第一张走纸命令须等待升降台到位事件

hardware/hardware.cpp

@@ -17,9 +17,11 @@ static std::string device_opt_json[] = {
 
 /////////////////////////////////////////////////////////////////////////////////////////////////////////
 // scanner_hw
-scanner_hw::scanner_hw()
+scanner_hw::scanner_hw() : mb_events_("motorboard-event")
 {
     set_where("hardware");
+    mb_events_.enable_wait_log(false);
+
     init();
 }
 scanner_hw::~scanner_hw()
@@ -302,6 +304,8 @@ void scanner_hw::thread_image_capture(void)
     PACKIMAGE       img;
     safe_fifo<int>  avail_mem("v4l2-mem");
     int             used_v4l2_mem = 0, times = 0;
+    std::pair<int, int> mbev;
+
     auto put_v4l2_mem = [&](BEFORE_DESTROY_PARAM) -> BEFORE_DESTROY_RET
     {
         int ind = (int)(long)param;
@@ -314,8 +318,10 @@ void scanner_hw::thread_image_capture(void)
     memset(&img, 0, sizeof(img));
     motor_->clear_error();
     camera_->start();
+    img_controller_->capture();
     motor_->start();
-    while(scanning_)    // auto scan cycle ...
+    mb_events_.take(mbev, true);
+    while(scanning_ && mbev.first == MOTOR_BORD_EVENT_LIFTER_READY)    // auto scan cycle ...
     {
         motor_->pick_paper();
 
@@ -324,9 +330,14 @@ void scanner_hw::thread_image_capture(void)
         {
             size_t  size = 0;
             int     ind = -1;
-            void*   frame = camera_->read_frame(1000, size, ind);
-            dyn_mem_shared_ptr mem = new dyn_mem_shared(frame, size, put_v4l2_mem, (void*)ind);
+            void*   frame = camera_->read_frame(10 * 1000, size, ind);
+            dyn_mem_shared_ptr mem = nullptr;
 
+            if(!frame)
+            {
+                break;
+            }
+            mem = new dyn_mem_shared(frame, size, put_v4l2_mem, (void*)ind);
             used_v4l2_mem++;
             img.pos.paper_ind++;
             img.pos.status = IMG_STATUS_OK;
@@ -490,7 +501,12 @@ int scanner_hw::open(std::function<IMAGE_HANDLER_PROTO> image_handler)
     camera_.reset(new GVideoISP1());
     camera_->open(cis_length_, 1000);
 
-    motor_.reset(new MotorBoard(nullptr));
+    auto cb = [this](int ev, unsigned int data) -> void
+    {
+        mb_events_.save(std::make_pair(ev, data), true);
+    };
+    mb_events_.clear();
+    motor_.reset(new MotorBoard(cb));
     motor_->set_double_inpect(double_chk_);
     motor_->set_staple_inpect(staple_chk_);
     motor_->set_screw_inpect(screw_chk_);

hardware/hardware.h

@@ -10,6 +10,7 @@
 #include <base/data.h>
 #include <memory>
 #include <map>
+#include <utility>
 
 // image handler callback proto
 //
@@ -33,6 +34,7 @@ class scanner_hw : public sane_opt_provider
     std::unique_ptr<GVideoISP1>         camera_;
     std::unique_ptr<MotorBoard>         motor_;
     std::unique_ptr<std::thread>        scan_thread_;
+    safe_fifo<std::pair<int, int>>      mb_events_;
     
     enum
     {