static bool caerInputEDVSInit(caerModuleData moduleData) {
caerModuleLog(moduleData, CAER_LOG_DEBUG, "Initializing module ...");
// Start data acquisition, and correctly notify mainloop of new data and module of exceptional
// shutdown cases (device pulled, ...).
char *serialPortName = sshsNodeGetString(moduleData->moduleNode, "serialPort");
moduleData->moduleState = caerDeviceOpenSerial(U16T(moduleData->moduleID), CAER_DEVICE_EDVS, serialPortName,
U32T(sshsNodeGetInt(moduleData->moduleNode, "baudRate")));
free(serialPortName);
if (moduleData->moduleState == NULL) {
// Failed to open device.
return (false);
}
// Initialize per-device log-level to module log-level.
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_LOG, CAER_HOST_CONFIG_LOG_LEVEL,
atomic_load(&moduleData->moduleLogLevel));
// Put global source information into SSHS.
struct caer_edvs_info devInfo = caerEDVSInfoGet(moduleData->moduleState);
sshsNode sourceInfoNode = sshsGetRelativeNode(moduleData->moduleNode, "sourceInfo/");
sshsNodeCreateBool(sourceInfoNode, "deviceIsMaster", devInfo.deviceIsMaster,
SSHS_FLAGS_READ_ONLY | SSHS_FLAGS_NO_EXPORT, "Timestamp synchronization support: device master status.");
sshsNodeCreateInt(sourceInfoNode, "polaritySizeX", devInfo.dvsSizeX, devInfo.dvsSizeX, devInfo.dvsSizeX,
SSHS_FLAGS_READ_ONLY | SSHS_FLAGS_NO_EXPORT, "Polarity events width.");
sshsNodeCreateInt(sourceInfoNode, "polaritySizeY", devInfo.dvsSizeY, devInfo.dvsSizeY, devInfo.dvsSizeY,
SSHS_FLAGS_READ_ONLY | SSHS_FLAGS_NO_EXPORT, "Polarity events height.");
// Put source information for generic visualization, to be used to display and debug filter information.
sshsNodeCreateInt(sourceInfoNode, "dataSizeX", devInfo.dvsSizeX, devInfo.dvsSizeX, devInfo.dvsSizeX,
SSHS_FLAGS_READ_ONLY | SSHS_FLAGS_NO_EXPORT, "Data width.");
sshsNodeCreateInt(sourceInfoNode, "dataSizeY", devInfo.dvsSizeY, devInfo.dvsSizeY, devInfo.dvsSizeY,
SSHS_FLAGS_READ_ONLY | SSHS_FLAGS_NO_EXPORT, "Data height.");
// Generate source string for output modules.
size_t sourceStringLength = (size_t) snprintf(NULL, 0, "#Source %" PRIu16 ": eDVS4337\r\n", moduleData->moduleID);
char sourceString[sourceStringLength + 1];
snprintf(sourceString, sourceStringLength + 1, "#Source %" PRIu16 ": eDVS4337\r\n", moduleData->moduleID);
sourceString[sourceStringLength] = '\0';
sshsNodeCreateString(sourceInfoNode, "sourceString", sourceString, sourceStringLength, sourceStringLength,
SSHS_FLAGS_READ_ONLY | SSHS_FLAGS_NO_EXPORT, "Device source information.");
// Ensure good defaults for data acquisition settings.
// No blocking behavior due to mainloop notification, and no auto-start of
// all producers to ensure cAER settings are respected.
caerDeviceConfigSet(
moduleData->moduleState, CAER_HOST_CONFIG_DATAEXCHANGE, CAER_HOST_CONFIG_DATAEXCHANGE_BLOCKING, false);
caerDeviceConfigSet(
moduleData->moduleState, CAER_HOST_CONFIG_DATAEXCHANGE, CAER_HOST_CONFIG_DATAEXCHANGE_START_PRODUCERS, false);
caerDeviceConfigSet(
moduleData->moduleState, CAER_HOST_CONFIG_DATAEXCHANGE, CAER_HOST_CONFIG_DATAEXCHANGE_STOP_PRODUCERS, true);
// Create default settings and send them to the device.
sendDefaultConfiguration(moduleData);
// Start data acquisition.
bool ret = caerDeviceDataStart(moduleData->moduleState, &caerMainloopDataNotifyIncrease,
&caerMainloopDataNotifyDecrease, NULL, &moduleShutdownNotify, moduleData->moduleNode);
if (!ret) {
// Failed to start data acquisition, close device and exit.
caerDeviceClose((caerDeviceHandle *) &moduleData->moduleState);
return (false);
}
// Add config listeners last, to avoid having them dangling if Init doesn't succeed.
sshsNode biasNode = sshsGetRelativeNode(moduleData->moduleNode, "bias/");
sshsNodeAddAttributeListener(biasNode, moduleData, &biasConfigListener);
sshsNode dvsNode = sshsGetRelativeNode(moduleData->moduleNode, "dvs/");
sshsNodeAddAttributeListener(dvsNode, moduleData, &dvsConfigListener);
sshsNode serialNode = sshsGetRelativeNode(moduleData->moduleNode, "serial/");
sshsNodeAddAttributeListener(serialNode, moduleData, &serialConfigListener);
sshsNode sysNode = sshsGetRelativeNode(moduleData->moduleNode, "system/");
sshsNodeAddAttributeListener(sysNode, moduleData, &systemConfigListener);
sshsNodeAddAttributeListener(moduleData->moduleNode, moduleData, &logLevelListener);
return (true);
}
static bool 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 bool caerInputDAVISInit(caerModuleData moduleData) {
caerModuleLog(moduleData, CAER_LOG_DEBUG, "Initializing module ...");
// Start data acquisition, and correctly notify mainloop of new data and module of exceptional
// shutdown cases (device pulled, ...).
