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-	$(CMAKE_COMMAND) -E cmake_progress_start /home/kanken/code/AHRS_core/src/CMakeFiles 46
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-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/kanken/code/AHRS_core/src/CMakeFiles --progress-num=41,42 "Built target threadweaver"
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-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/kanken/code/AHRS_core/src/CMakeFiles --progress-num=37,38 "Built target psvr"
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/kanken/code/AHRS_core/src/CMakeFiles --progress-num=38,39 "Built target psvr"
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-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/kanken/code/AHRS_core/src/CMakeFiles --progress-num=46,47 "Built target zbarLib"
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/kanken/code/AHRS_core/src/CMakeFiles --progress-num=47,48 "Built target zbarLib"
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-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/kanken/code/AHRS_core/src/CMakeFiles --progress-num=39,40 "Built target support"
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/kanken/code/AHRS_core/src/CMakeFiles --progress-num=40,41 "Built target support"
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/kanken/code/AHRS_core/src/CMakeFiles --progress-num=21,22,23,24,25,26,27,28,29,30,31,32,33,34 "Built target pipelineLib"
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-	$(CMAKE_COMMAND) -E cmake_progress_start /home/kanken/code/AHRS_core/src/CMakeFiles 43
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/kanken/code/AHRS_core/src/CMakeFiles 44
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  /home/kanken/code/AHRS_core/src/pipeline/members/uiMergerNode.hpp
  /home/kanken/code/AHRS_core/src/pipeline/members/videoCaptureNode.hpp
+ /home/kanken/code/AHRS_core/src/pipeline/members/pluginNode.hpp
 
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  /home/kanken/code/AHRS_core/src/pipeline/members/videoCaptureNode.hpp
+ /home/kanken/code/AHRS_core/src/pipeline/members/pluginNode.hpp
 

src/CMakeFiles/prog.dir/compiler_depend.make

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-  pipeline/members/videoCaptureNode.hpp
+  pipeline/members/videoCaptureNode.hpp \
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-  pipeline/members/videoCaptureNode.hpp
+  pipeline/members/videoCaptureNode.hpp \
+  pipeline/members/pluginNode.hpp
 
 
+pipeline/members/pluginNode.hpp:
+
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@@ -1 +1 @@
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src/CMakeLists.txt

@@ -14,6 +14,12 @@ project(visnode)
 find_package(OpenCV REQUIRED)
 find_package(TBB REQUIRED)
 
+#SET(GCC_COVERAGE_COMPILE_FLAGS "-fsanitize=undefined,address")
+#SET(GCC_COVERAGE_LINK_FLAGS    "-fsanitize=undefined,address")
+
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+#SET(CMAKE_EXE_LINKER_FLAGS  "${CMAKE_EXE_LINKER_FLAGS} ${GCC_COVERAGE_LINK_FLAGS}")
+
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 find_package(Threads REQUIRED)
 

src/model/hardware/hw/extendables/CMakeFiles/hw_ext.dir/compiler_depend.internal

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  /usr/include/c++/11/bits/istream.tcc
+ /usr/include/c++/11/atomic
+ /usr/include/c++/11/bits/atomic_base.h
+ /usr/include/c++/11/bits/atomic_lockfree_defines.h
  /home/kanken/code/AHRS_core/src/model/hardware/hw/serial.hpp
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src/model/hardware/hw/extendables/CMakeFiles/hw_ext.dir/compiler_depend.make

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   /usr/include/c++/11/bits/ostream.tcc \
   /usr/include/c++/11/istream \
   /usr/include/c++/11/bits/istream.tcc \
+  /usr/include/c++/11/atomic \
+  /usr/include/c++/11/bits/atomic_base.h \
+  /usr/include/c++/11/bits/atomic_lockfree_defines.h \
   model/hardware/hw/serial.hpp \
   /usr/include/string.h \
   /usr/include/strings.h \
@@ -340,6 +343,10 @@ threadweaver/debugging.hpp:
 
 /usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h:
 
+/usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h:
+
+/usr/include/c++/11/bits/locale_facets_nonio.h:
+
 model/hardware/hw/extendables/Device.hpp:
 
 /usr/include/pthread.h:
@@ -440,6 +447,8 @@ model/hardware/hw/extendables/Device.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/types/FILE.h:
 
+/usr/include/c++/11/atomic:
+
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 /usr/include/x86_64-linux-gnu/c++/11/bits/c++locale.h:
@@ -522,6 +531,8 @@ model/patterns/observer/observable.hpp:
 
 /usr/include/c++/11/ext/numeric_traits.h:
 
+/usr/include/c++/11/bits/atomic_base.h:
+
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 /usr/include/x86_64-linux-gnu/asm/ioctl.h:
@@ -754,6 +765,8 @@ model/patterns/commands/commands.hpp:
 
 /usr/include/c++/11/bits/locale_classes.tcc:
 
+/usr/include/c++/11/bits/atomic_lockfree_defines.h:
+
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 /usr/include/c++/11/bits/basic_ios.h:
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src/model/hardware/hw/extendables/Device.hpp

@@ -2,12 +2,16 @@
 #define _DEVICE_
 #include "DeviceCommand.hpp"
 #include <map>
+#include <atomic>
 class Device{
     protected:
         std::string _tagidentifier;
         std::string _displayName;
         std::map<std::string, DeviceCommand*>* _commands = new std::map<std::string, DeviceCommand*>();
     public:
+        std::atomic_bool enabled = true;
+        std::atomic_bool working = false;
+        std::atomic_int workDelayMs = 60;
         inline Device(const std::string& tagidentifier) : _tagidentifier(tagidentifier){}
         inline const std::string getDeviceID() const{return _tagidentifier;}
         inline const std::string getDeviceName() const{return _displayName;}

src/model/hardware/hw/extendables/DeviceTree.cpp

@@ -1,6 +1,12 @@
 #include "./DeviceTree.hpp"
+#include <filesystem>
+#include <thread>
+namespace fs = std::filesystem;
 
-DeviceTree* DeviceTree::GetInstance(const std::string& value)
+std::mutex DeviceTree::mutex_;
+DeviceTree * DeviceTree::pinstance_;
+
+DeviceTree* DeviceTree::GetInstance()
 {
     std::lock_guard<std::mutex> lock(mutex_);
     if (pinstance_ == nullptr)
@@ -9,3 +15,69 @@ DeviceTree* DeviceTree::GetInstance(const std::string& value)
     }
     return pinstance_;
 }
+
+void DeviceTree::build(){
+    fs::path sys_path = "/sys/class/tty";
+
+    // Check if the folder exists
+    if (fs::exists(sys_path)) {
+        std::cout << "device Folder exists\n";
+
+        // Iterate over the devices in the folder
+        for (const auto& file : fs::directory_iterator(sys_path)) {
+            // Check if the file is a regular file and a dynamic shared object file
+            std::string fileStr = file.path().filename().string();
+            bool assigned = false;
+            if (fileStr.find("USB") != std::string::npos || fileStr.find("ACM") != std::string::npos) {
+                std::cout << "Found a valid device at: " << file.path() << std::endl;
+                mn::CppLinuxSerial::SerialPort* serialPort = new mn::CppLinuxSerial::SerialPort("/dev/ttyACM0", 
+                mn::CppLinuxSerial::BaudRate::B_460800, 
+                mn::CppLinuxSerial::NumDataBits::EIGHT, 
+                mn::CppLinuxSerial::Parity::NONE, 
+                mn::CppLinuxSerial::NumStopBits::ONE);
+
+                serialPort->SetTimeout(150); // Block for up to 100ms to receive data
+                serialPort->Open();
+                serialPort->Write("$");  //identify command
+                std::string back;
+                serialPort->Read(back);
+
+                for(const auto& kv : *serialDevices){
+                    if(back != "")
+                        std::cout << "device sent back : " << back << std::endl;
+                    if(back.find(kv.first) != std::string::npos){
+                        std::cout << "uids matched! port assigned"<< std::endl;
+                        (*serialDevices)[kv.first]->serialPort = serialPort;
+                        assigned = true;
+                        std::cout << "assign done"<< std::endl;
+                    }
+                }
+
+                if(!assigned){
+                    serialPort->Close();
+                    delete serialPort;
+                    std::cout << "deleted " << fileStr << std::endl;
+                }
+            }
+        }
+        run();
+    }
+}
+
+void DeviceTree::run(){
+    std::cout << "running device tree" << std::endl;
+    for(const auto& kv : *serialDevices){
+        deviceThreads[kv.first] = new std::thread(&DeviceTree::runDevice, kv.second);
+    }
+    std::cout << "device tree running" << std::endl;
+}
+
+void DeviceTree::runDevice(SerialDevice* device){
+    while(device->enabled){
+        if(!device->working){
+            device->working = true;
+            device->doPortWork();
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(device->workDelayMs));
+    }
+}

src/model/hardware/hw/extendables/DeviceTree.hpp

@@ -14,11 +14,12 @@ private:
     static std::mutex mutex_;
 
 protected:
-    std::map<__uint128_t, SerialDevice*>* serialDevices;
+    std::map<std::string, SerialDevice*>* serialDevices;
+    std::map<std::string, std::thread*> deviceThreads;
 
