string CCompiler::createCompilerCommand(const string& sourceFileName)
{
stringstream exeCmd;
if(getFileNameNoExtension(mCompilerName) == "tcc"
|| getFileNameNoExtension(mCompilerName) == "gcc"
|| getFileNameNoExtension(mCompilerName) == "cc")
{
// standard unix compiler options
exeCmd<<joinPath(mCompilerLocation, mCompilerName);
//Add compiler flags
for(int i = 0; i < mCompilerFlags.size(); i++)
{
exeCmd<<" "<<mCompilerFlags[i];
}
exeCmd<<" \""<<sourceFileName<<"\" \""<<joinPath(mSupportCodeFolder, "rrSupport.c")<<"\"";
exeCmd<<" -o \""<<mDLLFileName<<"\"";
#if defined(WIN32)
exeCmd<<" -DBUILD_MODEL_DLL ";
#endif
//Add include paths
for(int i = 0; i < mIncludePaths.size(); i++)
{
exeCmd<<" -I\""<<mIncludePaths[i]<<"\" " ;
}
//Add library paths
for(int i = 0; i < mLibraryPaths.size(); i++)
{
exeCmd<<" -L\""<<mLibraryPaths[i]<<"\" " ;
}
}
return exeCmd.str();
}
bool CCompiler::compile(const string& cmdLine)
{
if( !cmdLine.size() )
{
return false;
}
PROCESS_INFORMATION pi;
ZeroMemory( &pi, sizeof(pi) );
STARTUPINFO si;
ZeroMemory( &si, sizeof(si) );
si.cb = sizeof(si);
//sec attributes for the output file
SECURITY_ATTRIBUTES sao;
sao.nLength=sizeof(SECURITY_ATTRIBUTES);
sao.lpSecurityDescriptor=NULL;
sao.bInheritHandle=1;
string compilerTempFile(joinPath(mOutputPath, getFileNameNoExtension(mDLLFileName)));
compilerTempFile.append("C.log");
Poco::File aFile(compilerTempFile);
if(aFile.exists())
{
aFile.remove();
}
HANDLE outFile;
//Todo: there is a problem creating the logfile after first time creation..
if((outFile=CreateFileA(compilerTempFile.c_str(),
GENERIC_WRITE,
FILE_SHARE_DELETE,
&sao,
OPEN_ALWAYS,
FILE_ATTRIBUTE_NORMAL,
NULL))==INVALID_HANDLE_VALUE)
{
// Retrieve the system error message for the last-error code
DWORD errorCode = GetLastError();
string anError = getWINAPIError(errorCode, TEXT("CreateFile"));
Log(Logger::LOG_ERROR)<<"WIN API Error (after CreateFile): "<<anError;
Log(Logger::LOG_ERROR)<<"Failed creating logFile for compiler output";
}
SetFilePointer(outFile, 0, NULL, FILE_END); //set pointer position to end file
//init the STARTUPINFO struct
si.dwFlags=STARTF_USESTDHANDLES;
si.hStdOutput = outFile;
si.hStdError = outFile;
//proc sec attributes
SECURITY_ATTRIBUTES sap;
sap.nLength=sizeof(SECURITY_ATTRIBUTES);
sap.lpSecurityDescriptor=NULL;
sap.bInheritHandle=1;
//thread sec attributes
SECURITY_ATTRIBUTES sat;
sat.nLength=sizeof(SECURITY_ATTRIBUTES);
sat.lpSecurityDescriptor=NULL;
sat.bInheritHandle=1;
// Start the child process.
if( !CreateProcessA(
NULL, // No module name (use command line)
(char*) cmdLine.c_str(), // Command line
&sap, // Process handle not inheritable
&sat, // Thread handle not inheritable
TRUE, // Set handle inheritance
CREATE_NO_WINDOW, // Creation flags
NULL, // Use parent's environment block
NULL, // Use parent's starting directory
&si, // Pointer to STARTUPINFO structure
&pi ) // Pointer to PROCESS_INFORMATION structure
)
{
DWORD errorCode = GetLastError();
string anError = getWINAPIError(errorCode, TEXT("CreateProcess"));
Log(Logger::LOG_ERROR)<<"WIN API Error: (after CreateProcess) "<<anError;
// Close process and thread handles.
CloseHandle(pi.hProcess);
CloseHandle(pi.hThread);
CloseHandle(outFile);
return false;
}
// Wait until child process exits.
WaitForSingleObject(pi.hProcess, INFINITE);
CloseHandle(outFile);
// Close process and thread handles.
