Esempio n. 1
0
File: edvs.c Progetto: inilabs/caer
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);
	}
}
Esempio n. 2
0
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);
	}
}
Esempio n. 3
0
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);
}
Esempio n. 4
0
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);
}
Esempio n. 5
0
File: davis.c Progetto: inilabs/caer
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);
	}
}
Esempio n. 6
0
File: driver.cpp Progetto: ncos/lisa
void DvsRosDriver::readout()
{
  caerDeviceDataStart(dvs128_handle, NULL, NULL, NULL, NULL, NULL);
  caerDeviceConfigSet(dvs128_handle, CAER_HOST_CONFIG_DATAEXCHANGE, CAER_HOST_CONFIG_DATAEXCHANGE_BLOCKING, true);

  boost::posix_time::ptime next_send_time = boost::posix_time::microsec_clock::local_time();

  dvs_msgs::EventArrayPtr event_array_msg(new dvs_msgs::EventArray());
  event_array_msg->height = dvs128_info_.dvsSizeY;
  event_array_msg->width = dvs128_info_.dvsSizeX;

  while (running_)
  {
    try
    {
      caerEventPacketContainer packetContainer = caerDeviceDataGet(dvs128_handle);
      if (packetContainer == NULL)
      {
        continue; // Skip if nothing there.
      }

      int32_t packetNum = caerEventPacketContainerGetEventPacketsNumber(packetContainer);

      for (int32_t i = 0; i < packetNum; i++)
      {
        caerEventPacketHeader packetHeader = caerEventPacketContainerGetEventPacket(packetContainer, i);
        if (packetHeader == NULL)
        {
          continue; // Skip if nothing there.
        }

        // 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;

          const int numEvents = caerEventPacketHeaderGetEventNumber(packetHeader);

          for (int j = 0; j < numEvents; j++)
          {
            // Get full timestamp and addresses of first event.
            caerPolarityEvent event = caerPolarityEventPacketGetEvent(polarity, j);

            dvs_msgs::Event e;
            e.x = caerPolarityEventGetX(event);
            e.y = caerPolarityEventGetY(event);
            e.ts = reset_time_ +
              ros::Duration().fromNSec(caerPolarityEventGetTimestamp64(event, polarity) * 1000);
            e.polarity = caerPolarityEventGetPolarity(event);

            event_array_msg->events.push_back(e);
          }

          // throttle event messages
          if (boost::posix_time::microsec_clock::local_time() > next_send_time || current_config_.streaming_rate == 0)
          {
            event_array_pub_.publish(event_array_msg);
            event_array_msg->events.clear();
            if (current_config_.streaming_rate > 0)
            {
              next_send_time += delta_;
            }
          }

          if (camera_info_manager_->isCalibrated())
          {
            sensor_msgs::CameraInfoPtr camera_info_msg(new sensor_msgs::CameraInfo(camera_info_manager_->getCameraInfo()));
            camera_info_pub_.publish(camera_info_msg);
          }
        }
      }

      caerEventPacketContainerFree(packetContainer);

      ros::spinOnce();
    }
    catch (boost::thread_interrupted&)
    {
      return;
    }
  }

  caerDeviceDataStop(dvs128_handle);
}