void ARController::Draw(Mat * rgbaImage)
{
if (drawingLevel == 2 || drawingLevel == 3)
{
struct timespec start,end;
SET_TIME(&start);
//Draw objects onto camera texture
for (int i=0; i<drawObjects.size(); i++)
{
if (drawObjects.at(i)->IsVisible())
{
LOGV(LOGTAG_ARCONTROLLER,"Drawing object %d",i);
drawObjects.at(i)->Draw(rgbaImage);
}
}
SET_TIME(&end);
LOG_TIME_PRECISE("ARController Drawing",start,end);
}
//resetButton->Draw(rgbaImage);
certaintyIndicator->Draw(rgbaImage);
//Draw FPS label on top of everything else
fpsLabel->Draw(rgbaImage);
//Update textured quad
quadBackground->SetImage(rgbaImage);
}
static void event_init(ACL_EVENT *eventp, int fdsize,
int delay_sec, int delay_usec)
{
eventp->fdsize = fdsize;
/* eventp->fdtab_free_cnt = 0; */
eventp->fdcnt = 0;
eventp->fdcnt_ready = 0;
eventp->fdtabs = (ACL_EVENT_FDTABLE **)
acl_mycalloc(fdsize,sizeof(ACL_EVENT_FDTABLE *));
eventp->fdtabs_ready = (ACL_EVENT_FDTABLE **)
acl_mycalloc(fdsize, sizeof(ACL_EVENT_FDTABLE *));
eventp->maxfd = 0;
eventp->nested = 0;
eventp->delay_sec = delay_sec + delay_usec / 1000000;
eventp->delay_usec = delay_usec % 1000000;
acl_ring_init(&eventp->timer_head);
eventp->timer_keep = 0;
SET_TIME(eventp->present);
SET_TIME(eventp->last_debug);
eventp->check_inter = 100000; /* default: 100 ms */
if (eventp->init_fn)
eventp->init_fn(eventp);
}
void ARController::getImages(Engine * engine)
{
struct timespec start, end;
//Retrieve image from the camera
if (debugUI->currentDrawMode == DrawModes::ColorImage)
{
SET_TIME(&start);
engine->imageCollector->newFrame();
engine->imageCollector->getColorCameraImage(*rgbImage);
SET_TIME(&end);
LOG_TIME_PRECISE("Color Image Capture", start, end);
cvtColor(*rgbImage, *grayImage, CV_RGBA2GRAY, 1);
}
else
{
SET_TIME(&start);
engine->imageCollector->newFrame();
engine->imageCollector->getGrayCameraImage(*grayImage);
SET_TIME(&end);
LOG_TIME_PRECISE("Gray Image Capture", start, end);
cvtColor(*grayImage, *rgbImage, CV_GRAY2RGBA, 4);
}
}
void get_cpu_time (Time* usrT, Time* sysT) {
//
// Get the user and/or system cpu times in a system independent way.
time_struct_t ts;
GET_TIME(ts);
if (usrT != NULL) {
SET_TIME(usrT, USR_TIME(ts));
if (usrT->seconds < lastU.seconds)
usrT->seconds = lastU.seconds;
if ((usrT->seconds == lastU.seconds) && (usrT->uSeconds < lastU.uSeconds))
usrT->uSeconds = lastU.uSeconds;
lastU = *usrT;
}
if (sysT != NULL) {
SET_TIME(sysT, SYS_TIME(ts));
if (sysT->seconds < lastS.seconds)
sysT->seconds = lastS.seconds;
if ((sysT->seconds == lastS.seconds) && (sysT->uSeconds < lastS.uSeconds))
sysT->uSeconds = lastS.uSeconds;
lastS = *sysT;
}
}
//Finds vertical edges and stores in edgeArray
static void FindEdgesVertical(const Mat & inputImg, Mat & edgeArray, int xPosition, short threshold, bool nonMaxSuppress, int detectorSize)
{
//const short detectorSize = 3;
const short maxColumn = inputImg.rows - detectorSize;
struct timespec start,end;
SET_TIME(&start);
//Copy the column into a row for faster access
Mat rowBasedImg(1,inputImg.rows,CV_8U);
for (int i=0;i<inputImg.rows;i++)
{
rowBasedImg.at<unsigned char>(0,i) = inputImg.at<unsigned char>(i,xPosition);
}
const unsigned char * imgRowPtr = rowBasedImg.ptr<unsigned char>(0);
Mat tmpEdgeArray = Mat::zeros(1,inputImg.rows,CV_16S); //Located and scored edges
short * edgeRowPtr = tmpEdgeArray.ptr<short>(0);
edgeArray = Mat::zeros(1,inputImg.rows,CV_16S);
short * outputEdgeRowPtr = edgeArray.ptr<short>(0);
for (int j=detectorSize;j < maxColumn;j++)
{
if (detectorSize == 3)
edgeRowPtr[j] = -((short)(imgRowPtr[j+1] + (short)imgRowPtr[j+2] + (short)imgRowPtr[j+3])) + (short)imgRowPtr[j-1] + (short)imgRowPtr[j-2] + (short)imgRowPtr[j-3];
else if (detectorSize == 4)
edgeRowPtr[j] = -((short)imgRowPtr[j+1] + (short)imgRowPtr[j+2] + (short)imgRowPtr[j+3] + (short)imgRowPtr[j+4]) + (short)imgRowPtr[j-1] + (short)imgRowPtr[j-2] + (short)imgRowPtr[j-3] + (short)imgRowPtr[j-4];
else
edgeRowPtr[j] = -((short)imgRowPtr[j+1] + (short)imgRowPtr[j+2]) + (short)imgRowPtr[j-1] + (short)imgRowPtr[j-2];
if (j > (detectorSize + 1) && edgeRowPtr[j-1] != 0 && abs(edgeRowPtr[j-1]) > threshold &&
(
!nonMaxSuppress ||
(
abs(edgeRowPtr[j-1]) > abs(edgeRowPtr[j-2]) && // || (abs(edgeRowPtr[j-1]) == abs(edgeRowPtr[j-2]) && abs(edgeRowPtr[j-1]) > abs(edgeRowPtr[j-3]))) &&
abs(edgeRowPtr[j-1]) > abs(edgeRowPtr[j])
)
)
)
{
outputEdgeRowPtr[j-1] = (edgeRowPtr[j-1] < 0) ? 1 : -1;
}
/*else
{
outputEdgeRowPtr[j-1] = 0;
}*/
}
SET_TIME(&end);
LOG_TIME_PRECISE("VerticalEdgeTest",start,end);
}
AugmentedView::AugmentedView(UIElementCollection * window, Engine * engine, cv::Mat _cameraMatrix)
{
cameraMatrix = new Mat();
_cameraMatrix.copyTo(*cameraMatrix);
rotation = new Mat();
position = new Mat();
objectVector = std::vector<ARObject*>();
LOGI(LOGTAG_POSITION, "Created AugmentedView");
canDraw = false;
Scalar selectColor = Colors::DodgerBlue;
selectColor[3] = 80;
selectionIndicator = new ARObject(OpenGLHelper::CreateSolidColorCube(1,selectColor));
selectedObject = NULL;
SET_TIME(&lastSelectionTime);
testObject = new ARObject(OpenGLHelper::CreateSolidColorCube(10,Colors::OrangeRed));
tabs = new TabDisplay(true);
window->AddChild(tabs);
createNext =false;
GridLayout * myGrid = new GridLayout(cv::Size2i(5,4));
cancelSelection = new Button("Cancel");
cancelSelection->AddClickDelegate(ClickEventDelegate::from_method<AugmentedView,&AugmentedView::ButtonPressed>(this));
myGrid->AddChild(cancelSelection,Point2i(4,3));
cancelSelection->SetVisible(false);
cancelSelection->Name = "Cancel";
releaseSelection = new Button("Release");
releaseSelection->AddClickDelegate(ClickEventDelegate::from_method<AugmentedView,&AugmentedView::ButtonPressed>(this));
myGrid->AddChild(releaseSelection,Point2i(4,2));
releaseSelection->SetVisible(false);
releaseSelection->Name = "Release";
Button * createCube = new Button("Create");
createCube->AddClickDelegate(ClickEventDelegate::from_method<AugmentedView,&AugmentedView::ButtonPressed>(this));
myGrid->AddChild(createCube,Point2i(4,1));
createCube->Name = "Create";
createCube->FillColor = Colors::LightGreen;
Button * deleteObject = new Button("Delete");
deleteObject->AddClickDelegate(ClickEventDelegate::from_method<AugmentedView,&AugmentedView::ButtonPressed>(this));
myGrid->AddChild(deleteObject,Point2i(4,0));
deleteObject->Name = "Delete";
deleteObject->FillColor = Colors::Orange;
tabs->AddTab("AR",myGrid);
LOGD(LOGTAG_ARINPUT,"Laying out tabs %d,%d",engine->imageWidth,engine->imageHeight);
tabs->DoLayout(Rect(0,0,engine->imageWidth,engine->imageHeight));
tabs->SetTab(0);
}
void QuadBackground::Render(OpenGL * openGL)
{
struct timespec start,end;
SET_TIME(&start);
OpenGLSettings();
//Draw object
SetMatrices(openGL);
//glEnable(GL_TEXTURE_2D);
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, textureID);
glUniform1i(openGL->renderData.textureLocation,0);
//Debugging - Draw a solid color to texture
if (ENABLE_TEXTURE_COLOR)
{
u_int32_t * pxData = new u_int32_t[textureWidth*textureHeight];
for (int i=0;i<(textureWidth*textureHeight);i++)
{
pxData[i] = 123912048;
}
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, textureWidth, textureHeight, GL_RGBA, GL_UNSIGNED_BYTE, pxData);
delete[] pxData;
}
//Update the texture
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0,imageWidth,imageHeight, GL_RGBA, GL_UNSIGNED_BYTE, imagePixels);
openGL->DrawGLObject(testCube);
openGL->DrawGLObject(texturedQuad);
ResetGLSettings();
SET_TIME(&end);
LOG_TIME("QuadBG Render", start, end);
}
/******************************************************************************
* The interrupt service routine
*/
__irq void EXTI15_10_IRQHandler(void){
uint8_t lwmode = wmode; //let this variables in registers
uint8_t lmode = mode;
if((lwmode == OWW_WRITE_0)) {SET_LOW;lwmode = OWW_NO_WRITE;} //if necessary set 0-Bit
DIS_OWINT; //disable interrupt, only in OWM_SLEEP mode it is active
switch(lmode){
case OWM_SLEEP:
SET_TIME(OWT_MIN_RESET);
EN_OWINT; //other edges ?
break;
//Start of reading with falling edge from master, reading closed in timer isr
case OWM_MATCH_ROM: //falling edge wait for receive
case OWM_WRITE_SCRATCHPAD:
case OWM_READ_COMMAND:
SET_TIME(OWT_READLINE); //wait a time for reading
break;
case OWM_SEARCH_ROM: //Search algorithm waiting for receive or send
if (srcount<2) { //this means bit or complement is writing,
SET_TIME(OWT_LOWTIME);
} else
SET_TIME(OWT_READLINE); //init for read answer of master
break;
case OWM_READ_SCRATCHPAD: //a bit is sending
case OWM_READ_ROM: //a bit is sending
SET_TIME(OWT_LOWTIME);
break;
case OWM_CHK_RESET: //rising edge of reset pulse
SET_FALLING;
SET_TIME(OWT_RESET_PRESENCE); //waiting for sending presence pulse
lmode = OWM_RESET;
break;
}
EN_TIMER;
mode = lmode;
wmode = lwmode;
EXTI->PR |= EXTI_PR_PR12;
}
/******************************************************************************
* The timer interrupt service routine
*/
__irq void TIM1_BRK_TIM15_IRQHandler(void)
{
uint8_t lwmode = wmode; //let this variables in registers
uint8_t lmode = mode;
uint8_t lbytep = bytep;
uint8_t lbitp = bitp;
uint8_t lsrcount = srcount;
uint8_t lactbit = actbit;
uint8_t lscrc = scrc;
//Ask input line sate
uint8_t p;
p = OW_PIN;
//Interrupt still active ?
