static void dvsConfigSend(sshsNode node, caerModuleData moduleData) {
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_DVS, DVS128_CONFIG_DVS_ARRAY_RESET,
sshsNodeGetBool(node, "ArrayReset"));
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_DVS, DVS128_CONFIG_DVS_TIMESTAMP_RESET,
sshsNodeGetBool(node, "TimestampReset"));
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_DVS, DVS128_CONFIG_DVS_RUN,
sshsNodeGetBool(node, "Run"));
}
static void caerVisualizerEventHandlerInput(caerVisualizerPublicState state, const sf::Event &event) {
// This only works with an input module.
const std::string moduleLibrary = sshsNodeGetStdString(state->eventSourceConfigNode, "moduleLibrary");
if (!boost::algorithm::starts_with(moduleLibrary, "caer_input_")) {
return;
}
// PAUSE.
if (event.type == sf::Event::KeyPressed && event.key.code == sf::Keyboard::Key::Space) {
bool pause = sshsNodeGetBool(state->eventSourceConfigNode, "pause");
sshsNodePutBool(state->eventSourceConfigNode, "pause", !pause);
}
// SLOW DOWN.
else if (event.type == sf::Event::KeyPressed && event.key.code == sf::Keyboard::Key::S) {
int timeSlice = sshsNodeGetInt(state->eventSourceConfigNode, "PacketContainerInterval");
sshsNodePutInt(state->eventSourceConfigNode, "PacketContainerInterval", timeSlice / 2);
}
// SPEED UP.
else if (event.type == sf::Event::KeyPressed && event.key.code == sf::Keyboard::Key::F) {
int timeSlice = sshsNodeGetInt(state->eventSourceConfigNode, "PacketContainerInterval");
sshsNodePutInt(state->eventSourceConfigNode, "PacketContainerInterval", timeSlice * 2);
}
}
static void caerInputEDVSExit(caerModuleData moduleData) {
// Remove listener, which can reference invalid memory in userData.
sshsNodeRemoveAttributeListener(moduleData->moduleNode, moduleData, &logLevelListener);
sshsNode biasNode = sshsGetRelativeNode(moduleData->moduleNode, "bias/");
sshsNodeRemoveAttributeListener(biasNode, moduleData, &biasConfigListener);
sshsNode dvsNode = sshsGetRelativeNode(moduleData->moduleNode, "dvs/");
sshsNodeRemoveAttributeListener(dvsNode, moduleData, &dvsConfigListener);
sshsNode serialNode = sshsGetRelativeNode(moduleData->moduleNode, "serial/");
sshsNodeRemoveAttributeListener(serialNode, moduleData, &serialConfigListener);
sshsNode sysNode = sshsGetRelativeNode(moduleData->moduleNode, "system/");
sshsNodeRemoveAttributeListener(sysNode, moduleData, &systemConfigListener);
caerDeviceDataStop(moduleData->moduleState);
caerDeviceClose((caerDeviceHandle *) &moduleData->moduleState);
// Clear sourceInfo node.
sshsNode sourceInfoNode = sshsGetRelativeNode(moduleData->moduleNode, "sourceInfo/");
sshsNodeRemoveAllAttributes(sourceInfoNode);
if (sshsNodeGetBool(moduleData->moduleNode, "autoRestart")) {
// Prime input module again so that it will try to restart if new devices detected.
sshsNodePutBool(moduleData->moduleNode, "running", true);
}
}
static void caerInputDVS128Exit(caerModuleData moduleData) {
caerDeviceDataStop(moduleData->moduleState);
caerDeviceClose((caerDeviceHandle *) &moduleData->moduleState);
if (sshsNodeGetBool(moduleData->moduleNode, "Auto-Restart")) {
// Prime input module again so that it will try to restart if new devices detected.
sshsNodePutBool(moduleData->moduleNode, "shutdown", false);
}
}
static void usbConfigSend(sshsNode node, caerModuleData moduleData) {
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_USB, CAER_HOST_CONFIG_USB_BUFFER_NUMBER,
U32T(sshsNodeGetInt(node, "BufferNumber")));
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_USB, CAER_HOST_CONFIG_USB_BUFFER_SIZE,
U32T(sshsNodeGetInt(node, "BufferSize")));
caerDeviceConfigSet(moduleData->moduleState, DAVIS_CONFIG_USB, DAVIS_CONFIG_USB_EARLY_PACKET_DELAY,
U32T(sshsNodeGetInt(node, "EarlyPacketDelay")));
caerDeviceConfigSet(moduleData->moduleState, DAVIS_CONFIG_USB, DAVIS_CONFIG_USB_RUN, sshsNodeGetBool(node, "Run"));
}
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);
}
}