     DeviceTree() : serialDevices()
     {
-        serialDevices = new std::map<__uint128_t, SerialDevice*>();
+        serialDevices = new std::map<std::string, SerialDevice*>();
     }
     ~DeviceTree() {
         delete serialDevices;
@@ -30,6 +31,12 @@ public:
 
     void operator=(const DeviceTree &) = delete;
 
-    static DeviceTree *GetInstance(const std::string& value);
+    void build();
+    void run();
+    void addDevice(SerialDevice* sd){(*serialDevices)[sd->getDeviceID()] = sd;}
+
+    static void runDevice(SerialDevice* device);
+
+    static DeviceTree *GetInstance();
 };
 //#endif

src/model/hardware/hw/extendables/SerialDevice.hpp

@@ -22,10 +22,11 @@ class SerialDevice : public Device{
         unsigned int _baudrate;
         std::string lastData;
     public:
-        mn::CppLinuxSerial::SerialPort serialPort;
+        mn::CppLinuxSerial::SerialPort* serialPort;
         DeviceCommand* ic;
         SerialDevice(const std::string& serialPort) : Device("blank"), _serialPort(serialPort){}
         void getID();
+        virtual void doPortWork() = 0;
         ~SerialDevice(){
             delete ic;
         }
@@ -38,11 +39,11 @@ class IdentifiyCommand : public DeviceCommand{
         IdentifiyCommand(SerialDevice* sd) : _sd(sd){}
 
         void Execute() const override { 
-            if(_sd->serialPort.GetState() != mn::CppLinuxSerial::State::OPEN)
+            if(_sd->serialPort->GetState() != mn::CppLinuxSerial::State::OPEN)
                 return;
-            _sd->serialPort.Write("$");
+            _sd->serialPort->Write("$");
             std::string readData;
-            _sd->serialPort.Read(readData);
+            _sd->serialPort->Read(readData);
         }
 };
 #endif

src/model/hardware/psvr/CMakeFiles/psvr.dir/progress.make

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+  "/home/kanken/code/AHRS_core/src/pipeline/members/pluginNode.cpp" "pipeline/CMakeFiles/pipelineLib.dir/members/pluginNode.cpp.o" "gcc" "pipeline/CMakeFiles/pipelineLib.dir/members/pluginNode.cpp.o.d"
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+pipeline/CMakeFiles/pipelineLib.dir/members/pluginNode.cpp.o: pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.ts
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+ /home/kanken/code/AHRS_core/src/model/patterns/observer/observer.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/psvr/_psvr.hpp
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+ /home/kanken/code/AHRS_core/src/pipeline/members/pluginNode.hpp
  /home/kanken/code/AHRS_core/src/model/windows/windowManager.hpp
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src/pipeline/CMakeFiles/pipelineLib.dir/compiler_depend.make

