static bool caerOutputFileInit(caerModuleData moduleData) {
// First, always create all needed setting nodes, set their default values
// and add their listeners.
char *userHomeDir = getUserHomeDirectory(moduleData);
if (userHomeDir == NULL) {
// caerModuleLog() called inside getUserHomeDirectory().
return (false);
}
sshsNodeCreateString(moduleData->moduleNode, "directory", userHomeDir, 1, (PATH_MAX - MAX_PREFIX_LENGTH),
SSHS_FLAGS_NORMAL, "Directory to write output data files in.");
free(userHomeDir);
// Support file-chooser in GUI, select any directory.
sshsNodeCreateAttributeFileChooser(moduleData->moduleNode, "directory", "DIRECTORY");
sshsNodeCreateString(moduleData->moduleNode, "prefix", DEFAULT_PREFIX, 1, MAX_PREFIX_LENGTH, SSHS_FLAGS_NORMAL,
"Output data files name prefix.");
// Generate current file name and open it.
char *directory = sshsNodeGetString(moduleData->moduleNode, "directory");
char *prefix = sshsNodeGetString(moduleData->moduleNode, "prefix");
char *filePath = getFullFilePath(moduleData, directory, prefix);
free(directory);
free(prefix);
if (filePath == NULL) {
// caerModuleLog() called inside getFullFilePath().
return (false);
}
int fileFd = open(filePath, O_WRONLY | O_CREAT, S_IWUSR | S_IRUSR | S_IRGRP);
if (fileFd < 0) {
caerModuleLog(moduleData, CAER_LOG_CRITICAL,
"Could not create or open output file '%s' for writing. Error: %d.", filePath, errno);
free(filePath);
return (false);
}
caerModuleLog(moduleData, CAER_LOG_INFO, "Opened output file '%s' successfully for writing.", filePath);
free(filePath);
if (!caerOutputCommonInit(moduleData, fileFd, NULL)) {
close(fileFd);
return (false);
}
return (true);
}
static bool caerInputUnixSocketInit(caerModuleData moduleData) {
// First, always create all needed setting nodes, set their default values
// and add their listeners.
sshsNodeCreateString(moduleData->moduleNode, "socketPath", "/tmp/caer.sock", 2, PATH_MAX, SSHS_FLAGS_NORMAL,
"Unix Socket path for reading input data.");
// Open an existing Unix local socket at a known path, where we'll write to.
int sockFd = socket(AF_UNIX, SOCK_STREAM, 0);
if (sockFd < 0) {
caerModuleLog(moduleData, CAER_LOG_CRITICAL, "Could not create local Unix socket. Error: %d.", errno);
return (false);
}
struct sockaddr_un unixSocketAddr;
memset(&unixSocketAddr, 0, sizeof(struct sockaddr_un));
unixSocketAddr.sun_family = AF_UNIX;
char *socketPath = sshsNodeGetString(moduleData->moduleNode, "socketPath");
strncpy(unixSocketAddr.sun_path, socketPath, sizeof(unixSocketAddr.sun_path) - 1);
unixSocketAddr.sun_path[sizeof(unixSocketAddr.sun_path) - 1] = '\0'; // Ensure NUL terminated string.
free(socketPath);
// Connect socket to above address.
if (connect(sockFd, (struct sockaddr *) &unixSocketAddr, sizeof(struct sockaddr_un)) < 0) {
close(sockFd);
caerModuleLog(moduleData, CAER_LOG_CRITICAL, "Could not connect to local Unix socket. Error: %d.", errno);
return (false);
}
if (!caerInputCommonInit(moduleData, sockFd, true, false)) {
close(sockFd);
return (false);
}
caerModuleLog(moduleData, CAER_LOG_INFO, "Local Unix socket ready at '%s'.", unixSocketAddr.sun_path);
return (true);
}
static int caerConfigServerRunner(void *inPtr) {
UNUSED_ARGUMENT(inPtr);
// Get the right configuration node first.
sshsNode serverNode = sshsGetNode(sshsGetGlobal(), "/server/");
// Ensure default values are present.
sshsNodePutStringIfAbsent(serverNode, "ipAddress", "127.0.0.1");
sshsNodePutIntIfAbsent(serverNode, "portNumber", 4040);
sshsNodePutShortIfAbsent(serverNode, "backlogSize", 5);
sshsNodePutShortIfAbsent(serverNode, "concurrentConnections", 5);
// Open a TCP server socket for configuration handling.
