void XBeeResponse::getZBRxResponse(XBeeResponse &rxResponse) {
ZBRxResponse* zb = static_cast<ZBRxResponse*>(&rxResponse);
//TODO verify response api id matches this api for this response
// pass pointer array to subclass
zb->setFrameData(getFrameData());
setCommon(rxResponse);
zb->getRemoteAddress64().setMsb((uint32_t(getFrameData()[0]) << 24) + (uint32_t(getFrameData()[1]) << 16) + (uint16_t(getFrameData()[2]) << 8) + getFrameData()[3]);
zb->getRemoteAddress64().setLsb((uint32_t(getFrameData()[4]) << 24) + (uint32_t(getFrameData()[5]) << 16) + (uint16_t(getFrameData()[6]) << 8) + (getFrameData()[7]));
}
bool Node::_cmdFrameDataTransmit( co::ICommand& cmd )
{
co::ObjectICommand command( cmd );
const co::ObjectVersion& frameDataVersion =
command.read< co::ObjectVersion >();
const PixelViewport& pvp = command.read< PixelViewport >();
const Zoom& zoom = command.read< Zoom >();
const uint32_t buffers = command.read< uint32_t >();
const uint32_t frameNumber = command.read< uint32_t >();
const bool useAlpha = command.read< bool >();
const uint8_t* data = reinterpret_cast< const uint8_t* >(
command.getRemainingBuffer( command.getRemainingBufferSize( )));
LBLOG( LOG_ASSEMBLY )
<< "received image data for " << frameDataVersion << ", buffers "
<< buffers << " pvp " << pvp << std::endl;
LBASSERT( pvp.isValid( ));
FrameDataPtr frameData = getFrameData( frameDataVersion );
LBASSERT( !frameData->isReady() );
NodeStatistics event( Statistic::NODE_FRAME_DECOMPRESS, this,
frameNumber );
// Note on the const_cast: since the PixelData structure stores non-const
// pointers, we have to go non-const at some point, even though we do not
// modify the data.
LBCHECK( frameData->addImage( frameDataVersion, pvp, zoom, buffers,
useAlpha, const_cast< uint8_t* >( data )));
return true;
}
// Main loop
void MultiCursorAppCpp::run()
{
/* 1. Get frame data and prepear data needed */
bool isGetFrameData = getFrameData();
if (isGetFrameData)
{
/* 2. Labeling users' area */
CvBlobs blobs = labelingUserArea(userAreaMat);
/* 3. Detect users' head postiions */
detectHeadPosition(blobs);
/* 4. Detect users' hand positions */
detectHandPosition(blobs);
/* 5. Draw cursors position */
setCursor(blobs);
/* 6. Detect hand gesture */
detectHandGesture(blobs);
/* Show images */
isShowDebugWindows ? showDebugWindows() : destroyAllWindows();
}
}
void XBeeResponse::getZBTxStatusResponse(XBeeResponse &zbXBeeResponse) {
// way off?
ZBTxStatusResponse* zb = static_cast<ZBTxStatusResponse*>(&zbXBeeResponse);
// pass pointer array to subclass
zb->setFrameData(getFrameData());
setCommon(zbXBeeResponse);
}
void frameViewFinish()
{
_channel->applyBuffer();
_channel->applyViewport();
FrameSettingsPtr frameSettingsPtr = getFrameData()->getFrameSettings();
if( frameSettingsPtr->getStatistics( ))
{
_channel->drawStatistics();
drawCacheStatistics();
}
}
void applyCamera()
{
ConstCameraSettingsPtr cameraSettings = getFrameData()->getCameraSettings( );
const Matrix4f& cameraRotation = cameraSettings->getCameraRotation( );
const Matrix4f& modelRotation = cameraSettings->getModelRotation( );
const Vector3f& cameraPosition = cameraSettings->getCameraPosition( );
EQ_GL_CALL( glMultMatrixf( cameraRotation.array ) );
EQ_GL_CALL( glTranslatef( cameraPosition[ 0 ], cameraPosition[ 1 ],
cameraPosition[ 2 ] ) );
EQ_GL_CALL( glMultMatrixf( modelRotation.array ) );
}
bool Node::_cmdFrameDataReady( co::Command& command )
{
const NodeFrameDataReadyPacket* packet =
command.get<NodeFrameDataReadyPacket>();
LBLOG( LOG_ASSEMBLY ) << "received ready for " << packet->frameData
<< std::endl;
FrameDataPtr frameData = getFrameData( packet->frameData );
LBASSERT( frameData );
LBASSERT( !frameData->isReady() );
frameData->setReady( packet );
LBASSERT( frameData->isReady() );
return true;
}
bool Node::_cmdFrameDataReady( co::ICommand& cmd )
{
co::ObjectICommand command( cmd );
const co::ObjectVersion& frameDataVersion =
command.read< co::ObjectVersion >();
const fabric::FrameData& data = command.read< fabric::FrameData >();
LBLOG( LOG_ASSEMBLY ) << "received ready for " << frameDataVersion
<< std::endl;
FrameDataPtr frameData = getFrameData( frameDataVersion );
LBASSERT( frameData );
LBASSERT( !frameData->isReady() );
frameData->setReady( frameDataVersion, data );
LBASSERT( frameData->isReady() );
return true;
}
