bool initUartOutput(flowOutputState state, char* port, unsigned int baud, size_t bufferSize) {
// Initialize UART communication
int uartErrno = uart_open(port, baud);
if (uartErrno) {
caerLog(CAER_LOG_ALERT, SUBSYSTEM_UART,
"Failed to identify serial communication, errno=%i.",uartErrno);
return (false);
}
// Test message
char* testMessage = "DVS128UART";
if (uart_tx((int) strlen(testMessage), (unsigned char*) testMessage)) {
caerLog(CAER_LOG_ALERT, SUBSYSTEM_UART,
"Test transmission unsuccessful - connection closed.");
uart_close();
return(false);
}
// Start output handler thread
state->thread = 0;
if (thrd_create(&state->thread, &outputHandlerThread, state) != thrd_success) {
caerLog(CAER_LOG_ALERT, SUBSYSTEM_UART,"Failed to start output handler thread");
return (false);
}
state->buffer = ringBufferInit(bufferSize);
if (state->buffer == NULL) {
caerLog(CAER_LOG_ERROR, SUBSYSTEM_UART, "Failed to allocate transfer ring-buffer.");
return (false);
}
atomic_store(&state->running, true);
caerLog(CAER_LOG_NOTICE, SUBSYSTEM_UART, "Streaming flow events to port %s.",port);
return (true);
}
void caerConfigInit(const char *configFile, int argc, char *argv[]) {
// If configFile is NULL, no config file will be accessed at all,
// and neither will it be written back at shutdown.
if (configFile != NULL) {
// Let's try to open the file for reading, or create it.
int configFileFd = open(configFile, O_RDONLY | O_CREAT, S_IWUSR | S_IRUSR | S_IRGRP);
if (configFileFd >= 0) {
// File opened for reading successfully.
// This means it exists and we can access it, so let's remember
// it for writing the config later at shutdown (if permitted).
caerConfigFilePath = realpath(configFile, NULL);
// Determine if there is actual content to parse first.
struct stat configFileStat;
fstat(configFileFd, &configFileStat);
if (configFileStat.st_size > 0) {
sshsNodeImportSubTreeFromXML(sshsGetNode(sshsGetGlobal(), "/"), configFileFd, true);
}
close(configFileFd);
// Ensure configuration is written back at shutdown.
atexit(&caerConfigShutDownWriteBack);
}
else {
caerLog(CAER_LOG_EMERGENCY, "Config",
"Could not create and/or read from the configuration file '%s'. Error: %d.", configFile, errno);
exit(EXIT_FAILURE);
}
}
else {
caerLog(CAER_LOG_EMERGENCY, "Config", "No configuration file defined, using default values for everything.");
}
// Override with command line arguments if requested.
if (argc > 1) {
// Format: -o node key type value (5 arguments). Equal to caerctl format.
for (size_t i = 1; i < (size_t) argc; i += 5) {
if ((i + 4) < (size_t) argc && caerStrEquals(argv[i], "-o")) {
sshsNode node = sshsGetNode(sshsGetGlobal(), argv[i + 1]);
if (node == NULL) {
caerLog(CAER_LOG_EMERGENCY, "Config", "SSHS Node %s doesn't exist.", argv[i + 1]);
continue;
}
if (!sshsNodeStringToNodeConverter(node, argv[i + 2], argv[i + 3], argv[i + 4])) {
caerLog(CAER_LOG_EMERGENCY, "Config", "Failed to convert attribute %s of type %s with value %s.",
argv[i + 2], argv[i + 3], argv[i + 4]);
}
}
}
}
}
void addPacketToTransferBuffer(flowOutputState state, FlowEventPacket packet,
int32_t flowNumber) {
if (packet == NULL) {
// There was nothing in this mainloop run: return
return;
}
caerEventPacketHeader header = &packet->packetHeader;
// If no valid events are present, there is nothing to add
if (caerEventPacketHeaderGetEventValid(header) == 0) {
return;
}
if (flowNumber == 0) {
return;
}
// Allocate memory for new flow event packet
FlowEventPacket copy = malloc(sizeof(struct flow_event_packet));
if (copy == NULL) {
caerLog(CAER_LOG_ERROR, SUBSYSTEM_UART,"Failed to copy event packet.");
return;
}
// Copy header information
copy->packetHeader = packet->packetHeader;
copy->packetHeader.eventNumber = flowNumber;
copy->packetHeader.eventValid = flowNumber;
copy->events = malloc(sizeof(struct flow_event) * (size_t) flowNumber);
// Copy events
int j = 0;
for (int i = 0; i < header->eventNumber; i++) {
FlowEvent e = &packet->events[i];
if (e->hasFlow) {
copy->events[j] = *e;
j++;
}
}
// Verify number of events copied
if (j != flowNumber) {
caerLog(CAER_LOG_ERROR, SUBSYSTEM_FILE,
"Copied %d events while number of flow events is %d.",
j, flowNumber);
flowEventPacketFree(copy);
return;
}
if (!ringBufferPut(state->buffer, copy)) {
flowEventPacketFree(copy);
caerLog(CAER_LOG_ALERT, SUBSYSTEM_UART,"Failed to add event packet to ring buffer.");
return;
}
}
caerModuleData caerModuleInitialize(uint16_t moduleID, const char *moduleShortName, sshsNode mainloopNode) {
// Generate short module name with ID, reused in all error messages and later code.
size_t nameLength = (size_t) snprintf(NULL, 0, "%" PRIu16 "-%s", moduleID, moduleShortName);
char nameString[nameLength + 1];
snprintf(nameString, nameLength + 1, "%" PRIu16 "-%s", moduleID, moduleShortName);
// Allocate memory for the module.
caerModuleData moduleData = calloc(1, sizeof(struct caer_module_data));
if (moduleData == NULL) {
caerLog(CAER_LOG_ALERT, nameString, "Failed to allocate memory for module. Error: %d.", errno);
thrd_exit(EXIT_FAILURE);
}
// Set module ID for later identification (hash-table key).
moduleData->moduleID = moduleID;
// Put module into startup state.
moduleData->moduleStatus = STOPPED;
atomic_store_explicit(&moduleData->running, true, memory_order_relaxed);
// Determine SSHS module node. Use short name for better human recognition.
char sshsString[nameLength + 2];
strncpy(sshsString, nameString, nameLength);
sshsString[nameLength] = '/';
sshsString[nameLength + 1] = '\0';
// Initialize configuration, shutdown hooks.
moduleData->moduleNode = sshsGetRelativeNode(mainloopNode, sshsString);
if (moduleData->moduleNode == NULL) {
caerLog(CAER_LOG_ALERT, nameString, "Failed to allocate configuration node for module.");
thrd_exit(EXIT_FAILURE);
}
sshsNodePutBool(moduleData->moduleNode, "shutdown", false); // Always reset to false.
sshsNodeAddAttributeListener(moduleData->moduleNode, moduleData, &caerModuleShutdownListener);
// Setup default full log string name.
moduleData->moduleSubSystemString = malloc(nameLength + 1);
if (moduleData->moduleSubSystemString == NULL) {
caerLog(CAER_LOG_ALERT, nameString, "Failed to allocate subsystem string for module.");
thrd_exit(EXIT_FAILURE);
}
strncpy(moduleData->moduleSubSystemString, nameString, nameLength);
moduleData->moduleSubSystemString[nameLength] = '\0';
atomic_thread_fence(memory_order_release);
return (moduleData);
}
void caerConfigServerStart(void) {
// Enable the configuration server thread.
atomic_store(&configServerThread.running, true);
// Start the thread.
if ((errno = thrd_create(&configServerThread.thread, &caerConfigServerRunner, NULL)) == thrd_success) {
// Successfully started thread.
caerLog(CAER_LOG_DEBUG, "Config Server", "Thread created successfully.");
}
else {
// Failed to create thread.
