From 6ef19c23759553d3ae34d6ee79c2f62a34367e09 Mon Sep 17 00:00:00 2001
From: Jan Grewe <jan.grewe@g-node.org>
Date: Mon, 10 Mar 2025 11:57:41 +0100
Subject: [PATCH] [safety] some try catches at points that sometimes fail

---
 camerapreview.cpp  |  8 ++++----
 dualcamgrabber.cpp | 16 ++++++++++------
 dualcamwrapper.cpp | 13 ++++++-------
 3 files changed, 20 insertions(+), 17 deletions(-)

diff --git a/camerapreview.cpp b/camerapreview.cpp
index 6c714f3..99d7ed6 100644
--- a/camerapreview.cpp
+++ b/camerapreview.cpp
@@ -152,10 +152,10 @@ void CameraPreview::validate(QSpinBox *origin, QSpinBox *dest, int limit){
 }
 
 int CameraPreview::ensureDivbyfour(int val) {
-    if (val % 4 != 0) {
-        int divisor = floor(val / 4);
-        val = divisor * 4;
-    }
+    // if (val % 4 != 0) {
+    //     int divisor = floor(val / 4);
+    //     val = divisor * 4;
+    // }
     return val;
 }
 
diff --git a/dualcamgrabber.cpp b/dualcamgrabber.cpp
index 8407695..8fcb1e9 100644
--- a/dualcamgrabber.cpp
+++ b/dualcamgrabber.cpp
@@ -40,12 +40,16 @@ void DualcamGrabber::run() {
           // auto start = high_resolution_clock::now();
           MyImage *img = new MyImage();
           // auto stop1 = high_resolution_clock::now();
-          cameras[0].RetrieveResult( 5000, frame0, Pylon::TimeoutHandling_ThrowException );
-          // auto stop2 = high_resolution_clock::now();
-          cameras[1].RetrieveResult( 5000, frame1, Pylon::TimeoutHandling_ThrowException );
-          // auto stop3 = high_resolution_clock::now();
-          leftImage.AttachGrabResultBuffer( frame0 );
-          rightImage.AttachGrabResultBuffer( frame1 );
+          try {
+            cameras[0].RetrieveResult( 5000, frame0, Pylon::TimeoutHandling_ThrowException );
+            // auto stop2 = high_resolution_clock::now();
+            cameras[1].RetrieveResult( 5000, frame1, Pylon::TimeoutHandling_ThrowException );
+            // auto stop3 = high_resolution_clock::now();
+            leftImage.AttachGrabResultBuffer( frame0 );
+            rightImage.AttachGrabResultBuffer( frame1 );
+          } catch(const std::exception& e) {
+            qDebug() << "Grabbing frame failed! " << e.what();
+          }
           if (leftImage.IsValid() && rightImage.IsValid()) {
             try {
               StitchImage::StitchToRight(leftImage, rightImage, &stitchedImage, errorMessage);
diff --git a/dualcamwrapper.cpp b/dualcamwrapper.cpp
index 5b450a1..f7f28d9 100644
--- a/dualcamwrapper.cpp
+++ b/dualcamwrapper.cpp
@@ -103,16 +103,15 @@ bool DualcamWrapper::exposureTime(double exposure_time, int camindex) {
             exposureTime(exposure_time, 0);
             exposureTime(exposure_time, 1);
         } else {
-            GenApi::INodeMap& nodemap = getNodemap(camindex);
-            double d = GenApi::CFloatPtr(nodemap.GetNode("ExposureTime"))->GetValue();
-            GenApi::INode* n = nodemap.GetNode( "ExposureTime" );
             try {
-                GenApi::CEnumerationPtr(nodemap.GetNode( "ExposureTimeMode" ))->FromString("Standard");
+                GenApi::INodeMap& nodemap = getNodemap(camindex);
+                GenApi::INode* n = nodemap.GetNode( "ExposureTime" );
+                Pylon::CFloatParameter exp_time( n );
+                exp_time.SetValue( exposure_time );
+                GenApi::CEnumerationPtr(nodemap.GetNode( "ExposureTimeMode" ))->FromString("Timed");;
             } catch (...) {
-                qWarning() << "Could not set exposure for cam0"; 
+                qWarning() << "Could not set exposure for cam " << camindex;
             }
-            Pylon::CFloatParameter exp_time( n );
-            exp_time.SetValue( exposure_time );
         }
       }
     return false;