if(CHK_INT_EN){
//maybe reset pulse
if(p == 0){
lmode = OWM_CHK_RESET; //wait for rising edge
SET_RISING;
}
DIS_TIMER;
}else
switch(lmode){
case OWM_RESET: //Reset pulse and time after is finished, now go in presence state
lmode = OWM_PRESENCE;
SET_LOW;
SET_TIME(OWT_PRESENCE);
DIS_OWINT; //No Pin interrupt necessary only wait for presence is done
break;
case OWM_PRESENCE:
RESET_LOW; //Presence is done now wait for a command
lmode = OWM_READ_COMMAND;
cbuf = 0;lbitp = 1; //Command buffer have to set zero, only set bits will write in
break;
case OWM_READ_COMMAND:
if(p){ //Set bit if line high
cbuf|= lbitp;
}
lbitp = (lbitp<<1);
if(!lbitp){ //8-Bits read
lbitp = 1;
switch(cbuf){
//case OWCOM_SKIP_ROM:
case OWCOM_READ_ROM: //READ_ROM
lmode = OWM_READ_ROM;
lbytep = 0; //From first position
lactbit = (lbitp & sps_owid[0]) == lbitp;
lwmode = lactbit; //Prepare for send firs bit
break;
case OWCOM_MATCH_ROM:
lbytep = 0;
lmode = OWM_MATCH_ROM;
break;
case OWCOM_SEARCH_ROM: //Initialize search rom
lmode = OWM_SEARCH_ROM;
lsrcount = 0;
lbytep = 0;
lactbit = (sps_owid[lbytep] & lbitp) == lbitp; //Sset actual bit
lwmode = lactbit; //Prepare for writing when next falling edge
break;
case OWCOM_WRITE_SCRATCHPAD:
lmode = OWM_WRITE_SCRATCHPAD;
lbytep = 0;
lscrc = 0;
bffForWriteScr[0] = 0;
break;
case OWCOM_READ_SCRATCHPAD: //READ_SCRATCHPAD
lmode = OWM_READ_SCRATCHPAD;
lbytep = 0;
lscrc = 0; //From first position
lactbit = (lbitp & scratchpad[0]) == lbitp;
lwmode = lactbit; //Prepare for send firs bit
break;
default: lmode = OWM_SLEEP; //all other commands do nothing
}
}
break;
case OWCOM_SKIP_ROM:
lmode = OWM_READ_COMMAND;
break;
case OWM_READ_ROM:
RESET_LOW;
lbitp = (lbitp << 1);
if(lbitp == 0){
lbytep++;
lbitp = 1;
if(lbytep >= OWID_BUF_SIZE){
lmode = OWM_SLEEP;
break;
}
}
lactbit = (lbitp & sps_owid[lbytep]) == lbitp;
lwmode = lactbit;
break;
case OWM_SEARCH_ROM:
RESET_LOW; //Set low also if nothing send (branch takes time and memory)
lsrcount++; //next search rom mode
switch(lsrcount){
case 1:lwmode = !lactbit; //preparation sending complement
break;
case 3:
if(p != (lactbit == 1)){ //check master bit
lmode = OWM_SLEEP; //not the same go sleep
}else{
lbitp = (lbitp << 1); //prepare next bit
if(lbitp == 0){
lbitp = 1;
lbytep++;
if(lbytep >= 8){
lmode = OWM_SLEEP; //all bits processed
break;
}
}
lsrcount = 0;
lactbit = (sps_owid[lbytep]&lbitp) == lbitp;
lwmode = lactbit;
}
break;
}
break;
case OWM_MATCH_ROM:
if(p == ((sps_owid[lbytep] & lbitp) == lbitp)){ //Compare with ID Buffer
lbitp = (lbitp<<1);
if (lbitp == 0){
lbytep++;
lbitp = 1;
if(lbytep >= 8){
lmode = OWM_READ_COMMAND; //same? get next command
cbuf = 0;
break;
}
}
}else{
lmode = OWM_SLEEP;
}
break;
case OWM_WRITE_SCRATCHPAD:
if(p != 0){
bffForWriteScr[lbytep] |= lbitp;
}
if(lbytep < (wrSz - 1)){
if((lscrc&1) != p) lscrc = (lscrc>>1) ^ 0x8c;
else lscrc >>= 1;
}
lbitp = (lbitp << 1);
if(lbitp == 0){
lbytep++;
lbitp = 1;
if(lbytep == wrSz){
if(bffForWriteScr[wrSz - 1] == lscrc){
memcpy((uint8_t*)&spStr.bitTask, (uint8_t*)bffForWriteScr, wrSz);
spStr.rxCnt++;
}else{
spStr.errCnt++;
}
lmode = OWM_SLEEP;
break;
}else{
bffForWriteScr[lbytep] = 0;
}
}
break;
case OWM_READ_SCRATCHPAD:
RESET_LOW;
if((lscrc&1) != lactbit) lscrc = (lscrc>>1) ^ 0x8c;
else lscrc >>= 1;
static void event_loop(ACL_EVENT *eventp)
{
const char *myname = "event_loop";
EVENT_POLL *ev = (EVENT_POLL *) eventp;
ACL_EVENT_TIMER *timer;
int nready, i, revents;
acl_int64 delay;
ACL_EVENT_FDTABLE *fdp;
delay = eventp->delay_sec * 1000000 + eventp->delay_usec;
if (delay < DELAY_MIN)
delay = DELAY_MIN;
/* 调整事件引擎的时间截 */
SET_TIME(eventp->present);
/* 根据定时器任务的最近任务计算 poll 的检测超时上限 */
if ((timer = ACL_FIRST_TIMER(&eventp->timer_head)) != 0) {
acl_int64 n = timer->when - eventp->present;
if (n <= 0)
delay = 0;
else if (n < delay)
delay = n;
}
/* 调用 event_prepare 检查有多少个描述字需要通过 poll 进行检测 */
if (event_prepare(eventp) == 0) {
/* 说明无须 poll 检测 */
if (eventp->ready_cnt == 0)
/* 为避免循环过快，休眠一下 */
acl_doze(delay > DELAY_MIN ? (int) delay / 1000 : 1);
goto TAG_DONE;
}
/* 如果已经有描述字准备好则 poll 检测超时时间置 0 */
if (eventp->ready_cnt > 0)
delay = 0;
/* 调用 poll 系统调用检测可用描述字 */
nready = poll(ev->fds, eventp->fdcnt, (int) (delay / 1000));
if (eventp->nested++ > 0) {
acl_msg_error("%s(%d): recursive call", myname, __LINE__);
exit (1);
}
if (nready < 0) {
if (acl_last_error() != ACL_EINTR) {
acl_msg_error("%s(%d), %s: select: %s", __FILE__,
__LINE__, myname, acl_last_serror());
exit (1);
}
goto TAG_DONE;
} else if (nready == 0)
goto TAG_DONE;
/* 检查 poll 的检测结果集合 */
for (i = 0; i < eventp->fdcnt; i++) {
fdp = acl_fdmap_ctx(ev->fdmap, ev->fds[i].fd);
if (fdp == NULL || fdp->stream == NULL)
continue;
/* 如果该描述字对象已经在被设置为异常或超时状态则继续 */
if ((fdp->event_type & (ACL_EVENT_XCPT | ACL_EVENT_RW_TIMEOUT)))
continue;
revents = ev->fds[i].revents;
/* 检查描述字是否出现异常 */
if ((revents & (POLLHUP | POLLERR)) != 0) {
fdp->event_type |= ACL_EVENT_XCPT;
fdp->fdidx_ready = eventp->ready_cnt;
eventp->ready[eventp->ready_cnt++] = fdp;
continue;
}
/* 检查描述字是否可读 */
if ((fdp->flag & EVENT_FDTABLE_FLAG_READ)
&& (revents & POLLIN) )
{
/* 给该描述字对象附加可读属性 */
if ((fdp->event_type & (ACL_EVENT_READ
| ACL_EVENT_WRITE)) == 0)
{
fdp->event_type |= ACL_EVENT_READ;
fdp->fdidx_ready = eventp->ready_cnt;
eventp->ready[eventp->ready_cnt++] = fdp;
}
if (fdp->listener)
fdp->event_type |= ACL_EVENT_ACCEPT;
/* 该描述字可读则设置 ACL_VSTREAM 的系统可读标志从而
* 触发 ACL_VSTREAM 流在读时调用系统的 read 函数
*/
else
fdp->stream->read_ready = 1;
}
/* 检查描述字是否可写 */
if ((fdp->flag & EVENT_FDTABLE_FLAG_WRITE)
&& (revents & POLLOUT))
{
/* 给该描述字对象附加可写属性 */
if ((fdp->event_type & (ACL_EVENT_READ
| ACL_EVENT_WRITE)) == 0)
{
fdp->event_type |= ACL_EVENT_WRITE;
fdp->fdidx_ready = eventp->ready_cnt;
eventp->ready[eventp->ready_cnt++] = fdp;
}
}
}
TAG_DONE:
event_timer_trigger(eventp);
/* 处理准备好的描述字事件 */
if (eventp->ready_cnt > 0)
event_fire(eventp);
eventp->nested--;
}
//Finds vertical edges and stores in edgeArray
//Vertical edge array is the size of the image, transposed, and contains vertical edge transition features
void QRFinder::FindEdgesVerticalClosed(const Mat & inputImg, int xPosition)
{
const short maxRow = inputImg.rows - detectorSize;
if (xPosition < 1 || xPosition >= inputImg.cols - 1)
return;
if (calculatedEdges.count(xPosition) != 0 && calculatedEdges.at(xPosition)) //This column has already been completely calculated
return;
struct timespec start,end;
SET_TIME(&start);
Mat tmpEdgeArray = Mat::zeros(1,inputImg.rows,CV_16S); //Located and scored edges
short * edgeRowPtr = tmpEdgeArray.ptr<short>(0);
short * outputEdgeRowPtr;
for (int i=xPosition-1;i <= xPosition+1;i++)
{
if (calculatedEdges.count(i) != 0)
continue;
outputEdgeRowPtr = verticalEdgeArray.ptr<short>(i);
for (int j=detectorSize;j < maxRow;j++)
{
edgeRowPtr[j] = -((short)inputImg.at<unsigned char>((j-1),i) + (short)inputImg.at<unsigned char>((j-2),i)) + (short)inputImg.at<unsigned char>((j+1),i) + (short)inputImg.at<unsigned char>((j+2),i);
if (j > (detectorSize + 1) && edgeRowPtr[j-1] != 0 && abs(edgeRowPtr[j-1]) > edgeThreshold
&&
(
!nonMaxEnabled ||
(
abs(edgeRowPtr[j-1]) > abs(edgeRowPtr[j-2]) &&
abs(edgeRowPtr[j-1]) > abs(edgeRowPtr[j])
)
)
)
{
outputEdgeRowPtr[j-1] = (edgeRowPtr[j-1] < 0) ? -1 : 1;
}
else
{
outputEdgeRowPtr[j-1] = 0;
}
}
calculatedEdges[i] = false;
}
outputEdgeRowPtr = verticalEdgeArray.ptr<short>(xPosition+1);
short * lastOutputRow = verticalEdgeArray.ptr<short>(xPosition);
short * beforeLastOutputRow = verticalEdgeArray.ptr<short>(xPosition-1);
for (int j=detectorSize;j < maxRow;j++)
{
if (lastOutputRow[j-1] == 0 &&
(outputEdgeRowPtr[j-2] != 0 || outputEdgeRowPtr[j-1] != 0 || outputEdgeRowPtr[j] != 0) &&
(beforeLastOutputRow[j-2] != 0 || beforeLastOutputRow[j-1] != 0 || beforeLastOutputRow[j] != 0))
lastOutputRow[j-1] = outputEdgeRowPtr[j-1] * 2;
}
calculatedEdges[xPosition] = true;
SET_TIME(&end);
//LOG_TIME_PRECISE("VerticalEdgeTest",start,end);
}
static void event_loop(ACL_EVENT *eventp)
{
const char *myname = "event_loop";
EVENT_KERNEL *ev = (EVENT_KERNEL *) eventp;
ACL_EVENT_NOTIFY_TIME timer_fn;
void *timer_arg;
ACL_EVENT_TIMER *timer;
int delay;
ACL_EVENT_FDTABLE *fdp;
delay = (int) (eventp->delay_sec * 1000 + eventp->delay_usec / 1000);
if (delay < 0)
delay = 0; /* 0 milliseconds at least */
SET_TIME(eventp->present);
/*
* Find out when the next timer would go off. Timer requests are sorted.
