From d78c5f4074749fd4b935be6d7e47d6bc6be16989 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 4 Apr 2019 08:43:08 +0300
Subject: [PATCH] Minor code tidy
---
cv-node/src/main.cpp | 27 +++++++++++----------------
net/cpp/src/socket.cpp | 20 +++++++++++++-------
2 files changed, 24 insertions(+), 23 deletions(-)
diff --git a/cv-node/src/main.cpp b/cv-node/src/main.cpp
index 0b664073c..76efb5973 100644
--- a/cv-node/src/main.cpp
+++ b/cv-node/src/main.cpp
@@ -1,5 +1,7 @@
/*
- * Copyright 2019 Nicolas Pope
+ * Copyright 2019 Nicolas Pope. All rights reserved.
+ *
+ * See LICENSE.
*/
#include <glog/logging.h>
@@ -45,18 +47,11 @@ static json config;
static bool findConfiguration(const string &file) {
ifstream i;
- if (file != "") {
- i.open(file);
- }
- if (!i.is_open()) {
- i.open("./config.json");
- }
- if (!i.is_open()) {
- i.open(FTL_LOCAL_CONFIG_ROOT "/config.json");
- }
- if (!i.is_open()) {
- i.open(FTL_GLOBAL_CONFIG_ROOT "/config.json");
- }
+ if (file != "") i.open(file);
+ if (!i.is_open()) i.open("./config.json");
+ if (!i.is_open()) i.open(FTL_LOCAL_CONFIG_ROOT "/config.json");
+ if (!i.is_open()) i.open(FTL_GLOBAL_CONFIG_ROOT "/config.json");
+ if (!i.is_open()) return false;
i >> config;
return true;
}
@@ -140,7 +135,7 @@ static void run(const string &file) {
// Choose and configure disparity algorithm
auto disparity = Disparity::create(config["disparity"]);
- Mat l, r, disparity32F, depth32F, lbw, rbw;
+ Mat l, r, disparity;
Display display(calibrate, config["display"]);
@@ -156,10 +151,10 @@ static void run(const string &file) {
sync->get(ftl::LEFT, l);
sync->get(ftl::RIGHT, r);
- disparity->compute(l, r, disparity32F);
+ disparity->compute(l, r, disparity);
// Send RGB+Depth images for local rendering
- display.render(l, disparity32F);
+ display.render(l, disparity);
// streamer.send(l, disparity32F);
}
diff --git a/net/cpp/src/socket.cpp b/net/cpp/src/socket.cpp
index 3e4d18220..61ab82d72 100644
--- a/net/cpp/src/socket.cpp
+++ b/net/cpp/src/socket.cpp
@@ -49,16 +49,15 @@ using namespace std;
int Socket::rpcid__ = 0;
+// TODO(nick) Move to tcp_internal.cpp
static int tcpConnect(URI &uri) {
int rc;
sockaddr_in destAddr;
- //std::cerr << "TCP Connect: " << uri.getHost() << " : " << uri.getPort() << std::endl;
-
#ifdef WIN32
WSAData wsaData;
if (WSAStartup(MAKEWORD(1,1), &wsaData) != 0) {
- //ERROR
+ LOG(ERROR) << "Could not initiate sockets";
return INVALID_SOCKET;
}
#endif
@@ -67,6 +66,7 @@ static int tcpConnect(URI &uri) {
int csocket = socket(AF_INET, SOCK_STREAM, 0);
if (csocket == INVALID_SOCKET) {
+ LOG(ERROR) << "Unable to create TCP socket";
return INVALID_SOCKET;
}
@@ -84,7 +84,6 @@ static int tcpConnect(URI &uri) {
#endif
LOG(ERROR) << "Address not found : " << uri.getHost() << std::endl;
-
return INVALID_SOCKET;
}
@@ -119,8 +118,6 @@ static int tcpConnect(URI &uri) {
/*rg = fcntl(csocket, F_GETFL, NULL));
arg &= (~O_NONBLOCK);
fcntl(csocket, F_SETFL, arg) < 0)*/
-
- // Handshake??
return csocket;
}
@@ -386,6 +383,7 @@ void Socket::_dispatchReturn(const std::string &d) {
Dispatcher::response_t the_result;
unpacked.get().convert(the_result);
+ // Msgpack stipulates that 1 means return message
if (std::get<0>(the_result) != 1) {
LOG(ERROR) << "Bad RPC return message";
return;
@@ -399,6 +397,8 @@ void Socket::_dispatchReturn(const std::string &d) {
if (callbacks_.count(id) > 0) {
LOG(INFO) << "Received return RPC value";
+
+ // Call the callback with unpacked return value
(*callbacks_[id])(res);
callbacks_.erase(id);
} else {
@@ -428,17 +428,23 @@ int Socket::_send() {
// Create a websocket header as well.
size_t len = 0;
char buf[20]; // TODO(nick) Should not be a stack buffer.
+
+ // Calculate total size of message
for (auto v : send_vec_) {
len += v.iov_len;
}
+
+ // Pack correct websocket header into buffer
int rc = ws_prepare(wsheader_type::BINARY_FRAME, false, len, buf, 20);
if (rc == -1) return -1;
+
+ // Patch the first io vector to be ws header
send_vec_[0].iov_base = buf;
send_vec_[0].iov_len = rc;
}
#ifdef WIN32
- // TODO(nick) Use WSASend instead
+ // TODO(nick) Use WSASend instead as equivalent to writev
int c = 0;
for (auto v : send_vec_) {
c += ftl::net::internal::send(sock_, (char*)v.iov_base, v.iov_len, 0);
--
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