static void systemConfigSend(sshsNode node, caerModuleData moduleData) {
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_PACKETS,
CAER_HOST_CONFIG_PACKETS_MAX_CONTAINER_PACKET_SIZE, U32T(sshsNodeGetInt(node, "PacketContainerMaxPacketSize")));
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_PACKETS,
CAER_HOST_CONFIG_PACKETS_MAX_CONTAINER_INTERVAL, U32T(sshsNodeGetInt(node, "PacketContainerInterval")));
// Changes only take effect on module start!
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_DATAEXCHANGE,
CAER_HOST_CONFIG_DATAEXCHANGE_BUFFER_SIZE, U32T(sshsNodeGetInt(node, "DataExchangeBufferSize")));
}
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 usbConfigListener(sshsNode node, void *userData, enum sshs_node_attribute_events event,
const char *changeKey, enum sshs_node_attr_value_type changeType, union sshs_node_attr_value changeValue) {
UNUSED_ARGUMENT(node);
caerModuleData moduleData = userData;
if (event == ATTRIBUTE_MODIFIED) {
if (changeType == INT && caerStrEquals(changeKey, "BufferNumber")) {
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_USB, CAER_HOST_CONFIG_USB_BUFFER_NUMBER,
U32T(changeValue.iint));
}
else if (changeType == INT && caerStrEquals(changeKey, "BufferSize")) {
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_USB, CAER_HOST_CONFIG_USB_BUFFER_SIZE,
U32T(changeValue.iint));
}
}
}
static void systemConfigListener(sshsNode node, void *userData, enum sshs_node_attribute_events event,
const char *changeKey, enum sshs_node_attr_value_type changeType, union sshs_node_attr_value changeValue) {
UNUSED_ARGUMENT(node);
caerModuleData moduleData = userData;
if (event == SSHS_ATTRIBUTE_MODIFIED) {
if (changeType == SSHS_INT && caerStrEquals(changeKey, "PacketContainerMaxPacketSize")) {
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_PACKETS,
CAER_HOST_CONFIG_PACKETS_MAX_CONTAINER_PACKET_SIZE, U32T(changeValue.iint));
}
else if (changeType == SSHS_INT && caerStrEquals(changeKey, "PacketContainerInterval")) {
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_PACKETS,
CAER_HOST_CONFIG_PACKETS_MAX_CONTAINER_INTERVAL, U32T(changeValue.iint));
}
}
}
static void logLevelListener(sshsNode node, void *userData, enum sshs_node_attribute_events event,
const char *changeKey, enum sshs_node_attr_value_type changeType, union sshs_node_attr_value changeValue) {
UNUSED_ARGUMENT(node);
caerModuleData moduleData = userData;
if (event == SSHS_ATTRIBUTE_MODIFIED && changeType == SSHS_INT && caerStrEquals(changeKey, "logLevel")) {
caerDeviceConfigSet(
moduleData->moduleState, CAER_HOST_CONFIG_LOG, CAER_HOST_CONFIG_LOG_LEVEL, U32T(changeValue.iint));
}
}
static void serialConfigListener(sshsNode node, void *userData, enum sshs_node_attribute_events event,
const char *changeKey, enum sshs_node_attr_value_type changeType, union sshs_node_attr_value changeValue) {
UNUSED_ARGUMENT(node);
caerModuleData moduleData = userData;
if (event == SSHS_ATTRIBUTE_MODIFIED) {
if (changeType == SSHS_INT && caerStrEquals(changeKey, "ReadSize")) {
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_SERIAL, CAER_HOST_CONFIG_SERIAL_READ_SIZE,
U32T(changeValue.iint));
}
}
}
static void usbConfigListener(sshsNode node, void *userData, enum sshs_node_attribute_events event,
const char *changeKey, enum sshs_node_attr_value_type changeType, union sshs_node_attr_value changeValue) {
UNUSED_ARGUMENT(node);
caerModuleData moduleData = userData;
if (event == SSHS_ATTRIBUTE_MODIFIED) {
if (changeType == SSHS_INT && caerStrEquals(changeKey, "BufferNumber")) {
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_USB, CAER_HOST_CONFIG_USB_BUFFER_NUMBER,
U32T(changeValue.iint));
}
else if (changeType == SSHS_INT && caerStrEquals(changeKey, "BufferSize")) {
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_USB, CAER_HOST_CONFIG_USB_BUFFER_SIZE,
U32T(changeValue.iint));
}
else if (changeType == SSHS_INT && caerStrEquals(changeKey, "EarlyPacketDelay")) {
caerDeviceConfigSet(