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+  /usr/local/include/opencv4/opencv2/flann/defines.h \
+  /usr/local/include/opencv4/opencv2/flann/config.h \
+  /usr/local/include/opencv4/opencv2/core/affine.hpp \
+  /usr/local/include/opencv4/opencv2/dnn.hpp \
+  /usr/local/include/opencv4/opencv2/dnn/dnn.hpp \
+  /usr/local/include/opencv4/opencv2/core/async.hpp \
+  /usr/local/include/opencv4/opencv2/dnn/version.hpp \
+  /usr/local/include/opencv4/opencv2/dnn/dict.hpp \
+  /usr/local/include/opencv4/opencv2/dnn/layer.hpp \
+  /usr/local/include/opencv4/opencv2/dnn/dnn.inl.hpp \
+  /usr/local/include/opencv4/opencv2/dnn/utils/inference_engine.hpp \
+  /usr/local/include/opencv4/opencv2/dnn/dnn.hpp \
+  /usr/local/include/opencv4/opencv2/flann.hpp \
+  /usr/local/include/opencv4/opencv2/flann/flann_base.hpp \
+  /usr/local/include/opencv4/opencv2/flann/general.h \
+  /usr/local/include/opencv4/opencv2/flann/matrix.h \
+  /usr/local/include/opencv4/opencv2/flann/params.h \
+  /usr/local/include/opencv4/opencv2/flann/any.h \
+  /usr/local/include/opencv4/opencv2/flann/defines.h \
+  /usr/local/include/opencv4/opencv2/flann/saving.h \
+  /usr/local/include/opencv4/opencv2/flann/nn_index.h \
+  /usr/local/include/opencv4/opencv2/flann/result_set.h \
+  /usr/include/c++/11/set \
+  /usr/include/c++/11/bits/stl_set.h \
+  /usr/include/c++/11/bits/stl_multiset.h \
+  /usr/local/include/opencv4/opencv2/flann/all_indices.h \
+  /usr/local/include/opencv4/opencv2/flann/kdtree_index.h \
+  /usr/local/include/opencv4/opencv2/flann/dynamic_bitset.h \
+  /usr/local/include/opencv4/opencv2/flann/dist.h \
+  /usr/local/include/opencv4/opencv2/flann/heap.h \
+  /usr/local/include/opencv4/opencv2/flann/allocator.h \
+  /usr/local/include/opencv4/opencv2/flann/random.h \
+  /usr/local/include/opencv4/opencv2/flann/kdtree_single_index.h \
+  /usr/local/include/opencv4/opencv2/flann/kmeans_index.h \
+  /usr/local/include/opencv4/opencv2/flann/logger.h \
+  /usr/local/include/opencv4/opencv2/flann/composite_index.h \
+  /usr/local/include/opencv4/opencv2/flann/linear_index.h \
+  /usr/local/include/opencv4/opencv2/flann/hierarchical_clustering_index.h \
+  /usr/local/include/opencv4/opencv2/flann/lsh_index.h \
+  /usr/local/include/opencv4/opencv2/flann/lsh_table.h \
+  /usr/include/c++/11/math.h \
+  /usr/local/include/opencv4/opencv2/flann/autotuned_index.h \
+  /usr/local/include/opencv4/opencv2/flann/ground_truth.h \
+  /usr/local/include/opencv4/opencv2/flann/index_testing.h \
+  /usr/local/include/opencv4/opencv2/flann/timer.h \
+  /usr/local/include/opencv4/opencv2/flann/sampling.h \
+  /usr/local/include/opencv4/opencv2/highgui.hpp \
+  /usr/local/include/opencv4/opencv2/imgcodecs.hpp \
+  /usr/local/include/opencv4/opencv2/videoio.hpp \
+  /usr/local/include/opencv4/opencv2/imgproc.hpp \
+  /usr/local/include/opencv4/opencv2/imgproc/segmentation.hpp \
+  /usr/local/include/opencv4/opencv2/ml.hpp \
+  /usr/local/include/opencv4/opencv2/ml/ml.inl.hpp \
+  /usr/local/include/opencv4/opencv2/objdetect.hpp \
+  /usr/local/include/opencv4/opencv2/objdetect/detection_based_tracker.hpp \
+  /usr/local/include/opencv4/opencv2/objdetect/face.hpp \
+  /usr/local/include/opencv4/opencv2/photo.hpp \
+  /usr/local/include/opencv4/opencv2/stitching.hpp \
+  /usr/local/include/opencv4/opencv2/stitching/warpers.hpp \
+  /usr/local/include/opencv4/opencv2/stitching/detail/warpers.hpp \
+  /usr/local/include/opencv4/opencv2/core/cuda.hpp \
+  /usr/local/include/opencv4/opencv2/core/cuda_types.hpp \
+  /usr/local/include/opencv4/opencv2/core/cuda.inl.hpp \
+  /usr/local/include/opencv4/opencv2/stitching/detail/warpers_inl.hpp \
+  /usr/local/include/opencv4/opencv2/stitching/detail/warpers.hpp \
+  /usr/local/include/opencv4/opencv2/stitching/detail/matchers.hpp \
+  /usr/local/include/opencv4/opencv2/stitching/detail/motion_estimators.hpp \
+  /usr/local/include/opencv4/opencv2/stitching/detail/matchers.hpp \
+  /usr/local/include/opencv4/opencv2/stitching/detail/util.hpp \
+  /usr/include/c++/11/list \
+  /usr/include/c++/11/bits/stl_list.h \
+  /usr/include/c++/11/bits/list.tcc \
+  /usr/local/include/opencv4/opencv2/stitching/detail/util_inl.hpp \
+  /usr/include/c++/11/queue \
+  /usr/include/c++/11/bits/stl_queue.h \
+  /usr/local/include/opencv4/opencv2/stitching/detail/camera.hpp \
+  /usr/local/include/opencv4/opencv2/stitching/detail/exposure_compensate.hpp \
+  /usr/local/include/opencv4/opencv2/stitching/detail/seam_finders.hpp \
+  /usr/local/include/opencv4/opencv2/stitching/detail/blenders.hpp \
+  /usr/local/include/opencv4/opencv2/stitching/detail/camera.hpp \
+  /usr/local/include/opencv4/opencv2/video.hpp \
+  /usr/local/include/opencv4/opencv2/video/tracking.hpp \
+  /usr/local/include/opencv4/opencv2/video/background_segm.hpp \
+  /usr/local/include/opencv4/opencv2/videoio/videoio_c.h \
+  /usr/local/include/opencv4/opencv2/core/core_c.h \
+  /usr/local/include/opencv4/opencv2/core/types_c.h \
+  /usr/local/include/opencv4/opencv2/videoio/legacy/constants_c.h \
+  /usr/local/include/opencv4/opencv2/imgcodecs/imgcodecs.hpp \
+  /usr/local/include/opencv4/opencv2/core/opengl.hpp \
+  /usr/local/include/opencv4/opencv2/core/ocl.hpp \
+  /usr/include/c++/11/typeindex \
+  model/controllers/ui/menu.hpp \
+  model/controllers/ui/menuItem.hpp \
+  model/hardware/hw/serial.hpp \
+  /usr/local/include/CppLinuxSerial/SerialPort.hpp \
+  /usr/include/c++/11/fstream \
+  /usr/include/x86_64-linux-gnu/c++/11/bits/basic_file.h \
+  /usr/include/x86_64-linux-gnu/c++/11/bits/c++io.h \
+  /usr/include/c++/11/bits/fstream.tcc \
+  /usr/include/x86_64-linux-gnu/asm/ioctls.h \
+  /usr/include/asm-generic/ioctls.h \
+  /usr/include/linux/ioctl.h \
+  /usr/include/x86_64-linux-gnu/asm/ioctl.h \
+  /usr/include/asm-generic/ioctl.h \
+  /usr/include/x86_64-linux-gnu/asm/termbits.h \
+  /usr/include/asm-generic/termbits.h \
+  /usr/include/linux/posix_types.h \
+  /usr/include/linux/stddef.h \
+  /usr/include/x86_64-linux-gnu/asm/posix_types.h \
+  /usr/include/x86_64-linux-gnu/asm/posix_types_64.h \
+  /usr/include/asm-generic/posix_types.h \
+  /usr/include/x86_64-linux-gnu/asm/bitsperlong.h \
+  /usr/include/asm-generic/bitsperlong.h \
+  /usr/local/include/CppLinuxSerial/Exception.hpp \
+  model/patterns/observer/observable.hpp \
+  model/patterns/observer/observer.hpp \
+  model/hardware/psvr/_psvr.hpp \
+  model/hardware/ihidapi/_hidapi.hpp \
+  /usr/local/include/hidapi/hidapi.h \
+  model/patterns/commands/commands.hpp
+
 pipeline/CMakeFiles/pipelineLib.dir/members/subNodes/fpsCounter.cpp.o: pipeline/members/subNodes/fpsCounter.cpp \
   /usr/include/stdc-predef.h \
   pipeline/members/subNodes/subNodes.hpp \
@@ -7791,6 +8433,7 @@ pipeline/CMakeFiles/pipelineLib.dir/pipeline.cpp.o: pipeline/pipeline.cpp \
   pipeline/members/uiDrawerNode.hpp \
   pipeline/members/uiMergerNode.hpp \
   pipeline/members/videoCaptureNode.hpp \
+  pipeline/members/pluginNode.hpp \
   model/windows/windowManager.hpp \
   pipeline/members/subNodes/subNodes.hpp \
   pipeline/members/zbarAnalysisNode.hpp \
@@ -7814,12 +8457,7 @@ pipeline/CMakeFiles/pipelineLib.dir/pipeline.cpp.o: pipeline/pipeline.cpp \
   model/hardware/hw/extendables/Device.hpp \
   model/hardware/hw/extendables/DeviceCommand.hpp \
   model/patterns/commands/commands.hpp \
-  model/hardware/hw/serial.hpp \
-  pipeline/pipeline.hpp \
-  pipeline/members/displayOutputNode.hpp \
-  pipeline/members/uiDrawerNode.hpp \
-  pipeline/members/uiMergerNode.hpp \
-  pipeline/members/videoCaptureNode.hpp
+  model/hardware/hw/serial.hpp
 
 
 model/hardware/hw/extendables/DeviceCommand.hpp:
@@ -7862,6 +8500,8 @@ processing/zbar/zbar.hpp:
 
 pipeline/members/zbarAnalysisNode.hpp:
 
+pipeline/members/pluginNode.hpp:
+
 /usr/include/KHR/khrplatform.h:
 
 /usr/include/GL/glut.h:
@@ -8246,6 +8886,8 @@ pipeline/members/subNodes/fpsCounter.cpp:
 
 /usr/include/x86_64-linux-gnu/bits/types/clock_t.h:
 
+pipeline/members/pluginNode.cpp:
+
 /usr/include/c++/11/bits/stl_tempbuf.h:
 
 /usr/include/c++/11/chrono:

src/pipeline/CMakeFiles/pipelineLib.dir/link.txt

@@ -1,2 +1,2 @@
-/usr/bin/ar qc libpipelineLib.a CMakeFiles/pipelineLib.dir/abstract/pipelineNode.cpp.o CMakeFiles/pipelineLib.dir/members/cameraPickerNode.cpp.o CMakeFiles/pipelineLib.dir/members/displayOutputNode.cpp.o CMakeFiles/pipelineLib.dir/members/uiDrawerNode.cpp.o CMakeFiles/pipelineLib.dir/members/uiMergerNode.cpp.o CMakeFiles/pipelineLib.dir/members/zbarAnalysisNode.cpp.o CMakeFiles/pipelineLib.dir/members/videoCaptureNode.cpp.o CMakeFiles/pipelineLib.dir/members/subNodes/fpsCounter.cpp.o CMakeFiles/pipelineLib.dir/members/subNodes/staticImageOverlayer.cpp.o CMakeFiles/pipelineLib.dir/members/subNodes/zbarOverlayer.cpp.o CMakeFiles/pipelineLib.dir/members/subNodes/uiMenuItem.cpp.o CMakeFiles/pipelineLib.dir/pipeline.cpp.o
+/usr/bin/ar qc libpipelineLib.a CMakeFiles/pipelineLib.dir/abstract/pipelineNode.cpp.o CMakeFiles/pipelineLib.dir/members/cameraPickerNode.cpp.o CMakeFiles/pipelineLib.dir/members/displayOutputNode.cpp.o CMakeFiles/pipelineLib.dir/members/uiDrawerNode.cpp.o CMakeFiles/pipelineLib.dir/members/uiMergerNode.cpp.o CMakeFiles/pipelineLib.dir/members/zbarAnalysisNode.cpp.o CMakeFiles/pipelineLib.dir/members/videoCaptureNode.cpp.o CMakeFiles/pipelineLib.dir/members/pluginNode.cpp.o CMakeFiles/pipelineLib.dir/members/subNodes/fpsCounter.cpp.o CMakeFiles/pipelineLib.dir/members/subNodes/staticImageOverlayer.cpp.o CMakeFiles/pipelineLib.dir/members/subNodes/zbarOverlayer.cpp.o CMakeFiles/pipelineLib.dir/members/subNodes/uiMenuItem.cpp.o CMakeFiles/pipelineLib.dir/pipeline.cpp.o
 /usr/bin/ranlib libpipelineLib.a

