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Yorick GEOFFRE 3 years ago
parent 5d4cd9d7c3
commit 2f5f88c58f
26 changed files with 842 additions and 44 deletions
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/usr/include/c++/11/thread \
/usr/include/c++/11/bits/std_thread.h \
/usr/include/c++/11/bits/this_thread_sleep.h \
model/perfcheckers/framerate.hpp \
threadweaver/threadweaver.hpp \
/usr/include/unistd.h \
/usr/include/x86_64-linux-gnu/bits/posix_opt.h \
/usr/include/x86_64-linux-gnu/bits/environments.h \
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/usr/include/x86_64-linux-gnu/bits/getopt_core.h \
/usr/include/x86_64-linux-gnu/bits/unistd_ext.h \
/usr/include/linux/close_range.h \
/usr/include/c++/11/filesystem \
/usr/include/c++/11/bits/fs_fwd.h \
/usr/include/c++/11/bits/fs_path.h \
/usr/include/c++/11/locale \
/usr/include/c++/11/bits/locale_facets_nonio.h \
/usr/include/x86_64-linux-gnu/c++/11/bits/time_members.h \
/usr/include/x86_64-linux-gnu/c++/11/bits/messages_members.h \
/usr/include/libintl.h \
/usr/include/c++/11/bits/codecvt.h \
/usr/include/c++/11/bits/locale_facets_nonio.tcc \
/usr/include/c++/11/bits/locale_conv.h \
/usr/include/c++/11/iomanip \
/usr/include/c++/11/bits/quoted_string.h \
/usr/include/c++/11/codecvt \
/usr/include/c++/11/bits/fs_dir.h \
/usr/include/c++/11/bits/fs_ops.h \
threadweaver/debugging.hpp \
/usr/include/c++/11/iostream \
/usr/include/c++/11/map \
/usr/include/c++/11/bits/stl_tree.h \
/usr/include/c++/11/bits/stl_map.h \
/usr/include/c++/11/bits/stl_multimap.h \
/usr/local/include/opencv4/opencv2/imgproc.hpp \
/usr/local/include/opencv4/opencv2/imgproc/segmentation.hpp
pipeline/CMakeFiles/pipelineLib.dir/members/uiDrawerNode.cpp.o: pipeline/members/uiDrawerNode.cpp \
/usr/include/stdc-predef.h \
pipeline/members/uiDrawerNode.hpp \
@ -3193,7 +3541,8 @@ pipeline/CMakeFiles/pipelineLib.dir/pipeline.cpp.o: pipeline/pipeline.cpp \
/usr/include/x86_64-linux-gnu/bits/termios-c_lflag.h \
/usr/include/x86_64-linux-gnu/bits/termios-tcflow.h \
/usr/include/x86_64-linux-gnu/bits/termios-misc.h \
/usr/include/x86_64-linux-gnu/sys/ttydefaults.h
/usr/include/x86_64-linux-gnu/sys/ttydefaults.h \
pipeline/members/subNodes/fpsCounter.hpp
/usr/include/x86_64-linux-gnu/sys/ttydefaults.h:
@ -3244,6 +3593,8 @@ model/controllers/ui/uiController.hpp:
pipeline/members/uiDrawerNode.cpp:
pipeline/members/subNodes/fpsCounter.hpp:
/usr/include/KHR/khrplatform.h:
/usr/include/GL/glext.h:
@ -3286,6 +3637,8 @@ pipeline/members/displayOutputNode.cpp:
/usr/local/include/opencv4/opencv2/stitching/detail/warpers_inl.hpp:
pipeline/members/subNodes/fpsCounter.cpp:
/usr/local/include/opencv4/opencv2/core/cuda.hpp:
/usr/local/include/opencv4/opencv2/stitching/warpers.hpp:

2
src/pipeline/CMakeFiles/pipelineLib.dir/link.txt
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@ -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/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/subNodes/fpsCounter.cpp.o CMakeFiles/pipelineLib.dir/pipeline.cpp.o
/usr/bin/ranlib libpipelineLib.a

1
src/pipeline/CMakeFiles/pipelineLib.dir/progress.make
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@ -5,4 +5,5 @@ CMAKE_PROGRESS_4 = 17
CMAKE_PROGRESS_5 = 18
CMAKE_PROGRESS_6 = 19
CMAKE_PROGRESS_7 = 20
CMAKE_PROGRESS_8 = 21

2
src/pipeline/CMakeFiles/progress.marks
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@ -1 +1 @@
29
30

2
src/pipeline/CMakeLists.txt
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@ -9,6 +9,8 @@ set(pipeline_src
./members/uiDrawerNode.hpp
./members/uiMergerNode.cpp
./members/uiMergerNode.hpp
./members/subNodes/fpsCounter.hpp
./members/subNodes/fpsCounter.cpp
./pipeline.cpp
./pipeline.hpp)
MESSAGE(STATUS "building pipeline")

