diff --git a/components/net/cpp/src/universe.cpp b/components/net/cpp/src/universe.cpp
index eec96a6c79fde0600dd74e760467b65cece3f6ed..ed01d6fce4711136eae1a26d44dacf890b1ce75e 100644
--- a/components/net/cpp/src/universe.cpp
+++ b/components/net/cpp/src/universe.cpp
@@ -122,6 +122,7 @@ int Universe::_setDescriptors() {
SOCKET n = 0;
+ // TODO Shared lock for some of the time...
UNIQUE_LOCK(net_mutex_,lk);
//Set file descriptor for the listening sockets.
@@ -324,44 +325,50 @@ void Universe::_run() {
}
// CHECK Could this mutex be the problem!?
- UNIQUE_LOCK(net_mutex_,lk);
-
- //If connection request is waiting
- for (auto l : listeners_) {
- if (l && l->isListening()) {
- if (FD_ISSET(l->_socket(), &sfdread_)) {
- int rsize = sizeof(sockaddr_storage);
- sockaddr_storage addr;
-
- //Finally accept this client connection.
- SOCKET csock = accept(l->_socket(), (sockaddr*)&addr, (socklen_t*)&rsize);
+ {
+ UNIQUE_LOCK(net_mutex_,lk);
- if (csock != INVALID_SOCKET) {
- auto p = new Peer(csock, this, &disp_);
- peers_.push_back(p);
- _installBindings(p);
+ //If connection request is waiting
+ for (auto l : listeners_) {
+ if (l && l->isListening()) {
+ if (FD_ISSET(l->_socket(), &sfdread_)) {
+ int rsize = sizeof(sockaddr_storage);
+ sockaddr_storage addr;
+
+ //Finally accept this client connection.
+ SOCKET csock = accept(l->_socket(), (sockaddr*)&addr, (socklen_t*)&rsize);
+
+ if (csock != INVALID_SOCKET) {
+ auto p = new Peer(csock, this, &disp_);
+ peers_.push_back(p);
+ _installBindings(p);
+ }
}
}
}
}
// TODO(Nick) Might switch to shared lock here?
-
- //Also check each clients socket to see if any messages or errors are waiting
- for (auto s : peers_) {
- if (s != NULL && s->isValid()) {
- //If message received from this client then deal with it
- if (FD_ISSET(s->_socket(), &sfdread_)) {
- s->data();
- }
- if (FD_ISSET(s->_socket(), &sfderror_)) {
- s->socketError();
- s->close();
+ {
+ SHARED_LOCK(net_mutex_, lk);
+
+ //Also check each clients socket to see if any messages or errors are waiting
+ for (auto s : peers_) {
+ if (s != NULL && s->isValid()) {
+ //If message received from this client then deal with it
+ if (FD_ISSET(s->_socket(), &sfdread_)) {
+ s->data();
+ }
+ if (FD_ISSET(s->_socket(), &sfderror_)) {
+ s->socketError();
+ s->close();
+ }
}
}
}
+
// TODO(Nick) Don't always need to call this
- _cleanupPeers();
+ //_cleanupPeers();
}
}
diff --git a/components/rgbd-sources/src/net.cpp b/components/rgbd-sources/src/net.cpp
index d928614b914dc8f367af5d6789fad41671a1121b..c23ec9376250b379f9314e8e3a01950fdf7a281c 100644
--- a/components/rgbd-sources/src/net.cpp
+++ b/components/rgbd-sources/src/net.cpp
@@ -70,11 +70,12 @@ void NetSource::_recv(const vector<unsigned char> &jpg, const vector<unsigned ch
cv::imdecode(jpg, cv::IMREAD_COLOR, &tmp_rgb);
cv::imdecode(d, cv::IMREAD_UNCHANGED, &tmp_depth);
+ // Lock host to prevent grab
UNIQUE_LOCK(host_->mutex(),lk);
rgb_ = tmp_rgb;
tmp_depth.convertTo(depth_, CV_32FC1, 1.0f/(16.0f*100.0f));
N_--;
- lk.unlock();
+ //lk.unlock();
}