caerLog(CAER_LOG_EMERGENCY, "Config Server", "Failed to create thread. Error: %d.", errno);
exit(EXIT_FAILURE);
}
}
void posecalibration_destroy(PoseCalibration *calibClass) {
try {
delete calibClass;
}
catch (const std::exception& ex) {
caerLog(CAER_LOG_ERROR, "PoseCalibration_destroy()", "Failed with C++ exception: %s", ex.what());
}
}
bool initFileOutput(flowOutputState state, char* fileName, size_t bufferSize) {
// Initialize file communication
state->file = fopen(fileName,"w+");
if (state->file == NULL) {
caerLog(CAER_LOG_ALERT, SUBSYSTEM_FILE,"Failed to open file");
return (false);
}
// Write header as check for file output
if (fprintf(state->file,"#cAER event data with optic flow values\n") < 0) {
caerLog(CAER_LOG_ALERT, SUBSYSTEM_FILE,"Failed to write header");
fclose(state->file);
return (false);
}
// Write creation date
time_t rawTime;
struct tm * timeInfo;
time (&rawTime);
timeInfo = localtime(&rawTime);
fprintf(state->file,"#Date created: %s\n",asctime(timeInfo));
// Write column legend
fprintf(state->file,"#x,y,t,p,u,v\n");
state->fileLineNumber = 4;
// Start output handler thread (ONLY IF NOT YET CALLED BY UART)
if (state->mode != OF_OUT_BOTH ||
!atomic_load_explicit(&state->running, memory_order_relaxed)) {
state->mode = OF_OUT_FILE; // to ensure that only file output is performed in this case
state->thread = 0;
if (thrd_create(&state->thread, &outputHandlerThread, state) != thrd_success) {
caerLog(CAER_LOG_ALERT, SUBSYSTEM_FILE,
"Failed to start output handler thread");
return (false);
}
state->buffer = ringBufferInit(bufferSize);
if (state->buffer == NULL) {
caerLog(CAER_LOG_ERROR, SUBSYSTEM_FILE,
"Failed to allocate transfer ring-buffer.");
return (false);
}
atomic_store(&state->running, true);
}
caerLog(CAER_LOG_NOTICE, SUBSYSTEM_FILE, "Logging events to fileName %s",fileName);
return (true);
}
bool posecalibration_findMarkers(PoseCalibration *calibClass, caerFrameEvent frame) {
try {
return (calibClass->findMarkers(frame));
}
catch (const std::exception& ex) {
caerLog(CAER_LOG_ERROR, "PoseCalibration_findMarkers()", "Failed with C++ exception: %s", ex.what());
return (false);
}
}
PoseCalibration *posecalibration_init(PoseCalibrationSettings settings) {
try {
return (new PoseCalibration(settings));
}
catch (const std::exception& ex) {
caerLog(CAER_LOG_ERROR, "PoseCalibration()", "Failed with C++ exception: %s", ex.what());
return (NULL);
}
}
bool posecalibration_loadCalibrationFile(PoseCalibration *calibClass, PoseCalibrationSettings settings) {
try {
return (calibClass->loadCalibrationFile(settings));
}
catch (const std::exception& ex) {
caerLog(CAER_LOG_ERROR, "PoseCalibration_loadCalibrationFile()", "Failed with C++ exception: %s", ex.what());
return (false);
}
}
void closeUartOutput(flowOutputState state) {
state->running = false;
uart_close();
if ((errno = thrd_join(state->thread, NULL)) != thrd_success) {
// This should never happen!
caerLog(CAER_LOG_CRITICAL, SUBSYSTEM_UART,
"Failed to join output handling thread. Error: %d.", errno);
}
ringBufferFree(state->buffer);
}
void caerConfigServerStop(void) {
// Only execute if the server thread was actually started.
if (!atomic_load_explicit(&configServerThread.running, memory_order_relaxed)) {
return;
}
// Disable the configuration server thread first.
atomic_store(&configServerThread.running, false);
// Then wait on it to finish.
if ((errno = thrd_join(configServerThread.thread, NULL)) == thrd_success) {
// Successfully joined thread.
caerLog(CAER_LOG_DEBUG, "Config Server", "Thread terminated successfully.");
}
else {
// Failed to join thread.
caerLog(CAER_LOG_EMERGENCY, "Config Server", "Failed to terminate thread. Error: %d.", errno);
exit(EXIT_FAILURE);
}
}
static inline void caerConfigSendResponse(int connectedClientSocket, uint8_t action, uint8_t type, const uint8_t *msg,
size_t msgLength) {
size_t responseLength = 4 + msgLength;
uint8_t response[responseLength];
response[0] = action;
response[1] = type;
setMsgLen(response, (uint16_t) msgLength);
memcpy(response + 4, msg, msgLength);
// Msg must already be NUL terminated!
if (!sendUntilDone(connectedClientSocket, response, responseLength)) {
// Error on send. Log for now.
caerLog(CAER_LOG_DEBUG, "Config Server", "Disconnected client on send (fd %d).", connectedClientSocket);
return;
}
caerLog(CAER_LOG_DEBUG, "Config Server",
"Sent back message to client: action=%" PRIu8 ", type=%" PRIu8 ", msgLength=%zu.", action, type, msgLength);
}
static inline void caerConfigSendError(int connectedClientSocket, const char *errorMsg) {
size_t errorMsgLength = strlen(errorMsg);
size_t responseLength = 4 + errorMsgLength + 1; // +1 for terminating NUL byte.
uint8_t response[responseLength];
response[0] = ERROR;
response[1] = STRING;
setMsgLen(response, (uint16_t) (errorMsgLength + 1));
memcpy(response + 4, errorMsg, errorMsgLength);
response[4 + errorMsgLength] = '\0';
if (!sendUntilDone(connectedClientSocket, response, responseLength)) {
// Error on send. Log for now.
caerLog(CAER_LOG_DEBUG, "Config Server", "Disconnected client on send (fd %d).", connectedClientSocket);
return;
}
caerLog(CAER_LOG_DEBUG, "Config Server", "Sent back error message '%s' to client.", errorMsg);
}
static inline bool writeFlowEventPacketFile(flowOutputState state,
FlowEventPacket flow) {
caerEventPacketHeader header = (caerEventPacketHeader) flow;
if (caerEventPacketHeaderGetEventValid(header) == 0) {
return (false);
}
for (int32_t i = 0; i < caerEventPacketHeaderGetEventNumber(header); i++) {
FlowEvent e = &(flow->events[i]);
if (e == NULL) {
caerLog(CAER_LOG_ERROR,SUBSYSTEM_FILE,"Event null pointer found.");
return (false);
}
if (!e->hasFlow) {continue;}
// Get event data
uint8_t x = (uint8_t) caerPolarityEventGetX((caerPolarityEvent) e);
uint8_t y = (uint8_t) caerPolarityEventGetY((caerPolarityEvent) e);
int32_t t = caerPolarityEventGetTimestamp((caerPolarityEvent) e);
bool p = caerPolarityEventGetPolarity((caerPolarityEvent) e);
double u = e->u;
double v = e->v;
// Write to file
if (state->fileLineNumber < FILE_MAX_NUMBER_OF_LINES) {
fprintf(state->file,"%3i,%3i,%10i,%d,%4.3f,%4.3f\n",x,y,t,p,u,v);
state->fileLineNumber++;
}
else {
// If too many lines, stop logging to prevent overrun
if (state->fileLineNumber == FILE_MAX_NUMBER_OF_LINES) {
caerLog(CAER_LOG_NOTICE, SUBSYSTEM_FILE,
"File log reached limit of %d lines - "
"no more lines will be added.", FILE_MAX_NUMBER_OF_LINES);
state->fileLineNumber++;
}
}
}
return (true);
}
static inline bool sendFlowEventPacketUart(FlowEventPacket flow) {
caerEventPacketHeader header = (caerEventPacketHeader) flow;
uint32_t packetSize = (uint32_t) caerEventPacketHeaderGetEventNumber(header);
if (packetSize == 0) {
// No events to send - return
return (false);
}
// Events are separated by unsigned ints of value 255. This value should
// never occur as pixel location
unsigned char eventSeparator = 255;
// Iterate through packet and send events
for (uint32_t i = 0; i < packetSize; i++) {
FlowEvent e = &(flow->events[i]);
if (e == NULL) {
caerLog(CAER_LOG_ERROR,SUBSYSTEM_UART,"Event null pointer found.");
return (false);
}
if (!e->hasFlow) {continue;}
uint8_t x = (uint8_t) caerPolarityEventGetX((caerPolarityEvent) e);
uint8_t y = (uint8_t) caerPolarityEventGetY((caerPolarityEvent) e);
int32_t t = caerPolarityEventGetTimestamp((caerPolarityEvent) e);
int16_t u = (int16_t) (e->u*100);
int16_t v = (int16_t) (e->v*100);
// Send data over UART
if (uart_tx(sizeof(x),(unsigned char*) &x)
|| uart_tx(sizeof(y),(unsigned char*) &y)
|| uart_tx(sizeof(t),(unsigned char*) &t)
|| uart_tx(sizeof(u),(unsigned char*) &u)
|| uart_tx(sizeof(v),(unsigned char*) &v)
|| uart_tx(sizeof(eventSeparator), &eventSeparator)) {
caerLog(CAER_LOG_ERROR,SUBSYSTEM_UART,"Event info not fully sent.");
return (false);
}
}
return (true);
}
static void orderAndSendEventPackets(outputCommonState state, caerEventPacketContainer currPacketContainer) {
// Sort container by first timestamp (required) and by type ID (convenience).
size_t currPacketContainerSize = (size_t) caerEventPacketContainerGetEventPacketsNumber(currPacketContainer);
qsort(currPacketContainer->eventPackets, currPacketContainerSize, sizeof(caerEventPacketHeader),
&packetsFirstTimestampThenTypeCmp);
// Since we just got new data, let's first check that it does conform to our expectations.
// This means the timestamp didn't slide back! So new smallest TS is >= than last highest TS.
// These checks are needed to avoid illegal ordering. Normal operation will never trigger
// these, as stated in the assumptions at the start of file, but erroneous usage or mixing
// or reordering of packet containers is possible, and has to be caught here.
int64_t highestTimestamp = 0;
for (size_t cpIdx = 0; cpIdx < currPacketContainerSize; cpIdx++) {
caerEventPacketHeader cpPacket = caerEventPacketContainerGetEventPacket(currPacketContainer, (int32_t) cpIdx);
void *cpFirstEvent = caerGenericEventGetEvent(cpPacket, 0);
int64_t cpFirstEventTimestamp = caerGenericEventGetTimestamp64(cpFirstEvent, cpPacket);
if (cpFirstEventTimestamp < state->lastTimestamp) {
// Smaller TS than already sent, illegal, ignore packet.
caerLog(CAER_LOG_ERROR, state->parentModule->moduleSubSystemString,
"Detected timestamp going back, expected at least %" PRIi64 " but got %" PRIi64 "."
