static void caerInputEDVSExit(caerModuleData moduleData) {
// Remove listener, which can reference invalid memory in userData.
sshsNodeRemoveAttributeListener(moduleData->moduleNode, moduleData, &logLevelListener);
sshsNode biasNode = sshsGetRelativeNode(moduleData->moduleNode, "bias/");
sshsNodeRemoveAttributeListener(biasNode, moduleData, &biasConfigListener);
sshsNode dvsNode = sshsGetRelativeNode(moduleData->moduleNode, "dvs/");
sshsNodeRemoveAttributeListener(dvsNode, moduleData, &dvsConfigListener);
sshsNode serialNode = sshsGetRelativeNode(moduleData->moduleNode, "serial/");
sshsNodeRemoveAttributeListener(serialNode, moduleData, &serialConfigListener);
sshsNode sysNode = sshsGetRelativeNode(moduleData->moduleNode, "system/");
sshsNodeRemoveAttributeListener(sysNode, moduleData, &systemConfigListener);
caerDeviceDataStop(moduleData->moduleState);
caerDeviceClose((caerDeviceHandle *) &moduleData->moduleState);
// Clear sourceInfo node.
sshsNode sourceInfoNode = sshsGetRelativeNode(moduleData->moduleNode, "sourceInfo/");
sshsNodeRemoveAllAttributes(sourceInfoNode);
if (sshsNodeGetBool(moduleData->moduleNode, "autoRestart")) {
// Prime input module again so that it will try to restart if new devices detected.
sshsNodePutBool(moduleData->moduleNode, "running", true);
}
}
static void caerInputDVS128Exit(caerModuleData moduleData) {
caerDeviceDataStop(moduleData->moduleState);
caerDeviceClose((caerDeviceHandle *) &moduleData->moduleState);
if (sshsNodeGetBool(moduleData->moduleNode, "Auto-Restart")) {
// Prime input module again so that it will try to restart if new devices detected.
sshsNodePutBool(moduleData->moduleNode, "shutdown", false);
}
}
DvsRosDriver::~DvsRosDriver()
{
if (running_)
{
ROS_INFO("shutting down threads");
running_ = false;
parameter_thread_->join();
readout_thread_->join();
ROS_INFO("threads stopped");
caerDeviceClose(&dvs128_handle);
}
}
usb(uint16_t deviceID, uint16_t deviceType, uint8_t busNumberRestrict, uint8_t devAddressRestrict,
const std::string &serialNumberRestrict) {
caerDeviceHandle h = caerDeviceOpen(deviceID, deviceType, busNumberRestrict, devAddressRestrict,
(serialNumberRestrict.empty()) ? (nullptr) : (serialNumberRestrict.c_str()));
// Handle constructor failure.
if (h == nullptr) {
std::string exc = "Failed to open USB device, id=" + std::to_string(deviceID) + ", type="
+ std::to_string(deviceType) + ", busNumber=" + std::to_string(busNumberRestrict)
+ ", devAddress=" + std::to_string(devAddressRestrict)
+ ", serialNumber=" + serialNumberRestrict + ".";
throw std::runtime_error(exc);
}
// Use stateless lambda for shared_ptr custom deleter.
auto deleteDeviceHandle = [](caerDeviceHandle cdh) {
// Run destructor, free all memory.
// Never fails in current implementation.
caerDeviceClose(&cdh);
};
handle = std::shared_ptr<struct caer_device_handle>(h, deleteDeviceHandle);
}
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);
}
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);
}
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 DYNAPSE, give it a device ID of 1, and don't care about USB bus or SN restrictions.
caerDeviceHandle dynapse_handle = caerDeviceOpen(1, CAER_DEVICE_DYNAPSE, 0, 0, NULL);
if (dynapse_handle == NULL) {
return (EXIT_FAILURE);
}
// Let's take a look at the information we have on the device.
struct caer_dynapse_info dynapse_info = caerDynapseInfoGet(dynapse_handle);
printf("%s --- ID: %d, Master: %d, Logic: %d.\n", dynapse_info.deviceString, dynapse_info.deviceID,
dynapse_info.deviceIsMaster, dynapse_info.logicVersion);
// Send the default configuration before using the device.
// No configuration is sent automatically!
caerDeviceSendDefaultConfig(dynapse_handle);
// 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.