// TCP chosen for reliability, which is more important here than speed.
int configServerSocket = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
if (configServerSocket < 0) {
caerLog(CAER_LOG_CRITICAL, "Config Server", "Could not create server socket. Error: %d.", errno);
return (EXIT_FAILURE);
}
// Make socket address reusable right away.
socketReuseAddr(configServerSocket, true);
struct sockaddr_in configServerAddress;
memset(&configServerAddress, 0, sizeof(struct sockaddr_in));
configServerAddress.sin_family = AF_INET;
configServerAddress.sin_port = htons(sshsNodeGetInt(serverNode, "portNumber"));
char *ipAddress = sshsNodeGetString(serverNode, "ipAddress");
inet_aton(ipAddress, &configServerAddress.sin_addr); // htonl() is implicit here.
free(ipAddress);
// Bind socket to above address.
if (bind(configServerSocket, (struct sockaddr *) &configServerAddress, sizeof(struct sockaddr_in)) < 0) {
caerLog(CAER_LOG_CRITICAL, "Config Server", "Could not bind server socket. Error: %d.", errno);
return (EXIT_FAILURE);
}
// Listen to new connections on the socket.
if (listen(configServerSocket, sshsNodeGetShort(serverNode, "backlogSize")) < 0) {
caerLog(CAER_LOG_CRITICAL, "Config Server", "Could not listen on server socket. Error: %d.", errno);
return (EXIT_FAILURE);
}
// Control message format: 1 byte ACTION, 1 byte TYPE, 2 bytes EXTRA_LEN,
// 2 bytes NODE_LEN, 2 bytes KEY_LEN, 2 bytes VALUE_LEN, then up to 4086
// bytes split between EXTRA, NODE, KEY, VALUE (with 4 bytes for NUL).
// Basically: (EXTRA_LEN + NODE_LEN + KEY_LEN + VALUE_LEN) <= 4086.
// EXTRA, NODE, KEY, VALUE have to be NUL terminated, and their length
// must include the NUL termination byte.
// This results in a maximum message size of 4096 bytes (4KB).
uint8_t configServerBuffer[4096];
caerLog(CAER_LOG_NOTICE, "Config Server", "Ready and listening on %s:%" PRIu16 ".",
inet_ntoa(configServerAddress.sin_addr), ntohs(configServerAddress.sin_port));
size_t connections = (size_t) sshsNodeGetShort(serverNode, "concurrentConnections") + 1;// +1 for listening socket.
struct pollfd pollSockets[connections];
// Initially ignore all pollfds, and react only to POLLIN events.
for (size_t i = 0; i < connections; i++) {
pollSockets[i].fd = -1;
pollSockets[i].events = POLLIN;
}
// First pollfd is the listening socket, always.
pollSockets[0].fd = configServerSocket;
while (atomic_load_explicit(&configServerThread.running, memory_order_relaxed)) {
int pollResult = poll(pollSockets, (nfds_t) connections, 1000);
if (pollResult > 0) {
// First let's check if there's a new connection waiting to be accepted.
if ((pollSockets[0].revents & POLLIN) != 0) {
int newClientSocket = accept(pollSockets[0].fd, NULL, NULL);
if (newClientSocket >= 0) {
// Put it in the list of watched fds if possible, or close.
bool putInFDList = false;
for (size_t i = 1; i < connections; i++) {
if (pollSockets[i].fd == -1) {
// Empty place in watch list, add this one.