bool Node::_cmdFrameDataTransmit( co::Command& command )
{
const NodeFrameDataTransmitPacket* packet =
command.get<NodeFrameDataTransmitPacket>();
LBLOG( LOG_ASSEMBLY )
<< "received image data for " << packet->frameData << ", buffers "
<< packet->buffers << " pvp " << packet->pvp << std::endl;
LBASSERT( packet->pvp.isValid( ));
FrameDataPtr frameData = getFrameData( packet->frameData );
LBASSERT( !frameData->isReady() );
NodeStatistics event( Statistic::NODE_FRAME_DECOMPRESS, this,
packet->frameNumber );
LBCHECK( frameData->addImage( packet ));
return true;
}
void frameDraw( const eq::uint128_t& )
{
applyCamera();
initializeLivreFrustum();
requestData();
const eq::fabric::Viewport& vp = _channel->getViewport( );
const Viewportf viewport( Vector2f( vp.x, vp.y ),
Vector2f( vp.w, vp.h ));
_renderViewPtr->setViewport( viewport );
Viewporti pixelViewport;
_glWidgetPtr->setViewport( _renderViewPtr.get( ), pixelViewport );
livre::Node* node = static_cast< livre::Node* >( _channel->getNode( ));
AvailableSetGenerator generateSet( node->getDashTree( ));
FrameInfo frameInfo( _currentFrustum );
generateSet.generateRenderingSet( _currentFrustum,
frameInfo);
EqRenderViewPtr renderViewPtr =
boost::static_pointer_cast< EqRenderView >( _renderViewPtr );
renderViewPtr->setParameters( getFrameData()->getVRParameters( ));
RayCastRendererPtr renderer =
boost::static_pointer_cast< RayCastRenderer >(
renderViewPtr->getRenderer( ));
const livre::Pipe* pipe = static_cast< const livre::Pipe* >( _channel->getPipe());
renderer->initTransferFunction(
pipe->getFrameData()->getRenderSettings()->getTransferFunction( ));
RenderBricks renderBricks;
generateRenderBricks( frameInfo.renderNodeList,
renderBricks );
renderViewPtr->render( frameInfo,
renderBricks,
*_glWidgetPtr );
}
uint8_t ZBExplicitRxResponse::getDstEndpoint() {
return getFrameData()[11];
}
uint16_t ZBExplicitRxResponse::getClusterId() {
return (uint16_t)(getFrameData()[12]) << 8 | getFrameData()[13];
}
uint8_t ZBTxStatusResponse::getDiscoveryStatus() {
return getFrameData()[5];
}
uint8_t RxResponse::getRssi() {
return getFrameData()[getRssiOffset()];
}
uint16_t ZBRxResponse::getRemoteAddress16() {
return (getFrameData()[8] << 8) + getFrameData()[9];
}
uint8_t ZBRxIoSampleResponse::getAnalogMask() {
return getFrameData()[14] & 0x8f;
}
uint16_t ZBExplicitRxResponse::getProfileId() {
return (uint16_t)(getFrameData()[14]) << 8 | getFrameData()[15];
}
uint8_t ZBExplicitRxResponse::getOption() {
return getFrameData()[16];
}
void removeImageListener()
{
if( getFrameData()->getFrameSettings()->getGrabFrame() )
_channel->removeResultImageListener( &_frameGrabber );
}
uint8_t AntVersion::getVersionByte(uint8_t pos) {
return getFrameData()[pos];
}
uint8_t RxResponse::getOption() {
return getFrameData()[getRssiOffset() + 1];
}
// 64 + 16 addresses, sample size, option = 12 (index 11), so this starts at 12
uint8_t ZBRxIoSampleResponse::getDigitalMaskMsb() {
return getFrameData()[12] & 0x1c;
}
uint8_t ZBRxIoSampleResponse::getDigitalMaskLsb() {
return getFrameData()[13];
}
uint8_t ZBExplicitRxResponse::getSrcEndpoint() {
return getFrameData()[10];
}
uint8_t ZBRxResponse::getOption() {
return getFrameData()[10];
}
uint16_t ZBTxStatusResponse::getRemoteAddress() {
return (getFrameData()[1] << 8) + getFrameData()[2];
}
uint16_t Rx16Response::getRemoteAddress16() {
return (getFrameData()[0] << 8) + getFrameData()[1];
}
uint8_t ZBTxStatusResponse::getTxRetryCount() {
return getFrameData()[3];
}
uint8_t ZBTxStatusResponse::getDeliveryStatus() {
return getFrameData()[4];
}
/** This thread controls acquisition, reads image files to get the image data,
* and does the callbacks to send it to higher layers */
void hdf5Driver::hdf5Task (void)
{
const char *functionName = "hdf5Task";
int status = asynSuccess;
epicsTimeStamp startTime, endTime;
int imageMode, currentFrame, colorMode;
double acquirePeriod, elapsedTime, delay;
this->lock();
for(;;)
{
int acquire;
getIntegerParam(ADAcquire, &acquire);
if (!acquire)
{
this->unlock(); // Wait for semaphore unlocked
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s:%s: waiting for acquire to start\n",
driverName, functionName);
status = epicsEventWait(this->mStartEventId);
this->lock();
acquire = 1;
setStringParam(ADStatusMessage, "Acquiring data");
setIntegerParam(ADNumImagesCounter, 0);
}
// Are there datasets loaded?