27
src/pipeline/Makefile
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@ -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/subNodes/fpsCounter.o: members/subNodes/fpsCounter.cpp.o
.PHONY : members/subNodes/fpsCounter.o
# target to build an object file
members/subNodes/fpsCounter.cpp.o:
cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f pipeline/CMakeFiles/pipelineLib.dir/build.make pipeline/CMakeFiles/pipelineLib.dir/members/subNodes/fpsCounter.cpp.o
.PHONY : members/subNodes/fpsCounter.cpp.o
members/subNodes/fpsCounter.i: members/subNodes/fpsCounter.cpp.i
.PHONY : members/subNodes/fpsCounter.i
# target to preprocess a source file
members/subNodes/fpsCounter.cpp.i:
cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f pipeline/CMakeFiles/pipelineLib.dir/build.make pipeline/CMakeFiles/pipelineLib.dir/members/subNodes/fpsCounter.cpp.i
.PHONY : members/subNodes/fpsCounter.cpp.i
members/subNodes/fpsCounter.s: members/subNodes/fpsCounter.cpp.s
.PHONY : members/subNodes/fpsCounter.s
# target to generate assembly for a file
members/subNodes/fpsCounter.cpp.s:
cd /home/kanken/code/AHRS_core/src && $(MAKE) $(MAKESILENT) -f pipeline/CMakeFiles/pipelineLib.dir/build.make pipeline/CMakeFiles/pipelineLib.dir/members/subNodes/fpsCounter.cpp.s
.PHONY : members/subNodes/fpsCounter.cpp.s
members/uiDrawerNode.o: members/uiDrawerNode.cpp.o
.PHONY : members/uiDrawerNode.o
@ -292,6 +316,9 @@ help:
@echo "... members/displayOutputNode.o"
@echo "... members/displayOutputNode.i"
@echo "... members/displayOutputNode.s"
@echo "... members/subNodes/fpsCounter.o"
@echo "... members/subNodes/fpsCounter.i"
@echo "... members/subNodes/fpsCounter.s"
@echo "... members/uiDrawerNode.o"
@echo "... members/uiDrawerNode.i"
@echo "... members/uiDrawerNode.s"

14
src/pipeline/abstract/pipelineNode.cpp
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@ -3,6 +3,7 @@
PipelineNode::PipelineNode()
{
DEBUG_LOG("pipeline created")
localES = new framerateChecker();
}
bool PipelineNode::isRunning()
@ -44,6 +45,12 @@ cv::UMat PipelineNode::getOutput()
return output;
}
void PipelineNode::addSubNode(SubNode* sn)
{
subNodes.push_back(sn);
}
void PipelineNode::run()
{
while (!shouldRun || (!isFirst && (previous == nullptr || previous->ranOnce)))
@ -59,7 +66,7 @@ void PipelineNode::run()
while (this->shouldRun)
{
begin = std::chrono::steady_clock::now();
localES.tickBegin();
localES->tickBegin();
if (!disabled)
{
this->processFrame();
@ -67,11 +74,12 @@ void PipelineNode::run()
else
{
DEBUG_LOG("pipeline on thread " << localThread->get_id() << " is shorting its output");
cv::UMat data = previous->getOutput();
outputLock.lock();
output = previous->getOutput();
output = data;
outputLock.unlock();
}
localES.tickUpdate();
localES->tickUpdate();
end = std::chrono::steady_clock::now();
std::this_thread::sleep_for(std::chrono::milliseconds((1000 / this->fpsLimit) - std::chrono::duration_cast<std::chrono::milliseconds>(end - begin).count()));
}

12
src/pipeline/abstract/pipelineNode.hpp
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@ -9,11 +9,19 @@
#include "../../model/perfcheckers/framerate.hpp"
#include "../../threadweaver/threadweaver.hpp"
/// @brief this class represents an unthreaded sub-node of a given node of the graphcis pipeline
class SubNode{
public:
virtual void processFrame(cv::UMat& input, cv::Point2d& cursorPos)=0;
std::atomic_bool enabled = true;
};
/// @brief this class represents a threaded node of the graphics pipeline
class PipelineNode{
public:
PipelineNode();
std::atomic_int fpsLimit = 60;
framerateChecker localES;
framerateChecker* localES;
cv::UMat getOutput();
void run();
bool isRunning();
@ -21,9 +29,11 @@ class PipelineNode{
void start();
std::thread* joinThread();
void setThreadToCore(int core);
void addSubNode(SubNode* sn);
//virtual ~PipelineNode();
float cost = 1;
protected:
std::vector<SubNode*> subNodes;
std::mutex outputLock;
cv::UMat output;
std::atomic_bool shouldRun = false;