" Ignoring packet of type %" PRIi16 " from source %" PRIi16 ", with %" PRIi32 " events!",
state->lastTimestamp, cpFirstEventTimestamp, caerEventPacketHeaderGetEventType(cpPacket),
caerEventPacketHeaderGetEventSource(cpPacket), caerEventPacketHeaderGetEventNumber(cpPacket));
}
else {
// Bigger or equal TS than already sent, this is good. Strict TS ordering ensures
// that all other packets in this container are the same, so we can start sending
// the packets from here on out to the file descriptor.
sendEventPacket(state, cpPacket);
// Update highest timestamp for this packet container, based upon its valid packets.
void *cpLastEvent = caerGenericEventGetEvent(cpPacket, caerEventPacketHeaderGetEventNumber(cpPacket) - 1);
int64_t cpLastEventTimestamp = caerGenericEventGetTimestamp64(cpLastEvent, cpPacket);
if (cpLastEventTimestamp > highestTimestamp) {
highestTimestamp = cpLastEventTimestamp;
}
}
}
// Remember highest timestamp for check in next iteration.
state->lastTimestamp = highestTimestamp;
}
static inline void writeBufferToAll(outputCommonState state, const uint8_t *buffer, size_t bufferSize) {
for (size_t i = 0; i < state->fileDescriptors->fdsSize; i++) {
int fd = state->fileDescriptors->fds[i];
if (fd >= 0) {
if (!writeUntilDone(fd, buffer, bufferSize)) {
// Write failed, most of the reasons for that to happen are
// not recoverable from, so we just disable this file descriptor.
// This also detects client-side close() for TCP server connections.
caerLog(CAER_LOG_INFO, state->parentModule->moduleSubSystemString,
"Disconnect or error on fd %d, closing and removing. Error: %d.", fd, errno);
close(fd);
state->fileDescriptors->fds[i] = -1;
}
}
}
}
static void caerVisualizerEventHandlerNeuronMonitor(caerVisualizerPublicState state, const sf::Event &event) {
// This only works with actual hardware.
const std::string moduleLibrary = sshsNodeGetStdString(state->eventSourceConfigNode, "moduleLibrary");
if (moduleLibrary != "caer_dynapse") {
return;
}
// On release of left click.
if (event.type == sf::Event::MouseButtonReleased && event.mouseButton.button == sf::Mouse::Button::Left) {
float positionX = (float) event.mouseButton.x;
float positionY = (float) event.mouseButton.y;
// Adjust coordinates according to zoom factor.
float currentZoomFactor = state->renderZoomFactor.load();
if (currentZoomFactor > 1.0f) {
positionX = floorf(positionX / currentZoomFactor);
positionY = floorf(positionY / currentZoomFactor);
}
else if (currentZoomFactor < 1.0f) {
positionX = floorf(positionX * currentZoomFactor);
positionY = floorf(positionY * currentZoomFactor);
}
// Transform into chip ID, core ID and neuron ID.
const struct caer_spike_event val = caerDynapseSpikeEventFromXY(U16T(positionX), U16T(positionY));
uint8_t chipId = caerSpikeEventGetChipID(&val);
uint8_t coreId = caerSpikeEventGetSourceCoreID(&val);
uint32_t neuronId = caerSpikeEventGetNeuronID(&val);
// Set value via SSHS.
sshsNode neuronMonitorNode = sshsGetRelativeNode(state->eventSourceConfigNode, "NeuronMonitor/");
char monitorKey[] = "Ux_Cy";
monitorKey[1] = (char) (48 + chipId);
monitorKey[4] = (char) (48 + coreId);
sshsNodePutInt(neuronMonitorNode, monitorKey, I32T(neuronId));
caerLog(CAER_LOG_NOTICE, "Visualizer", "Monitoring neuron - chip ID: %d, core ID: %d, neuron ID: %d.", chipId,
coreId, neuronId);
}
}
bool caerModuleSetSubSystemString(caerModuleData moduleData, const char *subSystemString) {
// Allocate new memory for new string.
size_t subSystemStringLenght = strlen(subSystemString);
char *newSubSystemString = malloc(subSystemStringLenght + 1);
if (newSubSystemString == NULL) {
// Failed to allocate memory. Log this and don't use the new string.
caerLog(CAER_LOG_ERROR, moduleData->moduleSubSystemString,
"Failed to allocate new sub-system string for module.");
return (false);
}
// Copy new string into allocated memory.
strncpy(newSubSystemString, subSystemString, subSystemStringLenght);
newSubSystemString[subSystemStringLenght] = '\0';
// Switch new string with old string and free old memory.
free(moduleData->moduleSubSystemString);
moduleData->moduleSubSystemString = newSubSystemString;
return (true);
}
static void caerConfigServerHandleRequest(int connectedClientSocket, uint8_t action, uint8_t type, const uint8_t *extra,
size_t extraLength, const uint8_t *node, size_t nodeLength, const uint8_t *key, size_t keyLength,
const uint8_t *value, size_t valueLength) {
UNUSED_ARGUMENT(extra);
caerLog(CAER_LOG_DEBUG, "Config Server",
"Handling request: action=%" PRIu8 ", type=%" PRIu8 ", extraLength=%zu, nodeLength=%zu, keyLength=%zu, valueLength=%zu.",
action, type, extraLength, nodeLength, keyLength, valueLength);
// Interpretation of data is up to each action individually.
sshs configStore = sshsGetGlobal();
switch (action) {
case NODE_EXISTS: {
// We only need the node name here. Type is not used (ignored)!
bool result = sshsExistsNode(configStore, (const char *) node);
// Send back result to client. Format is the same as incoming data.
const uint8_t *sendResult = (const uint8_t *) ((result) ? ("true") : ("false"));
size_t sendResultLength = (result) ? (5) : (6);
caerConfigSendResponse(connectedClientSocket, NODE_EXISTS, BOOL, sendResult, sendResultLength);
break;
}
case ATTR_EXISTS: {
bool nodeExists = sshsExistsNode(configStore, (const char *) node);
// Only allow operations on existing nodes, this is for remote
// control, so we only manipulate what's already there!
if (!nodeExists) {
// Send back error message to client.
caerConfigSendError(connectedClientSocket,
"Node doesn't exist. Operations are only allowed on existing data.");
break;
}
// This cannot fail, since we know the node exists from above.
sshsNode wantedNode = sshsGetNode(configStore, (const char *) node);
// Check if attribute exists.
bool result = sshsNodeAttributeExists(wantedNode, (const char *) key, type);
// Send back result to client. Format is the same as incoming data.
const uint8_t *sendResult = (const uint8_t *) ((result) ? ("true") : ("false"));
size_t sendResultLength = (result) ? (5) : (6);
caerConfigSendResponse(connectedClientSocket, ATTR_EXISTS, BOOL, sendResult, sendResultLength);
break;
}
case GET: {
bool nodeExists = sshsExistsNode(configStore, (const char *) node);
// Only allow operations on existing nodes, this is for remote
// control, so we only manipulate what's already there!
if (!nodeExists) {
// Send back error message to client.
caerConfigSendError(connectedClientSocket,
"Node doesn't exist. Operations are only allowed on existing data.");
break;
}
// This cannot fail, since we know the node exists from above.
sshsNode wantedNode = sshsGetNode(configStore, (const char *) node);
// Check if attribute exists. Only allow operations on existing attributes!
bool attrExists = sshsNodeAttributeExists(wantedNode, (const char *) key, type);
if (!attrExists) {
// Send back error message to client.
caerConfigSendError(connectedClientSocket,
"Attribute of given type doesn't exist. Operations are only allowed on existing data.");
break;
}
union sshs_node_attr_value result = sshsNodeGetAttribute(wantedNode, (const char *) key, type);
char *resultStr = sshsHelperValueToStringConverter(type, result);
if (resultStr == NULL) {
// Send back error message to client.
caerConfigSendError(connectedClientSocket, "Failed to allocate memory for value string.");
}
else {
caerConfigSendResponse(connectedClientSocket, GET, type, (const uint8_t *) resultStr,
strlen(resultStr) + 1);
free(resultStr);
}
// If this is a string, we must remember to free the original result.str
// too, since it will also be a copy of the string coming from SSHS.
if (type == STRING) {
free(result.string);
}
break;
}
case PUT: {
bool nodeExists = sshsExistsNode(configStore, (const char *) node);
// Only allow operations on existing nodes, this is for remote
// control, so we only manipulate what's already there!
if (!nodeExists) {
// Send back error message to client.
caerConfigSendError(connectedClientSocket,
"Node doesn't exist. Operations are only allowed on existing data.");
break;
}
// This cannot fail, since we know the node exists from above.
sshsNode wantedNode = sshsGetNode(configStore, (const char *) node);
// Check if attribute exists. Only allow operations on existing attributes!
bool attrExists = sshsNodeAttributeExists(wantedNode, (const char *) key, type);
if (!attrExists) {
// Send back error message to client.
caerConfigSendError(connectedClientSocket,
"Attribute of given type doesn't exist. Operations are only allowed on existing data.");
break;
}
// Put given value into config node. Node, attr and type are already verified.
const char *typeStr = sshsHelperTypeToStringConverter(type);
if (!sshsNodeStringToNodeConverter(wantedNode, (const char *) key, typeStr, (const char *) value)) {
// Send back error message to client.
caerConfigSendError(connectedClientSocket, "Impossible to convert value according to type.");
break;
}
// Send back confirmation to the client.
caerConfigSendResponse(connectedClientSocket, PUT, BOOL, (const uint8_t *) "true", 5);
break;
}
case GET_CHILDREN: {
bool nodeExists = sshsExistsNode(configStore, (const char *) node);
// Only allow operations on existing nodes, this is for remote
// control, so we only manipulate what's already there!
if (!nodeExists) {
// Send back error message to client.
caerConfigSendError(connectedClientSocket,
"Node doesn't exist. Operations are only allowed on existing data.");
break;
}
// This cannot fail, since we know the node exists from above.
sshsNode wantedNode = sshsGetNode(configStore, (const char *) node);
// Get the names of all the child nodes and return them.
size_t numNames;
const char **childNames = sshsNodeGetChildNames(wantedNode, &numNames);
// No children at all, return empty.
if (childNames == NULL) {
// Send back error message to client.
caerConfigSendError(connectedClientSocket, "Node has no children.");
break;
}
// We need to return a big string with all of the child names,
// separated by a NUL character.
size_t namesLength = 0;
for (size_t i = 0; i < numNames; i++) {
namesLength += strlen(childNames[i]) + 1; // +1 for terminating NUL byte.