if(!mDatasetsCount)
{
setStringParam(ADStatusMessage, "No datasets loaded");
goto error;
}
// Get acquisition parameters
epicsTimeGetCurrent(&startTime);
getIntegerParam(ADImageMode, &imageMode);
getDoubleParam(ADAcquirePeriod, &acquirePeriod);
getIntegerParam(HDF5CurrentFrame, ¤tFrame);
setIntegerParam(ADStatus, ADStatusAcquire);
callParamCallbacks();
// Get information to allocate NDArray
size_t dims[2];
NDDataType_t dataType;
if(getFrameInfo(currentFrame, dims, &dataType))
{
setStringParam(ADStatusMessage, "Failed to get frame info");
goto error;
}
// Allocate NDArray
NDArray *pImage;
if(!(pImage = pNDArrayPool->alloc(2, dims, dataType, 0, NULL)))
{
setStringParam(ADStatusMessage, "Failed to allocate frame");
goto error;
}
// Copy data into NDArray
if(getFrameData(currentFrame, pImage->pData))
{
setStringParam(ADStatusMessage, "Failed to read frame data");
goto error;
}
// Set ColorMode
colorMode = NDColorModeMono;
pImage->pAttributeList->add("ColorMode", "Color mode", NDAttrInt32,
&colorMode);
// Call plugins callbacks
int arrayCallbacks;
getIntegerParam(NDArrayCallbacks, &arrayCallbacks);
if (arrayCallbacks)
{
this->unlock();
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s:%s: calling imageData callback\n",
driverName, functionName);
doCallbacksGenericPointer(pImage, NDArrayData, 0);
this->lock();
}
pImage->release();
// Get the current parameters
int lastFrame, imageCounter, numImages, numImagesCounter;
getIntegerParam(HDF5LastFrame, &lastFrame);
getIntegerParam(NDArrayCounter, &imageCounter);
getIntegerParam(ADNumImages, &numImages);
getIntegerParam(ADNumImagesCounter, &numImagesCounter);
setIntegerParam(NDArrayCounter, ++imageCounter);
setIntegerParam(ADNumImagesCounter, ++numImagesCounter);
setIntegerParam(HDF5CurrentFrame, ++currentFrame);
// Put the frame number and time stamp into the buffer
pImage->uniqueId = imageCounter;
pImage->timeStamp = startTime.secPastEpoch + startTime.nsec / 1.e9;
updateTimeStamp(&pImage->epicsTS);
// Prepare loop if necessary
int loop;
getIntegerParam(HDF5Loop, &loop);
if (loop && currentFrame > lastFrame)
{
getIntegerParam(HDF5FirstFrame, ¤tFrame);
setIntegerParam(HDF5CurrentFrame, currentFrame);
}
// See if acquisition is done
if (imageMode == ADImageSingle || currentFrame > lastFrame ||
(imageMode == ADImageMultiple && numImagesCounter >= numImages))
{
// First do callback on ADStatus
setStringParam(ADStatusMessage, "Waiting for acquisition");
setIntegerParam(ADStatus, ADStatusIdle);
acquire = 0;
setIntegerParam(ADAcquire, acquire);
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s:%s: acquisition completed\n",
driverName, functionName);
}
callParamCallbacks();
// Delay next acquisition and check if received STOP signal
if(acquire)
{
epicsTimeGetCurrent(&endTime);
elapsedTime = epicsTimeDiffInSeconds(&endTime, &startTime);
delay = acquirePeriod - elapsedTime;
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s:%s: delay=%f\n",
driverName, functionName, delay);
if(delay > 0.0)
{
// Set the status to waiting to indicate we are in the delay
setIntegerParam(ADStatus, ADStatusWaiting);
callParamCallbacks();
this->unlock();
status = epicsEventWaitWithTimeout(mStopEventId, delay);
this->lock();
if (status == epicsEventWaitOK)
{
acquire = 0;
if (imageMode == ADImageContinuous)
setIntegerParam(ADStatus, ADStatusIdle);
else
setIntegerParam(ADStatus, ADStatusAborted);
callParamCallbacks();
}
}
}
continue;
error:
setIntegerParam(ADAcquire, 0);
setIntegerParam(ADStatus, ADStatusError);
callParamCallbacks();
continue;
}
}
