From dcbb0430145667604aa906365978cd8f43228b3f Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 3 May 2019 10:48:20 +0300
Subject: [PATCH] Debug info and lock in net code
---
CMakeLists.txt | 2 +-
net/cpp/include/ftl/net/universe.hpp | 2 ++
net/cpp/src/universe.cpp | 12 ++++++++++++
vision/src/local.cpp | 8 +++++++-
vision/src/main.cpp | 16 +++++++++++++++-
5 files changed, 37 insertions(+), 3 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5d5a06e10..8a86df76f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -103,7 +103,7 @@ include(ftl_paths)
if (WIN32) # TODO(nick) Should do based upon compiler (VS)
add_definitions(-DWIN32)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /std:c++17")
- set(CMAKE_CXX_FLAGS_DEBUG "-D_DEBUG -Wall")
+ set(CMAKE_CXX_FLAGS_DEBUG "-DFTL_DEBUG -Wall")
set(CMAKE_CXX_FLAGS_RELEASE "/O2")
else()
add_definitions(-DUNIX)
diff --git a/net/cpp/include/ftl/net/universe.hpp b/net/cpp/include/ftl/net/universe.hpp
index 81f2a6f26..59eb49a27 100644
--- a/net/cpp/include/ftl/net/universe.hpp
+++ b/net/cpp/include/ftl/net/universe.hpp
@@ -13,6 +13,7 @@
#include <vector>
#include <string>
#include <thread>
+#include <mutex>
#include <map>
namespace ftl {
@@ -148,6 +149,7 @@ class Universe {
std::map<ftl::UUID, ftl::net::Peer*> peer_ids_;
ftl::UUID id_;
ftl::net::Dispatcher disp_;
+ std::mutex net_mutex_;
// std::map<std::string, std::vector<ftl::net::Peer*>> subscriptions_;
};
diff --git a/net/cpp/src/universe.cpp b/net/cpp/src/universe.cpp
index 066e7514d..f6d7e2acb 100644
--- a/net/cpp/src/universe.cpp
+++ b/net/cpp/src/universe.cpp
@@ -1,4 +1,5 @@
#include <ftl/net/universe.hpp>
+#include <chrono>
#ifdef WIN32
#include <Ws2tcpip.h>
@@ -14,6 +15,8 @@ using ftl::net::Universe;
using nlohmann::json;
using ftl::UUID;
using std::optional;
+using std::unique_lock;
+using std::mutex;
Universe::Universe() : active_(true), thread_(Universe::__start, this) {
_installBindings();
@@ -58,6 +61,7 @@ Universe::~Universe() {
bool Universe::listen(const string &addr) {
auto l = new Listener(addr.c_str());
if (!l) return false;
+ unique_lock<mutex> lk(net_mutex_);
listeners_.push_back(l);
return l->isListening();
}
@@ -67,6 +71,7 @@ bool Universe::connect(const string &addr) {
if (!p) return false;
if (p->status() != Peer::kInvalid) {
+ unique_lock<mutex> lk(net_mutex_);
peers_.push_back(p);
}
@@ -86,6 +91,8 @@ int Universe::_setDescriptors() {
int n = 0;
+ unique_lock<mutex> lk(net_mutex_);
+
//Set file descriptor for the listening sockets.
for (auto l : listeners_) {
if (l != nullptr && l->isListening()) {
@@ -200,6 +207,11 @@ void Universe::_run() {
int n = _setDescriptors();
int selres = 1;
+ if (n == 0) {
+ std::this_thread::sleep_for(std::chrono::milliseconds(300));
+ continue;
+ }
+
//Wait for a network event or timeout in 3 seconds
block.tv_sec = 0;
block.tv_usec = 10000;
diff --git a/vision/src/local.cpp b/vision/src/local.cpp
index d0e542669..d8d5229e8 100644
--- a/vision/src/local.cpp
+++ b/vision/src/local.cpp
@@ -29,8 +29,14 @@ LocalSource::LocalSource(nlohmann::json &config)
flip_v_(config["flip_vert"]),
nostereo_(config["nostereo"]),
downsize_(config.value("scale", 1.0f)) {
+
// Use cameras
- camera_a_ = new VideoCapture((flip_) ? 1 : 0);
+ camera_a_ = new VideoCapture;
+ LOG(INFO) << "Cameras check... ";
+ camera_a_->open((flip_) ? 1 : 0);
+
+ LOG(INFO) << "Cameras open? " << flip_;
+
if (!nostereo_) {
camera_b_ = new VideoCapture((flip_) ? 0 : 1);
} else {
diff --git a/vision/src/main.cpp b/vision/src/main.cpp
index fbfcae649..0665b797c 100644
--- a/vision/src/main.cpp
+++ b/vision/src/main.cpp
@@ -61,32 +61,40 @@ static void run(const string &file) {
ctpl::thread_pool pool(2);
Universe net(config["net"]);
+ LOG(INFO) << "Net started.";
+
LocalSource *lsrc;
if (ftl::is_video(file)) {
// Load video file
+ LOG(INFO) << "Using video file...";
lsrc = new LocalSource(file, config["source"]);
} else if (file != "") {
auto vid = ftl::locateFile("video.mp4");
if (!vid) {
LOG(FATAL) << "No video.mp4 file found in provided paths";
} else {
+ LOG(INFO) << "Using test directory...";
lsrc = new LocalSource(*vid, config["source"]);
}
} else {
// Use cameras
+ LOG(INFO) << "Using cameras...";
lsrc = new LocalSource(config["source"]);
}
- auto sync = new SyncSource(); // TODO(nick) Pass protocol object
+ //auto sync = new SyncSource(); // TODO(nick) Pass protocol object
// Add any remote channels
/* for (auto c : OPTION_channels) {
sync->addChannel(c);
} */
+ LOG(INFO) << "Locating calibration...";
+
// Perform or load calibration intrinsics + extrinsics
Calibrate calibrate(lsrc, config["calibration"]);
if (config["calibrate"]) calibrate.recalibrate();
if (!calibrate.isCalibrated()) LOG(WARNING) << "Cameras are not calibrated!";
+ else LOG(INFO) << "Calibration initiated.";
cv::Mat Q_32F;
calibrate.getQ().convertTo(Q_32F, CV_32F);
@@ -115,6 +123,8 @@ static void run(const string &file) {
Streamer stream(net, config["stream"]);
+ LOG(INFO) << "Beginning capture...";
+
while (display.active()) {
mutex m;
condition_variable cv;
@@ -134,7 +144,9 @@ static void run(const string &file) {
//sync->get(ftl::LEFT, l);
//sync->get(ftl::RIGHT, r);
+ LOG(INFO) << "PRE DISPARITY";
disparity->compute(l, r, disp);
+ LOG(INFO) << "POST DISPARITY";
unique_lock<mutex> lk(m);
jobs++;
@@ -218,6 +230,8 @@ static void run(const string &file) {
//net.publish(uri, rgb_buf, d_buf);
}
+
+ LOG(INFO) << "Finished.";
}
int main(int argc, char **argv) {
--
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