src/pipeline/CMakeFiles/pipelineLib.dir/progress.make

@@ -11,4 +11,5 @@ CMAKE_PROGRESS_10 = 30
 CMAKE_PROGRESS_11 = 31
 CMAKE_PROGRESS_12 = 32
 CMAKE_PROGRESS_13 = 33
+CMAKE_PROGRESS_14 = 34
 

src/pipeline/CMakeFiles/progress.marks

@@ -1 +1 @@
-43
+44

src/pipeline/CMakeLists.txt

@@ -13,6 +13,8 @@ set(pipeline_src
     ./members/zbarAnalysisNode.hpp
     ./members/videoCaptureNode.cpp
     ./members/videoCaptureNode.hpp
+    ./members/pluginNode.cpp
+    ./members/pluginNode.hpp
 
     ./members/subNodes/subNodes.hpp
     ./members/subNodes/fpsCounter.cpp

src/pipeline/Makefile

@@ -202,6 +202,30 @@ members/displayOutputNode.cpp.s:
 	cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f pipeline/CMakeFiles/pipelineLib.dir/build.make pipeline/CMakeFiles/pipelineLib.dir/members/displayOutputNode.cpp.s
 .PHONY : members/displayOutputNode.cpp.s
 
+members/pluginNode.o: members/pluginNode.cpp.o
+.PHONY : members/pluginNode.o
+
+# target to build an object file
+members/pluginNode.cpp.o:
+	cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f pipeline/CMakeFiles/pipelineLib.dir/build.make pipeline/CMakeFiles/pipelineLib.dir/members/pluginNode.cpp.o
+.PHONY : members/pluginNode.cpp.o
+
+members/pluginNode.i: members/pluginNode.cpp.i
+.PHONY : members/pluginNode.i
+
+# target to preprocess a source file
+members/pluginNode.cpp.i:
+	cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f pipeline/CMakeFiles/pipelineLib.dir/build.make pipeline/CMakeFiles/pipelineLib.dir/members/pluginNode.cpp.i
+.PHONY : members/pluginNode.cpp.i
+
+members/pluginNode.s: members/pluginNode.cpp.s
+.PHONY : members/pluginNode.s
+
+# target to generate assembly for a file
+members/pluginNode.cpp.s:
+	cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f pipeline/CMakeFiles/pipelineLib.dir/build.make pipeline/CMakeFiles/pipelineLib.dir/members/pluginNode.cpp.s
+.PHONY : members/pluginNode.cpp.s
+
 members/subNodes/fpsCounter.o: members/subNodes/fpsCounter.cpp.o
 .PHONY : members/subNodes/fpsCounter.o
 
@@ -436,6 +460,9 @@ help:
 	@echo "... members/displayOutputNode.o"
 	@echo "... members/displayOutputNode.i"
 	@echo "... members/displayOutputNode.s"
+	@echo "... members/pluginNode.o"
+	@echo "... members/pluginNode.i"
+	@echo "... members/pluginNode.s"
 	@echo "... members/subNodes/fpsCounter.o"
 	@echo "... members/subNodes/fpsCounter.i"
 	@echo "... members/subNodes/fpsCounter.s"

src/pipeline/abstract/pipelineNode.cpp

@@ -89,8 +89,17 @@ void PipelineNode::run()
         }
         ranOnce = true;
     }
+    catch(cv::Exception e){
+        std::cout << "\033[1;31m exception caught: " << e.what() << "\033[0m" << std::endl;
+    }
+    catch(exception e)
+    {
+        std::cout << "\033[1;31m caught exception: " << e.what() <<  "\033[0m" << std::endl;
+        exit(1);
+    }
     catch (...)
     {
+        std::cout << "\033[1;31m caught unkown exception, possible memory corruption (pipelineNode)  \033[0m" << std::endl;
         exit(1);
     }
 }

src/pipeline/members/cameraPickerNode.cpp

@@ -16,7 +16,11 @@ void cameraPickerNode::processFrame(){
     _sourceManager->accessLocks[0]->lock();
     output = _sourceManager->captures[0];
     _sourceManager->accessLocks[0]->unlock();
+    Point2d p(0,0);
+    for (SubNode* sn : subNodes)
+        if(sn->enabled) sn->processFrame(output,p);
     outputLock.unlock();
+    
     DEBUG_LOG("cameraPickerNode on thread " << localThread->get_id() << " is done picking its camera frame");
 }
 

src/pipeline/members/pluginNode.cpp

@@ -0,0 +1,39 @@
+#include "pluginNode.hpp"
+#include <opencv2/imgproc.hpp>
+#include <map>
+#include <iostream>
+
+PluginNode::PluginNode(PipelineNode* _previous)
+{
+    isFirst = false;
+    previous = _previous;
+    fpsLimit = 60;
+}
+
+void PluginNode::processFrame()
+{
+    DEBUG_LOG("PluginNode on thread " << localThread->get_id() << " is processing its camera frame");
+    try
+    {
+        if(!previous->getOutput().empty()){
+        cv::UMat toProcess = previous->getOutput();
+        DEBUG_LOG("PluginNode on thread " << localThread->get_id() << " fetched camera frame");
+        Point2d p(0,0);
+        for (SubNode* sn : subNodes)
+            if(sn->enabled) sn->processFrame(toProcess,p);
+        DEBUG_LOG("PluginNode on thread " << localThread->get_id() << " processed camera frame");
+        outputLock.lock();
+        output = toProcess; // write the final image to the psvr UI buffer
+        outputLock.unlock();
+        }
+    }
+    catch (std::exception& e)
+    {
+        std::cerr << "\033[1;31m caught PluginNode::processFrame thread exception :"<< e.what() <<" \033[0m" << std::endl;
+        exit(1);
+    }
+}
+
+std::string PluginNode::getName(){
+    return "PluginNode";
+}

src/pipeline/members/pluginNode.hpp

@@ -0,0 +1,10 @@
+#include "../abstract/pipelineNode.hpp"
+/// @brief this class is used to run plugins
+class PluginNode : public PipelineNode
+{
+public:
+    PluginNode(PipelineNode* _previous);
+    std::string getName() override;
+protected:
+    void processFrame() override;
+};

src/pipeline/members/uiMergerNode.cpp

@@ -16,6 +16,11 @@ void UiMergerNode::processFrame()
 
     if (cameraFrame.rows <= 0 || cameraFrame.cols <= 0)
         return;                                     // check for empty frame
+
+    Point2d p(0,0);
+    for (SubNode* sn : subNodes)
+        if(sn->enabled) sn->processFrame(cameraFrame,p);
+
     cameraFrame = UiSupport::resizeIn(cameraFrame); // resize the frame to the standard format
     // Copy the frame in the center of the background
     cameraFrame.copyTo(UiMat(cv::Rect((UiMat.cols / 2) - (cameraFrame.cols / 2), (UiMat.rows / 2) - (cameraFrame.rows / 2), cameraFrame.cols, cameraFrame.rows)));

src/pipeline/pipeline.cpp

@@ -24,22 +24,27 @@ Pipeline::Pipeline()
     cameraPickerNode *cpn = new cameraPickerNode(cm);
     VideoCaptureNode *vcn = new VideoCaptureNode(cpn);
     ZbarAnalysisNode *zban = new ZbarAnalysisNode(cpn, zs);
+    zban->fpsLimit = 20;
+    PluginNode *pnode = new PluginNode(cpn);
+    pnode->fpsLimit = 16;
+
     UiDrawerNode *udn = new UiDrawerNode(uc);
         udn->addSubNode(fc);
         udn->addSubNode(sio);
         udn->addSubNode(zo);
         udn->fpsLimit = 30;
-    UiMergerNode* umn = new UiMergerNode(cpn, udn, uc);
+    UiMergerNode* umn = new UiMergerNode(pnode, udn, uc);
     DisplayOutputNode* don = new DisplayOutputNode(umn, wm->managedUIs.at(0));
 
