=}")
        

            

            
class MyCamera:
    ...
    def configure(self, mode, ...):
        # Configure the camera for our useful mode by putting appropriate values
        # in the camera registers.
        self.set_register(...)
        self.set_register(...)
        ...

    def start(self):
        # Tell the camera to start streaming data out.
        self.set_register(...)

    def stop(self):
        # Tell the camera to stop streaming data.
        self.set_register(...)

    def configure_converter(self, converter):
        converter.configure(self._width * self._height ...)
    ...