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 caerVisualizerEventHandlerInput(caerVisualizerPublicState state, const sf::Event &event) {
// This only works with an input module.
const std::string moduleLibrary = sshsNodeGetStdString(state->eventSourceConfigNode, "moduleLibrary");
if (!boost::algorithm::starts_with(moduleLibrary, "caer_input_")) {
return;
}
// PAUSE.
if (event.type == sf::Event::KeyPressed && event.key.code == sf::Keyboard::Key::Space) {
bool pause = sshsNodeGetBool(state->eventSourceConfigNode, "pause");
sshsNodePutBool(state->eventSourceConfigNode, "pause", !pause);
}
// SLOW DOWN.
else if (event.type == sf::Event::KeyPressed && event.key.code == sf::Keyboard::Key::S) {
int timeSlice = sshsNodeGetInt(state->eventSourceConfigNode, "PacketContainerInterval");
sshsNodePutInt(state->eventSourceConfigNode, "PacketContainerInterval", timeSlice / 2);
}
// SPEED UP.
else if (event.type == sf::Event::KeyPressed && event.key.code == sf::Keyboard::Key::F) {
int timeSlice = sshsNodeGetInt(state->eventSourceConfigNode, "PacketContainerInterval");
sshsNodePutInt(state->eventSourceConfigNode, "PacketContainerInterval", timeSlice * 2);
}
}
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);
}
}
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);
}
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 void moduleShutdownNotify(void *p) {
sshsNode moduleNode = p;
// Ensure parent also shuts down (on disconnected device for example).
sshsNodePutBool(moduleNode, "shutdown", 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);
}
}
