Skip to content
Snippets Groups Projects
Commit cc147744 authored by Nicolas Pope's avatar Nicolas Pope
Browse files

Misc changes to tidy and lint

parent 6263dcc5
No related branches found
No related tags found
No related merge requests found
Pipeline #9866 passed
Stage: test
Hide whitespace changes
Inline Side-by-side
Showing
with 291 additions and 299 deletions
.gitignore
+ 1
− 0
View file @ cc147744
......@@ -7,3 +7,4 @@ fabric/
fabric-js/
build/
lab-designs/viewer
.vscode
common/cpp/include/ctpl_stl.h
+ 1
− 1
View file @ cc147744
......@@ -73,7 +73,7 @@ namespace ctpl {
public:
thread_pool() { this->init(); }
thread_pool(int nThreads) { this->init(); this->resize(nThreads); }
explicit thread_pool(int nThreads) { this->init(); this->resize(nThreads); }
// the destructor waits for all the functions in the queue to be finished
~thread_pool() {
......
common/cpp/src/configuration.cpp
+ 1
− 1
View file @ cc147744
......@@ -191,7 +191,7 @@ static void process_options(const map<string, string> &opts) {
if (opt.first == "config") continue;
if (opt.first == "version") {
std::cout << "FTL Vision Node - v" << FTL_VERSION << std::endl;
std::cout << "Future-Tech Lab - v" << FTL_VERSION << std::endl;
std::cout << FTL_VERSION_LONG << std::endl;
exit(0);
}
......
net/cpp/src/ws_internal.cpp
+ 1
− 1
View file @ cc147744
......@@ -159,7 +159,7 @@ bool ftl::net::ws_connect(int sockfd, const URI &uri) {
http += "Sec-WebSocket-Version: 13\r\n";
http += "\r\n";
int rc = ::send(sockfd, http.c_str(), http.length(), 0);
if (rc != http.length()) {
if (rc != (int)http.length()) {
LOG(ERROR) << "Could not send Websocket http request...";
std::cout << http;
return false;
......
net/js/src/index.js
+ 2
− 1
View file @ cc147744
export.Socket = require('./socket.js');
export.Peer = require('./peer.js');
export.Universe = require('./universe.js');
net/js/src/listener.js 0 → 100644
+ 0
− 0
View file @ cc147744
net/js/src/peer.js 0 → 100644
+ 280
− 0
View file @ cc147744
const net = require('net');
const ws = require('ws');
const urijs = require('uri-js');
const binary = require('bops');
const browser = require('detect-browser').detect();
const isbrowser = !browser || browser.name != "node";
class Peer {
constructor(uri) {
let t = typeof uri;
this.handlers_ = {
'open': [],
'data': [],
'error': [],
'close': []
};
this.handshake_ = false;
this.lasterr_ = null;
this.connected_ = false;
this.valid_ = false;
this.uuid_ = binary.create(16);
if (!isbrowser) {
this.buffer_ = new Buffer(0); // Only in nodejs
}
if (t == "string") {
this._fromURI(uri);
}
else if (t == "object") {
this._fromObject(uri);
}
}
error(errno) {
this.lasterr_ = errno;
this.dispatch('error', [errno]);
}
isValid() {
return this.valid_;
}
/**
* Construct the correct kind of socket connection from a URI.
*/
_fromURI(uri) {
let uriobj = urijs.parse(uri);
this.uri_ = uri;
this.scheme_ = uriobj.scheme;
// Could not parse uri so report error
if (uriobj.scheme === undefined || uriobj.host === undefined) {
this.error(Socket.ERROR_MALFORMEDURI);
return;
}
// Websocket protocol
if (this.scheme_ == "ws") {
// Detect if in browser or not, choose correct websocket object
if (typeof WebSocket == "undefined") {
// Nodejs
this.socket_ = new ws(uri);
}
else {
// Browser
this.socket_ = new WebSocket(uri);
}
this._initWebsocket();
// TCP
}
else if (this.scheme_ == "tcp") {
if (!isbrowser) {
this.socket_ = net.connect(uriobj.port, uriobj.host);
this._initTCPSocket();
}
else {
this.error(Socket.ERROR_TCPINBROWSER);
}
// Unrecognised protocol
}
else {
this.error(Socket.ERROR_BADPROTOCOL);
}
}
_fromObject(sock) {
this.socket_ = sock;
if (typeof WebSocket == "undefined") {
if (sock instanceof ws)
this.scheme_ = "ws";
else if (sock instanceof net.Socket)
this.scheme_ = "tcp";
else
this.scheme_ = null;
}
else {
if (sock instanceof WebSocket)
this.scheme_ = "ws";
else
this.scheme_ = null;
}
if (this.scheme_ == "ws")
this._initWebsocket();
else if (this.scheme_ == "tcp")
this._initTCPSocket();
}
/**
* Setup correct handlers for a websocket connection.