void NetSource::setPose(const Eigen::Matrix4f &pose) {
diff --git a/components/rgbd-sources/src/realsense_source.cpp b/components/rgbd-sources/src/realsense_source.cpp
index 309d3275799573846b622bea70b1dbae69b0da60..0766adb60669ae126cd89ee0faac66a2333e29cf 100644
--- a/components/rgbd-sources/src/realsense_source.cpp
+++ b/components/rgbd-sources/src/realsense_source.cpp
@@ -44,15 +44,11 @@ bool RealsenseSource::grab() {
rs2::depth_frame depth = frames.get_depth_frame();
float w = depth.get_width();
float h = depth.get_height();
- rs2::frame colour = frames.first(RS2_STREAM_COLOR); //.get_color_frame();
+ rscolour_ = frames.first(RS2_STREAM_COLOR); //.get_color_frame();
- //LOG(INFO) << " RS Frame size = " << w << "x" << h;
-
- //std::unique_lock<std::mutex> lk(mutex_);
cv::Mat tmp(cv::Size((int)w, (int)h), CV_16UC1, (void*)depth.get_data(), depth.get_stride_in_bytes());
tmp.convertTo(depth_, CV_32FC1, scale_);
- rgb_ = cv::Mat(cv::Size(w, h), CV_8UC4, (void*)colour.get_data(), cv::Mat::AUTO_STEP);
- //LOG(INFO) << "RS FRAME GRABBED: " << rgb_.cols << "x" << rgb_.rows;
+ rgb_ = cv::Mat(cv::Size(w, h), CV_8UC4, (void*)rscolour_.get_data(), cv::Mat::AUTO_STEP);
return true;
}
diff --git a/components/rgbd-sources/src/realsense_source.hpp b/components/rgbd-sources/src/realsense_source.hpp
index d2ca206a2756d6c90a2491728e1b0b9b1bfab662..2a48ac2dbe06e7bcefdb70112bb6f5c0e4d0461a 100644
--- a/components/rgbd-sources/src/realsense_source.hpp
+++ b/components/rgbd-sources/src/realsense_source.hpp
@@ -25,6 +25,7 @@ class RealsenseSource : public ftl::rgbd::detail::Source {
float scale_;
rs2::pipeline pipe_;
rs2::align align_to_depth_;
+ rs2::frame rscolour_;
};
}
diff --git a/components/rgbd-sources/src/streamer.cpp b/components/rgbd-sources/src/streamer.cpp
index e9c0701c4e72f7d9f032f4e87173919cfa75d119..2e084975d6fd8299e9787719790fcc842c266668 100644
--- a/components/rgbd-sources/src/streamer.cpp
+++ b/components/rgbd-sources/src/streamer.cpp
@@ -93,13 +93,17 @@ Streamer::~Streamer() {
}
void Streamer::add(Source *src) {
- UNIQUE_LOCK(mutex_,ulk);
- if (sources_.find(src->getID()) != sources_.end()) return;
+ StreamSource *s = nullptr;
+
+ {
+ UNIQUE_LOCK(mutex_,ulk);
+ if (sources_.find(src->getID()) != sources_.end()) return;
- StreamSource *s = new StreamSource;
- s->src = src;
- s->state = 0;
- sources_[src->getID()] = s;
+ StreamSource *s = new StreamSource;
+ s->src = src;
+ s->state = 0;
+ sources_[src->getID()] = s;
+ }
LOG(INFO) << "Streaming: " << src->getID();
net_->broadcast("add_stream", src->getID());
@@ -108,7 +112,7 @@ void Streamer::add(Source *src) {
void Streamer::_addClient(const string &source, int N, int rate, const ftl::UUID &peer, const string &dest) {
StreamSource *s = nullptr;
- {
+ //{
UNIQUE_LOCK(mutex_,slk);
if (sources_.find(source) == sources_.end()) return;
@@ -118,7 +122,7 @@ void Streamer::_addClient(const string &source, int N, int rate, const ftl::UUID
DLOG(INFO) << "Adding Stream Peer: " << peer.to_string();
s = sources_[source];
- }
+ //}
if (!s) return;