pollSockets[i].fd = newClientSocket;
putInFDList = true;
break;
}
}
// No space for new connection, just close it (client will exit).
if (!putInFDList) {
close(newClientSocket);
caerLog(CAER_LOG_DEBUG, "Config Server", "Rejected client (fd %d), queue full.",
newClientSocket);
}
else {
caerLog(CAER_LOG_DEBUG, "Config Server", "Accepted new connection from client (fd %d).",
newClientSocket);
}
}
}
for (size_t i = 1; i < connections; i++) {
// Work on existing connections, valid and with read events.
if (pollSockets[i].fd != -1 && (pollSockets[i].revents & POLLIN) != 0) {
// Accepted client connection, let's get all the data we need: first
// the 10 byte header, and then whatever remains based on that.
if (!recvUntilDone(pollSockets[i].fd, configServerBuffer, 10)) {
// Closed on other side or error. Let's just close here too.
close(pollSockets[i].fd);
caerLog(CAER_LOG_DEBUG, "Config Server", "Disconnected client on recv (fd %d).",
pollSockets[i].fd);
pollSockets[i].fd = -1;
continue;
}
// Decode header fields (all in little-endian).
uint8_t action = configServerBuffer[0];
uint8_t type = configServerBuffer[1];
uint16_t extraLength = le16toh(*(uint16_t * )(configServerBuffer + 2));
uint16_t nodeLength = le16toh(*(uint16_t * )(configServerBuffer + 4));
uint16_t keyLength = le16toh(*(uint16_t * )(configServerBuffer + 6));
uint16_t valueLength = le16toh(*(uint16_t * )(configServerBuffer + 8));
// Total length to get for command.
size_t readLength = (size_t) (extraLength + nodeLength + keyLength + valueLength);
if (!recvUntilDone(pollSockets[i].fd, configServerBuffer + 10, readLength)) {
// Closed on other side or error. Let's just close here too.
close(pollSockets[i].fd);
caerLog(CAER_LOG_DEBUG, "Config Server", "Disconnected client on recv (fd %d).",
pollSockets[i].fd);
pollSockets[i].fd = -1;
continue;
}
// Now we have everything. The header fields are already
// fully decoded: handle request (and send back data eventually).
caerConfigServerHandleRequest(pollSockets[i].fd, action, type, configServerBuffer + 10, extraLength,
configServerBuffer + 10 + extraLength, nodeLength,
configServerBuffer + 10 + extraLength + nodeLength, keyLength,
configServerBuffer + 10 + extraLength + nodeLength + keyLength, valueLength);
}
}
}
else if (pollResult < 0) {
caerLog(CAER_LOG_ALERT, "Config Server", "poll() failed. Error: %d.", errno);
}
// pollResult == 0 just means nothing to do (timeout reached).
}
// Shutdown!
close(configServerSocket);
return (EXIT_SUCCESS);
}
static void handleNewServerConnections(outputCommonState state) {
// First let's see if any new connections are waiting on the listening
// socket to be accepted. This returns right away (non-blocking).
socklen_t clientAddrLength = sizeof(struct sockaddr_in);
struct sockaddr_in clientAddr;
memset(&clientAddr, 0, clientAddrLength);
int acceptResult = accept(state->fileDescriptors->serverFd, (struct sockaddr *) &clientAddr, &clientAddrLength);
if (acceptResult < 0) {
if (errno != EAGAIN && errno != EWOULDBLOCK) {
// Only log real failure. EAGAIN/EWOULDBLOCK just means no
// connections are present for non-blocking accept() right now.
caerLog(CAER_LOG_ERROR, state->parentModule->moduleSubSystemString,
"TCP server accept() failed. Error: %d.", errno);
}
return;
}
// New connection present!