*/
_initWebsocket() {
this.valid_ = true;
let dataHandler = (data) => {
this.processMessage(data);
};
if (this.socket_.addEventHandler) {
this.socket_.addEventHandler('message', event => {
dataHandler(event.data);
});
}
else {
this.socket_.on('message', dataHandler);
}
this.socket_.on('open', () => {
//this.connected_ = true;
//this.dispatch('open', []);
});
this.socket_.on('error', (err) => {
this.connected_ = false;
this.valid_ = false;
switch (err.errno) {
case 'ENOTFOUND':
this.lasterr_ = Socket.ERROR_BADHOST;
break;
default: this.lasterr_ = err.errno;
}
this.dispatch('error', [this.lasterr_]);
});
this.socket_.on('close', () => {
this.dispatch('close', []);
});
}
processMessage(buffer) {
if (!this.handshake_) {
// Check handshake
if (!checkMagic(buffer)) {
this.close();
this.error(Socket.ERROR_BADHANDSHAKE);
return 0;
}
binary.copy(buffer, this.uuid_, 0, 8, 16);
let proto_size = binary.readUInt32LE(buffer, 24);
this.handshake_ = true;
this.connected_ = true;
this.dispatch('open', []);
return 28 + proto_size;
}
else {
let size = binary.readUInt32LE(buffer, 0);
let service = binary.readUInt32LE(buffer, 4);
console.log("Message: " + service + "(size=" + size + ")");
// Do we have a complete message yet?
if (size > 1024 * 1024 * 100) {
this.error(Socket.ERROR_LARGEMESSAGE);
this.close();
return 0;
}
else if (buffer.length - 4 >= size) {
// Yes, so dispatch
this.dispatch(service, [size, binary.subarray(buffer, 8)]);
return size + 4;
}
else {
return 0;
}
}
}
/**
* Setup TCP socket handlers and message buffering mechanism.
*/
_initTCPSocket() {
this.valid_ = true;
let dataHandler = (data) => {
this.buffer_ = Buffer.concat([this.buffer_, data]);
while (this.buffer_.length >= 8) {
let s = this.processMessage(this.buffer_);
if (s == 0)
break;
this.buffer_ = binary.subarray(this.buffer_, s);
}
};
this.socket_.on('data', dataHandler);
this.socket_.on('connect', () => {
//this.connected_ = true;
//this.dispatch('open', []);
});
this.socket_.on('error', (err) => {
this.connected_ = false;
this.valid_ = false;
switch (err.errno) {
case 'ENOTFOUND':
this.error(Socket.ERROR_BADHOST);
break;
default: this.error(err.errno);
}
});
this.socket_.on('close', () => {
this.dispatch('close', []);
});
}
isConnected() {
return this.connected_;
}
/**
* Register event handlers.
*/
on(name, f) {
if (typeof name == "string") {
if (this.handlers_.hasOwnProperty(name)) {
this.handlers_[name].push(f);
}
else {
console.error("Unrecognised handler: ", name);
}
if (name == "error" && this.lasterr_ != null) {
f(this.lasterr_);
}
}
else if (typeof name == "number") {
if (this.handlers_[name] === undefined)
this.handlers_[name] = [];
this.handlers_[name].push(f);
}
else {
console.error("Invalid handler: ", name);
}
}
dispatch(h, args) {
if (this.handlers_.hasOwnProperty(h)) {
let hs = this.handlers_[h];
for (var i = 0; i < hs.length; i++) {
hs[i].apply(this, args);
}
return true;
}
else {
return false;
}
}
close() {
if (this.socket_ == null)
return;
if (this.scheme_ == "ws") {
this.socket_.close();
}
else {
this.socket_.destroy();
}
this.socket_ = null;
}
_socket() {
return this.socket_;
}
getURI() {
return this.uri_;
}
asyncCall(name, cb /*, ...*/) {
}
send(id /*, ...*/) {
//this.socket_.write(
}
}
Peer.ERROR_BADPROTOCOL = "Bad Protocol";
Peer.ERROR_BADHOST = "Unknown host";
Peer.ERROR_BADHANDSHAKE = "Invalid Handshake";
Peer.ERROR_MALFORMEDURI = "Malformed URI";
Peer.ERROR_TCPINBROWSER = "TCP invalid in browser";
Peer.ERROR_LARGEMESSAGE = "Network message too large";
function checkMagic(buffer) {
if (buffer.length < 8) return false;
let lo_magic = binary.readUInt32LE(buffer,0);
let hi_magic = binary.readUInt32LE(buffer,4);
return (lo_magic == 0x53640912 && hi_magic == 0x10993400)
}
module.exports = Peer;
net/js/src/socket.js deleted 100644 → 0
+ 0
− 285
View file @ 6263dcc5
const net = require('net');
const ws = require('ws');
const urijs = require('uri-js');
const binary = require('bops');
const browser = require('detect-browser').detect();
const isbrowser = !browser || browser.name != "node";
