debugged issues, added exception handling to ui drawer

Sources/src/Visnode/CMakeLists.txt

@@ -9,7 +9,7 @@ set(CMAKE_CXX_FLAGS_RELEASE "-Ofast")
 project(visnode)
 
 #set(CMAKE_BINARY_DIR ${CMAKE_SOURCE_DIR}/../bin)
-set(CMAKE_BINARY_DIR /home/kanken/code/project-/Sources/src/Visnode/)
+set(CMAKE_BINARY_DIR /home/kanken/code/ARHS_core/Sources/src/Visnode)
 find_package(OpenCV REQUIRED)
 find_package(TBB REQUIRED)
 
@@ -24,6 +24,7 @@ MESSAGE(STATUS "Opencv_LINK_DIRS : ${Opencv_LINK_DIRS}")
 
 set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR})
 
+add_subdirectory(perfcheckers)
 add_subdirectory(threadweaver)
 add_subdirectory(ihidapi)
 add_subdirectory(cameras)

Sources/src/Visnode/cameras/cameraManager.cpp

@@ -1,5 +1,5 @@
 #include "_cam.hpp"
-
+#include <signal.h>
 vector<camera*> cameraManager::videoSources;
 std::vector<UMat> cameraManager::captures;
 bool cameraManager::runCaptureThread;
@@ -39,7 +39,7 @@ int cameraManager::init(){
             VideoCapture vs(camID);
             if(!vs.isOpened() && !vs.open(camID))
             {
-                cout << "opening camera " << camIdx << " failed" <<endl;
+                cout << "\x1B[31opening camera " << camIdx << " failed\033[0m" <<endl;
                 vs.release();
             }else{
             vs.release();
@@ -62,7 +62,7 @@ int cameraManager::init(){
 }
 
 void cameraManager::runCapture(){
-    cout << "enabling capture thread for " << videoSources.size() << " cameras" << endl;
+    cout << "cameraManager::runCapture------------------------------------------------\n" << "enabling capture thread for " << videoSources.size() << " cameras" << endl;
     uint i = 0;
     runCaptureThread = true;
     for(camera* c : videoSources){
@@ -73,7 +73,7 @@ void cameraManager::runCapture(){
         std::thread* t = new std::thread(cameraManager::runCaptureForCamera,c,i);
         i++;
         cout << "moving thread" << endl;
-        Threadweaver::stick_this_thread_to_core(t,i+1);
+        Threadweaver::stick_this_thread_to_core(t,2);
         Threadweaver::captureThreads.push_back(t);
         cout << "done" << endl;
     }

Sources/src/Visnode/main.cpp

@@ -5,6 +5,7 @@ using namespace psvr;
 
 int main(int argc, char* argv[])
 {
+try{
 unsigned num_cpus = std::thread::hardware_concurrency();
 cout << num_cpus <<" cores detected" << endl;
 std::cout << cv::getBuildInformation() << std::endl;
@@ -25,14 +26,20 @@ SerialPortManager::init();
 ui::UiController::exitCalled = false;
 ui::UiController::runIntro = false;
 
+
 std::thread* t = new std::thread(ui::UiDrawer::runDrawUi);
 Threadweaver::stick_this_thread_to_core(t,1);
 Threadweaver::gfxPipelineThread = t;
-
+DEBUG_LOG("Entering sleep while")
 while(!ui::UiController::exitCalled){
     sleep(5);
 }
+}
+catch(...){
+    cerr << "caught maint thread exception" << endl;
+}
 
+DEBUG_LOG("Exitted sleep while")
 Threadweaver::gfxPipelineThread->join();
 
 return 0;

Sources/src/Visnode/perfcheckers/CMakeLists.txt

@@ -0,0 +1,8 @@
+set(perfcheckers_source_files
+    framerate.cpp
+    framerate.hpp
+)
+MESSAGE(STATUS "Building perfcheckers")
+add_library(perfcheckers ${perfcheckers_source_files})
+
+MESSAGE(STATUS "Done building perfcheckers")

Sources/src/Visnode/perfcheckers/framerate.cpp

@@ -0,0 +1,19 @@
+#include "framerate.hpp"
+
+void framerateChecker::tickBegin(){
+    if(hasBegun) return;
+    tBegin = std::time(0);
+    hasBegun = true;
+    tick = 0;
+    fps = 0;
+}
+
+void framerateChecker::tickUpdate(){
+    frameCounter++;
+    tEnd = std::time(0) - tBegin;
+
+    if(tEnd - tick < 1) return;
+    tick++;
+    fps = frameCounter;
+    frameCounter = 0;
+}

Sources/src/Visnode/perfcheckers/framerate.hpp

@@ -0,0 +1,15 @@
+
+#include <ctime>
+
+class framerateChecker{
+    private:
+    bool hasBegun = false;
+
+    public:
+    std::time_t tBegin, tEnd;
+    int tick, fps = 0;
+    long frameCounter = 0;
+
+    void tickBegin();
+    void tickUpdate();
+};

Sources/src/Visnode/threadweaver/debugging.hpp

@@ -5,7 +5,7 @@
 #define DBGCOMM
 
 #ifdef DBGMODE
-#define DEBUG_LOG(x) std::cout << x << std::endl;
+#define DEBUG_LOG(x) std::cout << "-DEBUG: " << x << std::endl;
 #else
 #define DEBUG_LOG(x)
 #endif

Sources/src/Visnode/threadweaver/threadweaver.cpp

@@ -12,5 +12,5 @@ void Threadweaver::stick_this_thread_to_core(std::thread* t,int core_id){
     CPU_ZERO(&cpuset);
     CPU_SET(core_id, &cpuset);
     int rc = pthread_setaffinity_np(t->native_handle(),sizeof(cpu_set_t), &cpuset);
-    std::cout << "set thread to core " << core_id << " successfully" << std::endl; 
+    std::cout << "set thread to core " << core_id << " successfully" << std::endl;
 }

Sources/src/Visnode/ui/CMakeLists.txt

@@ -19,6 +19,7 @@ add_library(ui ${ui_source_files})
 
 target_link_libraries(ui ${OpenCV_LIBS})
 target_link_libraries(ui psvr)
+target_link_libraries(ui perfcheckers)
 target_link_libraries(ui cameras)
 
 MESSAGE(STATUS "Done building ui")

Sources/src/Visnode/ui/_ui.hpp

@@ -5,6 +5,7 @@
 #include <ctime>
 #include <functional>
 
+#include "../perfcheckers/framerate.hpp"
 #include "../cameras/_cam.hpp"
 #include "../psvr/_psvr.hpp"
 #include <opencv2/imgcodecs/imgcodecs.hpp>
@@ -42,6 +43,7 @@ namespace ui {
         static UMat OsMat;   //drawn on certain events
         static std::mutex OsMatLock;
         private:
+        static framerateChecker* fpsCounter;
         static UMat prepareUiMat();
         static UMat resizeIn(UMat input);
         static UMat OverlayBlackMask(UMat input, UMat toOverlay, int x = 0, int y = 0);

Sources/src/Visnode/ui/uiDrawer.cpp

@@ -2,6 +2,7 @@
 UMat ui::UiDrawer::OverlayMat;
 UMat ui::UiDrawer::OsMat;   //drawn on certain events
 std::mutex ui::UiDrawer::OsMatLock;
+framerateChecker* ui::UiDrawer::fpsCounter = new framerateChecker();
 
             //UiMat = prepareUiMat();
             //surface.copyTo(UiMat(cv::Rect((UiMat.cols/2)-(surface.cols/2),(UiMat.rows/2)-(surface.rows/2),surface.cols, surface.rows)));
@@ -10,6 +11,7 @@ std::mutex ui::UiDrawer::OsMatLock;
 namespace ui{
     //draws the UI for the left screen of the psvr
     void UiDrawer::drawUi(){
+            fpsCounter->tickBegin();
             UMat UiMat = prepareUiMat();               //prepare black background 960*1080
             DEBUG_LOG("prepared UI mat")
             cameraManager::accessLocks[0]->lock();      //lock the capture access
@@ -41,6 +43,7 @@ namespace ui{
             UiManager::accessLocks.at(0)->lock();
             UiManager::managedUIs[0]->drawSurface = finished;  //write the final image to the psvr UI buffer
             UiManager::accessLocks.at(0)->unlock();
+            fpsCounter->tickUpdate();
     }
 
     void UiDrawer::drawStartupSequence(){
@@ -52,7 +55,7 @@ namespace ui{
         ui::UiDrawer::OverlayMat = overlay;
         if(!cap.isOpened()){
             cout << "failed to open hud start media" << endl;
-            //return;
+            return;
         }
         UMat frame;
         while(cap.read(frame))
@@ -65,6 +68,7 @@ namespace ui{
     }
 
     void UiDrawer::drawMenu(){
+        try{
         int& wd = UiController::menuSize.width;
         int& he = UiController::menuSize.height;
         unsigned int stackerIndex = 0;
@@ -77,18 +81,29 @@ namespace ui{
         std::string str =  iter->first;
         cv::putText(MenuMat, str, Point2i(5,stackerIndex+=20), HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255,255,255), 1, 8, false);
         }
+        //cv::putText(MenuMat, cv::format("Frames per second: %d - %ld", fpsCounter->fps, fpsCounter->frameCounter), Point2i(5,stackerIndex+=20), HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255,255,255), 1, 8, false);
         cv::rectangle(MenuMat, cv::Rect2i(0,((20*ui::UiController::selectedIndex)+20)+5,wd, 20), Scalar(200,0,0), 3, 8, 0);
         OsMatLock.lock();
         OsMat = MenuMat;
         OsMatLock.unlock();
+        } catch(...){
+            cerr << "\033[1;31m caught DrawUi::drawMenu thread exception \033[0m" << endl;
+            exit(1);
+        }
     }
 
     void UiDrawer::runDrawUi(){
+        try{
         cout << "starting ui drawer thread" << endl;
         ui::UiController::exitCalled = false;
-        while(!ui::UiController::exitCalled){
+        while(true){
+            DEBUG_LOG("drawing");
             ui::UiDrawer::drawUi();
         }
+        } catch(...){
+            cerr << "\033[1;31m caught DrawUi thread exception \033[0m" << endl;
+            exit(1);
+        }
     }
 
     UMat UiDrawer::prepareUiMat(){