-    nodes.push_back(cpn);
-    nodes.push_back(vcn);
-    nodes.push_back(zban);
-    nodes.push_back(udn);
-    nodes.push_back(umn);
-    nodes.push_back(don);
+    nodes.push_back(cpn);   //0
+    nodes.push_back(vcn);   //1
+    nodes.push_back(zban);  //2
+    nodes.push_back(udn);   //3
+    nodes.push_back(umn);   //4
+    nodes.push_back(don);   //5
+    nodes.push_back(pnode); //6
 
-    zban->disabled = false;  //disable the zbar node by default
+    zban->disabled = true;  //disable the zbar node by default
 
     Menu *epsMenu = uc->getSpecificMenu("EPS options"); // create menu for execution per second limits
 
@@ -63,8 +68,8 @@ Pipeline::Pipeline()
     mediaMenu->addItem(vcstopBtn);
     mediaMenu->addItem(vcsnapBtn);
 
-    PluginManager(*this);
-
+    new PluginManager(*this);   //memory leak
+    std::cout << "starting pipeline..." << std::endl;
     startPipeline();
 
     for (PipelineNode *pn : nodes)

src/pipeline/pipeline.hpp

@@ -4,6 +4,7 @@
 #include "./members/uiDrawerNode.hpp"
 #include "./members/uiMergerNode.hpp"
 #include "./members/videoCaptureNode.hpp"
+#include "./members/pluginNode.hpp"
 
 #define PIPELINE_UI_DRAWER_NODE 3
 

src/pluginManagement/CMakeFiles/PluginManager.dir/compiler_depend.internal

@@ -234,6 +234,9 @@ pluginManagement/CMakeFiles/PluginManager.dir/Plugin.cpp.o
  /usr/include/c++/11/bits/stl_map.h
  /usr/include/c++/11/bits/stl_multimap.h
  /usr/include/c++/11/bits/erase_if.h
+ /usr/include/c++/11/atomic
+ /usr/include/c++/11/bits/atomic_base.h
+ /usr/include/c++/11/bits/atomic_lockfree_defines.h
  /home/kanken/code/AHRS_core/src/model/hardware/hw/serial.hpp
  /usr/include/string.h
  /usr/include/strings.h
@@ -292,377 +295,6 @@ pluginManagement/CMakeFiles/PluginManager.dir/Plugin.cpp.o
  /usr/include/c++/11/bits/enable_special_members.h
  /usr/include/c++/11/bits/unordered_map.h
  /usr/include/c++/11/pstl/execution_defs.h
- /home/kanken/code/AHRS_core/src/pipeline/pipeline.hpp
- /home/kanken/code/AHRS_core/src/pipeline/abstract/pipelineNode.hpp
- /usr/include/c++/11/mutex
- /usr/include/c++/11/bits/std_mutex.h
- /usr/include/c++/11/bits/unique_lock.h
- /usr/local/include/opencv4/opencv2/core.hpp
- /usr/local/include/opencv4/opencv2/core/cvdef.h
- /usr/local/include/opencv4/opencv2/core/version.hpp
- /usr/local/include/opencv4/opencv2/core/hal/interface.h
- /usr/include/c++/11/cstddef
- /usr/local/include/opencv4/opencv2/core/cv_cpu_dispatch.h
- /usr/lib/gcc/x86_64-linux-gnu/11/include/emmintrin.h
- /usr/lib/gcc/x86_64-linux-gnu/11/include/xmmintrin.h
- /usr/lib/gcc/x86_64-linux-gnu/11/include/mmintrin.h
- /usr/lib/gcc/x86_64-linux-gnu/11/include/mm_malloc.h
- /usr/include/c++/11/stdlib.h
- /usr/local/include/opencv4/opencv2/core/base.hpp
- /usr/local/include/opencv4/opencv2/opencv_modules.hpp
- /usr/include/c++/11/climits
- /usr/lib/gcc/x86_64-linux-gnu/11/include/limits.h
- /usr/lib/gcc/x86_64-linux-gnu/11/include/syslimits.h
- /usr/include/limits.h
- /usr/include/x86_64-linux-gnu/bits/posix1_lim.h
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- /home/kanken/code/AHRS_core/src/pipeline/members/displayOutputNode.hpp
- /home/kanken/code/AHRS_core/src/model/windows/window.hpp
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- /home/kanken/code/AHRS_core/src/threadweaver/debugging.hpp
- /home/kanken/code/AHRS_core/src/pipeline/members/uiDrawerNode.hpp
- /home/kanken/code/AHRS_core/src/pipeline/members/uiMergerNode.hpp
- /home/kanken/code/AHRS_core/src/pipeline/members/videoCaptureNode.hpp
  /usr/include/dlfcn.h
  /usr/include/x86_64-linux-gnu/bits/dlfcn.h
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@@ -901,6 +533,9 @@ pluginManagement/CMakeFiles/PluginManager.dir/PluginManager.cpp.o
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  /usr/include/c++/11/bits/erase_if.h
+ /usr/include/c++/11/atomic
+ /usr/include/c++/11/bits/atomic_base.h
+ /usr/include/c++/11/bits/atomic_lockfree_defines.h
  /home/kanken/code/AHRS_core/src/model/hardware/hw/serial.hpp
  /usr/include/string.h
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@@ -1019,8 +654,6 @@ pluginManagement/CMakeFiles/PluginManager.dir/PluginManager.cpp.o
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  /usr/include/c++/11/pstl/glue_memory_defs.h
  /usr/local/include/opencv4/opencv2/core/neon_utils.hpp
@@ -1045,7 +678,6 @@ pluginManagement/CMakeFiles/PluginManager.dir/PluginManager.cpp.o
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  /usr/local/include/opencv4/opencv2/core/cvdef.h
- /usr/include/c++/11/atomic
  /home/kanken/code/AHRS_core/src/model/perfcheckers/framerate.hpp
  /home/kanken/code/AHRS_core/src/model/controllers/ui/uiController.hpp
  /home/kanken/code/AHRS_core/src/model/hardware/cameras/_cam.hpp
@@ -1330,4 +962,7 @@ pluginManagement/CMakeFiles/PluginManager.dir/PluginManager.cpp.o
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  /home/kanken/code/AHRS_core/src/pipeline/members/uiMergerNode.hpp
  /home/kanken/code/AHRS_core/src/pipeline/members/videoCaptureNode.hpp
+ /home/kanken/code/AHRS_core/src/pipeline/members/pluginNode.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/extendables/DeviceTree.hpp
+ /home/kanken/code/AHRS_core/src/model/hardware/hw/extendables/SerialDevice.hpp
 