moduleData->moduleState, DAVIS_CONFIG_USB, DAVIS_CONFIG_USB_EARLY_PACKET_DELAY, U32T(changeValue.iint));
}
else if (changeType == SSHS_BOOL && caerStrEquals(changeKey, "Run")) {
caerDeviceConfigSet(moduleData->moduleState, DAVIS_CONFIG_USB, DAVIS_CONFIG_USB_RUN, changeValue.boolean);
}
}
}
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")));
}
static void biasConfigListener(sshsNode node, void *userData, enum sshs_node_attribute_events event,
const char *changeKey, enum sshs_node_attr_value_type changeType, union sshs_node_attr_value changeValue) {
UNUSED_ARGUMENT(node);
caerModuleData moduleData = userData;
if (event == ATTRIBUTE_MODIFIED) {
if (changeType == INT && caerStrEquals(changeKey, "cas")) {
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_CAS,
U32T(changeValue.iint));
}
else if (changeType == INT && caerStrEquals(changeKey, "injGnd")) {
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_INJGND,
U32T(changeValue.iint));
}
else if (changeType == INT && caerStrEquals(changeKey, "reqPd")) {
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_REQPD,
U32T(changeValue.iint));
}
else if (changeType == INT && caerStrEquals(changeKey, "puX")) {
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_PUX,
U32T(changeValue.iint));
}
else if (changeType == INT && caerStrEquals(changeKey, "diffOff")) {
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_DIFFOFF,
U32T(changeValue.iint));
}
else if (changeType == INT && caerStrEquals(changeKey, "req")) {
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_REQ,
U32T(changeValue.iint));
}
else if (changeType == INT && caerStrEquals(changeKey, "refr")) {
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_REFR,
U32T(changeValue.iint));
}
else if (changeType == INT && caerStrEquals(changeKey, "puY")) {
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_PUY,
U32T(changeValue.iint));
}
else if (changeType == INT && caerStrEquals(changeKey, "diffOn")) {
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_DIFFON,
U32T(changeValue.iint));
}
else if (changeType == INT && caerStrEquals(changeKey, "diff")) {
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_DIFF,
U32T(changeValue.iint));
}
else if (changeType == INT && caerStrEquals(changeKey, "foll")) {
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_FOLL,
U32T(changeValue.iint));
}
else if (changeType == INT && caerStrEquals(changeKey, "pr")) {
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_PR,
U32T(changeValue.iint));
}
}
}
static void biasConfigSend(sshsNode node, caerModuleData moduleData) {
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_CAS,
U32T(sshsNodeGetInt(node, "cas")));
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_INJGND,
U32T(sshsNodeGetInt(node, "injGnd")));
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_REQPD,
U32T(sshsNodeGetInt(node, "reqPd")));
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_PUX,
U32T(sshsNodeGetInt(node, "puX")));
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_DIFFOFF,
U32T(sshsNodeGetInt(node, "diffOff")));
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_REQ,
U32T(sshsNodeGetInt(node, "req")));
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_REFR,
U32T(sshsNodeGetInt(node, "refr")));
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_PUY,
U32T(sshsNodeGetInt(node, "puY")));
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_DIFFON,
U32T(sshsNodeGetInt(node, "diffOn")));
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_DIFF,
U32T(sshsNodeGetInt(node, "diff")));
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_FOLL,
U32T(sshsNodeGetInt(node, "foll")));
caerDeviceConfigSet(moduleData->moduleState, DVS128_CONFIG_BIAS, DVS128_CONFIG_BIAS_PR,
U32T(sshsNodeGetInt(node, "pr")));
}
static void serialConfigSend(sshsNode node, caerModuleData moduleData) {
caerDeviceConfigSet(moduleData->moduleState, CAER_HOST_CONFIG_SERIAL, CAER_HOST_CONFIG_SERIAL_READ_SIZE,
U32T(sshsNodeGetInt(node, "ReadSize")));
}
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);
}
