From 8a43f32fe1a91855259852ab11ba6fc9a1988df9 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 6 Jul 2020 11:10:26 +0300
Subject: [PATCH] URI json parse before source create
---
applications/vision/src/main.cpp | 8 ++---
components/common/cpp/src/uri.cpp | 12 ++++---
.../src/sources/stereovideo/pylon.cpp | 31 +++++++++++++++++--
3 files changed, 39 insertions(+), 12 deletions(-)
diff --git a/applications/vision/src/main.cpp b/applications/vision/src/main.cpp
index 8f1c3a9cd..8d1b46c75 100644
--- a/applications/vision/src/main.cpp
+++ b/applications/vision/src/main.cpp
@@ -135,14 +135,12 @@ static void run(ftl::Configurable *root) {
}
}
- Source *source = nullptr;
- source = ftl::create<Source>(root, "source", net);
if (file != "") {
- //source->set("uri", file);
ftl::URI uri(file);
- uri.to_json(source->getConfig());
- source->set("uri", uri.getBaseURI());
+ uri.to_json(root->getConfig()["source"]);
}
+ Source *source = nullptr;
+ source = ftl::create<Source>(root, "source", net);
ftl::stream::Sender *sender = ftl::create<ftl::stream::Sender>(root, "sender");
ftl::stream::Net *outstream = ftl::create<ftl::stream::Net>(root, "stream", net);
diff --git a/components/common/cpp/src/uri.cpp b/components/common/cpp/src/uri.cpp
index 71b6e195d..fdb8e046c 100644
--- a/components/common/cpp/src/uri.cpp
+++ b/components/common/cpp/src/uri.cpp
@@ -2,7 +2,7 @@
#include <nlohmann/json.hpp>
// #include <filesystem> TODO When available
#include <cstdlib>
-//#include <loguru.hpp>
+#include <loguru.hpp>
#ifndef WIN32
#include <unistd.h>
@@ -210,14 +210,18 @@ void URI::to_json(nlohmann::json &json) {
size_t pos = 0;
size_t lpos = 0;
while ((pos = i.first.find('/', lpos)) != std::string::npos) {
- current = &((*current)[i.first.substr(lpos, pos-lpos)]);
+ std::string subobj = i.first.substr(lpos, pos-lpos);
+ current = &((*current)[subobj]);
lpos = pos+1;
}
+
+ std::string obj = i.first.substr(lpos);
+
auto p = nlohmann::json::parse(i.second, nullptr, false);
if (!p.is_discarded()) {
- (*current)[i.first.substr(lpos)] = p;
+ (*current)[obj] = p;
} else {
- (*current)[i.first.substr(lpos)] = i.second;
+ (*current)[obj] = i.second;
}
}
}
diff --git a/components/rgbd-sources/src/sources/stereovideo/pylon.cpp b/components/rgbd-sources/src/sources/stereovideo/pylon.cpp
index 7bec885a7..2cdb05277 100644
--- a/components/rgbd-sources/src/sources/stereovideo/pylon.cpp
+++ b/components/rgbd-sources/src/sources/stereovideo/pylon.cpp
@@ -11,6 +11,8 @@
#include <opencv2/imgproc.hpp>
+#include <nlohmann/json.hpp>
+
using ftl::rgbd::detail::PylonDevice;
using std::string;
using ftl::codecs::Channel;
@@ -26,22 +28,45 @@ PylonDevice::PylonDevice(nlohmann::json &config)
Pylon::DeviceInfoList_t devices;
inst.EnumerateDevices(devices);
+ int dev_left_num = 0;
+ std::string dev_left;
+
+ if (getConfig()["device_left"].is_number()) {
+ dev_left = std::to_string(value("device_left",0));
+ } else {
+ dev_left = value("device_left", std::string("default"));
+ }
+
+ LOG(INFO) << "DEVICE LEFT: " << dev_left;
+
if (devices.size() == 0) {
LOG(ERROR) << "No Pylon devices attached";
return;
} else {
+ int i=0;
for (auto d : devices) {
- LOG(INFO) << " - found Pylon device - " << d.GetFullName() << "(" << d.GetModelName() << ")";
+ if (std::string(d.GetSerialNumber()) == dev_left) {
+ dev_left_num = i;
+ }
+
+ if (dev_left_num == i) {
+ LOG(INFO) << " - found Pylon device - " << d.GetSerialNumber() << "(" << d.GetModelName() << ") [primary]";
+ } else {
+ LOG(INFO) << " - found Pylon device - " << d.GetSerialNumber() << "(" << d.GetModelName() << ")";
+ }
+
+ ++i;
}
}
try {
- lcam_ = new CBaslerUniversalInstantCamera( CTlFactory::GetInstance().CreateDevice(devices[0]));
+ lcam_ = new CBaslerUniversalInstantCamera( CTlFactory::GetInstance().CreateDevice(devices[dev_left_num]));
lcam_->RegisterConfiguration( new Pylon::CSoftwareTriggerConfiguration, Pylon::RegistrationMode_ReplaceAll, Pylon::Cleanup_Delete);
lcam_->Open();
if (devices.size() >= 2) {
- rcam_ = new CBaslerUniversalInstantCamera( CTlFactory::GetInstance().CreateDevice(devices[1]));
+ int dev_right = (dev_left_num == 0) ? 1 : 0;
+ rcam_ = new CBaslerUniversalInstantCamera( CTlFactory::GetInstance().CreateDevice(devices[dev_right]));
rcam_->RegisterConfiguration( new Pylon::CSoftwareTriggerConfiguration, Pylon::RegistrationMode_ReplaceAll, Pylon::Cleanup_Delete);
rcam_->Open();
}
--
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