CloseHandle(pi.hProcess);
DWORD errorCode = GetLastError();
if(errorCode != 0)
{
string anError = getWINAPIError(errorCode, TEXT("CloseHandle"));
Log(lDebug)<<"WIN API error: (pi.hProcess)"<<anError;
}
CloseHandle(pi.hThread);
errorCode = GetLastError();
if(errorCode != 0)
{
string anError = getWINAPIError(errorCode, TEXT("CloseHandle"));
Log(lDebug)<<"WIN API error: (pi.hThread)"<<anError;
}
//Read the log file and log it
if(fileExists(compilerTempFile))
{
string log = getFileContent(compilerTempFile.c_str());
Log(lDebug)<<"Compiler output: "<<log<<endl;
}
return true;
}
std::string ImageDirectoryReader::getFrameName()
{
return getFileNameNoExtension(mFilePaths.at(mFrameNameCounter));
}
bool CCompiler::setupCompilerEnvironment()
{
mIncludePaths.clear();
mLibraryPaths.clear();
mCompilerFlags.clear();
if(getFileNameNoExtension(mCompilerName) == "tcc" || getFileNameNoExtension(mCompilerName) == "gcc")
{
mCompilerFlags.push_back("-g"); //-g adds runtime debug information
#if defined(__unix__) || defined(_WIN32)
mCompilerFlags.push_back("-shared");
mCompilerFlags.push_back("-rdynamic"); //-rdynamic : Export global symbols to the dynamic linker
#elif defined(__APPLE__)
mCompilerFlags.push_back("-dynamiclib");
#endif
//-b : Generate additional support code to check memory allocations and array/pointer bounds. `-g' is implied.
mCompilerFlags.push_back("-fPIC"); // shared lib
mCompilerFlags.push_back("-O0"); // turn off optimization
//LogLevel //-v is for verbose
if(getFileNameNoExtension(mCompilerName) == "tcc")
{
mIncludePaths.push_back(".");
mIncludePaths.push_back("r:/rrl/source");
mIncludePaths.push_back(joinPath(mCompilerLocation, "include"));
mLibraryPaths.push_back(".");
mLibraryPaths.push_back(joinPath(mCompilerLocation, "lib"));
if(gLog.getLevel() < lDebug)
{
mCompilerFlags.push_back("-v"); // suppress warnings
}
else if(gLog.getLevel() >= lDebug1)
{
mCompilerFlags.push_back("-vv");
}
else if(gLog.getLevel() >= lDebug2)
{
mCompilerFlags.push_back("-vvv");
}
}
else if(getFileNameNoExtension(mCompilerName) == "gcc")
{
if(gLog.getLevel() < lDebug)
{
mCompilerFlags.push_back("-w"); // suppress warnings
}
else if(gLog.getLevel() >= lDebug1)
{
mCompilerFlags.push_back("-Wall");
}
else if(gLog.getLevel() >= lDebug2)
{
mCompilerFlags.push_back("-Wall -pedantic");
}
}
}
mIncludePaths.push_back(mSupportCodeFolder);
return true;
}
void CameraParameterReader::readParameters(const std::string& cameraParameterPath,
const std::vector<std::string>& serialNumbers)
{
try
{
// Serial numbers
if (serialNumbers.empty())
{
mSerialNumbers = getFilesOnDirectory(cameraParameterPath, "xml");
for (auto& serialNumber : mSerialNumbers)
serialNumber = getFileNameNoExtension(serialNumber);
}
else
mSerialNumbers = serialNumbers;
// Commong saving/loading
const auto dataFormat = DataFormat::Xml;
const std::vector<std::string> cvMatNames {
"CameraMatrix", "Intrinsics", "Distortion"
};
// Load parameters
mCameraMatrices.clear();
mCameraExtrinsics.clear();
mCameraIntrinsics.clear();
mCameraDistortions.clear();
// log("Camera matrices:");
for (auto i = 0ull ; i < mSerialNumbers.size() ; i++)
{
const auto parameterPath = cameraParameterPath + mSerialNumbers.at(i);
const auto cameraParameters = loadData(cvMatNames, parameterPath, dataFormat);
// Error if empty element
if (cameraParameters.empty() || cameraParameters.at(0).empty()
|| cameraParameters.at(1).empty() || cameraParameters.at(2).empty())
{
const std::string errorMessage = " of the camera with serial number `" + mSerialNumbers[i]
+ "` (file: " + parameterPath + "." + dataFormatToString(dataFormat)
+ "). Is its format valid? You might want to check the example xml"
+ " file.";
if (cameraParameters.empty())
error("Error at reading the camera parameters" + errorMessage,
__LINE__, __FUNCTION__, __FILE__);
if (cameraParameters.at(0).empty())
error("Error at reading the camera matrix parameters" + errorMessage,
__LINE__, __FUNCTION__, __FILE__);
if (cameraParameters.at(1).empty())
error("Error at reading the camera intrinsics parameters" + errorMessage,
__LINE__, __FUNCTION__, __FILE__);
if (cameraParameters.at(2).empty())
error("Error at reading the camera distortion parameters" + errorMessage,
__LINE__, __FUNCTION__, __FILE__);
}
mCameraExtrinsics.emplace_back(cameraParameters.at(0));
mCameraIntrinsics.emplace_back(cameraParameters.at(1));
mCameraDistortions.emplace_back(cameraParameters.at(2));
mCameraMatrices.emplace_back(mCameraIntrinsics.back() * mCameraExtrinsics.back());
// log(cameraParameters.at(0));
}
// // mCameraMatrices
// log("\nFull camera matrices:");
// for (const auto& cvMat : mCameraMatrices)
// log(cvMat);
// // mCameraIntrinsics
// log("\nCamera intrinsic parameters:");
// for (const auto& cvMat : mCameraIntrinsics)
// log(cvMat);
// // mCameraDistortions
// log("\nCamera distortion parameters:");
// for (const auto& cvMat : mCameraDistortions)
// log(cvMat);
}
catch (const std::exception& e)
{
error(e.what(), __LINE__, __FUNCTION__, __FILE__);
}
}