* If any timer is scheduled, adjust the delay appropriately.
*/
if ((timer = ACL_FIRST_TIMER(&eventp->timer_head)) != 0) {
acl_int64 n = (timer->when - eventp->present) / 1000;
if (n <= 0)
delay = 0;
else if ((int) n < delay)
delay = (int) n;
}
eventp->nested++;
event_set_all(eventp);
if (eventp->fdcnt == 0) {
if (eventp->fdcnt_ready == 0)
sleep(1);
goto TAG_DONE;
}
if (eventp->fdcnt_ready > 0)
delay = 0;
TAG_DONE:
/*
* Deliver timer events. Requests are sorted: we can stop when we reach
* the future or the list end. Allow the application to update the timer
* queue while it is being called back. To this end, we repeatedly pop
* the first request off the timer queue before delivering the event to
* the application.
*/
SET_TIME(eventp->present);
while ((timer = ACL_FIRST_TIMER(&eventp->timer_head)) != 0) {
if (timer->when > eventp->present)
break;
timer_fn = timer->callback;
timer_arg = timer->context;
/* 如果定时器的时间间隔 > 0 且允许定时器被循环调用，则再重设定时器 */
if (timer->delay > 0 && timer->keep) {
timer->ncount++;
eventp->timer_request(eventp, timer->callback,
timer->context, timer->delay, timer->keep);
} else {
acl_ring_detach(&timer->ring); /* first this */
timer->nrefer--;
if (timer->nrefer != 0)
acl_msg_fatal("%s(%d): nrefer(%d) != 0",
myname, __LINE__, timer->nrefer);
acl_myfree(timer);
}
timer_fn(ACL_EVENT_TIME, eventp, timer_arg);
}
for (;;) {
BOOL isSuccess = FALSE;
DWORD bytesTransferred = 0;
DWORD iocpKey = 0;
DWORD lastError = 0;
IOCP_EVENT *iocp_event = NULL;
isSuccess = GetQueuedCompletionStatus(ev->h_iocp,
&bytesTransferred, (DWORD*) &fdp,
(OVERLAPPED**) &iocp_event, delay);
if (!isSuccess) {
if (iocp_event == NULL)
break;
if (iocp_event->type == IOCP_EVENT_DEAD)
acl_myfree(iocp_event);
else if (iocp_event->fdp == NULL) {
acl_msg_warn("%s(%d): fdp null",
myname, __LINE__);
acl_myfree(iocp_event);
} else if (iocp_event->fdp != fdp)
acl_msg_fatal("%s(%d): invalid fdp",
myname, __LINE__);
else if (!(fdp->event_type & (ACL_EVENT_XCPT
| ACL_EVENT_RW_TIMEOUT)))
{
fdp->event_type |= ACL_EVENT_XCPT;
fdp->fdidx_ready = eventp->fdcnt_ready;
eventp->fdtabs_ready[eventp->fdcnt_ready] = fdp;
eventp->fdcnt_ready++;
}
continue;
}
acl_assert(fdp == iocp_event->fdp);
if ((fdp->event_type & (ACL_EVENT_XCPT
| ACL_EVENT_RW_TIMEOUT)))
{
continue;
}
if (iocp_event->type == IOCP_EVENT_READ) {
acl_assert(fdp->event_read == iocp_event);
iocp_event->type &= ~IOCP_EVENT_READ;
fdp->stream->sys_read_ready = 1;
if ((fdp->event_type & (ACL_EVENT_READ
| ACL_EVENT_WRITE)) == 0)
{
fdp->event_type |= ACL_EVENT_READ;
fdp->fdidx_ready = eventp->fdcnt_ready;
eventp->fdtabs_ready[eventp->fdcnt_ready] = fdp;
eventp->fdcnt_ready++;
}
}
if (iocp_event->type == IOCP_EVENT_WRITE) {
acl_assert(fdp->event_write == iocp_event);
iocp_event->type &= ~IOCP_EVENT_WRITE;
if ((fdp->event_type & (ACL_EVENT_READ
| ACL_EVENT_WRITE)) == 0)
{
fdp->event_type |= ACL_EVENT_WRITE;
fdp->fdidx_ready = eventp->fdcnt_ready;
eventp->fdtabs_ready[eventp->fdcnt_ready] = fdp;
eventp->fdcnt_ready++;
}
}
delay = 0;
}
if (eventp->fdcnt_ready > 0)
event_fire(eventp);
eventp->nested--;
}
void QRFinder::FindFinderPatterns(cv::Mat& inputImg, Rect regionOfInterest, vector<FinderPattern*> & finderPatterns, vector<Drawable*> & debugVector)
{
struct timespec start,end;
SET_TIME(&start);
//Get parameters from config
edgeThreshold = config->GetIntegerParameter("EdgeThreshold");
debugLevel = config->GetIntegerParameter("QR Debug Level");
int verticalResolution = config->GetIntegerParameter("YResolution");
nonMaxEnabled = config->GetBooleanParameter("EdgeNonMax");
minimumFinderPatternScore = config->GetIntegerParameter("MinimumFPScore");
detectorSize = config->GetIntegerParameter("DetectorSize");
int yBorder = detectorSize;
vector<Point3i> exclusionZones;
//Calculate limits
int maxColumn = regionOfInterest.x + regionOfInterest.width;
maxColumn -= detectorSize;
int maxRow = regionOfInterest.y + regionOfInterest.height;
int xStart = regionOfInterest.x;
int yStart = regionOfInterest.y;
xStart += detectorSize;
yStart += detectorSize;
maxColumn -= detectorSize;
maxRow -= detectorSize;
if (debugLevel > 0)
debugVector.push_back(new DebugRectangle(Rect(Point2i(xStart,yStart),Point2i(maxColumn,maxRow)),Colors::Aqua,1));
//Find horizontal edges
SET_TIME(&start);
FindEdgesClosed(inputImg,regionOfInterest,edgeArray,edgeThreshold,nonMaxEnabled,detectorSize);
SET_TIME(&end);
double edgeTime_local = calc_time_double(start,end);
edgeTime = (edgeTime + edgeTime_local)/2.0;
config->SetLabelValue("EdgeTime",(float)edgeTime/1000.0f);
//If debug level set, find all vertical edges and draw them
if (debugLevel <= -2)
{
for (int x = 1; x < verticalEdgeArray.rows-1; x ++)
{
FindEdgesVerticalClosed(inputImg,x);
const short * verticalEdgePtr = verticalEdgeArray.ptr<short>(x);
for (int y = 0; y < (verticalEdgeArray.cols);y++)
{
short transition = verticalEdgePtr[y];
if (transition < 0)
{
debugVector.push_back(new DebugCircle(Point2i(x,y),0,Colors::Fuchsia,true));
}
else if (transition > 0)
{
debugVector.push_back(new DebugCircle(Point2i(x,y),0,Colors::Cyan,true));
}
}
}
}
//END
int bw[6] = { 0 };
int k = 0;
//LOGV(LOGTAG_QR,"ImgSize=[%d,%d] EdgeSize=[%d,%d]",inputImg.rows,inputImg.cols,edgeArray.rows,edgeArray.cols);
int yDirection = 1;
int yCenter = yStart + (maxRow - yStart)/2;
int y = yStart, absOffset = 0;
LOGV(LOGTAG_QR,"Beginning search. y[%d->%d], Center=%d, x[%d->%d]",yStart,maxRow,yCenter,xStart,maxColumn);
while (y < maxRow && y >= yStart)
{
y = yCenter + absOffset * yDirection;
if (yDirection == 1) absOffset += verticalResolution; //Increment every other frame
yDirection = -yDirection; //Change direction every frame
k = 0;
bw[0] = bw[1] = bw[2] = bw[3] = bw[4] = bw[5] = 0;
const short * edgeRowPtr = edgeArray.ptr<short>(y);
for (int x = xStart; x < maxColumn; x++)
{
if (isInRadius(exclusionZones,Point2i(x,y)))
continue;
int transition = edgeRowPtr[x]; //getTransition(Mi,x,threshold);
if (k == 0) //Haven't found edge yet
{
if (transition < 0) /* Light->dark transistion */
{
k++;
}
}
else //Found at least one edge
{
if ((k & 1) == 1) //Counting dark
{
if (transition > 0) //dark to light
{
++k;
}
}
else //Counting light
{
if (transition < 0) //light to dark
{
++k;
}
}
}
if (k > 0) ++bw[k-1];
if (FP_DEBUG_ENABLED && (debugLevel == -1 || debugLevel == -2))
{
if (transition < 0)
debugVector.push_back(new DebugCircle(Point2i(x,y),0,Colors::Lime,true));
else if (transition > 0)
debugVector.push_back(new DebugCircle(Point2i(x,y),0,Colors::Yellow,true));
}
if (k == 6)
{
int result = 0;
result = CheckRatios(bw,NULL);
if (result == 1)
{
//LOGV(LOGTAG_QR,"Ratio check pass");
//Center based on initial ratio
float patternCenterWidth = (float)bw[2];
int tempXCenter = (x - bw[4] - bw[3]) - (int)round(patternCenterWidth/2.0f);
float xOffset = (patternCenterWidth/6.0f);
//y coordinate of center. If check fails, returns 0.