}
// Allocate a buffer for the names and copy them over.
char namesBuffer[namesLength];
for (size_t i = 0, acc = 0; i < numNames; i++) {
size_t len = strlen(childNames[i]) + 1;
memcpy(namesBuffer + acc, childNames[i], len);
acc += len;
}
caerConfigSendResponse(connectedClientSocket, GET_CHILDREN, STRING, (const uint8_t *) namesBuffer,
namesLength);
break;
}
case GET_ATTRIBUTES: {
bool nodeExists = sshsExistsNode(configStore, (const char *) node);
// Only allow operations on existing nodes, this is for remote
// control, so we only manipulate what's already there!
if (!nodeExists) {
// Send back error message to client.
caerConfigSendError(connectedClientSocket,
"Node doesn't exist. Operations are only allowed on existing data.");
break;
}
// This cannot fail, since we know the node exists from above.
sshsNode wantedNode = sshsGetNode(configStore, (const char *) node);
// Get the keys of all the attributes and return them.
size_t numKeys;
const char **attrKeys = sshsNodeGetAttributeKeys(wantedNode, &numKeys);
// No attributes at all, return empty.
if (attrKeys == NULL) {
// Send back error message to client.
caerConfigSendError(connectedClientSocket, "Node has no attributes.");
break;
}
// We need to return a big string with all of the attribute keys,
// separated by a NUL character.
size_t keysLength = 0;
for (size_t i = 0; i < numKeys; i++) {
keysLength += strlen(attrKeys[i]) + 1; // +1 for terminating NUL byte.
}
// Allocate a buffer for the keys and copy them over.
char keysBuffer[keysLength];
for (size_t i = 0, acc = 0; i < numKeys; i++) {
size_t len = strlen(attrKeys[i]) + 1;
memcpy(keysBuffer + acc, attrKeys[i], len);
acc += len;
}
caerConfigSendResponse(connectedClientSocket, GET_ATTRIBUTES, STRING, (const uint8_t *) keysBuffer,
keysLength);
break;
}
case GET_TYPES: {
bool nodeExists = sshsExistsNode(configStore, (const char *) node);
// Only allow operations on existing nodes, this is for remote
// control, so we only manipulate what's already there!
if (!nodeExists) {
// Send back error message to client.
caerConfigSendError(connectedClientSocket,
"Node doesn't exist. Operations are only allowed on existing data.");
break;
}
// This cannot fail, since we know the node exists from above.
sshsNode wantedNode = sshsGetNode(configStore, (const char *) node);
// Check if any keys match the given one and return its types.
size_t numTypes;
enum sshs_node_attr_value_type *attrTypes = sshsNodeGetAttributeTypes(wantedNode, (const char *) key,
&numTypes);
// No attributes for specified key, return empty.
if (attrTypes == NULL) {
// Send back error message to client.
caerConfigSendError(connectedClientSocket, "Node has no attributes with specified key.");
break;
}
// We need to return a big string with all of the attribute types,
// separated by a NUL character.
size_t typesLength = 0;
for (size_t i = 0; i < numTypes; i++) {
const char *typeString = sshsHelperTypeToStringConverter(attrTypes[i]);
typesLength += strlen(typeString) + 1; // +1 for terminating NUL byte.
}
// Allocate a buffer for the types and copy them over.
char typesBuffer[typesLength];
for (size_t i = 0, acc = 0; i < numTypes; i++) {
const char *typeString = sshsHelperTypeToStringConverter(attrTypes[i]);
size_t len = strlen(typeString) + 1;
memcpy(typesBuffer + acc, typeString, len);
acc += len;
}
caerConfigSendResponse(connectedClientSocket, GET_TYPES, STRING, (const uint8_t *) typesBuffer,
typesLength);
break;
}
default:
// Unknown action, send error back to client.
caerConfigSendError(connectedClientSocket, "Unknown action.");
break;
}
}
static int outputHandlerThread(void *stateArg) {
if (stateArg == NULL) {
return (thrd_error);
}
flowOutputState state = stateArg;
switch (state->mode) {
case OF_OUT_UART:
thrd_set_name(SUBSYSTEM_UART);
break;
case OF_OUT_FILE:
thrd_set_name(SUBSYSTEM_FILE);
break;
case OF_OUT_BOTH:
thrd_set_name("FLOW_OUTPUT");
break;
case OF_OUT_NONE:
break;
}
struct timespec sleepTime = { .tv_sec = 0, .tv_nsec = 500000 };
// Wait until the buffer is initialized
while (!atomic_load_explicit(&state->running, memory_order_relaxed)) {
thrd_sleep(&sleepTime, NULL);
}
// Main thread loop
while (atomic_load_explicit(&state->running, memory_order_relaxed)) {
FlowEventPacket packet = getPacketFromTransferBuffer(state->buffer);
if (packet == NULL) { // no data: sleep for a while
thrd_sleep(&sleepTime, NULL);
}
else {
if (state->mode == OF_OUT_UART || state->mode == OF_OUT_BOTH) {
if (!sendFlowEventPacketUart(packet)) {
caerLog(CAER_LOG_ALERT, SUBSYSTEM_UART, "A flow packet was not sent.");
}
}
if (state->mode == OF_OUT_FILE || state->mode == OF_OUT_BOTH) {
if (!writeFlowEventPacketFile(state,packet)) {
caerLog(CAER_LOG_ALERT, SUBSYSTEM_FILE, "A flow packet was not written.");
}
}
flowEventPacketFree(packet);
}
}
// If shutdown: empty buffer before closing thread
FlowEventPacket packet;
while ((packet = getPacketFromTransferBuffer(state->buffer)) != NULL) {
if (state->mode == OF_OUT_UART || state->mode == OF_OUT_BOTH) {
if (!sendFlowEventPacketUart(packet)) {
caerLog(CAER_LOG_ALERT, SUBSYSTEM_UART, "A flow packet was not sent.");
}
}
if (state->mode == OF_OUT_FILE || state->mode == OF_OUT_BOTH) {
if (!writeFlowEventPacketFile(state,packet)) {
caerLog(CAER_LOG_ALERT, SUBSYSTEM_FILE, "A flow packet was not written.");
}
}
flowEventPacketFree(packet);
}
return (thrd_success);
}
static bool caerInputDVS128Init(caerModuleData moduleData) {
caerLog(CAER_LOG_DEBUG, moduleData->moduleSubSystemString, "Initializing module ...");
// USB port/bus/SN settings/restrictions.
// These can be used to force connection to one specific device at startup.
sshsNodePutShortIfAbsent(moduleData->moduleNode, "BusNumber", 0);
sshsNodePutShortIfAbsent(moduleData->moduleNode, "DevAddress", 0);
sshsNodePutStringIfAbsent(moduleData->moduleNode, "SerialNumber", "");
// Add auto-restart setting.
sshsNodePutBoolIfAbsent(moduleData->moduleNode, "Auto-Restart", true);
// Start data acquisition, and correctly notify mainloop of new data and module of exceptional
// shutdown cases (device pulled, ...).
char *serialNumber = sshsNodeGetString(moduleData->moduleNode, "SerialNumber");
moduleData->moduleState = caerDeviceOpen(moduleData->moduleID, CAER_DEVICE_DVS128,
U8T(sshsNodeGetShort(moduleData->moduleNode, "BusNumber")),
U8T(sshsNodeGetShort(moduleData->moduleNode, "DevAddress")), serialNumber);
free(serialNumber);
if (moduleData->moduleState == NULL) {
// Failed to open device.
return (false);
}
// Put global source information into SSHS.
struct caer_dvs128_info devInfo = caerDVS128InfoGet(moduleData->moduleState);
sshsNode sourceInfoNode = sshsGetRelativeNode(moduleData->moduleNode, "sourceInfo/");
sshsNodePutShort(sourceInfoNode, "logicVersion", devInfo.logicVersion);
sshsNodePutBool(sourceInfoNode, "deviceIsMaster", devInfo.deviceIsMaster);
sshsNodePutShort(sourceInfoNode, "dvsSizeX", devInfo.dvsSizeX);
sshsNodePutShort(sourceInfoNode, "dvsSizeY", devInfo.dvsSizeY);
// Put source information for "virtual" APS frame that can be used to display and debug filter information.
sshsNodePutShort(sourceInfoNode, "apsSizeX", devInfo.dvsSizeX);
sshsNodePutShort(sourceInfoNode, "apsSizeY", devInfo.dvsSizeY);
caerModuleSetSubSystemString(moduleData, devInfo.deviceString);
// Ensure good defaults for data acquisition settings.