src/pluginManagement/CMakeFiles/PluginManager.dir/compiler_depend.make

@@ -233,6 +233,9 @@ pluginManagement/CMakeFiles/PluginManager.dir/Plugin.cpp.o: pluginManagement/Plu
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+  /usr/include/c++/11/atomic \
+  /usr/include/c++/11/bits/atomic_base.h \
+  /usr/include/c++/11/bits/atomic_lockfree_defines.h \
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-  /usr/include/oneapi/tbb/parallel_invoke.h \
-  /usr/include/tbb/task_arena.h \
-  /usr/include/oneapi/tbb/task_arena.h \
-  /usr/include/tbb/tbb_allocator.h \
-  /usr/include/oneapi/tbb/tbb_allocator.h \
-  /usr/include/oneapi/tbb/detail/_utils.h \
-  /usr/include/tbb/task.h \
-  /usr/include/oneapi/tbb/task.h \
-  /usr/include/c++/11/pstl/parallel_impl.h \
-  /usr/include/c++/11/pstl/numeric_impl.h \
-  /usr/include/c++/11/numeric \
-  /usr/include/c++/11/bits/stl_numeric.h \
-  /usr/include/c++/11/pstl/glue_numeric_defs.h \
-  /usr/include/c++/11/pstl/pstl_config.h \
-  /usr/include/c++/11/pstl/algorithm_fwd.h \
-  /usr/include/c++/11/pstl/glue_algorithm_impl.h \
-  /usr/include/c++/11/pstl/numeric_fwd.h \
-  /usr/include/c++/11/pstl/glue_numeric_impl.h \
-  /usr/include/c++/11/pstl/glue_memory_impl.h \
-  /usr/local/include/opencv4/opencv2/opencv.hpp \
-  /usr/local/include/opencv4/opencv2/calib3d.hpp \
-  /usr/local/include/opencv4/opencv2/features2d.hpp \
-  /usr/local/include/opencv4/opencv2/flann/miniflann.hpp \
-  /usr/local/include/opencv4/opencv2/flann/defines.h \
-  /usr/local/include/opencv4/opencv2/flann/config.h \
-  /usr/local/include/opencv4/opencv2/core/affine.hpp \
-  /usr/local/include/opencv4/opencv2/dnn.hpp \
-  /usr/local/include/opencv4/opencv2/dnn/dnn.hpp \
-  /usr/local/include/opencv4/opencv2/core/async.hpp \
-  /usr/local/include/opencv4/opencv2/dnn/version.hpp \
-  /usr/local/include/opencv4/opencv2/dnn/dict.hpp \
-  /usr/local/include/opencv4/opencv2/dnn/layer.hpp \
-  /usr/local/include/opencv4/opencv2/dnn/dnn.inl.hpp \
-  /usr/local/include/opencv4/opencv2/dnn/utils/inference_engine.hpp \
-  /usr/local/include/opencv4/opencv2/dnn/dnn.hpp \
-  /usr/local/include/opencv4/opencv2/flann.hpp \
-  /usr/local/include/opencv4/opencv2/flann/flann_base.hpp \
-  /usr/local/include/opencv4/opencv2/flann/general.h \
-  /usr/local/include/opencv4/opencv2/flann/matrix.h \
-  /usr/local/include/opencv4/opencv2/flann/params.h \
-  /usr/local/include/opencv4/opencv2/flann/any.h \
-  /usr/local/include/opencv4/opencv2/flann/defines.h \
-  /usr/local/include/opencv4/opencv2/flann/saving.h \
-  /usr/local/include/opencv4/opencv2/flann/nn_index.h \
-  /usr/local/include/opencv4/opencv2/flann/result_set.h \
-  /usr/include/c++/11/set \
-  /usr/include/c++/11/bits/stl_set.h \
-  /usr/include/c++/11/bits/stl_multiset.h \
-  /usr/local/include/opencv4/opencv2/flann/all_indices.h \
-  /usr/local/include/opencv4/opencv2/flann/kdtree_index.h \
-  /usr/local/include/opencv4/opencv2/flann/dynamic_bitset.h \
-  /usr/local/include/opencv4/opencv2/flann/dist.h \
-  /usr/local/include/opencv4/opencv2/flann/heap.h \
-  /usr/local/include/opencv4/opencv2/flann/allocator.h \
-  /usr/local/include/opencv4/opencv2/flann/random.h \
-  /usr/local/include/opencv4/opencv2/flann/kdtree_single_index.h \
-  /usr/local/include/opencv4/opencv2/flann/kmeans_index.h \
-  /usr/local/include/opencv4/opencv2/flann/logger.h \
-  /usr/local/include/opencv4/opencv2/flann/composite_index.h \
-  /usr/local/include/opencv4/opencv2/flann/linear_index.h \
-  /usr/local/include/opencv4/opencv2/flann/hierarchical_clustering_index.h \
-  /usr/local/include/opencv4/opencv2/flann/lsh_index.h \
-  /usr/local/include/opencv4/opencv2/flann/lsh_table.h \
-  /usr/include/c++/11/math.h \
-  /usr/local/include/opencv4/opencv2/flann/autotuned_index.h \
-  /usr/local/include/opencv4/opencv2/flann/ground_truth.h \
-  /usr/local/include/opencv4/opencv2/flann/index_testing.h \
-  /usr/local/include/opencv4/opencv2/flann/timer.h \
-  /usr/local/include/opencv4/opencv2/flann/sampling.h \
-  /usr/local/include/opencv4/opencv2/highgui.hpp \
-  /usr/local/include/opencv4/opencv2/imgcodecs.hpp \
-  /usr/local/include/opencv4/opencv2/videoio.hpp \
-  /usr/local/include/opencv4/opencv2/imgproc.hpp \
-  /usr/local/include/opencv4/opencv2/imgproc/segmentation.hpp \
-  /usr/local/include/opencv4/opencv2/ml.hpp \
-  /usr/local/include/opencv4/opencv2/ml/ml.inl.hpp \
-  /usr/local/include/opencv4/opencv2/objdetect.hpp \
-  /usr/local/include/opencv4/opencv2/objdetect/detection_based_tracker.hpp \
-  /usr/local/include/opencv4/opencv2/objdetect/face.hpp \
-  /usr/local/include/opencv4/opencv2/photo.hpp \
-  /usr/local/include/opencv4/opencv2/stitching.hpp \
-  /usr/local/include/opencv4/opencv2/stitching/warpers.hpp \
-  /usr/local/include/opencv4/opencv2/stitching/detail/warpers.hpp \
-  /usr/local/include/opencv4/opencv2/core/cuda.hpp \
-  /usr/local/include/opencv4/opencv2/core/cuda_types.hpp \
-  /usr/local/include/opencv4/opencv2/core/cuda.inl.hpp \
-  /usr/local/include/opencv4/opencv2/stitching/detail/warpers_inl.hpp \
-  /usr/local/include/opencv4/opencv2/stitching/detail/warpers.hpp \
-  /usr/local/include/opencv4/opencv2/stitching/detail/matchers.hpp \
-  /usr/local/include/opencv4/opencv2/stitching/detail/motion_estimators.hpp \
-  /usr/local/include/opencv4/opencv2/stitching/detail/matchers.hpp \
-  /usr/local/include/opencv4/opencv2/stitching/detail/util.hpp \
-  /usr/local/include/opencv4/opencv2/stitching/detail/util_inl.hpp \
-  /usr/include/c++/11/queue \
-  /usr/include/c++/11/bits/stl_queue.h \
-  /usr/local/include/opencv4/opencv2/stitching/detail/camera.hpp \
-  /usr/local/include/opencv4/opencv2/stitching/detail/exposure_compensate.hpp \
-  /usr/local/include/opencv4/opencv2/stitching/detail/seam_finders.hpp \
-  /usr/local/include/opencv4/opencv2/stitching/detail/blenders.hpp \
-  /usr/local/include/opencv4/opencv2/stitching/detail/camera.hpp \
-  /usr/local/include/opencv4/opencv2/video.hpp \
-  /usr/local/include/opencv4/opencv2/video/tracking.hpp \
-  /usr/local/include/opencv4/opencv2/video/background_segm.hpp \
-  /usr/local/include/opencv4/opencv2/videoio/videoio_c.h \
-  /usr/local/include/opencv4/opencv2/core/core_c.h \
-  /usr/local/include/opencv4/opencv2/core/types_c.h \
-  /usr/local/include/opencv4/opencv2/videoio/legacy/constants_c.h \
-  /usr/local/include/opencv4/opencv2/imgcodecs/imgcodecs.hpp \
-  /usr/local/include/opencv4/opencv2/core/opengl.hpp \
-  /usr/local/include/opencv4/opencv2/core/ocl.hpp \
-  /usr/include/c++/11/typeindex \
-  model/controllers/ui/menu.hpp \
-  model/controllers/ui/menuItem.hpp \
-  model/hardware/hw/serial.hpp \
-  model/hardware/psvr/_psvr.hpp \
-  model/hardware/ihidapi/_hidapi.hpp \
-  /usr/local/include/hidapi/hidapi.h \
-  model/patterns/commands/commands.hpp \
-  pipeline/members/cameraPickerNode.hpp \
-  pipeline/members/displayOutputNode.hpp \
-  model/windows/window.hpp \
-  /usr/local/include/opencv4/opencv2/core/core.hpp \
-  /usr/include/GL/glut.h \
-  /usr/include/GL/freeglut_std.h \
-  /usr/include/GL/gl.h \
-  /usr/include/GL/glext.h \
-  /usr/include/KHR/khrplatform.h \
-  /usr/include/GL/glu.h \
-  threadweaver/debugging.hpp \
-  pipeline/members/uiDrawerNode.hpp \
-  pipeline/members/uiMergerNode.hpp \
-  pipeline/members/videoCaptureNode.hpp \
   /usr/include/dlfcn.h \
   /usr/include/x86_64-linux-gnu/bits/dlfcn.h \
   /usr/include/x86_64-linux-gnu/bits/dl_find_object.h
@@ -899,6 +531,9 @@ pluginManagement/CMakeFiles/PluginManager.dir/PluginManager.cpp.o: pluginManagem
   /usr/include/c++/11/bits/stl_map.h \
   /usr/include/c++/11/bits/stl_multimap.h \
   /usr/include/c++/11/bits/erase_if.h \
+  /usr/include/c++/11/atomic \
+  /usr/include/c++/11/bits/atomic_base.h \
+  /usr/include/c++/11/bits/atomic_lockfree_defines.h \
   model/hardware/hw/serial.hpp \
   /usr/include/string.h \
   /usr/include/strings.h \
@@ -1017,8 +652,6 @@ pluginManagement/CMakeFiles/PluginManager.dir/PluginManager.cpp.o: pluginManagem
   /usr/include/c++/11/bits/align.h \
   /usr/include/c++/11/bit \
   /usr/include/c++/11/bits/shared_ptr_atomic.h \
-  /usr/include/c++/11/bits/atomic_base.h \
-  /usr/include/c++/11/bits/atomic_lockfree_defines.h \
   /usr/include/c++/11/backward/auto_ptr.h \
   /usr/include/c++/11/pstl/glue_memory_defs.h \
   /usr/local/include/opencv4/opencv2/core/neon_utils.hpp \
@@ -1043,7 +676,6 @@ pluginManagement/CMakeFiles/PluginManager.dir/PluginManager.cpp.o: pluginManagem
   /usr/local/include/opencv4/opencv2/core/optim.hpp \
   /usr/local/include/opencv4/opencv2/core/ovx.hpp \
   /usr/local/include/opencv4/opencv2/core/cvdef.h \
-  /usr/include/c++/11/atomic \
   model/perfcheckers/framerate.hpp \
   model/controllers/ui/uiController.hpp \
   model/hardware/cameras/_cam.hpp \
@@ -1327,10 +959,15 @@ pluginManagement/CMakeFiles/PluginManager.dir/PluginManager.cpp.o: pluginManagem
   threadweaver/debugging.hpp \
   pipeline/members/uiDrawerNode.hpp \
   pipeline/members/uiMergerNode.hpp \
-  pipeline/members/videoCaptureNode.hpp
+  pipeline/members/videoCaptureNode.hpp \
+  pipeline/members/pluginNode.hpp \
+  model/hardware/hw/extendables/DeviceTree.hpp \
+  model/hardware/hw/extendables/SerialDevice.hpp
 