// This automatically turns on the AER and CHIP state machines.
caerDeviceDataStart(dynapse_handle, NULL, NULL, NULL, &usbShutdownHandler, NULL);
// Let's turn on blocking data-get mode to avoid wasting resources.
caerDeviceConfigSet(dynapse_handle, CAER_HOST_CONFIG_DATAEXCHANGE, CAER_HOST_CONFIG_DATAEXCHANGE_BLOCKING, true);
while (!atomic_load_explicit(&globalShutdown, memory_order_relaxed)) {
caerEventPacketContainer packetContainer = caerDeviceDataGet(dynapse_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));
// Spike Events
if (i == SPIKE_EVENT) {
caerSpikeEventPacket spike = (caerSpikeEventPacket) packetHeader;
// Get full timestamp and addresses of first event.
caerSpikeEventConst firstEvent = caerSpikeEventPacketGetEventConst(spike, 0);
int32_t ts = caerSpikeEventGetTimestamp(firstEvent);
uint16_t neuid = caerSpikeEventGetNeuronID(firstEvent);
uint16_t coreid = caerSpikeEventGetSourceCoreID(firstEvent);
printf("First spike event - ts: %d, neu: %d, core: %d\n", ts, neuid, coreid);
}
}
caerEventPacketContainerFree(packetContainer);
}
caerDeviceDataStop(dynapse_handle);
caerDeviceClose(&dynapse_handle);
printf("Shutdown successful.\n");
return (EXIT_SUCCESS);
}
static bool caerInputEDVSInit(caerModuleData moduleData) {
caerModuleLog(moduleData, CAER_LOG_DEBUG, "Initializing module ...");
// Start data acquisition, and correctly notify mainloop of new data and module of exceptional
// shutdown cases (device pulled, ...).
char *serialPortName = sshsNodeGetString(moduleData->moduleNode, "serialPort");
moduleData->moduleState = caerDeviceOpenSerial(U16T(moduleData->moduleID), CAER_DEVICE_EDVS, serialPortName,
U32T(sshsNodeGetInt(moduleData->moduleNode, "baudRate")));
free(serialPortName);
if (moduleData->moduleState == NULL) {
// Failed to open device.
return (false);
}
// Initialize per-device log-level to module log-level.
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_LOG, CAER_HOST_CONFIG_LOG_LEVEL,
atomic_load(&moduleData->moduleLogLevel));
// Put global source information into SSHS.
struct caer_edvs_info devInfo = caerEDVSInfoGet(moduleData->moduleState);
sshsNode sourceInfoNode = sshsGetRelativeNode(moduleData->moduleNode, "sourceInfo/");
sshsNodeCreateBool(sourceInfoNode, "deviceIsMaster", devInfo.deviceIsMaster,
SSHS_FLAGS_READ_ONLY | SSHS_FLAGS_NO_EXPORT, "Timestamp synchronization support: device master status.");
sshsNodeCreateInt(sourceInfoNode, "polaritySizeX", devInfo.dvsSizeX, devInfo.dvsSizeX, devInfo.dvsSizeX,
SSHS_FLAGS_READ_ONLY | SSHS_FLAGS_NO_EXPORT, "Polarity events width.");
sshsNodeCreateInt(sourceInfoNode, "polaritySizeY", devInfo.dvsSizeY, devInfo.dvsSizeY, devInfo.dvsSizeY,
SSHS_FLAGS_READ_ONLY | SSHS_FLAGS_NO_EXPORT, "Polarity events height.");
// Put source information for generic visualization, to be used to display and debug filter information.
sshsNodeCreateInt(sourceInfoNode, "dataSizeX", devInfo.dvsSizeX, devInfo.dvsSizeX, devInfo.dvsSizeX,
SSHS_FLAGS_READ_ONLY | SSHS_FLAGS_NO_EXPORT, "Data width.");
sshsNodeCreateInt(sourceInfoNode, "dataSizeY", devInfo.dvsSizeY, devInfo.dvsSizeY, devInfo.dvsSizeY,
SSHS_FLAGS_READ_ONLY | SSHS_FLAGS_NO_EXPORT, "Data height.");
// Generate source string for output modules.
size_t sourceStringLength = (size_t) snprintf(NULL, 0, "#Source %" PRIu16 ": eDVS4337\r\n", moduleData->moduleID);
char sourceString[sourceStringLength + 1];
snprintf(sourceString, sourceStringLength + 1, "#Source %" PRIu16 ": eDVS4337\r\n", moduleData->moduleID);
sourceString[sourceStringLength] = '\0';
sshsNodeCreateString(sourceInfoNode, "sourceString", sourceString, sourceStringLength, sourceStringLength,
SSHS_FLAGS_READ_ONLY | SSHS_FLAGS_NO_EXPORT, "Device source information.");
// 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.
sendDefaultConfiguration(moduleData);
// Start data acquisition.
bool ret = caerDeviceDataStart(moduleData->moduleState, &caerMainloopDataNotifyIncrease,
&caerMainloopDataNotifyDecrease, NULL, &moduleShutdownNotify, moduleData->moduleNode);
if (!ret) {
// Failed to start data acquisition, close device and exit.