// No blocking behavior due to mainloop notification, and no auto-start of
// all producers to ensure cAER settings are respected.
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_DATAEXCHANGE,
CAER_HOST_CONFIG_DATAEXCHANGE_BLOCKING, false);
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_DATAEXCHANGE,
CAER_HOST_CONFIG_DATAEXCHANGE_START_PRODUCERS, false);
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_DATAEXCHANGE,
CAER_HOST_CONFIG_DATAEXCHANGE_STOP_PRODUCERS, true);
// Create default settings and send them to the device.
createDefaultConfiguration(moduleData);
sendDefaultConfiguration(moduleData);
// Start data acquisition.
bool ret = caerDeviceDataStart(moduleData->moduleState, &mainloopDataNotifyIncrease, &mainloopDataNotifyDecrease,
caerMainloopGetReference(), &moduleShutdownNotify, moduleData->moduleNode);
if (!ret) {
// Failed to start data acquisition, close device and exit.
caerDeviceClose((caerDeviceHandle *) &moduleData->moduleState);
return (false);
}
return (true);
}
static bool caerOutputUnixSocketServerInit(caerModuleData moduleData) {
// First, always create all needed setting nodes, set their default values
// and add their listeners.
sshsNodePutStringIfAbsent(moduleData->moduleNode, "socketPath", "/tmp/caer.sock");
sshsNodePutShortIfAbsent(moduleData->moduleNode, "backlogSize", 5);
sshsNodePutShortIfAbsent(moduleData->moduleNode, "concurrentConnections", 10);
// Open a Unix local socket on a known path, to be accessed by other processes (server-like mode).
int serverSockFd = socket(AF_UNIX, SOCK_STREAM, 0);
if (serverSockFd < 0) {
caerLog(CAER_LOG_CRITICAL, moduleData->moduleSubSystemString, "Could not create local Unix socket. Error: %d.",
errno);
return (false);
}
struct sockaddr_un unixSocketAddr;
memset(&unixSocketAddr, 0, sizeof(struct sockaddr_un));
unixSocketAddr.sun_family = AF_UNIX;
char *socketPath = sshsNodeGetString(moduleData->moduleNode, "socketPath");
strncpy(unixSocketAddr.sun_path, socketPath, sizeof(unixSocketAddr.sun_path) - 1);
unixSocketAddr.sun_path[sizeof(unixSocketAddr.sun_path) - 1] = '\0'; // Ensure NUL terminated string.
free(socketPath);
// Bind socket to above address.
if (bind(serverSockFd, (struct sockaddr *) &unixSocketAddr, sizeof(struct sockaddr_un)) < 0) {
close(serverSockFd);
caerLog(CAER_LOG_CRITICAL, moduleData->moduleSubSystemString, "Could not bind local Unix socket. Error: %d.",
errno);
return (false);
}
// Listen to new connections on the socket.
if (listen(serverSockFd, sshsNodeGetShort(moduleData->moduleNode, "backlogSize")) < 0) {
close(serverSockFd);
caerLog(CAER_LOG_CRITICAL, moduleData->moduleSubSystemString,
"Could not listen on local Unix socket. Error: %d.", errno);
return (false);
}
outputCommonFDs fileDescriptors = caerOutputCommonAllocateFdArray(
(size_t) sshsNodeGetShort(moduleData->moduleNode, "concurrentConnections"));
if (fileDescriptors == NULL) {
close(serverSockFd);
caerLog(CAER_LOG_CRITICAL, moduleData->moduleSubSystemString,
"Unable to allocate memory for file descriptors.");
return (false);
}
fileDescriptors->serverFd = serverSockFd;
if (!caerOutputCommonInit(moduleData, fileDescriptors, true, false)) {
close(serverSockFd);
free(fileDescriptors);
return (false);
}
caerLog(CAER_LOG_INFO, moduleData->moduleSubSystemString, "Local Unix socket ready at '%s'.",
unixSocketAddr.sun_path);
return (true);
}
int main(void) {
// Install signal handler for global shutdown.
#if defined(_WIN32)
if (signal(SIGTERM, &globalShutdownSignalHandler) == SIG_ERR) {
caerLog(CAER_LOG_CRITICAL, "ShutdownAction", "Failed to set signal handler for SIGTERM. Error: %d.", errno);
return (EXIT_FAILURE);
}
if (signal(SIGINT, &globalShutdownSignalHandler) == SIG_ERR) {
caerLog(CAER_LOG_CRITICAL, "ShutdownAction", "Failed to set signal handler for SIGINT. Error: %d.", errno);
return (EXIT_FAILURE);
}
#else
struct sigaction shutdownAction;
shutdownAction.sa_handler = &globalShutdownSignalHandler;
shutdownAction.sa_flags = 0;
sigemptyset(&shutdownAction.sa_mask);
sigaddset(&shutdownAction.sa_mask, SIGTERM);
sigaddset(&shutdownAction.sa_mask, SIGINT);
if (sigaction(SIGTERM, &shutdownAction, NULL) == -1) {
caerLog(CAER_LOG_CRITICAL, "ShutdownAction", "Failed to set signal handler for SIGTERM. Error: %d.", errno);
return (EXIT_FAILURE);
}
if (sigaction(SIGINT, &shutdownAction, NULL) == -1) {
caerLog(CAER_LOG_CRITICAL, "ShutdownAction", "Failed to set signal handler for SIGINT. Error: %d.", errno);
return (EXIT_FAILURE);
}
#endif
// Open a DVS128, give it a device ID of 1, and don't care about USB bus or SN restrictions.
caerDeviceHandle dvs128_handle = caerDeviceOpen(1, CAER_DEVICE_DVS128, 0, 0, NULL);
if (dvs128_handle == NULL) {
return (EXIT_FAILURE);
}
// Let's take a look at the information we have on the device.
struct caer_dvs128_info dvs128_info = caerDVS128InfoGet(dvs128_handle);
printf("%s --- ID: %d, Master: %d, DVS X: %d, DVS Y: %d, Logic: %d.\n", dvs128_info.deviceString,
dvs128_info.deviceID, dvs128_info.deviceIsMaster, dvs128_info.dvsSizeX, dvs128_info.dvsSizeY,
dvs128_info.logicVersion);
// Send the default configuration before using the device.
// No configuration is sent automatically!
caerDeviceSendDefaultConfig(dvs128_handle);
// Tweak some biases, to increase bandwidth in this case.
caerDeviceConfigSet(dvs128_handle, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_PR, 695);
caerDeviceConfigSet(dvs128_handle, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_FOLL, 867);
// Let's verify they really changed!
uint32_t prBias, follBias;
caerDeviceConfigGet(dvs128_handle, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_PR, &prBias);
caerDeviceConfigGet(dvs128_handle, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_FOLL, &follBias);
printf("New bias values --- PR: %d, FOLL: %d.\n", prBias, follBias);
// Now let's get start getting some data from the device. We just loop in blocking mode,
// no notification needed regarding new events. The shutdown notification, for example if
// the device is disconnected, should be listened to.
caerDeviceDataStart(dvs128_handle, NULL, NULL, NULL, &usbShutdownHandler, NULL);
// Let's turn on blocking data-get mode to avoid wasting resources.
caerDeviceConfigSet(dvs128_handle, CAER_HOST_CONFIG_DATAEXCHANGE, CAER_HOST_CONFIG_DATAEXCHANGE_BLOCKING, true);
while (!atomic_load_explicit(&globalShutdown, memory_order_relaxed)) {
caerEventPacketContainer packetContainer = caerDeviceDataGet(dvs128_handle);
if (packetContainer == NULL) {
continue; // Skip if nothing there.
}
int32_t packetNum = caerEventPacketContainerGetEventPacketsNumber(packetContainer);
printf("\nGot event container with %d packets (allocated).\n", packetNum);
for (int32_t i = 0; i < packetNum; i++) {
caerEventPacketHeader packetHeader = caerEventPacketContainerGetEventPacket(packetContainer, i);
if (packetHeader == NULL) {
printf("Packet %d is empty (not present).\n", i);
continue; // Skip if nothing there.
}
printf("Packet %d of type %d -> size is %d.\n", i, caerEventPacketHeaderGetEventType(packetHeader),
caerEventPacketHeaderGetEventNumber(packetHeader));
// Packet 0 is always the special events packet for DVS128, while packet is the polarity events packet.
if (i == POLARITY_EVENT) {
caerPolarityEventPacket polarity = (caerPolarityEventPacket) packetHeader;
// Get full timestamp and addresses of first event.
caerPolarityEvent firstEvent = caerPolarityEventPacketGetEvent(polarity, 0);
int32_t ts = caerPolarityEventGetTimestamp(firstEvent);
uint16_t x = caerPolarityEventGetX(firstEvent);
uint16_t y = caerPolarityEventGetY(firstEvent);
bool pol = caerPolarityEventGetPolarity(firstEvent);
printf("First polarity event - ts: %d, x: %d, y: %d, pol: %d.\n", ts, x, y, pol);
}
}
caerEventPacketContainerFree(packetContainer);
}
caerDeviceDataStop(dvs128_handle);
caerDeviceClose(&dvs128_handle);
printf("Shutdown successful.\n");
return (EXIT_SUCCESS);
}
/**
* Copy event packets to the ring buffer for transfer to the output handler thread.
*
* @param state output module state.