char *serialNumber = sshsNodeGetString(moduleData->moduleNode, "serialNumber");
moduleData->moduleState = caerDeviceOpen(U16T(moduleData->moduleID), CAER_DEVICE_DAVIS,
U8T(sshsNodeGetInt(moduleData->moduleNode, "busNumber")),
U8T(sshsNodeGetInt(moduleData->moduleNode, "devAddress")), serialNumber);
free(serialNumber);
if (moduleData->moduleState == NULL) {
// Failed to open device.
return (false);
}
struct caer_davis_info devInfo = caerDavisInfoGet(moduleData->moduleState);
caerInputDAVISCommonInit(moduleData, &devInfo);
// Generate sub-system string for module.
char *prevAdditionStart = strchr(moduleData->moduleSubSystemString, '[');
if (prevAdditionStart != NULL) {
*prevAdditionStart = '\0';
}
size_t subSystemStringLength
= (size_t) snprintf(NULL, 0, "%s[SN %s, %" PRIu8 ":%" PRIu8 "]", moduleData->moduleSubSystemString,
devInfo.deviceSerialNumber, devInfo.deviceUSBBusNumber, devInfo.deviceUSBDeviceAddress);
char subSystemString[subSystemStringLength + 1];
snprintf(subSystemString, subSystemStringLength + 1, "%s[SN %s, %" PRIu8 ":%" PRIu8 "]",
moduleData->moduleSubSystemString, devInfo.deviceSerialNumber, devInfo.deviceUSBBusNumber,
devInfo.deviceUSBDeviceAddress);
subSystemString[subSystemStringLength] = '\0';
caerModuleSetSubSystemString(moduleData, subSystemString);
// Create default settings and send them to the device.
createDefaultBiasConfiguration(moduleData, chipIDToName(devInfo.chipID, true), devInfo.chipID);
createDefaultLogicConfiguration(moduleData, chipIDToName(devInfo.chipID, true), &devInfo);
createDefaultUSBConfiguration(moduleData, chipIDToName(devInfo.chipID, true));
sendDefaultConfiguration(moduleData, &devInfo);
// Start data acquisition.
bool ret = caerDeviceDataStart(moduleData->moduleState, &caerMainloopDataNotifyIncrease,
&caerMainloopDataNotifyDecrease, NULL, &moduleShutdownNotify, moduleData->moduleNode);
if (!ret) {
// Failed to start data acquisition, close device and exit.
caerDeviceClose((caerDeviceHandle *) &moduleData->moduleState);
return (false);
}
// Device related configuration has its own sub-node.
sshsNode deviceConfigNode = sshsGetRelativeNode(moduleData->moduleNode, chipIDToName(devInfo.chipID, true));
// Add config listeners last, to avoid having them dangling if Init doesn't succeed.
sshsNode chipNode = sshsGetRelativeNode(deviceConfigNode, "chip/");
sshsNodeAddAttributeListener(chipNode, moduleData, &chipConfigListener);
sshsNode muxNode = sshsGetRelativeNode(deviceConfigNode, "multiplexer/");
sshsNodeAddAttributeListener(muxNode, moduleData, &muxConfigListener);
sshsNode dvsNode = sshsGetRelativeNode(deviceConfigNode, "dvs/");
sshsNodeAddAttributeListener(dvsNode, moduleData, &dvsConfigListener);
sshsNode apsNode = sshsGetRelativeNode(deviceConfigNode, "aps/");
sshsNodeAddAttributeListener(apsNode, moduleData, &apsConfigListener);
sshsNode imuNode = sshsGetRelativeNode(deviceConfigNode, "imu/");
sshsNodeAddAttributeListener(imuNode, moduleData, &imuConfigListener);
sshsNode extNode = sshsGetRelativeNode(deviceConfigNode, "externalInput/");
sshsNodeAddAttributeListener(extNode, moduleData, &extInputConfigListener);
sshsNode usbNode = sshsGetRelativeNode(deviceConfigNode, "usb/");
sshsNodeAddAttributeListener(usbNode, moduleData, &usbConfigListener);
sshsNode sysNode = sshsGetRelativeNode(moduleData->moduleNode, "system/");
sshsNodeAddAttributeListener(sysNode, moduleData, &systemConfigListener);
sshsNode biasNode = sshsGetRelativeNode(deviceConfigNode, "bias/");
size_t biasNodesLength = 0;
sshsNode *biasNodes = sshsNodeGetChildren(biasNode, &biasNodesLength);
if (biasNodes != NULL) {
for (size_t i = 0; i < biasNodesLength; i++) {
// Add listener for this particular bias.
sshsNodeAddAttributeListener(biasNodes[i], moduleData, &biasConfigListener);
}
free(biasNodes);
}
sshsNodeAddAttributeListener(moduleData->moduleNode, moduleData, &logLevelListener);
return (true);
}