function Socket(uri) {
let t = typeof uri;
this.handlers_ = {
'open': [],
'data': [],
'error': [],
'close': []
};
this.handshake_ = false;
this.lasterr_ = null;
this.connected_ = false;
this.valid_ = false;
this.uuid_ = binary.create(16);
if (!isbrowser) {
this.buffer_ = new Buffer(0); // Only in nodejs
}
if (t == "string") {
this._fromURI(uri);
} else if (t == "object") {
this._fromObject(uri);
}
}
Socket.ERROR_BADPROTOCOL = "Bad Protocol";
Socket.ERROR_BADHOST = "Unknown host";
Socket.ERROR_BADHANDSHAKE = "Invalid Handshake";
Socket.ERROR_MALFORMEDURI = "Malformed URI";
Socket.ERROR_TCPINBROWSER = "TCP invalid in browser";
Socket.ERROR_LARGEMESSAGE = "Network message too large";
Socket.prototype.error = function(errno) {
this.lasterr_ = errno;
this.dispatch('error', [errno]);
}
Socket.prototype.isValid = function() {
return this.valid_;
}
/**
* Construct the correct kind of socket connection from a URI.
*/
Socket.prototype._fromURI = function(uri) {
let uriobj = urijs.parse(uri);
this.uri_ = uri;
this.scheme_ = uriobj.scheme;
// Could not parse uri so report error
if (uriobj.scheme === undefined || uriobj.host === undefined) {
this.error(Socket.ERROR_MALFORMEDURI);
return;
}
// Websocket protocol
if (this.scheme_ == "ws") {
// Detect if in browser or not, choose correct websocket object
if (typeof WebSocket == "undefined") {
// Nodejs
this.socket_ = new ws(uri);
} else {
// Browser
this.socket_ = new WebSocket(uri);
}
this._initWebsocket();
// TCP
} else if (this.scheme_ == "tcp") {
if (!isbrowser) {
this.socket_ = net.connect(uriobj.port, uriobj.host);
this._initTCPSocket();
} else {
this.error(Socket.ERROR_TCPINBROWSER);
}
// Unrecognised protocol
} else {
this.error(Socket.ERROR_BADPROTOCOL)
}
}
Socket.prototype._fromObject = function(sock) {
this.socket_ = sock;
if (typeof WebSocket == "undefined") {
if (sock instanceof ws) this.scheme_ = "ws";
else if (sock instanceof net.Socket) this.scheme_ = "tcp";
else this.scheme_ = null;
} else {
if (sock instanceof WebSocket) this.scheme_ = "ws";
else this.scheme_ = null;
}
if (this.scheme_ == "ws") this._initWebsocket();
else if (this.scheme_ == "tcp") this._initTCPSocket();
}
/**
* Setup correct handlers for a websocket connection.
*/
Socket.prototype._initWebsocket = function() {
this.valid_ = true;
let dataHandler = (data) => {
this.processMessage(data);
};
if (this.socket_.addEventHandler) {
this.socket_.addEventHandler('message', event => {
dataHandler(event.data);
});
} else {
this.socket_.on('message', dataHandler);
}
this.socket_.on('open', () => {
//this.connected_ = true;
//this.dispatch('open', []);
});
this.socket_.on('error', (err) => {
this.connected_ = false;
this.valid_ = false;
switch (err.errno) {
case 'ENOTFOUND' : this.lasterr_ = Socket.ERROR_BADHOST; break;
default : this.lasterr_ = err.errno;
}
this.dispatch('error', [this.lasterr_]);
});
this.socket_.on('close', () => {
this.dispatch('close', []);
});
}
function checkMagic(buffer) {
if (buffer.length < 8) return false;
let lo_magic = binary.readUInt32LE(buffer,0);
let hi_magic = binary.readUInt32LE(buffer,4);
return (lo_magic == 0x53640912 && hi_magic == 0x10993400)
}
Socket.prototype.processMessage = function(buffer) {
if (!this.handshake_) {
// Check handshake
if (!checkMagic(buffer)) {
this.close();
this.error(Socket.ERROR_BADHANDSHAKE);
return 0;
}
binary.copy(buffer, this.uuid_, 0, 8, 16);
let proto_size = binary.readUInt32LE(buffer,24);
this.handshake_ = true;
this.connected_ = true;
this.dispatch('open', []);
return 28 + proto_size;
} else {
let size = binary.readUInt32LE(buffer,0);
let service = binary.readUInt32LE(buffer,4);
console.log("Message: " + service + "(size="+size+")");
// Do we have a complete message yet?
if (size > 1024*1024*100) {
this.error(Socket.ERROR_LARGEMESSAGE);
this.close();
return 0;
} else if (buffer.length-4 >= size) {
// Yes, so dispatch
this.dispatch(service, [size, binary.subarray(buffer,8)]);
return size+4;
} else {
return 0;
}
}
}
/**
* Setup TCP socket handlers and message buffering mechanism.