 
-/usr/include/x86_64-linux-gnu/bits/dl_find_object.h:
+model/hardware/hw/extendables/DeviceTree.hpp:
+
+pipeline/members/pluginNode.hpp:
 
 pipeline/members/uiMergerNode.hpp:
 
@@ -1342,10 +979,6 @@ model/windows/window.hpp:
 
 pipeline/members/displayOutputNode.hpp:
 
-pluginManagement/PluginManager.cpp:
-
-pipeline/members/cameraPickerNode.hpp:
-
 /usr/local/include/hidapi/hidapi.h:
 
 model/hardware/ihidapi/_hidapi.hpp:
@@ -1462,7 +1095,13 @@ model/controllers/ui/menu.hpp:
 
 /usr/local/include/opencv4/opencv2/flann/defines.h:
 
-/usr/include/asm-generic/bitsperlong.h:
+/usr/local/include/opencv4/opencv2/flann/general.h:
+
+/usr/local/include/opencv4/opencv2/calib3d.hpp:
+
+/usr/local/include/opencv4/opencv2/opencv.hpp:
+
+/usr/include/c++/11/pstl/glue_memory_impl.h:
 
 /usr/include/x86_64-linux-gnu/asm/posix_types.h:
 
@@ -1540,8 +1179,6 @@ model/patterns/commands/commands.hpp:
 
 /usr/include/c++/11/bits/fs_ops.h:
 
-/usr/include/c++/11/pstl/glue_memory_impl.h:
-
 /usr/include/c++/11/bits/refwrap.h:
 
 /usr/include/linux/stddef.h:
@@ -1600,6 +1237,8 @@ model/patterns/commands/commands.hpp:
 
 /usr/include/x86_64-linux-gnu/c++/11/bits/ctype_inline.h:
 
+/usr/include/c++/11/bits/atomic_lockfree_defines.h:
+
 /usr/local/include/opencv4/opencv2/flann/kdtree_index.h:
 
 /usr/include/c++/11/bits/ios_base.h:
@@ -1644,6 +1283,10 @@ pipeline/members/videoCaptureNode.hpp:
 
 /usr/include/c++/11/pstl/glue_algorithm_defs.h:
 
+pipeline/members/cameraPickerNode.hpp:
+
+pluginManagement/PluginManager.cpp:
+
 /usr/include/c++/11/utility:
 
 /usr/include/c++/11/ios:
@@ -1752,6 +1395,8 @@ pipeline/members/uiDrawerNode.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/struct_mutex.h:
 
+/usr/include/asm-generic/bitsperlong.h:
+
 /usr/include/c++/11/cstdint:
 
 /usr/include/x86_64-linux-gnu/bits/waitstatus.h:
@@ -1926,6 +1571,8 @@ threadweaver/debugging.hpp:
 
 /usr/include/x86_64-linux-gnu/asm/ioctl.h:
 
+/usr/include/c++/11/bits/atomic_base.h:
+
 /usr/local/include/opencv4/opencv2/features2d.hpp:
 
 /usr/include/x86_64-linux-gnu/asm/posix_types_64.h:
@@ -2026,6 +1673,8 @@ model/perfcheckers/framerate.hpp:
 
 /usr/include/c++/11/tuple:
 
+/usr/lib/gcc/x86_64-linux-gnu/11/include/adxintrin.h:
+
 /usr/include/x86_64-linux-gnu/c++/11/bits/atomic_word.h:
 
 model/hardware/hw/serial.hpp:
@@ -2044,14 +1693,6 @@ model/hardware/hw/serial.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/waitflags.h:
 
-/usr/include/x86_64-linux-gnu/asm/bitsperlong.h:
-
-/usr/include/c++/11/backward/binders.h:
-
-pluginManagement/PluginManager.hpp:
-
-/usr/include/tbb/parallel_for.h:
-
 /usr/include/locale.h:
 
 /usr/include/c++/11/pstl/glue_numeric_defs.h:
@@ -2070,6 +1711,10 @@ pluginManagement/PluginManager.hpp:
 
 /usr/include/x86_64-linux-gnu/bits/time.h:
 
+/usr/include/c++/11/backward/binders.h:
+
+/usr/include/x86_64-linux-gnu/asm/bitsperlong.h:
+
 /usr/include/c++/11/set:
 
 /usr/include/x86_64-linux-gnu/gnu/stubs.h:
@@ -2204,6 +1849,12 @@ model/controllers/ui/uiController.hpp:
 
 /usr/include/tbb/parallel_invoke.h:
 
+/usr/local/include/opencv4/opencv2/flann/miniflann.hpp:
+
+/usr/include/c++/11/bits/cxxabi_forced.h:
+
+/usr/include/c++/11/bits/algorithmfwd.h:
+
 /usr/include/x86_64-linux-gnu/bits/fp-fast.h:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/xsavesintrin.h:
@@ -2214,6 +1865,18 @@ model/controllers/ui/uiController.hpp:
 
 /usr/include/c++/11/bits/hashtable_policy.h:
 
+/usr/lib/gcc/x86_64-linux-gnu/11/include/avx5124fmapsintrin.h:
+
+/usr/include/x86_64-linux-gnu/bits/dl_find_object.h:
+
+/usr/include/tbb/parallel_for.h:
+
+pluginManagement/PluginManager.hpp:
+
+/usr/include/c++/11/bits/shared_ptr_atomic.h:
+
+/usr/include/c++/11/bits/regex.h:
+
 /usr/local/include/opencv4/opencv2/objdetect.hpp:
 
 pipeline/abstract/pipelineNode.hpp:
@@ -2322,14 +1985,6 @@ pipeline/abstract/pipelineNode.hpp:
 