* @param packetsListSize the length of the variable-length argument list of event packets.
* @param packetsList a variable-length argument list of event packets.
*/
static void copyPacketsToTransferRing(outputCommonState state, size_t packetsListSize, va_list packetsList) {
caerEventPacketHeader packets[packetsListSize];
size_t packetsSize = 0;
// Count how many packets are really there, skipping empty event packets.
for (size_t i = 0; i < packetsListSize; i++) {
caerEventPacketHeader packetHeader = va_arg(packetsList, caerEventPacketHeader);
// Found non-empty event packet.
if (packetHeader != NULL) {
// Get source information from the event packet.
int16_t eventSource = caerEventPacketHeaderGetEventSource(packetHeader);
// Check that source is unique.
int16_t sourceID = I16T(atomic_load_explicit(&state->sourceID, memory_order_relaxed));
if (sourceID == -1) {
state->sourceInfoNode = caerMainloopGetSourceInfo(U16T(eventSource));
if (state->sourceInfoNode == NULL) {
// This should never happen, but we handle it gracefully.
caerLog(CAER_LOG_ERROR, state->parentModule->moduleSubSystemString,
"Failed to get source info to setup output module.");
return;
}
atomic_store(&state->sourceID, eventSource); // Remember this!
}
else if (sourceID != eventSource) {
caerLog(CAER_LOG_ERROR, state->parentModule->moduleSubSystemString,
"An output module can only handle packets from the same source! "
"A packet with source %" PRIi16 " was sent, but this output module expects only packets from source %" PRIi16 ".",
eventSource, sourceID);
continue;
}
// Source ID is correct, packet is not empty, we got it!
packets[packetsSize++] = packetHeader;
}
}
// There was nothing in this mainloop run!
if (packetsSize == 0) {
return;
}
// Allocate memory for event packet array structure that will get passed to output handler thread.
caerEventPacketContainer eventPackets = caerEventPacketContainerAllocate((int32_t) packetsSize);
if (eventPackets == NULL) {
return;
}
// Handle the valid only flag here, that way we don't have to do another copy and
// process it in the output handling thread. We get the value once here, so we do
// the same for all packets from the same mainloop run, avoiding mid-way changes.
bool validOnly = atomic_load_explicit(&state->validOnly, memory_order_relaxed);
// Now copy each event packet and send the array out. Track how many packets there are.
size_t idx = 0;
for (size_t i = 0; i < packetsSize; i++) {
if (validOnly) {
caerEventPacketContainerSetEventPacket(eventPackets, (int32_t) idx,
caerCopyEventPacketOnlyValidEvents(packets[i]));
}
else {
caerEventPacketContainerSetEventPacket(eventPackets, (int32_t) idx,
caerCopyEventPacketOnlyEvents(packets[i]));
}
if (caerEventPacketContainerGetEventPacket(eventPackets, (int32_t) idx) == NULL) {
// Failed to copy packet. Signal but try to continue anyway.
if ((validOnly && (caerEventPacketHeaderGetEventValid(packets[i]) == 0))
|| (!validOnly && (caerEventPacketHeaderGetEventNumber(packets[i]) == 0))) {
caerLog(CAER_LOG_NOTICE, state->parentModule->moduleSubSystemString,
"Submitted empty event packet to output. Ignoring empty event packet.");
}
else {
caerLog(CAER_LOG_ERROR, state->parentModule->moduleSubSystemString,
"Failed to copy event packet to output.");
}
}
else {
idx++;
}
}
// We might have failed to copy all packets (unlikely).
if (idx == 0) {
caerEventPacketContainerFree(eventPackets);
return;
}
// Reset packet container size so we only consider the packets we managed
// to successfully copy.
caerEventPacketContainerSetEventPacketsNumber(eventPackets, (int32_t) idx);
retry: if (!ringBufferPut(state->transferRing, eventPackets)) {
if (atomic_load_explicit(&state->keepPackets, memory_order_relaxed)) {
// Retry forever if requested.
goto retry;
}
caerEventPacketContainerFree(eventPackets);
caerLog(CAER_LOG_INFO, state->parentModule->moduleSubSystemString,
"Failed to put packet's array copy on transfer ring-buffer: full.");
return;
}
}
static inline bool caerFrameEventPNGCompress(uint8_t **outBuffer, size_t *outSize, uint16_t *inBuffer, int32_t xSize,
int32_t ySize, enum caer_frame_event_color_channels channels) {
png_structp png_ptr = NULL;
png_infop info_ptr = NULL;
png_byte **row_pointers = NULL;
// Initialize the write struct.
png_ptr = png_create_write_struct(PNG_LIBPNG_VER_STRING, NULL, NULL, NULL);
if (png_ptr == NULL) {
return (false);
}
// Initialize the info struct.
info_ptr = png_create_info_struct(png_ptr);
if (info_ptr == NULL) {
png_destroy_write_struct(&png_ptr, NULL);
return (false);
}
// Set up error handling.
if (setjmp(png_jmpbuf(png_ptr))) {
if (row_pointers != NULL) {
png_free(png_ptr, row_pointers);
}
png_destroy_write_struct(&png_ptr, &info_ptr);
return (false);
}
// Set image attributes.
png_set_IHDR(png_ptr, info_ptr, (png_uint_32) xSize, (png_uint_32) ySize, 16, caerFrameEventColorToLibPNG(channels),
PNG_INTERLACE_NONE, PNG_COMPRESSION_TYPE_DEFAULT, PNG_FILTER_TYPE_DEFAULT);
// Handle endianness of 16-bit depth pixels correctly.
// PNG assumes big-endian, our Frame Event is always little-endian.
png_set_swap(png_ptr);
// Initialize rows of PNG.
row_pointers = png_malloc(png_ptr, (size_t) ySize * sizeof(png_byte *));
if (row_pointers == NULL) {
png_destroy_write_struct(&png_ptr, &info_ptr);
return (false);
}
for (size_t y = 0; y < (size_t) ySize; y++) {
row_pointers[y] = (png_byte *) &inBuffer[y * (size_t) xSize * channels];
}
// Set write function to buffer one.
struct mem_encode state = { .buffer = NULL, .size = 0 };
png_set_write_fn(png_ptr, &state, &caerLibPNGWriteBuffer, NULL);
// Actually write the image data.
png_set_rows(png_ptr, info_ptr, row_pointers);
png_write_png(png_ptr, info_ptr, PNG_TRANSFORM_IDENTITY, NULL);
// Free allocated memory for rows.
png_free(png_ptr, row_pointers);
// Destroy main structs.
png_destroy_write_struct(&png_ptr, &info_ptr);
// Pass out buffer with resulting PNG image.
*outBuffer = state.buffer;
*outSize = state.size;
return (true);
}
#endif
static size_t compressEventPacket(outputCommonState state, caerEventPacketHeader packet, size_t packetSize) {
// Data compression technique 1: serialize timestamps for event types that tend to repeat them a lot.
// Currently, this means polarity events.
if ((state->format & 0x01) && caerEventPacketHeaderGetEventType(packet) == POLARITY_EVENT) {
// Search for runs of at least 3 events with the same timestamp, and convert them to a special
// sequence: leave first event unchanged, but mark its timestamp as special by setting the
// highest bit (bit 31) to one (it is forbidden for timestamps in memory to have that bit set for
// signed-integer-only language compatibility). Then, for the second event, change its timestamp
// to a 4-byte integer saying how many more events will follow afterwards with this same timestamp
// (this is used for decoding), so only their data portion will be given. Then follow with those
// event's data, back to back, with their timestamps removed.
// So let's assume there are 6 events with TS=1234. In memory this looks like this:
// E1(data,ts), E2(data,ts), E3(data,ts), E4(data,ts), E5(data,ts), E6(data,ts)
// After timestamp serialization compression step:
// E1(data,ts|0x80000000), E2(data,4), E3(data), E4(data), E5(data), E5(data)
// This change is only in the data itself, not in the packet headers, so that we can still use the
// eventCapacity and eventSize fields to calculate memory allocation when doing decompression.
// As such, to correctly interpret this data, the Format flags must be correctly set. All current
// file or network formats do specify those as mandatory in their headers, so we can rely on that.
// Also all event types where this kind of thing makes any sense do have the timestamp as their last
// data member in their struct, so we can use that information, stored in tsOffset header field,
// together with eventSize, to come up with a generic implementation applicable to all other event
// types that satisfy this condition of TS-as-last-member (so we can use that offset as event size).
// When this is enabled, it requires full iteration thorough the whole event packet, both at
// compression and at decompression time.
size_t currPacketOffset = CAER_EVENT_PACKET_HEADER_SIZE; // Start here, no change to header.
int32_t eventSize = caerEventPacketHeaderGetEventSize(packet);
int32_t eventTSOffset = caerEventPacketHeaderGetEventTSOffset(packet);
int32_t lastTS = -1;
int32_t currTS = -1;
size_t tsRun = 0;
bool doMemMove = false; // Initially don't move memory, until we actually shrink the size.
for (int32_t caerIteratorCounter = 0; caerIteratorCounter <= caerEventPacketHeaderGetEventNumber(packet);
caerIteratorCounter++) {
// Iterate until one element past the end, to flush the last run. In that particular case,
// we don't get a new element or TS, as we'd be past the end of the array.
if (caerIteratorCounter < caerEventPacketHeaderGetEventNumber(packet)) {
void *caerIteratorElement = caerGenericEventGetEvent(packet, caerIteratorCounter);
currTS = caerGenericEventGetTimestamp(caerIteratorElement, packet);
if (currTS == lastTS) {
// Increase size of run of same TS events currently being seen.
tsRun++;
continue;
}
}
// TS are different, at this point look if the last run was long enough
// and if it makes sense to compress. It does starting with 3 events.
if (tsRun >= 3) {
// First event to remains there, we set its TS highest bit.
uint8_t *firstEvent = caerGenericEventGetEvent(packet, caerIteratorCounter - (int32_t) tsRun--);
caerGenericEventSetTimestamp(firstEvent, packet,
caerGenericEventGetTimestamp(firstEvent, packet) | I32T(0x80000000));
// Now use second event's timestamp for storing how many further events.
uint8_t *secondEvent = caerGenericEventGetEvent(packet, caerIteratorCounter - (int32_t) tsRun--);
caerGenericEventSetTimestamp(secondEvent, packet, I32T(tsRun)); // Is at least 1.