int tempYCenterArray[] = {0,0,0};
int * verticalPatternSizes[3];
for (int i = 0;i < 3;i++)
verticalPatternSizes[i] = new int[5];
tempYCenterArray[0] = FindCenterVertical(inputImg, tempXCenter, y, bw, debugVector,verticalPatternSizes[0]);
tempYCenterArray[1] = FindCenterVertical(inputImg, tempXCenter - xOffset, y, bw, debugVector,verticalPatternSizes[1]);
tempYCenterArray[2] = FindCenterVertical(inputImg, tempXCenter + xOffset, y, bw, debugVector,verticalPatternSizes[2]);
int tempYCenter = 0;
int passCount = 0;
float avgYSize = 0;
int averageVerticalSize[5] = {0,0,0,0,0};
for (int yTest = 0; yTest < 3; yTest++)
{
if (tempYCenterArray[yTest] > 0)
{
passCount++;
tempYCenter += tempYCenterArray[yTest];
for (int i=0;i<5;i++)
{
averageVerticalSize[i] += (verticalPatternSizes[yTest])[i];
avgYSize += (verticalPatternSizes[yTest])[i];
}
}
}
if (passCount >= 2)
{
//LOGV(LOGTAG_QR,"Vertical test pass-1");
tempYCenter = (int)round((float)tempYCenter / (float)passCount);
avgYSize = (float)avgYSize / (float)passCount;
int allowedVariance = (int)avgYSize >> 2;
bool yVarianceTest = true;
for (int yTest = 0; yTest < 3; yTest++)
{
if (tempYCenterArray[yTest] > 0)
{
if (abs(tempYCenterArray[yTest] - tempYCenter) > allowedVariance)
{
yVarianceTest = false;
break;
}
}
}
if (yVarianceTest)
{
//LOGV(LOGTAG_QR,"Vertical test pass-2. Passcount=%d",passCount);
//Average the vertical pattern sizes
for (int i=0;i<5;i++)
{
averageVerticalSize[i] = idiv(averageVerticalSize[i],passCount);
}
//LOGV(LOGTAG_QR,"Averaged sizes. Center=%d",averageVerticalSize[2]);
int tempXCenterArray[] = {0,0,0};
int xSizeArray[] = {0,0,0};
int yOffset = idiv(averageVerticalSize[2],6.0f);
//LOGV(LOGTAG_QR,"Yoffset=%d,yCenter=%d",yOffset,tempYCenter);
tempXCenterArray[0] = FindCenterHorizontal(tempXCenter, tempYCenter-yOffset, bw, xSizeArray[0], debugVector);
tempXCenterArray[1] = FindCenterHorizontal(tempXCenter, tempYCenter, bw, xSizeArray[1], debugVector);
tempXCenterArray[2] = FindCenterHorizontal(tempXCenter, tempYCenter+yOffset, bw, xSizeArray[2], debugVector);
tempXCenter = 0;
passCount = 0;
float avgXSize = 0;
for (int xTest = 0; xTest < 3; xTest++)
{
if (tempXCenterArray[xTest] > 0)
{
passCount++;
tempXCenter += tempXCenterArray[xTest];
avgXSize += xSizeArray[xTest];
}
}
if (passCount >= 2)
{
//LOGV(LOGTAG_QR,"Horizontal test pass");
tempXCenter = (int)round((float)tempXCenter / (float)passCount);
avgXSize = (float)avgXSize/(float)passCount;
//allowedVariance = (int)round((float)avgYSize/1.5f);
float aspectRatio = avgXSize/avgYSize;
if (aspectRatio > 0.33f && aspectRatio < 3.0f)
{
//LOGV(LOGTAG_QR,"Size test pass");
Point2i finderPatternCenter = Point2i(tempXCenter,tempYCenter); //Center of finder pattern
int finderPatternSize = MAX(avgXSize,avgYSize);
int fpRadius = (int)round((float)finderPatternSize/2.0f);
int fpRadiusExclude = ipow(finderPatternSize,2);
//LOGD(LOGTAG_QR,"Creating new pattern[%d,%d]",avgXSize,avgYSize);
//Create a new pattern
FinderPattern * newPattern = new FinderPattern(finderPatternCenter,Size2i(avgXSize,avgYSize));
Size2f patternSearchSize = Size2f(avgXSize,avgYSize);
vector<Point2i> corners;
struct timespec fastStart,fastEnd;
SET_TIME(&fastStart);
fastQRFinder->LocateFPCorners(inputImg,newPattern,corners,debugVector);
// fastQRFinder->CheckAlignmentPattern(inputImg,finderPatternCenter,patternSearchSize,corners,debugVector);
SET_TIME(&fastEnd);
double fastFPTime_Local = calc_time_double(fastStart,fastEnd);
fastFPTime += fastFPTime_Local;
if (corners.size() == 4)
{
//if (validatePattern(newPattern,finderPatterns))
//{
newPattern->patternCorners = corners;
exclusionZones.push_back(Point3i(finderPatternCenter.x,finderPatternCenter.y, fpRadiusExclude));
finderPatterns.push_back(newPattern);
if (FP_DEBUG_ENABLED && debugLevel > 0)
{
debugVector.push_back(new DebugCircle(finderPatternCenter,fpRadius,Colors::MediumSpringGreen,1,true));
for (int i=0;i<corners.size();i++)
{
if (FP_DEBUG_ENABLED && debugLevel > 0)
debugVector.push_back(new DebugCircle(corners[i],10,Colors::DodgerBlue,2));
}
}
//}
//else
//{
// //LOGV(LOGTAG_QR,"Compare check failed");
// if (FP_DEBUG_ENABLED && debugLevel > 0)
// debugVector.push_back(new DebugCircle(finderPatternCenter,fpRadius,Colors::HotPink,2));
//}
}
else
{
//LOGV(LOGTAG_QR,"FAST check failed");
if (FP_DEBUG_ENABLED && debugLevel > 0)
debugVector.push_back(new DebugCircle(finderPatternCenter,fpRadius,Colors::Red,2));
delete newPattern;
}
}
else
{
//LOGV(LOGTAG_QR,"Size check failed");
//Size check failed
if (FP_DEBUG_ENABLED && debugLevel > 1)
debugVector.push_back(new DebugCircle(Point2i(tempXCenter,tempYCenter),13, Colors::HotPink,1));
}
}
else
{
//LOGV(LOGTAG_QR,"Horizontal check failed");
//Vertical check succeeded, but horizontal re-check failed
if (FP_DEBUG_ENABLED && debugLevel > 1)
debugVector.push_back(new DebugCircle(Point2i(tempXCenter,tempYCenter),12, Colors::OrangeRed,1));
}
}
else
{
//LOGV(LOGTAG_QR,"Variance test failed. AllowedVariance = %d, yCenters = %d,%d,%d [avg=%d], AvgYSize=%d",allowedVariance,tempYCenterArray[0],tempYCenterArray[1],tempYCenterArray[2],tempYCenter,avgYSize);
//Vertical variance test failed
if (FP_DEBUG_ENABLED && debugLevel > 1)
debugVector.push_back(new DebugCircle(Point2i(tempXCenter,tempYCenter),14, Colors::MediumSpringGreen,1));
}
} else
{
//Ratios were correct but vertical check failed
if (FP_DEBUG_ENABLED && debugLevel > 2)
{
if (tempYCenter == 0) //ratio fail
debugVector.push_back(new DebugCircle(Point2i(tempXCenter,y),10,Colors::Aqua,1));
else if (tempYCenter == -1) //topcheck fail
debugVector.push_back(new DebugCircle(Point2i(tempXCenter,y),10,Colors::Orange,1));
else if (tempYCenter == -2) //bottomcheck fail
debugVector.push_back(new DebugCircle(Point2i(tempXCenter,y),10,Colors::Lime,1));
}
}
}
static void event_loop(ACL_EVENT *eventp)
{
const char *myname = "event_loop";
EVENT_SELECT_THR *event_thr = (EVENT_SELECT_THR *) eventp;
ACL_EVENT_NOTIFY_FN worker_fn;
void *worker_arg;
ACL_SOCKET sockfd;
ACL_EVENT_TIMER *timer;
int select_delay, nready, i;
ACL_EVENT_FDTABLE *fdp;
ACL_RING timer_ring, *entry_ptr;
struct timeval tv, *tvp;
fd_set rmask; /* enabled read events */
fd_set wmask; /* enabled write events */
fd_set xmask; /* for bad news mostly */
acl_ring_init(&timer_ring);
SET_TIME(eventp->event_present);
THREAD_LOCK(&event_thr->event.tm_mutex);
/*
* Find out when the next timer would go off. Timer requests are sorted.
* If any timer is scheduled, adjust the delay appropriately.
*/
if ((timer = ACL_FIRST_TIMER(&eventp->timer_head)) != 0) {
select_delay = (int) (timer->when - eventp->event_present + 1000000 - 1) / 1000000;
if (select_delay < 0) {
select_delay = 0;
} else if (eventp->delay_sec >= 0 && select_delay > eventp->delay_sec) {
select_delay = eventp->delay_sec;
}
} else {
select_delay = eventp->delay_sec;
}
THREAD_UNLOCK(&event_thr->event.tm_mutex);
THREAD_LOCK(&event_thr->event.tb_mutex);
if (event_thr_prepare(eventp) == 0) {
if (eventp->fdcnt_ready == 0) {
if (select_delay <= 0)
select_delay = 1;
sleep(select_delay);
}
THREAD_UNLOCK(&event_thr->event.tb_mutex);
goto TAG_DONE;
}
if (eventp->fdcnt_ready > 0) {
tv.tv_sec = 0;
tv.tv_usec = 0;
tvp = &tv;
} else if (select_delay < 0) {
tvp = NULL;
} else {
tv.tv_sec = select_delay;
tv.tv_usec = eventp->delay_usec;
tvp = &tv;
}
rmask = event_thr->rmask;
wmask = event_thr->wmask;
xmask = event_thr->xmask;
THREAD_UNLOCK(&event_thr->event.tb_mutex);
event_thr->event.blocked = 1;
nready = select(eventp->maxfd + 1, &rmask, &wmask, &xmask, tvp);
event_thr->event.blocked = 0;
if (nready < 0) {
if (acl_last_error() != ACL_EINTR) {
char ebuf[256];
acl_msg_fatal("%s(%d), %s: event_loop: select: %s",
__FILE__, __LINE__, myname,
acl_last_strerror(ebuf, sizeof(ebuf)));
}
goto TAG_DONE;
} else if (nready == 0)
goto TAG_DONE;
THREAD_LOCK(&event_thr->event.tb_mutex);
for (i = 0; i < eventp->fdcnt; i++) {
fdp = eventp->fdtabs[i];
/* if fdp has been set in eventp->fdtabs_ready ? */
if ((fdp->event_type & (ACL_EVENT_XCPT | ACL_EVENT_RW_TIMEOUT)))
continue;
sockfd = ACL_VSTREAM_SOCK(fdp->stream);
if (FD_ISSET(sockfd, &xmask)) {
fdp->event_type |= ACL_EVENT_XCPT;
fdp->fdidx_ready = eventp->fdcnt_ready;
eventp->fdtabs_ready[eventp->fdcnt_ready++] = fdp;
continue;
}
if (FD_ISSET(sockfd, &rmask)) {
fdp->stream->sys_read_ready = 1;
/* has been set in fdtabs_ready ? */
if ((fdp->event_type & ACL_EVENT_READ) == 0) {
fdp->event_type |= ACL_EVENT_READ;
fdp->fdidx_ready = eventp->fdcnt_ready;
eventp->fdtabs_ready[eventp->fdcnt_ready++] = fdp;
}
} else if (fdp->w_callback && FD_ISSET(sockfd, &wmask)) {
fdp->event_type |= ACL_EVENT_WRITE;
fdp->fdidx_ready = eventp->fdcnt_ready;
eventp->fdtabs_ready[eventp->fdcnt_ready++] = fdp;
}
}
THREAD_UNLOCK(&event_thr->event.tb_mutex);
TAG_DONE:
/*
* Deliver timer events. Requests are sorted: we can stop when we reach
* the future or the list end. Allow the application to update the timer
* queue while it is being called back. To this end, we repeatedly pop
* the first request off the timer queue before delivering the event to
* the application.