*/
Socket.prototype._initTCPSocket = function() {
this.valid_ = true;
let dataHandler = (data) => {
this.buffer_ = Buffer.concat([this.buffer_, data]);
while (this.buffer_.length >= 8) {
let s = this.processMessage(this.buffer_);
if (s == 0) break;
this.buffer_ = binary.subarray(this.buffer_,s);
}
};
this.socket_.on('data', dataHandler);
this.socket_.on('connect', () => {
//this.connected_ = true;
//this.dispatch('open', []);
});
this.socket_.on('error', (err) => {
this.connected_ = false;
this.valid_ = false;
switch (err.errno) {
case 'ENOTFOUND' : this.error(Socket.ERROR_BADHOST); break;
default : this.error(err.errno);
}
});
this.socket_.on('close', () => {
this.dispatch('close', []);
});
}
Socket.prototype.isConnected = function() {
return this.connected_;
}
/**
* Register event handlers.
*/
Socket.prototype.on = function(name, f) {
if (typeof name == "string") {
if (this.handlers_.hasOwnProperty(name)) {
this.handlers_[name].push(f);
} else {
console.error("Unrecognised handler: ", name);
}
if (name == "error" && this.lasterr_ != null) {
f(this.lasterr_);
}
} else if (typeof name == "number") {
if (this.handlers_[name] === undefined) this.handlers_[name] = [];
this.handlers_[name].push(f);
} else {
console.error("Invalid handler: ", name);
}
}
Socket.prototype.dispatch = function(h, args) {
if (this.handlers_.hasOwnProperty(h)) {
let hs = this.handlers_[h];
for (var i=0; i<hs.length; i++) {
hs[i].apply(this, args);
}
return true;
} else {
return false;
}
}
Socket.prototype.close = function() {
if (this.socket_ == null) return;
if (this.scheme_ == "ws") {
this.socket_.close();
} else {
this.socket_.destroy();
}
this.socket_ = null;
}
Socket.prototype._socket = function() {
return this.socket_;
}
Socket.prototype.getURI = function() {
return this.uri_;
}
Socket.prototype.asyncCall = function(name, cb /*, ...*/) {
}
Socket.prototype.send = function(id /*, ...*/) {
//this.socket_.write(
}
module.exports = Socket;
net/js/src/universe.js 0 → 100644
+ 0
− 0
View file @ cc147744
net/js/test/socket_unit.js → net/js/test/peer_unit.js
+ 4
− 4
View file @ cc147744
const Socket = require('../src/socket.js');
const Peer = require('../src/peer.js');
const assert = require('chai').assert;
const net = require('net');
const binary = require('bops');
//const binary = require('bops');
const WebSocket = require('ws');
describe("Socket()", function() {
describe("Peer()", function() {
let server;
let wss;
let dobadhandshake = false;
......@@ -34,7 +34,7 @@ describe("Socket()", function() {
context("with a valid connection uri and handshake", () => {
it("make a tcp connection", function(done) {
let sock = new Socket("tcp://localhost:9000");
let sock = new Peer("tcp://localhost:9000");
sock.on('open', () => {
assert.isOk(sock.isConnected());
sock.close();
......
renderer/cpp/include/ftl/display.hpp
+ 1
− 1
View file @ cc147744
......@@ -18,7 +18,7 @@ namespace ftl {
*/
class Display {
public:
Display(nlohmann::json &config);
explicit Display(nlohmann::json &config);
~Display();
void setCalibration(const cv::Mat &q) { q_ = q; }
......
vision/src/calibrate.cpp
+ 0
− 5
View file @ cc147744
......@@ -377,11 +377,6 @@ bool Calibrate::_recalibrate(vector<vector<Point2f>> *imagePoints,
float grid_width = settings_.squareSize * (settings_.boardSize.width - 1);
bool release_object = false;
// vector<vector<Point2f> > imagePoints;
// Mat cameraMatrix, distCoeffs;
// Size imageSize;
int mode = CAPTURING;
double prevTimestamp = 0.0;
const Scalar RED(0, 0, 255), GREEN(0, 255, 0);
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment