From 27edb4f96ef35cf0651741620d4f50f3a13b3339 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 9 Jul 2020 21:13:49 +0300
Subject: [PATCH] Configurable aliasing and non stereo rectify bug fix
---
.../common/cpp/include/ftl/configuration.hpp | 5 ++++
components/common/cpp/src/configuration.cpp | 11 ++++++++-
.../src/sources/stereovideo/rectification.cpp | 1 +
.../src/sources/stereovideo/stereovideo.cpp | 2 ++
components/streams/src/netstream.cpp | 23 +++++++++++++++++++
5 files changed, 41 insertions(+), 1 deletion(-)
diff --git a/components/common/cpp/include/ftl/configuration.hpp b/components/common/cpp/include/ftl/configuration.hpp
index 7ad81440b..5b0106fe0 100644
--- a/components/common/cpp/include/ftl/configuration.hpp
+++ b/components/common/cpp/include/ftl/configuration.hpp
@@ -79,6 +79,11 @@ json_t &resolveWait(const std::string &);
*/
Configurable *find(const std::string &uri);
+/**
+ * Add an alternative URI for a configurable.
+ */
+void alias(const std::string &uri, Configurable *cfg);
+
/**
* Get all configurables that contain a specified tag. Tags are given under the
* "tags" property as an array of strings, but only during configurable
diff --git a/components/common/cpp/src/configuration.cpp b/components/common/cpp/src/configuration.cpp
index 5e7bd0ea2..9c1154d6e 100644
--- a/components/common/cpp/src/configuration.cpp
+++ b/components/common/cpp/src/configuration.cpp
@@ -238,6 +238,7 @@ static bool mergeConfig(const string path) {
static std::map<std::string, json_t*> config_index;
static std::map<std::string, ftl::Configurable*> config_instance;
+static std::map<std::string, ftl::Configurable*> config_alias;
static std::map<std::string, std::vector<ftl::Configurable*>> tag_index;
/*
@@ -269,10 +270,18 @@ ftl::Configurable *ftl::config::find(const std::string &uri) {
}
auto ix = config_instance.find(actual_uri);
- if (ix == config_instance.end()) return nullptr;
+ if (ix == config_instance.end()) {
+ auto ix = config_alias.find(actual_uri);
+ if (ix == config_instance.end()) return nullptr;
+ else return (*ix).second;
+ }
else return (*ix).second;
}
+void ftl::config::alias(const std::string &uri, Configurable *cfg) {
+ config_alias[uri] = cfg;
+}
+
const std::vector<Configurable*> &ftl::config::findByTag(const std::string &tag) {
return tag_index[tag];
}
diff --git a/components/rgbd-sources/src/sources/stereovideo/rectification.cpp b/components/rgbd-sources/src/sources/stereovideo/rectification.cpp
index 78c935ecc..a514c54f1 100644
--- a/components/rgbd-sources/src/sources/stereovideo/rectification.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/rectification.cpp
@@ -181,6 +181,7 @@ double StereoRectification::baseline() {
}
double StereoRectification::doff() {
+ if (!enabled_ || !valid_) return 0.0;
return -(Q_.at<double>(3,3) * baseline_);
}
diff --git a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
index 815e42657..5416b167f 100644
--- a/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
@@ -172,6 +172,8 @@ void StereoVideoSource::updateParameters(ftl::rgbd::Frame &frame) {
calibration_change_ = frame.onChange(Channel::CalibrationData, [this]
(ftl::data::Frame& frame, ftl::codecs::Channel) {
+ if (!lsrc_->isStereo()) return true;
+
auto &change = frame.get<ftl::calibration::CalibrationData>(Channel::CalibrationData);
try {
change.writeFile(fname_calib_);
diff --git a/components/streams/src/netstream.cpp b/components/streams/src/netstream.cpp
index 105152c14..73c758f49 100644
--- a/components/streams/src/netstream.cpp
+++ b/components/streams/src/netstream.cpp
@@ -3,6 +3,11 @@
#define LOGURU_REPLACE_GLOG 1
#include <loguru.hpp>
+#ifndef WIN32
+#include <unistd.h>
+#include <limits.h>
+#endif
+
using ftl::stream::Net;
using ftl::codecs::StreamPacket;
using ftl::codecs::Packet;
@@ -229,6 +234,24 @@ bool Net::begin() {
// TODO: Register URI as available.
host_ = true;
+ // Alias the URI to the configurable if not already
+ // Allows the URI to be used to get config data.
+ if (ftl::config::find(uri_) == nullptr) {
+ ftl::config::alias(uri_, this);
+ }
+
+ // Automatically set name if missing
+ if (!get<std::string>("name")) {
+ char hostname[1024] = {0};
+ #ifdef WIN32
+ GetComputerName(hostname, 1024);
+ #else
+ gethostname(hostname, 1024);
+ #endif
+
+ set("name", std::string(hostname));
+ }
+
net_->broadcast("add_stream", uri_);
return true;
--
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