*/
SET_TIME(eventp->event_present);
THREAD_LOCK(&event_thr->event.tm_mutex);
while ((timer = ACL_FIRST_TIMER(&eventp->timer_head)) != 0) {
if (timer->when > eventp->event_present)
break;
acl_ring_detach(&timer->ring); /* first this */
acl_ring_prepend(&timer_ring, &timer->ring);
}
THREAD_UNLOCK(&event_thr->event.tm_mutex);
while (1) {
entry_ptr = acl_ring_pop_head(&timer_ring);
if (entry_ptr == NULL)
break;
timer = ACL_RING_TO_TIMER(entry_ptr);
worker_fn = timer->callback;
worker_arg = timer->context;
worker_fn(ACL_EVENT_TIME, worker_arg);
acl_myfree(timer);
}
event_thr_fire(eventp);
}
static int load_lex(LEXICON *lex, char *tab)
{
int ret;
SPIPlanPtr SPIplan;
Portal SPIportal;
bool moredata = TRUE;
#ifdef DEBUG
struct timeval t1, t2;
double elapsed;
#endif
char *sql;
int ntuples;
int total_tuples = 0;
lex_columns_t lex_columns = {seq: -1, word: -1, stdword: -1, token: -1};
int seq;
char *word;
char *stdword;
int token;
DBG("start load_lex\n");
SET_TIME(t1);
if (!tab || !strlen(tab)) {
elog(NOTICE, "load_lex: rules table is not usable");
return -1;
}
if (!tableNameOk(tab)) {
elog(NOTICE, "load_lex: lex and gaz table names may only be alphanum and '.\"_' characters (%s)", tab);
return -1;
}
sql = SPI_palloc(strlen(tab)+65);
strcpy(sql, "select seq, word, stdword, token from ");
strcat(sql, tab);
strcat(sql, " order by id ");
/* get the sql for the lexicon records and prepare the query */
SPIplan = SPI_prepare(sql, 0, NULL);
if (SPIplan == NULL) {
elog(NOTICE, "load_lex: couldn't create query plan for the lex data via SPI (%s)", sql);
return -1;
}
/* get the sql for the lexicon records and prepare the query */
SPIplan = SPI_prepare(sql, 0, NULL);
if (SPIplan == NULL) {
elog(NOTICE, "load_lex: couldn't create query plan for the lexicon data via SPI");
return -1;
}
if ((SPIportal = SPI_cursor_open(NULL, SPIplan, NULL, NULL, true)) == NULL) {
elog(NOTICE, "load_lex: SPI_cursor_open('%s') returns NULL", sql);
return -1;
}
while (moredata == TRUE) {
//DBG("calling SPI_cursor_fetch");
SPI_cursor_fetch(SPIportal, TRUE, TUPLIMIT);
if (SPI_tuptable == NULL) {
elog(NOTICE, "load_lex: SPI_tuptable is NULL");
return -1;
}
if (lex_columns.seq == -1) {
ret = fetch_lex_columns(SPI_tuptable, &lex_columns);
if (ret)
return ret;
}
ntuples = SPI_processed;
//DBG("Reading edges: %i - %i", total_tuples, total_tuples+ntuples);
total_tuples += ntuples;
if (ntuples > 0) {
int t;
Datum binval;
bool isnull;
SPITupleTable *tuptable = SPI_tuptable;
TupleDesc tupdesc = SPI_tuptable->tupdesc;
for (t = 0; t < ntuples; t++) {
//if (t%100 == 0) { DBG(" t: %i", t); }
HeapTuple tuple = tuptable->vals[t];
GET_INT_FROM_TUPLE(seq,lex_columns.seq,"load_lex: seq contains a null value");
GET_TEXT_FROM_TUPLE(word,lex_columns.word);
GET_TEXT_FROM_TUPLE(stdword,lex_columns.stdword);
GET_INT_FROM_TUPLE(token,lex_columns.token,"load_lex: token contains a null value");
lex_add_entry(lex, seq, word, stdword, token);
}
//DBG("calling SPI_freetuptable");
SPI_freetuptable(tuptable);
//DBG("back from SPI_freetuptable");
}
else
moredata = FALSE;
}
SET_TIME(t2);
ELAPSED_T(t1, t2);
DBG("Time to read %i lexicon records: %.1f ms.", total_tuples, elapsed);
return 0;
}
static int fetch_rules_columns(SPITupleTable *tuptable, rules_columns_t *rules_cols)
{
int err = 0;
FETCH_COL(rules_cols,rule,"rule");
if (err) {
elog(NOTICE, "rules queries must return column 'rule'");
return -1;
}
CHECK_TYP(rules_cols,rule,TEXTOID);
if (err) {
elog(NOTICE, "rules column type must be: 'rule' text");
return -1;
}
return 0;
}
void AugmentedView::Render(OpenGL * openGL)
{
if (!canDraw)
return;
OpenGLRenderData renderData = openGL->renderData;
struct timespec start,end;
SET_TIME(&start);
SetCameraPosition(renderData);
OpenGLSettings();
SelectedObject * newSelection = SelectObjects(openGL);
struct timespec now;
SET_TIME(&now);
double timediff = calc_time_double(lastSelectionTime,now);
if (unselectNext)
{
if (selectedObject != NULL)
UpdateObjectPosition(projection,selectedObject);
unselectNext = false;
}
//Only allowed to change selections every 1.0 seconds
else if (newSelection != NULL && timediff > 800000.0)
{
//Unselect object if selected twice
if (selectedObject != NULL && selectedObject->arObject == newSelection->arObject)
{
UpdateObjectPosition(projection,selectedObject);
}
else
{
delete selectedObject;
selectedObject = newSelection;
//
//Point3f cameraPosition = getCameraPosition(projection);
//Point3f cameraOffset = selectedObject->arObject->position - cameraPosition;
////Initial offset between object and camera
selectedObject->objectPositionDelta = getObjectScreenCoord(selectedObject->arObject->position,projection);//scameraOffset;
projection.copyTo(selectedObject->originalProjectionMat);
cancelSelection->SetVisible(true);
releaseSelection->SetVisible(true);
//LOGD(LOGTAG_ARINPUT,"CameraPositionOffset(%f,%f,%f)",cameraOffset.x,cameraOffset.y,cameraOffset.z);
}
lastSelectionTime = now;
}else if (newSelection != NULL)
{
LOGD(LOGTAG_ARINPUT,"Time spacing too short for unselect. Diff=%lf",timediff);
}
SET_TIME(&now);
bool popVector = false;
timediff = calc_time_double(cursorShowTime,now);
if (timediff < 5000000.0)
{
objectVector.push_back(testObject);
popVector = true;
}
LOGV(LOGTAG_OPENGL,"Drawing %d ARObjects",objectVector.size());
for (int i=0;i<objectVector.size();i++)
{
ARObject * object = objectVector.at(i);
//LOGV(LOGTAG_OPENGL,"Drawing ARObject at (%f,%f,%f)",object->position.x,object->position.y,object->position.z);
//LOGV(LOGTAG_OPENGL,"With rotation (%f,%f,%f)",object->rotation.x,object->rotation.y,object->rotation.z);
Mat modelMatrix = Mat::eye(4,4,CV_32F);
if (selectedObject != NULL && selectedObject->arObject == object)
{
//Point3f cameraPosition = getCameraPosition(projection);
selectedObject->arObject->position = getObject3DCoord(selectedObject->objectPositionDelta,projection);//selectedObject->objectPositionDelta + cameraPosition;
/* Point3f cameraRotation = getCameraRotation();
selectedObject->arObject->rotation = selectedObject->objectRotationDelta + cameraRotation; */
}
OpenGLHelper::translate(modelMatrix,Point3f(object->position.x,object->position.y,object->position.z));
OpenGLHelper::rotate(modelMatrix,object->rotation.x, Point3f(1.0f, 0.0f, 0.0f));
OpenGLHelper::rotate(modelMatrix,object->rotation.y, Point3f(0.0f, 1.0f, 0.0f));
OpenGLHelper::rotate(modelMatrix,object->rotation.z, Point3f(0.0f, 0.0f, 1.0f));
Mat tmpModelMatrix;
//Use seperate scale for selection indicator
if (selectedObject != NULL && selectedObject->arObject == object)
{
modelMatrix.copyTo(tmpModelMatrix);
}
OpenGLHelper::scale(modelMatrix,object->scale);
Mat mt = Mat(modelMatrix.t());
glUniformMatrix4fv(renderData.modelMatrixLocation, 1, GL_FALSE, mt.ptr<float>(0));
openGL->DrawGLObject(object->glObject);
if (selectedObject != NULL && selectedObject->arObject == object)
{
float selectorSize = object->BoundingSphereRadius*2.25f;
OpenGLHelper::scale(tmpModelMatrix,Point3f(selectorSize,selectorSize,selectorSize));
Mat mt = Mat(tmpModelMatrix.t());
glUniformMatrix4fv(renderData.modelMatrixLocation, 1, GL_FALSE, mt.ptr<float>(0));
openGL->DrawGLObject(selectionIndicator->glObject);
}
}
//Get rid of test object
if (popVector)
objectVector.pop_back();
ResetGLSettings();
SET_TIME(&end);
LOG_TIME("AugmentedView Render",start,end);
canDraw = false;
}
SelectedObject * AugmentedView::SelectObjects(OpenGL * openGL)
{
vector<Point2i> currentPoints = inputPoints;
inputPoints.clear();
SelectedObject * found = NULL;
while (!currentPoints.empty())
{
Point3f p1,p2;
getPickingRay(currentPoints.back(),openGL,projection,p1,p2,testObject,fieldOfView);
vector<ARObject*> hitObjects;
Point3f p12 = p2-p1;
//LOGD(LOGTAG_ARINPUT,"P12=(%f,%f,%f)",p12.x,p12.y,p12.z);
float p12Mag = pow(p12.x,2) + pow(p12.y,2) + pow(p12.z,2);
for (int i=0;i<objectVector.size();i++)
{
Point3f p0 = objectVector[i]->position;
//Mat position = Mat(1,3,CV_32F);
Point3f cross = p12.cross((p1-p0));
float distance = pow(cross.x,2) + pow(cross.y,2) + pow(cross.z,2);
distance /= p12Mag;
distance = sqrt(distance);
if (distance < objectVector[i]->BoundingSphereRadius)
{
hitObjects.push_back(objectVector[i]);
}
else
{
LOGV(LOGTAG_ARINPUT,"Did not collide with object %s at position %f,%f,%f with sphere of radius %f (distance=%f)",
objectVector[i]->objectID.c_str(),p0.x,p0.y,p0.z,objectVector[i]->BoundingSphereRadius,distance);
}
}
if (hitObjects.size() > 0)
{
if (hitObjects.size() > 1)
{
std::sort(hitObjects.begin(),hitObjects.end(),ARObjectDistanceSort_Ascending(p1));
}
struct timespec now;
SET_TIME(&now);
cursorShowTime.tv_sec = 0; //hide cursor if selection successful
found = new SelectedObject(hitObjects.front(),now);
break;
}
else
{