 /usr/include/c++/11/bit:
 
-/usr/include/c++/11/bits/shared_ptr_atomic.h:
-
-/usr/include/c++/11/bits/regex.h:
-
-/usr/include/c++/11/bits/atomic_base.h:
-
-/usr/include/c++/11/bits/atomic_lockfree_defines.h:
-
 /usr/include/x86_64-linux-gnu/bits/types/__FILE.h:
 
 /usr/include/c++/11/backward/auto_ptr.h:
@@ -2376,8 +2031,6 @@ pipeline/abstract/pipelineNode.hpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vpopcntdqintrin.h:
 
-/usr/lib/gcc/x86_64-linux-gnu/11/include/adxintrin.h:
-
 /usr/include/c++/11/bitset:
 
 /usr/include/c++/11/stack:
@@ -2472,10 +2125,6 @@ model/hardware/hw/extendables/SerialDevice.hpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/tsxldtrkintrin.h:
 
-/usr/local/include/opencv4/opencv2/flann/general.h:
-
-/usr/local/include/opencv4/opencv2/calib3d.hpp:
-
 /usr/include/x86_64-linux-gnu/sys/single_threaded.h:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/waitpkgintrin.h:
@@ -2538,8 +2187,6 @@ model/hardware/hw/extendables/SerialDevice.hpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vbmivlintrin.h:
 
-/usr/lib/gcc/x86_64-linux-gnu/11/include/avx5124fmapsintrin.h:
-
 /usr/local/include/opencv4/opencv2/flann/dynamic_bitset.h:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx5124vnniwintrin.h:
@@ -2566,12 +2213,6 @@ model/hardware/hw/extendables/SerialDevice.hpp:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/avx512vp2intersectvlintrin.h:
 
-/usr/include/c++/11/bits/cxxabi_forced.h:
-
-/usr/include/c++/11/bits/algorithmfwd.h:
-
-/usr/local/include/opencv4/opencv2/flann/miniflann.hpp:
-
 /usr/lib/gcc/x86_64-linux-gnu/11/include/shaintrin.h:
 
 /usr/lib/gcc/x86_64-linux-gnu/11/include/f16cintrin.h:
@@ -2621,5 +2262,3 @@ model/hardware/hw/extendables/SerialDevice.hpp:
 /usr/include/c++/11/ext/numeric_traits.h:
 
 /usr/include/c++/11/pstl/glue_numeric_impl.h:
-
-/usr/local/include/opencv4/opencv2/opencv.hpp:

src/pluginManagement/Plugin.cpp

@@ -2,6 +2,28 @@
 #include <dlfcn.h>
 
 Plugin::Plugin(fs::directory_entry sharedLibraryToLoad){
-    void* libHandle = dlopen(sharedLibraryToLoad.path().string().c_str(), RTLD_LAZY);
+    libHandle = dlopen(sharedLibraryToLoad.path().string().c_str(), RTLD_LAZY);
     if(!libHandle) return;
+
+    typedef std::string (*GetManifestFunc)();
+    typedef std::string (*GetIdentifierFunc)();
+    typedef SerialDevice* (*GenerateDeviceFunc)();
+    typedef SubNode* (*GenerateSubnodeFunc)();
+    typedef std::vector<DeviceCommand*> (*GenerateDeviceCommandsFunc)();
+
+    GetManifestFunc getManifestFunc = (GetManifestFunc)dlsym(libHandle, "getManifest");
+    GetIdentifierFunc getIdentifierFunc = (GetIdentifierFunc)dlsym(libHandle, "getidentifier");
+
+    if(getManifestFunc != NULL)
+        manifest = getManifestFunc();
+    if(getIdentifierFunc != NULL)
+        identifier = getIdentifierFunc();
+
+    loadDevice = (GenerateDeviceFunc)dlsym(libHandle, "generateDevice");
+    loadNode = (GenerateSubnodeFunc)dlsym(libHandle, "generateSubnode");
+    loadCommands = (GenerateDeviceCommandsFunc)dlsym(libHandle, "generateDeviceCommands");
+}
+
+Plugin::~Plugin(){
+    dlclose(libHandle);
 }

src/pluginManagement/Plugin.hpp

@@ -9,12 +9,14 @@ class SubNode;
 class Plugin{
     protected:
         fs::directory_entry pluginFile;
-
+        void* libHandle;
     public:
         std::vector<DeviceCommand*> commands;
         std::string manifest = "";
         std::string identifier = "";
+
         Plugin(fs::directory_entry sharedLibraryToLoad);
+        ~Plugin();
         std::function<SerialDevice*()> loadDevice = NULL;
         std::function<SubNode*()> loadNode = NULL;
         std::function<std::vector<DeviceCommand*>()> loadCommands = NULL;

src/pluginManagement/PluginManager.cpp

@@ -1,5 +1,6 @@
 #include "PluginManager.hpp"
 #include "../pipeline/pipeline.hpp"
+#include "../model/hardware/hw/extendables/DeviceTree.hpp"
 #include <iostream>
 
 PluginManager::PluginManager(Pipeline& pi){
@@ -14,19 +15,30 @@ PluginManager::PluginManager(Pipeline& pi){
         for (const auto& file : fs::directory_iterator(folder_path)) {
             // Check if the file is a regular file and a dynamic shared object file
             if (fs::is_regular_file(file.path()) && file.path().filename().string().substr(file.path().filename().string().size() - 3) == ".so") {
+                std::cout << "Found a valid plugin at: " << file.path() << std::endl;
                 Plugin* pl = new Plugin(file);
+                std::cout << "Loaded plugin " << pl->identifier << " with manifest: " << pl->manifest << std::endl;
                 if(pl->manifest == "") delete pl;
                 else
-                { 
+                {
                     this->plugins[pl->identifier] = pl;
+                    if(pl->loadNode != NULL){
+                        std::cout << "loading plugin node\n";
+                        SubNode* sn = pl->loadNode();
+                        sn->enabled = true;
+                        pi.getNodes().at(6)->addSubNode(sn);
+                        std::cout << "loaded plugin node\n";
+                    }
                     if(pl->loadDevice != NULL){
+                        std::cout << "loading plugin devices\n";
                         SerialDevice* sd = pl->loadDevice();
-                        //add to serial device manager
-                    }
-                    if(pl->loadNode != NULL){
-                        pi.getNodes().at(PIPELINE_UI_DRAWER_NODE)->addSubNode(pl->loadNode());
+                        if(sd->getDeviceID() != ""){
+                            std::cout << "added device " << sd->getDeviceName()  << " with id " << sd->getDeviceID() << std::endl;
+                            DeviceTree::GetInstance()->addDevice(sd);
+                        }
                     }
-                    if(pl->loadCommands != NULL){
+                    /*if(pl->loadCommands != NULL){
+                        std::cout << "loading plugin commands\n";
                         std::vector<DeviceCommand*> comms = pl->loadCommands();
                         pl->commands = comms;
                         for(auto c : pl->commands){
@@ -34,10 +46,12 @@ PluginManager::PluginManager(Pipeline& pi){
                                 
                             }
                         }
-                    }
+                    }*/
                 }
             }
         }
+        DeviceTree::GetInstance()->build();
+        std::cout <<"finished importing plugins" << std::endl;
     }
     else {
         std::cout << "Folder does not exist\n";

src/processing/zbar/CMakeFiles/zbarLib.dir/progress.make

@@ -1,3 +1,3 @@
-CMAKE_PROGRESS_1 = 46
-CMAKE_PROGRESS_2 = 47
+CMAKE_PROGRESS_1 = 47
+CMAKE_PROGRESS_2 = 48
 

src/threadweaver/CMakeFiles/threadweaver.dir/progress.make

@@ -1,3 +1,3 @@
-CMAKE_PROGRESS_1 = 41
-CMAKE_PROGRESS_2 = 42
+CMAKE_PROGRESS_1 = 42
+CMAKE_PROGRESS_2 = 43
 

src/ui/support/CMakeFiles/support.dir/progress.make

@@ -1,3 +1,3 @@
-CMAKE_PROGRESS_1 = 39
-CMAKE_PROGRESS_2 = 40
+CMAKE_PROGRESS_1 = 40
+CMAKE_PROGRESS_2 = 41