// Put it in the list of FDs and send header, if there is space left, or close.
for (size_t i = 0; i < state->fileDescriptors->fdsSize; i++) {
if (state->fileDescriptors->fds[i] == -1) {
caerLog(CAER_LOG_DEBUG, state->parentModule->moduleSubSystemString,
"Accepted new TCP connection from client (fd %d).", acceptResult);
// Commit current buffer, so that for the new clients, it's empty, and they
// don't get packets and data that are possibly cut in the middle.
commitOutputBuffer(state);
// Empty place in FD list, add this one.
state->fileDescriptors->fds[i] = acceptResult;
// Successfully connected, send header to client.
sendNetworkHeader(state, &state->fileDescriptors->fds[i]);
// Add client IP to list. This is a comma separated string.
char *connectedClientsStr = sshsNodeGetString(state->parentModule->moduleNode, "connectedClients");
size_t newConnectedClientStrLength = strlen(connectedClientsStr) + 1 + INET_ADDRSTRLEN + 1;
char *newConnectedClientsStr = realloc(connectedClientsStr, newConnectedClientStrLength);
if (newConnectedClientsStr == NULL) {
free(connectedClientsStr);
caerLog(CAER_LOG_ERROR, state->parentModule->moduleSubSystemString,
"Failed to update connectedClients information.");
return;
}
const char *clientAddrStr = inet_ntop(AF_INET, &clientAddr.sin_addr, (char[INET_ADDRSTRLEN] ) { 0x00 },
INET_ADDRSTRLEN);
if (!caerStrEquals(newConnectedClientsStr, "")) {
// Only prepend comma if the string wasn't empty before.
strncat(newConnectedClientsStr, ",", 1);
}
strncat(newConnectedClientsStr, clientAddrStr, INET_ADDRSTRLEN);
sshsNodePutString(state->parentModule->moduleNode, "connectedClients", newConnectedClientsStr);
free(newConnectedClientsStr);
return;
}
static bool caerOutputUnixSocketServerInit(caerModuleData moduleData) {
// First, always create all needed setting nodes, set their default values
// and add their listeners.
sshsNodeCreateString(moduleData->moduleNode, "socketPath", "/tmp/caer.sock", 2, PATH_MAX, SSHS_FLAGS_NORMAL,
"Unix Socket path for writing output data (server mode, create new socket).");
sshsNodeCreateInt(
moduleData->moduleNode, "backlogSize", 5, 1, 32, SSHS_FLAGS_NORMAL, "Maximum number of pending connections.");
sshsNodeCreateInt(moduleData->moduleNode, "concurrentConnections", 10, 1, 128, SSHS_FLAGS_NORMAL,
"Maximum number of concurrent active connections.");
// Allocate memory.
size_t numClients = (size_t) sshsNodeGetInt(moduleData->moduleNode, "concurrentConnections");
outputCommonNetIO streams = malloc(sizeof(*streams) + (numClients * sizeof(uv_stream_t *)));
if (streams == NULL) {
caerModuleLog(moduleData, CAER_LOG_ERROR, "Failed to allocate memory for streams structure.");
return (false);
}
streams->server = malloc(sizeof(uv_pipe_t));
if (streams->server == NULL) {
free(streams);
caerModuleLog(moduleData, CAER_LOG_ERROR, "Failed to allocate memory for network server.");
return (false);
}
// Initialize common info.
streams->isTCP = false;
streams->isUDP = false;
streams->isPipe = true;
streams->activeClients = 0;
streams->clientsSize = numClients;
for (size_t i = 0; i < streams->clientsSize; i++) {
streams->clients[i] = NULL;
}
// Remember address.
streams->address = sshsNodeGetString(moduleData->moduleNode, "socketPath");
streams->server->data = streams;
// Initialize loop and network handles.