currentPoints.pop_back();
}
if (found == NULL)
SET_TIME(&cursorShowTime);
}
return found;
}
static int load_rules(RULES *rules, char *tab)
{
int ret;
SPIPlanPtr SPIplan;
Portal SPIportal;
bool moredata = TRUE;
#ifdef DEBUG
struct timeval t1, t2;
double elapsed;
#endif
char *sql;
int rule_arr[MAX_RULE_LENGTH];
int ntuples;
int total_tuples = 0;
rules_columns_t rules_columns = {rule: -1};
char *rule;
DBG("start load_rules\n");
SET_TIME(t1);
if (!tab || !strlen(tab)) {
elog(NOTICE, "load_rules: rules table is not usable");
return -1;
}
if (!tableNameOk(tab)) {
elog(NOTICE, "load_rules: rules table name may only be alphanum and '.\"_' characters (%s)", tab);
return -1;
}
sql = SPI_palloc(strlen(tab)+35);
strcpy(sql, "select rule from ");
strcat(sql, tab);
strcat(sql, " order by id ");
/* get the sql for the lexicon records and prepare the query */
SPIplan = SPI_prepare(sql, 0, NULL);
if (SPIplan == NULL) {
elog(NOTICE, "load_rules: couldn't create query plan for the rule data via SPI (%s)", sql);
return -1;
}
if ((SPIportal = SPI_cursor_open(NULL, SPIplan, NULL, NULL, true)) == NULL) {
elog(NOTICE, "load_rules: SPI_cursor_open('%s') returns NULL", sql);
return -1;
}
while (moredata == TRUE) {
//DBG("calling SPI_cursor_fetch");
SPI_cursor_fetch(SPIportal, TRUE, TUPLIMIT);
if (SPI_tuptable == NULL) {
elog(NOTICE, "load_rules: SPI_tuptable is NULL");
return -1;
}
if (rules_columns.rule == -1) {
ret = fetch_rules_columns(SPI_tuptable, &rules_columns);
if (ret)
return ret;
}
ntuples = SPI_processed;
//DBG("Reading edges: %i - %i", total_tuples, total_tuples+ntuples);
if (ntuples > 0) {
int t;
SPITupleTable *tuptable = SPI_tuptable;
TupleDesc tupdesc = SPI_tuptable->tupdesc;
for (t = 0; t < ntuples; t++) {
int nr;
//if (t%100 == 0) { DBG(" t: %i", t); }
HeapTuple tuple = tuptable->vals[t];
GET_TEXT_FROM_TUPLE(rule,rules_columns.rule);
nr = parse_rule(rule, rule_arr);
if (nr == -1) {
elog(NOTICE, "load_roles: rule exceeds 128 terms");
return -1;
}
ret = rules_add_rule(rules, nr, rule_arr);
if (ret != 0) {
elog(NOTICE,"load_roles: failed to add rule %d (%d): %s",
total_tuples+t+1, ret, rule);
return -1;
}
}
//DBG("calling SPI_freetuptable");
SPI_freetuptable(tuptable);
//DBG("back from SPI_freetuptable");
}
else
moredata = FALSE;
total_tuples += ntuples;
}
ret = rules_ready(rules);
if (ret != 0) {
elog(NOTICE, "load_roles: failed to ready the rules: err: %d", ret);
return -1;
}
SET_TIME(t2);
ELAPSED_T(t1, t2);
DBG("Time to read %i rule records: %.1f ms.", total_tuples, elapsed);
return 0;
}
static void event_loop(ACL_EVENT *eventp)
{
const char *myname = "event_loop";
EVENT_SELECT *ev = (EVENT_SELECT *) eventp;
ACL_EVENT_NOTIFY_TIME timer_fn;
void *timer_arg;
ACL_SOCKET sockfd;
ACL_EVENT_TIMER *timer;
int nready, i;
acl_int64 delay;
ACL_EVENT_FDTABLE *fdp;
struct timeval tv, *tvp;
fd_set rmask; /* enabled read events */
fd_set wmask; /* enabled write events */
fd_set xmask; /* for bad news mostly */
delay = eventp->delay_sec * 1000000 + eventp->delay_usec;
/* 调整事件引擎的时间截 */
SET_TIME(eventp->present);
/* 根据定时器任务的最近任务计算 select 的检测超时上限 */
if ((timer = ACL_FIRST_TIMER(&eventp->timer_head)) != 0) {
acl_int64 n = timer->when - eventp->present;
if (n <= 0)
delay = 0;
else if (n < delay)
delay = n;
}
/* 调用 event_prepare 检查有多少个描述字需要通过 select 进行检测 */
if (event_prepare(eventp) == 0) {
if (eventp->ready_cnt == 0) {
delay /= 1000000;
if (delay <= 0)
delay = 1;
/* 为避免循环过快，休眠一下 */
sleep((int) delay);
}
goto TAG_DONE;
}
if (eventp->ready_cnt > 0) {
tv.tv_sec = 0;
tv.tv_usec = 0;
tvp = &tv;
} else if (delay >= 0) {
#if defined(ACL_WINDOWS)
tv.tv_sec = (long) delay / 1000000;
tv.tv_usec = (unsigned long) (delay - tv.tv_sec * 1000000);
#else
tv.tv_sec = (time_t) delay / 1000000;
tv.tv_usec = (suseconds_t) (delay - tv.tv_sec * 1000000);
#endif
tvp = &tv;
} else
tvp = NULL;
rmask = ev->rmask;
wmask = ev->wmask;
xmask = ev->xmask;
/* 调用 select 系统调用检测可用描述字 */
#ifdef ACL_WINDOWS
nready = select(0, &rmask, &wmask, &xmask, tvp);
#else
nready = select(eventp->maxfd + 1, &rmask, &wmask, &xmask, tvp);
#endif
if (eventp->nested++ > 0)
acl_msg_fatal("%s(%d): recursive call(%d)",
myname, __LINE__, eventp->nested);
if (nready < 0) {
if (acl_last_error() != ACL_EINTR) {
acl_msg_fatal("%s(%d), %s: select: %s", __FILE__,
__LINE__, myname, acl_last_serror());
}
goto TAG_DONE;
} else if (nready == 0)
goto TAG_DONE;
/* 检查 select 的检测结果集合 */
/* if some fdp was cleared from eventp->fdtabs in timer callback,
* which has no effection on the rest fdp in eventp->fdtabs
*/
for (i = 0; i < eventp->fdcnt; i++) {
fdp = eventp->fdtabs[i];
/* 如果该描述字对象已经在被设置为异常或超时状态则继续 */
if ((fdp->event_type & (ACL_EVENT_XCPT | ACL_EVENT_RW_TIMEOUT)))
continue;
sockfd = ACL_VSTREAM_SOCK(fdp->stream);
/* 检查描述字是否出现异常 */
if (FD_ISSET(sockfd, &xmask)) {
fdp->event_type |= ACL_EVENT_XCPT;
fdp->fdidx_ready = eventp->ready_cnt;
eventp->ready[eventp->ready_cnt++] = fdp;
continue;
}
/* 检查描述字是否可读 */
if (FD_ISSET(sockfd, &rmask)) {
/* 给该描述字对象附加可读属性 */
if ((fdp->event_type & (ACL_EVENT_READ
| ACL_EVENT_WRITE)) == 0)
{
fdp->event_type |= ACL_EVENT_READ;
fdp->fdidx_ready = eventp->ready_cnt;
eventp->ready[eventp->ready_cnt++] = fdp;
}
if (fdp->listener)
fdp->event_type |= ACL_EVENT_ACCEPT;
/* 该描述字可读则设置 ACL_VSTREAM 的系统可读标志从而
* 触发 ACL_VSTREAM 流在读时调用系统的 read 函数
*/
else
fdp->stream->read_ready = 1;
}
/* 检查描述字是否可写 */
if (FD_ISSET(sockfd, &wmask)) {
/* 给该描述字对象附加可写属性 */
if ((fdp->event_type & (ACL_EVENT_READ
| ACL_EVENT_WRITE)) == 0)
{
fdp->event_type |= ACL_EVENT_WRITE;
fdp->fdidx_ready = eventp->ready_cnt;
eventp->ready[eventp->ready_cnt++] = fdp;
}
}
}
TAG_DONE:
/* 调整事件引擎的时间截 */
SET_TIME(eventp->present);
/* 优先处理定时器中的任务 */
while ((timer = ACL_FIRST_TIMER(&eventp->timer_head)) != 0) {
if (timer->when > eventp->present)
break;
timer_fn = timer->callback;
timer_arg = timer->context;
/* 如果定时器的时间间隔 > 0 且允许定时器被循环调用，
* 则再重设定时器
*/
if (timer->delay > 0 && timer->keep) {
timer->ncount++;
eventp->timer_request(eventp, timer->callback,
timer->context, timer->delay, timer->keep);
} else {
acl_ring_detach(&timer->ring); /* first this */
timer->nrefer--;
if (timer->nrefer != 0)
acl_msg_fatal("%s(%d): nrefer(%d) != 0",
myname, __LINE__, timer->nrefer);
acl_myfree(timer);
}
timer_fn(ACL_EVENT_TIME, eventp, timer_arg);
}
/* 处理准备好的描述字事件 */
if (eventp->ready_cnt > 0)
event_fire(eventp);
eventp->nested--;
}
int main()
{
RTTIMESPEC Now;
RTTIMESPEC Ts1;
RTTIMESPEC Ts2;
RTTIME T1;
RTTIME T2;
#ifdef RTTIME_INCL_TIMEVAL
struct timeval Tv1;
struct timeval Tv2;
struct timespec Tsp1;
struct timespec Tsp2;
#endif
RTTEST hTest;
int rc = RTTestInitAndCreate("tstRTTimeSpec", &hTest);
if (rc)
return rc;
/*
* Simple test with current time.
*/
RTTestSub(hTest, "Current time (UTC)");
CHECK_NZ(RTTimeNow(&Now));
CHECK_NZ(RTTimeExplode(&T1, &Now));
RTTestIPrintf(RTTESTLVL_ALWAYS, " %RI64 ns - %s\n", RTTimeSpecGetNano(&Now), ToString(&T1));
CHECK_NZ(RTTimeImplode(&Ts1, &T1));
if (!RTTimeSpecIsEqual(&Ts1, &Now))
RTTestIFailed("%RI64 != %RI64\n", RTTimeSpecGetNano(&Ts1), RTTimeSpecGetNano(&Now));
/*
* Simple test with current local time.
*/
RTTestSub(hTest, "Current time (local)");
CHECK_NZ(RTTimeLocalNow(&Now));
CHECK_NZ(RTTimeExplode(&T1, &Now));
RTTestIPrintf(RTTESTLVL_ALWAYS, " %RI64 ns - %s\n", RTTimeSpecGetNano(&Now), ToString(&T1));
CHECK_NZ(RTTimeImplode(&Ts1, &T1));
if (!RTTimeSpecIsEqual(&Ts1, &Now))
RTTestIFailed("%RI64 != %RI64\n", RTTimeSpecGetNano(&Ts1), RTTimeSpecGetNano(&Now));
/*
* Some simple tests with fixed dates (just checking for smoke).
*/
RTTestSub(hTest, "Smoke");
TEST_NS(INT64_C(0));
CHECK_TIME(&T1, 1970,01,01, 00,00,00, 0, 1, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
TEST_NS(INT64_C(86400000000000));
CHECK_TIME(&T1, 1970,01,02, 00,00,00, 0, 2, 4, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
TEST_NS(INT64_C(1));
CHECK_TIME(&T1, 1970,01,01, 00,00,00, 1, 1, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
TEST_NS(INT64_C(-1));
CHECK_TIME(&T1, 1969,12,31, 23,59,59,999999999, 365, 2, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
/*
* Test the limits.
*/
RTTestSub(hTest, "Extremes");
TEST_NS(INT64_MAX);
TEST_NS(INT64_MIN);
TEST_SEC(1095379198);
CHECK_TIME(&T1, 2004, 9,16, 23,59,58, 0, 260, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_LEAP_YEAR);
TEST_SEC(1095379199);
CHECK_TIME(&T1, 2004, 9,16, 23,59,59, 0, 260, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_LEAP_YEAR);
TEST_SEC(1095379200);
CHECK_TIME(&T1, 2004, 9,17, 00,00,00, 0, 261, 4, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_LEAP_YEAR);
TEST_SEC(1095379201);
CHECK_TIME(&T1, 2004, 9,17, 00,00,01, 0, 261, 4, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_LEAP_YEAR);
/*
* Test normalization (UTC).
*/
RTTestSub(hTest, "Normalization (UTC)");
/* simple */
CHECK_NZ(RTTimeNow(&Now));
CHECK_NZ(RTTimeExplode(&T1, &Now));
T2 = T1;
CHECK_NZ(RTTimeNormalize(&T1));
if (memcmp(&T1, &T2, sizeof(T1)))
RTTestIFailed("simple normalization failed\n");
CHECK_NZ(RTTimeImplode(&Ts1, &T1));
CHECK_NZ(RTTimeSpecIsEqual(&Ts1, &Now));
/* a few partial dates. */
memset(&T1, 0, sizeof(T1));
SET_TIME( &T1, 1970,01,01, 00,00,00, 0, 0, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 1970,01,01, 00,00,00, 0, 1, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
SET_TIME( &T1, 1970,00,00, 00,00,00, 1, 1, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 1970,01,01, 00,00,00, 1, 1, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
SET_TIME( &T1, 2007,12,06, 02,15,23, 1, 0, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 2007,12,06, 02,15,23, 1, 340, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
SET_TIME( &T1, 1968,01,30, 00,19,24, 5, 0, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 1968,01,30, 00,19,24, 5, 30, 1, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_LEAP_YEAR);
SET_TIME( &T1, 1969,01,31, 00, 9, 2, 7, 0, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 1969,01,31, 00, 9, 2, 7, 31, 4, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
SET_TIME( &T1, 1969,03,31, 00, 9, 2, 7, 0, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 1969,03,31, 00, 9, 2, 7, 90, 0, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
SET_TIME( &T1, 1969,12,31, 00,00,00, 9, 0, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 1969,12,31, 00,00,00, 9, 365, 2, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
SET_TIME( &T1, 1969,12,30, 00,00,00, 30, 0, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 1969,12,30, 00,00,00, 30, 364, 1, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
SET_TIME( &T1, 1969,00,00, 00,00,00, 30, 363, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 1969,12,29, 00,00,00, 30, 363, 0, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
SET_TIME( &T1, 1969,00,00, 00,00,00, 30, 362, 6, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 1969,12,28, 00,00,00, 30, 362, 6, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
SET_TIME( &T1, 1969,12,27, 00,00,00, 30, 0, 5, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 1969,12,27, 00,00,00, 30, 361, 5, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
SET_TIME( &T1, 1969,00,00, 00,00,00, 30, 360, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 1969,12,26, 00,00,00, 30, 360, 4, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
SET_TIME( &T1, 1969,12,25, 00,00,00, 12, 0, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 1969,12,25, 00,00,00, 12, 359, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
SET_TIME( &T1, 1969,12,24, 00,00,00, 16, 0, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 1969,12,24, 00,00,00, 16, 358, 2, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
/* outside the year table range */
SET_TIME( &T1, 1200,01,30, 00,00,00, 2, 0, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 1200,01,30, 00,00,00, 2, 30, 6, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_LEAP_YEAR);
SET_TIME( &T1, 2555,11,29, 00,00,00, 2, 0, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 2555,11,29, 00,00,00, 2, 333, 5, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
SET_TIME( &T1, 2555,00,00, 00,00,00, 3, 333, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 2555,11,29, 00,00,00, 3, 333, 5, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
/* time overflow */
SET_TIME( &T1, 1969,12,30, 255,255,255, UINT32_MAX, 364, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 1970,01, 9, 19,19,19,294967295, 9, 4, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
/* date overflow */
SET_TIME( &T1, 2007,11,36, 02,15,23, 1, 0, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 2007,12,06, 02,15,23, 1, 340, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
SET_TIME( &T1, 2007,10,67, 02,15,23, 1, 0, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 2007,12,06, 02,15,23, 1, 340, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
SET_TIME( &T1, 2007,10,98, 02,15,23, 1, 0, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 2008,01,06, 02,15,23, 1, 6, 6, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_LEAP_YEAR);
SET_TIME( &T1, 2006,24,06, 02,15,23, 1, 0, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 2007,12,06, 02,15,23, 1, 340, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
SET_TIME( &T1, 2003,60,37, 02,15,23, 1, 0, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 2008,01,06, 02,15,23, 1, 6, 6, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_LEAP_YEAR);
SET_TIME( &T1, 2003,00,00, 02,15,23, 1,1801, 0, 0, 0);
CHECK_NZ(RTTimeNormalize(&T1));
CHECK_TIME(&T1, 2007,12,06, 02,15,23, 1, 340, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
/*
* Conversions.
*/
#define CHECK_NSEC(Ts1, T2) \
do { \
RTTIMESPEC TsTmp; \
RTTESTI_CHECK_MSG( RTTimeSpecGetNano(&(Ts1)) == RTTimeSpecGetNano(RTTimeImplode(&TsTmp, &(T2))), \
("line %d: %RI64, %RI64\n", __LINE__, \
RTTimeSpecGetNano(&(Ts1)), RTTimeSpecGetNano(RTTimeImplode(&TsTmp, &(T2)))) ); \
} while (0)
RTTestSub(hTest, "Conversions, positive");
SET_TIME(&T1, 1980,01,01, 00,00,00, 0, 1, 1, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_LEAP_YEAR);
RTTESTI_CHECK(RTTimeSpecSetDosSeconds(&Ts2, 0) == &Ts2);
RTTESTI_CHECK(RTTimeSpecGetDosSeconds(&Ts2) == 0);
CHECK_NSEC(Ts2, T1);
SET_TIME(&T1, 1980,01,01, 00,00,00, 0, 1, 1, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_LEAP_YEAR);
RTTESTI_CHECK(RTTimeSpecSetNtTime(&Ts2, INT64_C(119600064000000000)) == &Ts2);
RTTESTI_CHECK(RTTimeSpecGetNtTime(&Ts2) == INT64_C(119600064000000000));
CHECK_NSEC(Ts2, T1);
SET_TIME(&T1, 1970,01,01, 00,00,01, 0, 1, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
RTTESTI_CHECK(RTTimeSpecSetSeconds(&Ts2, 1) == &Ts2);
RTTESTI_CHECK(RTTimeSpecGetSeconds(&Ts2) == 1);
CHECK_NSEC(Ts2, T1);
SET_TIME(&T1, 1970,01,01, 00,00,01, 0, 1, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
RTTESTI_CHECK(RTTimeSpecSetMilli(&Ts2, 1000) == &Ts2);
RTTESTI_CHECK(RTTimeSpecGetMilli(&Ts2) == 1000);
CHECK_NSEC(Ts2, T1);
SET_TIME(&T1, 1970,01,01, 00,00,01, 0, 1, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
RTTESTI_CHECK(RTTimeSpecSetMicro(&Ts2, 1000000) == &Ts2);
RTTESTI_CHECK(RTTimeSpecGetMicro(&Ts2) == 1000000);
CHECK_NSEC(Ts2, T1);
SET_TIME(&T1, 1970,01,01, 00,00,01, 0, 1, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
RTTESTI_CHECK(RTTimeSpecSetNano(&Ts2, 1000000000) == &Ts2);
RTTESTI_CHECK(RTTimeSpecGetNano(&Ts2) == 1000000000);
CHECK_NSEC(Ts2, T1);
#ifdef RTTIME_INCL_TIMEVAL
SET_TIME(&T1, 1970,01,01, 00,00,01, 5000, 1, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
Tv1.tv_sec = 1;
Tv1.tv_usec = 5;
RTTESTI_CHECK(RTTimeSpecSetTimeval(&Ts2, &Tv1) == &Ts2);
RTTESTI_CHECK(RTTimeSpecGetMicro(&Ts2) == 1000005);
CHECK_NSEC(Ts2, T1);
RTTESTI_CHECK(RTTimeSpecGetTimeval(&Ts2, &Tv2) == &Tv2);
RTTESTI_CHECK(Tv1.tv_sec == Tv2.tv_sec); RTTESTI_CHECK(Tv1.tv_usec == Tv2.tv_usec);
#endif
#ifdef RTTIME_INCL_TIMESPEC
SET_TIME(&T1, 1970,01,01, 00,00,01, 5, 1, 3, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
Tsp1.tv_sec = 1;
Tsp1.tv_nsec = 5;
RTTESTI_CHECK(RTTimeSpecSetTimespec(&Ts2, &Tsp1) == &Ts2);
RTTESTI_CHECK(RTTimeSpecGetNano(&Ts2) == 1000000005);
CHECK_NSEC(Ts2, T1);
RTTESTI_CHECK(RTTimeSpecGetTimespec(&Ts2, &Tsp2) == &Tsp2);
RTTESTI_CHECK(Tsp1.tv_sec == Tsp2.tv_sec); RTTESTI_CHECK(Tsp1.tv_nsec == Tsp2.tv_nsec);
#endif
RTTestSub(hTest, "Conversions, negative");
#ifdef RTTIME_INCL_TIMEVAL
SET_TIME(&T1, 1969,12,31, 23,59,58,999995000, 365, 2, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
Tv1.tv_sec = -2;
Tv1.tv_usec = 999995;
RTTESTI_CHECK(RTTimeSpecSetTimeval(&Ts2, &Tv1) == &Ts2);
RTTESTI_CHECK_MSG(RTTimeSpecGetMicro(&Ts2) == -1000005, ("%RI64\n", RTTimeSpecGetMicro(&Ts2)));
CHECK_NSEC(Ts2, T1);
RTTESTI_CHECK(RTTimeSpecGetTimeval(&Ts2, &Tv2) == &Tv2);
RTTESTI_CHECK(Tv1.tv_sec == Tv2.tv_sec); RTTESTI_CHECK(Tv1.tv_usec == Tv2.tv_usec);
#endif
#ifdef RTTIME_INCL_TIMESPEC
SET_TIME(&T1, 1969,12,31, 23,59,58,999999995, 365, 2, 0, RTTIME_FLAGS_TYPE_UTC | RTTIME_FLAGS_COMMON_YEAR);
Tsp1.tv_sec = -2;
Tsp1.tv_nsec = 999999995;
RTTESTI_CHECK(RTTimeSpecSetTimespec(&Ts2, &Tsp1) == &Ts2);
RTTESTI_CHECK_MSG(RTTimeSpecGetNano(&Ts2) == -1000000005, ("%RI64\n", RTTimeSpecGetMicro(&Ts2)));
CHECK_NSEC(Ts2, T1);
RTTESTI_CHECK(RTTimeSpecGetTimespec(&Ts2, &Tsp2) == &Tsp2);
RTTESTI_CHECK(Tsp1.tv_sec == Tsp2.tv_sec); RTTESTI_CHECK(Tsp1.tv_nsec == Tsp2.tv_nsec);
#endif
/*
* Summary
*/
return RTTestSummaryAndDestroy(hTest);
}
static void event_loop(ACL_EVENT *eventp)
{
const char *myname = "event_loop";
EVENT_KERNEL *ev = (EVENT_KERNEL *) eventp;
ACL_EVENT_NOTIFY_TIME timer_fn;
void *timer_arg;
ACL_EVENT_TIMER *timer;
int delay, nready;
ACL_EVENT_FDTABLE *fdp;
EVENT_BUFFER *bp;
delay = (int) (eventp->delay_sec * 1000 + eventp->delay_usec / 1000);
if (delay < 0)
delay = 0; /* 0 milliseconds at least */
/* 调整事件引擎的时间截 */
SET_TIME(eventp->present);
/* 根据定时器任务的最近任务计算 epoll/kqueue/devpoll 的检测超时上限 */
if ((timer = ACL_FIRST_TIMER(&eventp->timer_head)) != 0) {
acl_int64 n = (timer->when - eventp->present) / 1000;
if (n <= 0)
delay = 0;
else if ((int) n < delay) {
delay = (int) n;
if (delay <= 0) /* xxx */
delay = 100;
}
}
/* 设置描述字对象的状态，添加/删除之前设置的描述字对象 */
event_set_all(eventp);
if (eventp->fdcnt == 0) {
if (eventp->fdcnt_ready == 0)
sleep(1);
goto TAG_DONE;
}
/* 如果已经有描述字准备好则检测超时时间置 0 */
if (eventp->fdcnt_ready > 0)
delay = 0;
/* 调用 epoll/kquque/devpoll 系统调用检测可用描述字 */
EVENT_BUFFER_READ(nready, ev->event_fd, ev->event_buf,
ev->event_fdslots, delay);
if (eventp->nested++ > 0)
acl_msg_fatal("%s(%d): recursive call, nested: %d",
myname, __LINE__, eventp->nested);
if (nready < 0) {
if (acl_last_error() != ACL_EINTR) {
acl_msg_fatal("%s(%d), %s: select: %s", __FILE__,
__LINE__, myname, acl_last_serror());
}
goto TAG_DONE;
} else if (nready == 0)
goto TAG_DONE;
/* 检查检测结果 */
for (bp = ev->event_buf; bp < ev->event_buf + nready; bp++) {
#ifdef USE_FDMAP
ACL_SOCKET sockfd;
sockfd = EVENT_GET_FD(bp);
fdp = acl_fdmap_ctx(ev->fdmap, sockfd);
if (fdp == NULL || fdp->stream == NULL)
continue;
if (sockfd != ACL_VSTREAM_SOCK(fdp->stream))
acl_msg_fatal("%s(%d): sockfd(%d) != %d", myname,
__LINE__, sockfd, ACL_VSTREAM_SOCK(fdp->stream));
#else
fdp = (ACL_EVENT_FDTABLE *) EVENT_GET_CTX(bp);
if (fdp == NULL || fdp->stream == NULL)
continue;
#endif
/* 如果该描述字对象已经在被设置为异常或超时状态则继续 */
if ((fdp->event_type & (ACL_EVENT_XCPT | ACL_EVENT_RW_TIMEOUT)))
continue;
/* 检查描述字是否可读 */
if ((fdp->flag & EVENT_FDTABLE_FLAG_READ) && EVENT_TEST_READ(bp)) {
/* 该描述字可读则设置 ACL_VSTREAM 的系统可读标志从而触发
* ACL_VSTREAM 流在读时调用系统的 read 函数
*/
fdp->stream->sys_read_ready = 1;
/* 给该描述字对象附加可读属性 */
if ((fdp->event_type & (ACL_EVENT_READ | ACL_EVENT_WRITE)) == 0)
{
fdp->event_type |= ACL_EVENT_READ;
if (fdp->listener)
fdp->event_type |= ACL_EVENT_ACCEPT;
fdp->fdidx_ready = eventp->fdcnt_ready;
eventp->fdtabs_ready[eventp->fdcnt_ready++] = fdp;
}
}
/* 检查描述字是否可写 */
if ((fdp->flag & EVENT_FDTABLE_FLAG_WRITE) && EVENT_TEST_WRITE(bp)) {
/* 给该描述字对象附加可写属性 */
if ((fdp->event_type & (ACL_EVENT_READ | ACL_EVENT_WRITE)) == 0)
{
fdp->event_type |= ACL_EVENT_WRITE;
fdp->fdidx_ready = eventp->fdcnt_ready;
eventp->fdtabs_ready[eventp->fdcnt_ready++] = fdp;
}
}
#ifdef EVENT_TEST_ERROR
if (EVENT_TEST_ERROR(bp)) {
/* 如果出现异常则设置异常属性 */
if ((fdp->event_type & (ACL_EVENT_READ | ACL_EVENT_WRITE)) == 0)
{
fdp->event_type |= ACL_EVENT_XCPT;
fdp->fdidx_ready = eventp->fdcnt_ready;
eventp->fdtabs_ready[eventp->fdcnt_ready++] = fdp;
}
}
#endif
}
TAG_DONE:
/*
* Deliver timer events. Requests are sorted: we can stop when we reach
* the future or the list end. Allow the application to update the timer
* queue while it is being called back. To this end, we repeatedly pop
* the first request off the timer queue before delivering the event to
* the application.
*/
/* 调整事件引擎的时间截 */
SET_TIME(eventp->present);
while ((timer = ACL_FIRST_TIMER(&eventp->timer_head)) != 0) {
if (timer->when > eventp->present)
break;
timer_fn = timer->callback;
timer_arg = timer->context;
/* 定时器时间间隔 > 0 且允许定时器被循环调用，则重设定时器 */
if (timer->delay > 0 && timer->keep) {
timer->ncount++;
eventp->timer_request(eventp, timer->callback,
timer->context, timer->delay, timer->keep);
} else {
acl_ring_detach(&timer->ring); /* first this */
timer->nrefer--;
if (timer->nrefer != 0)
acl_msg_fatal("%s(%d): nrefer(%d) != 0",
myname, __LINE__, timer->nrefer);
acl_myfree(timer);
}
timer_fn(ACL_EVENT_TIME, eventp, timer_arg);
}
/* 处理准备好的描述字事件 */
if (eventp->fdcnt_ready > 0)
event_fire(eventp);
eventp->nested--;
}
void ARController::ProcessFrame(Engine * engine)
{
if (!isInitialized)
return;
frameCount++;
//Calc FPS
struct timespec currentTime;
SET_TIME(¤tTime);
double frameTimeMicrosec = calc_time_double(lastFrameTime,currentTime);
lastFrameTime = currentTime;
float frameFps = (float)(1000000.0/frameTimeMicrosec);
fpsAverage = (fpsAverage+frameFps)/2.0f;
char fpsString[10];
sprintf(fpsString,"%3.1f",fpsAverage);
fpsLabel->SetText(fpsString);
int debugLevel = debugUI->GetIntegerParameter("ARControllerDebug");
bool useGuess = debugUI->GetBooleanParameter("UseGuess");
bool showEntireBinary = debugUI->GetBooleanParameter("Show Entire Binary");
//This section is the default per-frame operations
FrameItem * item = frameList->next();
item->clearOldData();
//engine->getTime(&item->time);
LOGV(LOGTAG_ARCONTROLLER,"Processing frame #%d, FPS=%f.",frameCount,fpsAverage);
//Loose objects: QR=%d, Rect=%d, Circ=%d, FP=%d",
//frameCount,fpsAverage,(int)QRCode::instanceCount,DebugRectangle::instanceCount,DebugCircle::instanceCount, FinderPattern::instanceCount);
//If paused, keep reusing image until unpaused
if (!paused)
{
getImages(engine);
}
else
{
//Need to refresh the RGB image
cvtColor(*grayImage, *rgbImage, CV_GRAY2RGBA, 4);
}
vector<Drawable*> debugVector;
item->qrCode = qrFinder->LocateQRCodes(*grayImage, debugVector, ( frameList->size() > 1) ? frameList->getRelative(-1)->qrCode : NULL);
//What happens past here depends on the state
if (controllerState == ControllerStates::Loading)
{
//Update world loader
worldLoader->Update(engine);
WorldStates::WorldState worldState = worldLoader->GetState();
if (worldState == WorldStates::LookingForCode)
{
debugUI->SetLabelValue("State","Searching");
if (item->qrCode != NULL && item->qrCode->isValidCode())
{
struct timespec decodeStart,decodeEnd;
SET_TIME(&decodeStart);
qrDecoder->DecodeQRCode(grayImage,binaryImage,item->qrCode,debugVector);
SET_TIME(&decodeEnd);
LOG_TIME("Decode",decodeStart,decodeEnd);
if (item->qrCode->isDecoded())
{
string codeText = "Code=";
codeText.append(item->qrCode->TextValue);
debugUI->SetLabelValue("CurrentCode",codeText);
currentCode = item->qrCode->TextValue;
if (debugUI->GetBooleanParameter("CodeOnly"))
{
LOGI(LOGTAG_ARCONTROLLER,"Code found (%s), still searching since we're in debug mode",currentCode.c_str());
}
else if (engine->communicator->IsConnected())
{
worldLoader->LoadRealm(item->qrCode->TextValue);
}
else //If not connected, just add a test object
{
LOGI(LOGTAG_ARCONTROLLER,"Starting in offline mode.");
debugUI->SetLabelValue("State","OfflineMode");
initializeARView(engine);
ARObject * myCube1 = new ARObject(OpenGLHelper::CreateMultiColorCube(20),Point3f(0,0,0));
//ARObject * myCube2 = new ARObject(OpenGLHelper::CreateMultiColorCube(20),Point3f(50,10,0));
//augmentedView->AddObject(myCube2);
//myCube2->BoundingSphereRadius = 30;
//ARObject * myCube3 = new ARObject(OpenGLHelper::CreateMultiColorCube(20),Point3f(-50,-10,0));
//augmentedView->AddObject(myCube3);
//myCube3->BoundingSphereRadius = 30;
augmentedView->AddObject(myCube1);
myCube1->BoundingSphereRadius = 12;
SetState(ControllerStates::Running);
delete worldLoader;
worldLoader = NULL;
}
}
else
LOGD(LOGTAG_ARCONTROLLER,"QRCode not decoded");
}
}
else if (worldState == WorldStates::WaitingForRealm || worldState == WorldStates::WaitingForResources)
{
if (worldState == WorldStates::WaitingForRealm)
debugUI->SetLabelValue("State","WaitRealm");
else
debugUI->SetLabelValue("State","WaitRsrc");
}
//The world is ready and loaded, so do normal AR processing
else if (worldState == WorldStates::WorldReady)
{
debugUI->SetLabelValue("State","LoadCompl");
initializeARView(engine);
LOGD(LOGTAG_ARCONTROLLER,"Populating ARView using loaded world");
worldLoader->PopulateARView(augmentedView);
SetState(ControllerStates::Running);
currentQRSize = debugUI->GetParameter("QRSize"); //Should be using value from server
delete worldLoader;
worldLoader = NULL;
}
else
{
char stateString[100];
sprintf(stateString,"WrldState=%d",(int)worldState);
debugUI->SetLabelValue("State",stateString);
LOGW(LOGTAG_ARCONTROLLER,"Unexpected state");
}
}
else if (controllerState == ControllerStates::Running)
{
debugUI->SetLabelValue("State","Run");
bool doSkip = false;
if (item->qrCode != NULL && item->qrCode->isValidCode())
{
if (recheckNext)
{
LOGD(LOGTAG_ARCONTROLLER,"Rechecking code. Current value = %s",currentCode.c_str());
qrDecoder->DecodeQRCode(grayImage,binaryImage,item->qrCode,debugVector);
if (item->qrCode->isDecoded() && item->qrCode->TextValue != currentCode)
{
if (worldLoader == NULL)
worldLoader = new WorldLoader();
else
{
delete worldLoader;
worldLoader = new WorldLoader();
}
LOGD(LOGTAG_ARCONTROLLER,"Changing to code %s",currentCode.c_str());
currentCode = item->qrCode->TextValue;
worldLoader->LoadRealm(currentCode);
SetState(ControllerStates::Loading);
delete augmentedView;
augmentedView = NULL;
recheckNext = false;
doSkip = true;
}
else if (item->qrCode->isDecoded())
recheckNext = false;
}
else
{
if (useGuess)
positionSelector->GetPreviousResult(item);
LOGV(LOGTAG_QR,"Getting position");
currentQRSize = debugUI->GetParameter("QRSize"); //Should be using value from server
item->qrCode->QRCodeDimension = currentQRSize;
qrLocator->transformPoints(item->qrCode,*(item->rotationMatrix),*(item->translationMatrix),useGuess);
debugUI->SetTranslation(item->translationMatrix);
debugUI->SetRotation(item->rotationMatrix);
}
}
certaintyIndicator->EnableOutline(recheckNext);
if (!doSkip)
{
//Evaluate the position
float resultCertainty = positionSelector->UpdatePosition(engine,item);
certaintyIndicator->SetCertainty(resultCertainty);
if (resultCertainty > 0 && augmentedView != NULL)
{
augmentedView->SetFOV(debugUI->GetParameter("FOV"));
augmentedView->SetTransformations(item->translationMatrix,item->rotationMatrix,item->gyroRotation);
}
if (augmentedView != NULL)
augmentedView->Update(rgbImage,engine);
}
}
else
{
char stateString[100];
sprintf(stateString,"ContState=%d",(int)controllerState);
debugUI->SetLabelValue("State",stateString);
LOGW(LOGTAG_ARCONTROLLER,"Unexpected state: %s",stateString);
}
if (debugUI->currentDrawMode == DrawModes::BinaryImage)
{
if (showEntireBinary)
{
ImageProcessor::SimpleThreshold(grayImage,binaryImage);
cvtColor(*binaryImage, *rgbImage, CV_GRAY2RGBA, 4);
}
else
{
LOGD(LOGTAG_ARCONTROLLER,"Binary debug draw");
cvtColor(*binaryImage, *rgbImage, CV_GRAY2RGBA, 4);
LOGD(LOGTAG_ARCONTROLLER,"Binary debug draw complete");
}
}
if (drawingLevel == 1 || drawingLevel == 3)
{
if (item->qrCode != NULL)
{
item->qrCode->SetDrawingLevel(debugLevel);
item->qrCode->Draw(rgbImage);
}
struct timespec draw_start, draw_end;
SET_TIME(&draw_start);
while (!debugVector.empty())
{
debugVector.back()->Draw(rgbImage);
delete debugVector.back();
debugVector.pop_back();
}
SET_TIME(&draw_end);
LOG_TIME_PRECISE("DebugDrawing",draw_start,draw_end);
}
else //Still need to clean up debug vector!!!!
{
struct timespec draw_start, draw_end;
SET_TIME(&draw_start);
while (!debugVector.empty())
{
delete debugVector.back();
debugVector.pop_back();
}
SET_TIME(&draw_end);
LOG_TIME_PRECISE("DebugCleanup",draw_start,draw_end);
}
//Do final processing
Draw(rgbImage);
}