diff --git a/.gitignore b/.gitignore
index 7574bf03a1675b186d231cfcfb4b6f59e0f9dc0f..c2fbdd6b5068032cf1bb480a58d97455ff534446 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,3 +7,4 @@ fabric/
fabric-js/
build/
lab-designs/viewer
+.vscode
diff --git a/common/cpp/include/ctpl_stl.h b/common/cpp/include/ctpl_stl.h
index 5956cf095dfbad4402c400a7015bfa590aa09aab..82d8029850bad486e3e1acfcb9b3f51886e8f6d2 100644
--- a/common/cpp/include/ctpl_stl.h
+++ b/common/cpp/include/ctpl_stl.h
@@ -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() {
diff --git a/common/cpp/src/configuration.cpp b/common/cpp/src/configuration.cpp
index 6a7df835da6b6b2ad8c914de3a8c0ee95528c219..51a58f0348f4397b3bbfcf6740ff50e2b21e2231 100644
--- a/common/cpp/src/configuration.cpp
+++ b/common/cpp/src/configuration.cpp
@@ -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);
}
diff --git a/net/cpp/src/ws_internal.cpp b/net/cpp/src/ws_internal.cpp
index 1b8038d5277bdcaabc89510c2cab1bc5fa2c1926..4c3e72a1bb2bec776616a6e859eb4e863157c7e8 100644
--- a/net/cpp/src/ws_internal.cpp
+++ b/net/cpp/src/ws_internal.cpp
@@ -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;
diff --git a/net/js/src/index.js b/net/js/src/index.js
index bddfe81424d151315e579f8c25f1f1c387373734..c5ea8c620a15dd6ec16d00ae9132aeec4f78d5b9 100644
--- a/net/js/src/index.js
+++ b/net/js/src/index.js
@@ -1,2 +1,3 @@
-export.Socket = require('./socket.js');
+export.Peer = require('./peer.js');
+export.Universe = require('./universe.js');
diff --git a/net/js/src/listener.js b/net/js/src/listener.js
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/net/js/src/peer.js b/net/js/src/peer.js
new file mode 100644
index 0000000000000000000000000000000000000000..d330f93c38290283f2255abe4628a0b9a6be241d
--- /dev/null
+++ b/net/js/src/peer.js
@@ -0,0 +1,280 @@
+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;
diff --git a/net/js/src/socket.js b/net/js/src/socket.js
deleted file mode 100644
index 48c3725a00527bc8b02cbd4d54b3f92a4e977406..0000000000000000000000000000000000000000
--- a/net/js/src/socket.js
+++ /dev/null
@@ -1,285 +0,0 @@
-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;
-
diff --git a/net/js/src/universe.js b/net/js/src/universe.js
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/net/js/test/socket_unit.js b/net/js/test/peer_unit.js
similarity index 95%
rename from net/js/test/socket_unit.js
rename to net/js/test/peer_unit.js
index c5fd8fc7ea32ecc73a09f7a4f5ccf763883d096d..6e454af5cab968f373a3903b49a792ab3a7567cd 100644
--- a/net/js/test/socket_unit.js
+++ b/net/js/test/peer_unit.js
@@ -1,10 +1,10 @@
-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();
diff --git a/renderer/cpp/include/ftl/display.hpp b/renderer/cpp/include/ftl/display.hpp
index 1daad059044aa856d7af3fb0b30be9e945aebedb..c6d63ca4f8685c1c0cfa751c2fb87b5b10fb412e 100644
--- a/renderer/cpp/include/ftl/display.hpp
+++ b/renderer/cpp/include/ftl/display.hpp
@@ -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; }
diff --git a/vision/src/calibrate.cpp b/vision/src/calibrate.cpp
index 092f5015d9371d44e3ab9163c14ed5d3921e4563..7151a01bb2dfab9fa7b480612c3839f344e666a7 100644
--- a/vision/src/calibrate.cpp
+++ b/vision/src/calibrate.cpp
@@ -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);