13
src/pipeline/members/subNodes/fpsCounter.cpp
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@ -0,0 +1,13 @@
#include "fpsCounter.hpp"
#include <opencv2/imgproc.hpp>
void FpsCounter::processFrame(cv::UMat& input, cv::Point2d& cursorPos){
for(std::pair<std::string, framerateChecker*> sfc : checkers){
int fps = sfc.second->fps;
cv::putText(input, cv::format("Eps %s: %d", sfc.first.c_str(),fps), cv::Point2i(5, cursorPos.y += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, cv::Scalar(255, 255, 255), 1, 8, false);
}
}
void FpsCounter::addChecker(std::string name, framerateChecker* fc){
checkers.emplace(name, fc);
}

12
src/pipeline/members/subNodes/fpsCounter.hpp
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@ -0,0 +1,12 @@
#include "../../abstract/pipelineNode.hpp"
#include <map>
class FpsCounter : public SubNode
{
public:
void processFrame(cv::UMat &input, cv::Point2d &cursorPos) override;
void addChecker(std::string name, framerateChecker *fc);
protected:
std::map<std::string, framerateChecker *> checkers;
};

14
src/pipeline/members/uiDrawerNode.cpp
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@ -30,16 +30,10 @@ void UiDrawerNode::processFrame()
std::string str = iter->first;
cv::putText(MenuMat, str, cv::Point2i(5, stackerIndex += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false);
}
int mFps, uiFps, Drawfps, camFPS = 0;
//mFps = fcheckManager::fcMergeUI.fps;
//uiFps = fcheckManager::fcDrawMenu.fps;
//Drawfps = fcheckManager::fcShow.fps;
//camFPS = fcheckManager::fcCam.fps;
//cv::putText(MenuMat, cv::format("Eps Ui drawer: %d", uiFps), cv::Point2i(5, stackerIndex += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false);
//cv::putText(MenuMat, cv::format("Eps Ui merger: %d", mFps), cv::Point2i(5, stackerIndex += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false);
//cv::putText(MenuMat, cv::format("Eps imshow: %d", Drawfps), cv::Point2i(5, stackerIndex += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false);
//cv::putText(MenuMat, cv::format("Eps Camera 0: %d", camFPS), cv::Point2i(5, stackerIndex += 20), cv::HersheyFonts::FONT_HERSHEY_PLAIN, 1, Scalar(255, 255, 255), 1, 8, false);
Point2d pc = Point2d(0,stackerIndex);
for (SubNode* sn : subNodes)
if(sn->enabled) sn->processFrame(MenuMat,pc);
stackerIndex = pc.y;
cv::rectangle(MenuMat, cv::Rect2i(0, ((20 * _backController->selectedIndex) + 20) + 5, wd, 20), Scalar(200, 0, 0), 3, 8, 0);
outputLock.lock();
output = MenuMat;

9
src/pipeline/pipeline.cpp
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@ -1,6 +1,7 @@
#include "pipeline.hpp"
#include "./../model/windows/windowManager.hpp"
#include "../model/hardware/hw/serial.hpp"
#include "./members/subNodes/fpsCounter.hpp"
Pipeline::Pipeline(){
WindowManager* wm = new WindowManager();
@ -12,11 +13,19 @@ Pipeline::Pipeline(){
sp->Attach(uc);
FpsCounter* fc = new FpsCounter();
nodes.push_back(new cameraPickerNode(cm));
nodes.push_back(new UiDrawerNode(uc));
nodes.at(1)->addSubNode(fc);
nodes.push_back(new UiMergerNode(nodes.at(0),nodes.at(1),uc));
nodes.push_back(new DisplayOutputNode(nodes.at(2), wm->managedUIs.at(0)));
fc->addChecker("camera picker",nodes.at(0)->localES);
fc->addChecker("ui drawer",nodes.at(1)->localES);
fc->addChecker("ui merger",nodes.at(2)->localES);
fc->addChecker("display output",nodes.at(3)->localES);
for(PipelineNode* pn : nodes)
pn->start();
}

4
src/processing/zbar/CMakeFiles/zbarLib.dir/progress.make
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@ -1,3 +1,3 @@
CMAKE_PROGRESS_1 = 33
CMAKE_PROGRESS_2 = 34
CMAKE_PROGRESS_1 = 34
CMAKE_PROGRESS_2 = 35

BIN
src/prog
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Binary file not shown.

4
src/threadweaver/CMakeFiles/threadweaver.dir/progress.make
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@ -1,3 +1,3 @@
CMAKE_PROGRESS_1 = 28
CMAKE_PROGRESS_2 = 29
CMAKE_PROGRESS_1 = 29
CMAKE_PROGRESS_2 = 30

2
src/threadweaver/debugging.hpp
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@ -2,7 +2,7 @@
#include <string>
//#include "../model/perfcheckers/framerate.hpp"
#define DBGMODE
//#define DBGMODE
#define DBGCOMM
//#define OGLWIN
#define GFXCORE 0

4
src/ui/support/CMakeFiles/support.dir/progress.make
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@ -1,3 +1,3 @@
CMAKE_PROGRESS_1 = 26
CMAKE_PROGRESS_2 = 27
CMAKE_PROGRESS_1 = 27
CMAKE_PROGRESS_2 = 28

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