int retVal = uv_loop_init(&streams->loop);
UV_RET_CHECK(retVal, moduleData->moduleSubSystemString, "uv_loop_init", free(streams->server);
free(streams->address); free(streams); return (false));
retVal = uv_pipe_init(&streams->loop, (uv_pipe_t *) streams->server, false);
UV_RET_CHECK(retVal, moduleData->moduleSubSystemString, "uv_pipe_init", uv_loop_close(&streams->loop);
free(streams->server); free(streams->address); free(streams); return (false));
retVal = uv_pipe_bind((uv_pipe_t *) streams->server, streams->address);
UV_RET_CHECK(retVal, moduleData->moduleSubSystemString, "uv_pipe_bind", libuvCloseLoopHandles(&streams->loop);
uv_loop_close(&streams->loop); free(streams->address); free(streams); return (false));
retVal = uv_listen(
streams->server, sshsNodeGetInt(moduleData->moduleNode, "backlogSize"), &caerOutputCommonOnServerConnection);
UV_RET_CHECK(retVal, moduleData->moduleSubSystemString, "uv_listen", libuvCloseLoopHandles(&streams->loop);
uv_loop_close(&streams->loop); free(streams->address); free(streams); return (false));
// Start.
if (!caerOutputCommonInit(moduleData, -1, streams)) {
libuvCloseLoopHandles(&streams->loop);
uv_loop_close(&streams->loop);
free(streams->address);
free(streams);
return (false);
}
return (true);
}
static bool caerOutputUnixSocketServerInit(caerModuleData moduleData) {
// First, always create all needed setting nodes, set their default values
// and add their listeners.
sshsNodePutStringIfAbsent(moduleData->moduleNode, "socketPath", "/tmp/caer.sock");
sshsNodePutShortIfAbsent(moduleData->moduleNode, "backlogSize", 5);
sshsNodePutShortIfAbsent(moduleData->moduleNode, "concurrentConnections", 10);
// Open a Unix local socket on a known path, to be accessed by other processes (server-like mode).
int serverSockFd = socket(AF_UNIX, SOCK_STREAM, 0);
if (serverSockFd < 0) {
caerLog(CAER_LOG_CRITICAL, moduleData->moduleSubSystemString, "Could not create local Unix socket. Error: %d.",
errno);
return (false);
}
struct sockaddr_un unixSocketAddr;
memset(&unixSocketAddr, 0, sizeof(struct sockaddr_un));
unixSocketAddr.sun_family = AF_UNIX;
char *socketPath = sshsNodeGetString(moduleData->moduleNode, "socketPath");
strncpy(unixSocketAddr.sun_path, socketPath, sizeof(unixSocketAddr.sun_path) - 1);
unixSocketAddr.sun_path[sizeof(unixSocketAddr.sun_path) - 1] = '\0'; // Ensure NUL terminated string.
free(socketPath);
// Bind socket to above address.
if (bind(serverSockFd, (struct sockaddr *) &unixSocketAddr, sizeof(struct sockaddr_un)) < 0) {
close(serverSockFd);
caerLog(CAER_LOG_CRITICAL, moduleData->moduleSubSystemString, "Could not bind local Unix socket. Error: %d.",
errno);
return (false);
}
// Listen to new connections on the socket.
if (listen(serverSockFd, sshsNodeGetShort(moduleData->moduleNode, "backlogSize")) < 0) {
close(serverSockFd);
caerLog(CAER_LOG_CRITICAL, moduleData->moduleSubSystemString,
"Could not listen on local Unix socket. Error: %d.", errno);
return (false);
}
outputCommonFDs fileDescriptors = caerOutputCommonAllocateFdArray(
(size_t) sshsNodeGetShort(moduleData->moduleNode, "concurrentConnections"));
if (fileDescriptors == NULL) {
close(serverSockFd);
caerLog(CAER_LOG_CRITICAL, moduleData->moduleSubSystemString,
"Unable to allocate memory for file descriptors.");
return (false);
}
fileDescriptors->serverFd = serverSockFd;
if (!caerOutputCommonInit(moduleData, fileDescriptors, true, false)) {
close(serverSockFd);
free(fileDescriptors);
return (false);
}
caerLog(CAER_LOG_INFO, moduleData->moduleSubSystemString, "Local Unix socket ready at '%s'.",
unixSocketAddr.sun_path);
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 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 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);
}