// Finally move modified memory where it needs to go.
if (doMemMove) {
memmove(((uint8_t *) packet) + currPacketOffset, firstEvent, (size_t) eventSize * 2);
}
else {
doMemMove = true; // After first shrink always move memory.
}
currPacketOffset += (size_t) eventSize * 2;
// Now go through remaining events and move their data close together.
while (tsRun > 0) {
uint8_t *thirdEvent = caerGenericEventGetEvent(packet, caerIteratorCounter - (int32_t) tsRun--);
memmove(((uint8_t *) packet) + currPacketOffset, thirdEvent, (size_t) eventTSOffset);
currPacketOffset += (size_t) eventTSOffset;
}
}
else {
// Just copy data unchanged if no compression is possible.
if (doMemMove) {
uint8_t *startEvent = caerGenericEventGetEvent(packet, caerIteratorCounter - (int32_t) tsRun);
memmove(((uint8_t *) packet) + currPacketOffset, startEvent, (size_t) eventSize * tsRun);
}
currPacketOffset += (size_t) eventSize * tsRun;
}
// Reset values for next iteration.
lastTS = currTS;
tsRun = 1;
}
return (currPacketOffset);
}
#ifdef ENABLE_INOUT_PNG_COMPRESSION
// Data compression technique 2: do PNG compression on frames, Grayscale and RGB(A).
if ((state->format & 0x02) && caerEventPacketHeaderGetEventType(packet) == FRAME_EVENT) {
size_t currPacketOffset = CAER_EVENT_PACKET_HEADER_SIZE; // Start here, no change to header.
size_t frameHeaderSize = sizeof(struct caer_frame_event);
CAER_FRAME_ITERATOR_ALL_START((caerFrameEventPacket) packet)
size_t pixelSize = caerFrameEventGetPixelsSize(caerFrameIteratorElement);
// Keep frame event header intact, compress image data, move memory close together.
memmove(((uint8_t *) packet) + currPacketOffset, caerFrameIteratorElement, frameHeaderSize);
currPacketOffset += frameHeaderSize;
uint8_t *outBuffer;
size_t outSize;
if (!caerFrameEventPNGCompress(&outBuffer, &outSize,
caerFrameEventGetPixelArrayUnsafe(caerFrameIteratorElement),
caerFrameEventGetLengthX(caerFrameIteratorElement), caerFrameEventGetLengthY(caerFrameIteratorElement),
caerFrameEventGetChannelNumber(caerFrameIteratorElement))) {
// Failed to generate PNG.
// Discard this frame event.
currPacketOffset -= frameHeaderSize;
continue;
}
// Check that the image didn't actually grow.
// Add integer needed for storing PNG block length.
if ((outSize + sizeof(int32_t)) > pixelSize) {
caerLog(CAER_LOG_ERROR, state->parentModule->moduleSubSystemString, "Failed to compress frame event. "
"Image actually grew by %zu bytes to a total of %zu bytes.", (outSize - pixelSize), outSize);
free(outBuffer);
currPacketOffset -= frameHeaderSize;
continue;
}
// Store size of PNG image block as 4 byte integer.
int32_t outSizeInt = I32T(outSize);
memcpy(((uint8_t *) packet) + currPacketOffset, &outSizeInt, sizeof(int32_t));
currPacketOffset += sizeof(int32_t);
memcpy(((uint8_t *) packet) + currPacketOffset, outBuffer, outSize);
currPacketOffset += outSize;
// Free allocated PNG block memory.
free(outBuffer);
}
return (currPacketOffset);
}
#endif
return (packetSize);
}
static void handleNewServerConnections(outputCommonState state) {
// First let's see if any new connections are waiting on the listening
// socket to be accepted. This returns right away (non-blocking).
socklen_t clientAddrLength = sizeof(struct sockaddr_in);
struct sockaddr_in clientAddr;
memset(&clientAddr, 0, clientAddrLength);
int acceptResult = accept(state->fileDescriptors->serverFd, (struct sockaddr *) &clientAddr, &clientAddrLength);
if (acceptResult < 0) {
if (errno != EAGAIN && errno != EWOULDBLOCK) {
// Only log real failure. EAGAIN/EWOULDBLOCK just means no
// connections are present for non-blocking accept() right now.
caerLog(CAER_LOG_ERROR, state->parentModule->moduleSubSystemString,
"TCP server accept() failed. Error: %d.", errno);
}
return;
}
// New connection present!
// Put it in the list of FDs and send header, if there is space left, or close.
for (size_t i = 0; i < state->fileDescriptors->fdsSize; i++) {
if (state->fileDescriptors->fds[i] == -1) {
caerLog(CAER_LOG_DEBUG, state->parentModule->moduleSubSystemString,
"Accepted new TCP connection from client (fd %d).", acceptResult);
// Commit current buffer, so that for the new clients, it's empty, and they
// don't get packets and data that are possibly cut in the middle.
commitOutputBuffer(state);
// Empty place in FD list, add this one.
state->fileDescriptors->fds[i] = acceptResult;
// Successfully connected, send header to client.
sendNetworkHeader(state, &state->fileDescriptors->fds[i]);
// Add client IP to list. This is a comma separated string.
char *connectedClientsStr = sshsNodeGetString(state->parentModule->moduleNode, "connectedClients");
size_t newConnectedClientStrLength = strlen(connectedClientsStr) + 1 + INET_ADDRSTRLEN + 1;
char *newConnectedClientsStr = realloc(connectedClientsStr, newConnectedClientStrLength);
if (newConnectedClientsStr == NULL) {
free(connectedClientsStr);
caerLog(CAER_LOG_ERROR, state->parentModule->moduleSubSystemString,
"Failed to update connectedClients information.");
return;
}
const char *clientAddrStr = inet_ntop(AF_INET, &clientAddr.sin_addr, (char[INET_ADDRSTRLEN] ) { 0x00 },
INET_ADDRSTRLEN);
if (!caerStrEquals(newConnectedClientsStr, "")) {
// Only prepend comma if the string wasn't empty before.
strncat(newConnectedClientsStr, ",", 1);
}
strncat(newConnectedClientsStr, clientAddrStr, INET_ADDRSTRLEN);
sshsNodePutString(state->parentModule->moduleNode, "connectedClients", newConnectedClientsStr);
free(newConnectedClientsStr);
return;
}
static int caerConfigServerRunner(void *inPtr) {
UNUSED_ARGUMENT(inPtr);
// Get the right configuration node first.
sshsNode serverNode = sshsGetNode(sshsGetGlobal(), "/server/");
// Ensure default values are present.
sshsNodePutStringIfAbsent(serverNode, "ipAddress", "127.0.0.1");
sshsNodePutIntIfAbsent(serverNode, "portNumber", 4040);
sshsNodePutShortIfAbsent(serverNode, "backlogSize", 5);
sshsNodePutShortIfAbsent(serverNode, "concurrentConnections", 5);
// Open a TCP server socket for configuration handling.
// TCP chosen for reliability, which is more important here than speed.
int configServerSocket = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
if (configServerSocket < 0) {
caerLog(CAER_LOG_CRITICAL, "Config Server", "Could not create server socket. Error: %d.", errno);
return (EXIT_FAILURE);
}
// Make socket address reusable right away.
socketReuseAddr(configServerSocket, true);
struct sockaddr_in configServerAddress;
memset(&configServerAddress, 0, sizeof(struct sockaddr_in));
configServerAddress.sin_family = AF_INET;
configServerAddress.sin_port = htons(sshsNodeGetInt(serverNode, "portNumber"));
char *ipAddress = sshsNodeGetString(serverNode, "ipAddress");
inet_aton(ipAddress, &configServerAddress.sin_addr); // htonl() is implicit here.
free(ipAddress);
// Bind socket to above address.
if (bind(configServerSocket, (struct sockaddr *) &configServerAddress, sizeof(struct sockaddr_in)) < 0) {
caerLog(CAER_LOG_CRITICAL, "Config Server", "Could not bind server socket. Error: %d.", errno);
return (EXIT_FAILURE);
}
// Listen to new connections on the socket.
if (listen(configServerSocket, sshsNodeGetShort(serverNode, "backlogSize")) < 0) {
caerLog(CAER_LOG_CRITICAL, "Config Server", "Could not listen on server socket. Error: %d.", errno);
return (EXIT_FAILURE);
}
// Control message format: 1 byte ACTION, 1 byte TYPE, 2 bytes EXTRA_LEN,
// 2 bytes NODE_LEN, 2 bytes KEY_LEN, 2 bytes VALUE_LEN, then up to 4086
// bytes split between EXTRA, NODE, KEY, VALUE (with 4 bytes for NUL).
