static inline bool writeFlowEventPacketFile(flowOutputState state,
FlowEventPacket flow) {
caerEventPacketHeader header = (caerEventPacketHeader) flow;
if (caerEventPacketHeaderGetEventValid(header) == 0) {
return (false);
}
for (int32_t i = 0; i < caerEventPacketHeaderGetEventNumber(header); i++) {
FlowEvent e = &(flow->events[i]);
if (e == NULL) {
caerLog(CAER_LOG_ERROR,SUBSYSTEM_FILE,"Event null pointer found.");
return (false);
}
if (!e->hasFlow) {continue;}
// Get event data
uint8_t x = (uint8_t) caerPolarityEventGetX((caerPolarityEvent) e);
uint8_t y = (uint8_t) caerPolarityEventGetY((caerPolarityEvent) e);
int32_t t = caerPolarityEventGetTimestamp((caerPolarityEvent) e);
bool p = caerPolarityEventGetPolarity((caerPolarityEvent) e);
double u = e->u;
double v = e->v;
// Write to file
if (state->fileLineNumber < FILE_MAX_NUMBER_OF_LINES) {
fprintf(state->file,"%3i,%3i,%10i,%d,%4.3f,%4.3f\n",x,y,t,p,u,v);
state->fileLineNumber++;
}
else {
// If too many lines, stop logging to prevent overrun
if (state->fileLineNumber == FILE_MAX_NUMBER_OF_LINES) {
caerLog(CAER_LOG_NOTICE, SUBSYSTEM_FILE,
"File log reached limit of %d lines - "
"no more lines will be added.", FILE_MAX_NUMBER_OF_LINES);
state->fileLineNumber++;
}
}
}
return (true);
}
static inline bool sendFlowEventPacketUart(FlowEventPacket flow) {
caerEventPacketHeader header = (caerEventPacketHeader) flow;
uint32_t packetSize = (uint32_t) caerEventPacketHeaderGetEventNumber(header);
if (packetSize == 0) {
// No events to send - return
return (false);
}
// Events are separated by unsigned ints of value 255. This value should
// never occur as pixel location
unsigned char eventSeparator = 255;
// Iterate through packet and send events
for (uint32_t i = 0; i < packetSize; i++) {
FlowEvent e = &(flow->events[i]);
if (e == NULL) {
caerLog(CAER_LOG_ERROR,SUBSYSTEM_UART,"Event null pointer found.");
return (false);
}
if (!e->hasFlow) {continue;}
uint8_t x = (uint8_t) caerPolarityEventGetX((caerPolarityEvent) e);
uint8_t y = (uint8_t) caerPolarityEventGetY((caerPolarityEvent) e);
int32_t t = caerPolarityEventGetTimestamp((caerPolarityEvent) e);
int16_t u = (int16_t) (e->u*100);
int16_t v = (int16_t) (e->v*100);
// Send data over UART
if (uart_tx(sizeof(x),(unsigned char*) &x)
|| uart_tx(sizeof(y),(unsigned char*) &y)
|| uart_tx(sizeof(t),(unsigned char*) &t)
|| uart_tx(sizeof(u),(unsigned char*) &u)
|| uart_tx(sizeof(v),(unsigned char*) &v)
|| uart_tx(sizeof(eventSeparator), &eventSeparator)) {
caerLog(CAER_LOG_ERROR,SUBSYSTEM_UART,"Event info not fully sent.");
return (false);
}
}
return (true);
}
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);
}