caerDeviceClose((caerDeviceHandle *) &moduleData->moduleState);
return (false);
}
// Add config listeners last, to avoid having them dangling if Init doesn't succeed.
sshsNode biasNode = sshsGetRelativeNode(moduleData->moduleNode, "bias/");
sshsNodeAddAttributeListener(biasNode, moduleData, &biasConfigListener);
sshsNode dvsNode = sshsGetRelativeNode(moduleData->moduleNode, "dvs/");
sshsNodeAddAttributeListener(dvsNode, moduleData, &dvsConfigListener);
sshsNode serialNode = sshsGetRelativeNode(moduleData->moduleNode, "serial/");
sshsNodeAddAttributeListener(serialNode, moduleData, &serialConfigListener);
sshsNode sysNode = sshsGetRelativeNode(moduleData->moduleNode, "system/");
sshsNodeAddAttributeListener(sysNode, moduleData, &systemConfigListener);
sshsNodeAddAttributeListener(moduleData->moduleNode, moduleData, &logLevelListener);
return (true);
}
static bool caerInputDAVISInit(caerModuleData moduleData) {
caerModuleLog(moduleData, CAER_LOG_DEBUG, "Initializing module ...");
// 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(U16T(moduleData->moduleID), CAER_DEVICE_DAVIS,
U8T(sshsNodeGetInt(moduleData->moduleNode, "busNumber")),
U8T(sshsNodeGetInt(moduleData->moduleNode, "devAddress")), serialNumber);
free(serialNumber);
if (moduleData->moduleState == NULL) {
// Failed to open device.
return (false);
}
struct caer_davis_info devInfo = caerDavisInfoGet(moduleData->moduleState);
caerInputDAVISCommonInit(moduleData, &devInfo);
// Generate sub-system string for module.
char *prevAdditionStart = strchr(moduleData->moduleSubSystemString, '[');
if (prevAdditionStart != NULL) {
*prevAdditionStart = '\0';
}
size_t subSystemStringLength
= (size_t) snprintf(NULL, 0, "%s[SN %s, %" PRIu8 ":%" PRIu8 "]", moduleData->moduleSubSystemString,
devInfo.deviceSerialNumber, devInfo.deviceUSBBusNumber, devInfo.deviceUSBDeviceAddress);
char subSystemString[subSystemStringLength + 1];
snprintf(subSystemString, subSystemStringLength + 1, "%s[SN %s, %" PRIu8 ":%" PRIu8 "]",
moduleData->moduleSubSystemString, devInfo.deviceSerialNumber, devInfo.deviceUSBBusNumber,
devInfo.deviceUSBDeviceAddress);
subSystemString[subSystemStringLength] = '\0';
caerModuleSetSubSystemString(moduleData, subSystemString);
// Create default settings and send them to the device.
createDefaultBiasConfiguration(moduleData, chipIDToName(devInfo.chipID, true), devInfo.chipID);
createDefaultLogicConfiguration(moduleData, chipIDToName(devInfo.chipID, true), &devInfo);
createDefaultUSBConfiguration(moduleData, chipIDToName(devInfo.chipID, true));
sendDefaultConfiguration(moduleData, &devInfo);
// Start data acquisition.
bool ret = caerDeviceDataStart(moduleData->moduleState, &caerMainloopDataNotifyIncrease,
&caerMainloopDataNotifyDecrease, NULL, &moduleShutdownNotify, moduleData->moduleNode);
if (!ret) {
// Failed to start data acquisition, close device and exit.
caerDeviceClose((caerDeviceHandle *) &moduleData->moduleState);
return (false);
}
// Device related configuration has its own sub-node.
sshsNode deviceConfigNode = sshsGetRelativeNode(moduleData->moduleNode, chipIDToName(devInfo.chipID, true));
// Add config listeners last, to avoid having them dangling if Init doesn't succeed.