// Basically: (EXTRA_LEN + NODE_LEN + KEY_LEN + VALUE_LEN) <= 4086.
// EXTRA, NODE, KEY, VALUE have to be NUL terminated, and their length
// must include the NUL termination byte.
// This results in a maximum message size of 4096 bytes (4KB).
uint8_t configServerBuffer[4096];
caerLog(CAER_LOG_NOTICE, "Config Server", "Ready and listening on %s:%" PRIu16 ".",
inet_ntoa(configServerAddress.sin_addr), ntohs(configServerAddress.sin_port));
size_t connections = (size_t) sshsNodeGetShort(serverNode, "concurrentConnections") + 1;// +1 for listening socket.
struct pollfd pollSockets[connections];
// Initially ignore all pollfds, and react only to POLLIN events.
for (size_t i = 0; i < connections; i++) {
pollSockets[i].fd = -1;
pollSockets[i].events = POLLIN;
}
// First pollfd is the listening socket, always.
pollSockets[0].fd = configServerSocket;
while (atomic_load_explicit(&configServerThread.running, memory_order_relaxed)) {
int pollResult = poll(pollSockets, (nfds_t) connections, 1000);
if (pollResult > 0) {
// First let's check if there's a new connection waiting to be accepted.
if ((pollSockets[0].revents & POLLIN) != 0) {
int newClientSocket = accept(pollSockets[0].fd, NULL, NULL);
if (newClientSocket >= 0) {
// Put it in the list of watched fds if possible, or close.
bool putInFDList = false;
for (size_t i = 1; i < connections; i++) {
if (pollSockets[i].fd == -1) {
// Empty place in watch list, add this one.
pollSockets[i].fd = newClientSocket;
putInFDList = true;
break;
}
}
// No space for new connection, just close it (client will exit).
if (!putInFDList) {
close(newClientSocket);
caerLog(CAER_LOG_DEBUG, "Config Server", "Rejected client (fd %d), queue full.",
newClientSocket);
}
else {
caerLog(CAER_LOG_DEBUG, "Config Server", "Accepted new connection from client (fd %d).",
newClientSocket);
}
}
}
for (size_t i = 1; i < connections; i++) {
// Work on existing connections, valid and with read events.
if (pollSockets[i].fd != -1 && (pollSockets[i].revents & POLLIN) != 0) {
// Accepted client connection, let's get all the data we need: first
// the 10 byte header, and then whatever remains based on that.
if (!recvUntilDone(pollSockets[i].fd, configServerBuffer, 10)) {
// Closed on other side or error. Let's just close here too.
close(pollSockets[i].fd);
caerLog(CAER_LOG_DEBUG, "Config Server", "Disconnected client on recv (fd %d).",
pollSockets[i].fd);
pollSockets[i].fd = -1;
continue;
}
// Decode header fields (all in little-endian).
uint8_t action = configServerBuffer[0];
uint8_t type = configServerBuffer[1];
uint16_t extraLength = le16toh(*(uint16_t * )(configServerBuffer + 2));
uint16_t nodeLength = le16toh(*(uint16_t * )(configServerBuffer + 4));
uint16_t keyLength = le16toh(*(uint16_t * )(configServerBuffer + 6));
uint16_t valueLength = le16toh(*(uint16_t * )(configServerBuffer + 8));
// Total length to get for command.
size_t readLength = (size_t) (extraLength + nodeLength + keyLength + valueLength);
if (!recvUntilDone(pollSockets[i].fd, configServerBuffer + 10, readLength)) {
// Closed on other side or error. Let's just close here too.
close(pollSockets[i].fd);
caerLog(CAER_LOG_DEBUG, "Config Server", "Disconnected client on recv (fd %d).",
pollSockets[i].fd);
pollSockets[i].fd = -1;
continue;
}
// Now we have everything. The header fields are already
// fully decoded: handle request (and send back data eventually).
caerConfigServerHandleRequest(pollSockets[i].fd, action, type, configServerBuffer + 10, extraLength,
configServerBuffer + 10 + extraLength, nodeLength,
configServerBuffer + 10 + extraLength + nodeLength, keyLength,
configServerBuffer + 10 + extraLength + nodeLength + keyLength, valueLength);
}
}
}
else if (pollResult < 0) {
caerLog(CAER_LOG_ALERT, "Config Server", "poll() failed. Error: %d.", errno);
}
// pollResult == 0 just means nothing to do (timeout reached).
}
// Shutdown!
close(configServerSocket);
return (EXIT_SUCCESS);
}
int main(int argc, char *argv[]) {
// Install signal handler for global shutdown.
struct sigaction shutdownAction;
shutdownAction.sa_handler = &globalShutdownSignalHandler;
shutdownAction.sa_flags = 0;
sigemptyset(&shutdownAction.sa_mask);
sigaddset(&shutdownAction.sa_mask, SIGTERM);
sigaddset(&shutdownAction.sa_mask, SIGINT);
if (sigaction(SIGTERM, &shutdownAction, NULL) == -1) {
caerLog(CAER_LOG_CRITICAL, "ShutdownAction", "Failed to set signal handler for SIGTERM. Error: %d.", errno);
return (EXIT_FAILURE);
}
if (sigaction(SIGINT, &shutdownAction, NULL) == -1) {
caerLog(CAER_LOG_CRITICAL, "ShutdownAction", "Failed to set signal handler for SIGINT. Error: %d.", errno);
return (EXIT_FAILURE);
}
// First of all, parse the IP:Port we need to listen on.
// Those are for now also the only two parameters permitted.
// If none passed, attempt to connect to default TCP IP:Port.
const char *ipAddress = "127.0.0.1";
uint16_t portNumber = 7777;
if (argc != 1 && argc != 3) {
fprintf(stderr, "Incorrect argument number. Either pass none for default IP:Port"
"combination of 127.0.0.1:7777, or pass the IP followed by the Port.\n");
return (EXIT_FAILURE);
}
// If explicitly passed, parse arguments.
if (argc == 3) {
ipAddress = argv[1];
sscanf(argv[2], "%" SCNu16, &portNumber);
}
// Create listening socket for TCP data.
int listenTCPSocket = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
if (listenTCPSocket < 0) {
fprintf(stderr, "Failed to create TCP socket.\n");
return (EXIT_FAILURE);
}
struct sockaddr_in listenTCPAddress;
memset(&listenTCPAddress, 0, sizeof(struct sockaddr_in));
listenTCPAddress.sin_family = AF_INET;
listenTCPAddress.sin_port = htons(portNumber);
inet_aton(ipAddress, &listenTCPAddress.sin_addr); // htonl() is implicit here.
if (connect(listenTCPSocket, (struct sockaddr *) &listenTCPAddress, sizeof(struct sockaddr_in)) < 0) {
fprintf(stderr, "Failed to connect to remote TCP data server.\n");
return (EXIT_FAILURE);
}
// 64K data buffer should be enough for the TCP event packets.
size_t dataBufferLength = 1024 * 64;
uint8_t *dataBuffer = malloc(dataBufferLength);
while (!atomic_load_explicit(&globalShutdown, memory_order_relaxed)) {
// Get packet header, to calculate packet size.
if (!recvUntilDone(listenTCPSocket, dataBuffer, sizeof(struct caer_event_packet_header))) {
fprintf(stderr, "Error in header recv() call: %d\n", errno);
continue;
}
// Decode successfully received data.
caerEventPacketHeader header = (caerEventPacketHeader) dataBuffer;
int16_t eventType = caerEventPacketHeaderGetEventType(header);
int16_t eventSource = caerEventPacketHeaderGetEventSource(header);
int32_t eventSize = caerEventPacketHeaderGetEventSize(header);
int32_t eventTSOffset = caerEventPacketHeaderGetEventTSOffset(header);
int32_t eventCapacity = caerEventPacketHeaderGetEventCapacity(header);
int32_t eventNumber = caerEventPacketHeaderGetEventNumber(header);
int32_t eventValid = caerEventPacketHeaderGetEventValid(header);
printf(
"type = %" PRIi16 ", source = %" PRIi16 ", size = %" PRIi32 ", tsOffset = %" PRIi32 ", capacity = %" PRIi32 ", number = %" PRIi32 ", valid = %" PRIi32 ".\n",
eventType, eventSource, eventSize, eventTSOffset, eventCapacity, eventNumber, eventValid);
// Get rest of event packet, the part with the events themselves.
if (!recvUntilDone(listenTCPSocket, dataBuffer + sizeof(struct caer_event_packet_header),
(size_t) (eventCapacity * eventSize))) {
fprintf(stderr, "Error in data recv() call: %d\n", errno);
continue;
}
if (eventValid > 0) {
void *firstEvent = caerGenericEventGetEvent(header, 0);
void *lastEvent = caerGenericEventGetEvent(header, eventValid - 1);
int32_t firstTS = caerGenericEventGetTimestamp(firstEvent, header);
int32_t lastTS = caerGenericEventGetTimestamp(lastEvent, header);
int32_t tsDifference = lastTS - firstTS;
printf("Time difference in packet: %" PRIi32 " (first = %" PRIi32 ", last = %" PRIi32 ").\n", tsDifference,
firstTS, lastTS);
}
printf("\n\n");
}
// Close connection.
close(listenTCPSocket);
free(dataBuffer);
return (EXIT_SUCCESS);
}