sshsNode chipNode = sshsGetRelativeNode(deviceConfigNode, "chip/");
sshsNodeAddAttributeListener(chipNode, moduleData, &chipConfigListener);
sshsNode muxNode = sshsGetRelativeNode(deviceConfigNode, "multiplexer/");
sshsNodeAddAttributeListener(muxNode, moduleData, &muxConfigListener);
sshsNode dvsNode = sshsGetRelativeNode(deviceConfigNode, "dvs/");
sshsNodeAddAttributeListener(dvsNode, moduleData, &dvsConfigListener);
sshsNode apsNode = sshsGetRelativeNode(deviceConfigNode, "aps/");
sshsNodeAddAttributeListener(apsNode, moduleData, &apsConfigListener);
sshsNode imuNode = sshsGetRelativeNode(deviceConfigNode, "imu/");
sshsNodeAddAttributeListener(imuNode, moduleData, &imuConfigListener);
sshsNode extNode = sshsGetRelativeNode(deviceConfigNode, "externalInput/");
sshsNodeAddAttributeListener(extNode, moduleData, &extInputConfigListener);
sshsNode usbNode = sshsGetRelativeNode(deviceConfigNode, "usb/");
sshsNodeAddAttributeListener(usbNode, moduleData, &usbConfigListener);
sshsNode sysNode = sshsGetRelativeNode(moduleData->moduleNode, "system/");
sshsNodeAddAttributeListener(sysNode, moduleData, &systemConfigListener);
sshsNode biasNode = sshsGetRelativeNode(deviceConfigNode, "bias/");
size_t biasNodesLength = 0;
sshsNode *biasNodes = sshsNodeGetChildren(biasNode, &biasNodesLength);
if (biasNodes != NULL) {
for (size_t i = 0; i < biasNodesLength; i++) {
// Add listener for this particular bias.
sshsNodeAddAttributeListener(biasNodes[i], moduleData, &biasConfigListener);
}
free(biasNodes);
}
sshsNodeAddAttributeListener(moduleData->moduleNode, moduleData, &logLevelListener);
return (true);
}
static void caerInputDAVISExit(caerModuleData moduleData) {
// Device related configuration has its own sub-node.
struct caer_davis_info devInfo = caerDavisInfoGet(moduleData->moduleState);
sshsNode deviceConfigNode = sshsGetRelativeNode(moduleData->moduleNode, chipIDToName(devInfo.chipID, true));
// Remove listener, which can reference invalid memory in userData.
sshsNodeRemoveAttributeListener(moduleData->moduleNode, moduleData, &logLevelListener);
sshsNode chipNode = sshsGetRelativeNode(deviceConfigNode, "chip/");
sshsNodeRemoveAttributeListener(chipNode, moduleData, &chipConfigListener);
sshsNode muxNode = sshsGetRelativeNode(deviceConfigNode, "multiplexer/");
sshsNodeRemoveAttributeListener(muxNode, moduleData, &muxConfigListener);
sshsNode dvsNode = sshsGetRelativeNode(deviceConfigNode, "dvs/");
sshsNodeRemoveAttributeListener(dvsNode, moduleData, &dvsConfigListener);
sshsNode apsNode = sshsGetRelativeNode(deviceConfigNode, "aps/");
sshsNodeRemoveAttributeListener(apsNode, moduleData, &apsConfigListener);
sshsNode imuNode = sshsGetRelativeNode(deviceConfigNode, "imu/");
sshsNodeRemoveAttributeListener(imuNode, moduleData, &imuConfigListener);
sshsNode extNode = sshsGetRelativeNode(deviceConfigNode, "externalInput/");
sshsNodeRemoveAttributeListener(extNode, moduleData, &extInputConfigListener);
sshsNode usbNode = sshsGetRelativeNode(deviceConfigNode, "usb/");
sshsNodeRemoveAttributeListener(usbNode, moduleData, &usbConfigListener);
sshsNode sysNode = sshsGetRelativeNode(moduleData->moduleNode, "system/");
sshsNodeRemoveAttributeListener(sysNode, moduleData, &systemConfigListener);
sshsNode biasNode = sshsGetRelativeNode(deviceConfigNode, "bias/");
size_t biasNodesLength = 0;
sshsNode *biasNodes = sshsNodeGetChildren(biasNode, &biasNodesLength);
if (biasNodes != NULL) {
for (size_t i = 0; i < biasNodesLength; i++) {
// Remove listener for this particular bias.
sshsNodeRemoveAttributeListener(biasNodes[i], moduleData, &biasConfigListener);
}
free(biasNodes);
}
// Ensure Exposure value is coherent with libcaer.
sshsAttributeUpdaterRemoveAllForNode(apsNode);
sshsNodePutAttribute(
apsNode, "Exposure", SSHS_INT, apsExposureUpdater(moduleData->moduleState, "Exposure", SSHS_INT));
// Remove statistics updaters.
sshsNode statNode = sshsGetRelativeNode(deviceConfigNode, "statistics/");
sshsAttributeUpdaterRemoveAllForNode(statNode);
caerDeviceDataStop(moduleData->moduleState);
caerDeviceClose((caerDeviceHandle *) &moduleData->moduleState);
// Clear sourceInfo node.
sshsNode sourceInfoNode = sshsGetRelativeNode(moduleData->moduleNode, "sourceInfo/");
sshsNodeRemoveAllAttributes(sourceInfoNode);
if (sshsNodeGetBool(moduleData->moduleNode, "autoRestart")) {
// Prime input module again so that it will try to restart if new devices detected.
sshsNodePutBool(moduleData->moduleNode, "running", true);
}
}