working opengl pipeline

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/ARHS_core/Sources/src/Visnode)
+set(CMAKE_BINARY_DIR /home/kanken/code/AHRS_core/Sources/src/Visnode)
 find_package(OpenCV REQUIRED)
 find_package(TBB REQUIRED)
 

Sources/src/Visnode/main.cpp

@@ -6,6 +6,10 @@ using namespace psvr;
 int main(int argc, char* argv[])
 {
 try{
+char tmp[256];
+getcwd(tmp, 256);
+std::cout << "Current working directory: " << tmp << std::endl;
+
 unsigned num_cpus = std::thread::hardware_concurrency();
 cout << num_cpus <<" cores detected" << endl;
 std::cout << cv::getBuildInformation() << std::endl;
@@ -17,7 +21,7 @@ std::future<int> fobj = std::async (cameraManager::init);   //asynchronous camer
 ui::UiController::init();
 ui::UiController::runIntro = true;
 std::future<void> menudraw = std::async (ui::UiDrawer::drawMenu);
-ui::UiDrawer::drawStartupSequence();    //show startup sequence while camera manager is starting
+sleep(3);
 menudraw.get();
 fobj.get();
 
@@ -26,7 +30,7 @@ SerialPortManager::init();
 ui::UiController::exitCalled = false;
 ui::UiController::runIntro = false;
 
-
+ui::UiDrawer::runDrawUi();
 std::thread* t = new std::thread(ui::UiDrawer::runDrawUi);
 Threadweaver::stick_this_thread_to_core(t,1);
 Threadweaver::gfxPipelineThread = t;

Sources/src/Visnode/threadweaver/threadweaver.hpp

@@ -1,6 +1,7 @@
 #include <thread>
 #include <vector>
 #include <unistd.h>
+#include <filesystem>
 #include <sched.h>
 #include "./debugging.hpp"
 

Sources/src/Visnode/ui/_ui.hpp

@@ -30,10 +30,10 @@ namespace ui {
     //Defines a single ui window (by default two will be displayed)
     class Ui{
         public:
-        UMat drawBuffer;
         UMat drawSurface; //Current frame 
-        cv::ogl::Texture2D drawTexture;
+        cv::ogl::Texture2D drawTexture = Texture2D();
         int id;
+        bool inited = false;
         std::string myWindow;
         void draw();
     };

Sources/src/Visnode/ui/ui.cpp

@@ -1,23 +1,45 @@
 #include "_ui.hpp"
 
 void ui::Ui::draw(){
+   if(!inited){
+      namedWindow(myWindow,WINDOW_OPENGL);
+      setWindowProperty(myWindow, cv::WND_PROP_FULLSCREEN, cv::WINDOW_FULLSCREEN);
+      cv::setOpenGlContext(myWindow);
+      moveWindow(myWindow,DEFAULT_UI_OFFSET_X+960,DEFAULT_UI_OFFSET_Y);
+      resizeWindow(myWindow,DEFAULT_UI_SIZE_X,DEFAULT_UI_SIZE_Y);
+      inited = true;
+      ui::UiDrawer::drawStartupSequence();
+   }
+   try{
+   DEBUG_LOG("\nBegin drawing--------------")
    fcheckManager::fcShow.tickBegin();
    UiManager::accessLocks.at(this->id)->lock();   
    if(drawSurface.empty()){
       UiManager::accessLocks.at(this->id)->unlock();
       return;
    }
-   drawBuffer = drawSurface;
+   #ifdef OGLWIN
+      DEBUG_LOG("Assigning opengl buffer")
+      UMat drawBuffer = drawSurface;
+      DEBUG_LOG("Done assigning opengl buffer")
+   #else
+      UMat drawBuffer = drawSurface;
+   #endif
    UiManager::accessLocks.at(this->id)->unlock();
+   DEBUG_LOG("Buffer retreived")
    #ifdef OGLWIN
-      UMat blk1920x1080(cv::Size(1920, 1080), CV_8UC3,Scalar(0,0,0));
-      drawTexture = Texture2D(1920,1080,cv::ogl::Texture2D::Format::RGBA,false);
-      //cv::ogl::convertToGLTexture2D(drawBuffer, drawTexture);
-      //imshow(this->myWindow, this->drawTexture);
+         drawTexture.copyFrom(drawBuffer);
+      imshow(this->myWindow, this->drawTexture);
    #else
-      imshow(this->myWindow, this->drawBuffer);
+      imshow(this->myWindow, drawBuffer);
    #endif
 
    waitKey(10);
    fcheckManager::fcShow.tickUpdate();
+   DEBUG_LOG("Done draw cycle-----------------")
+   }
+   catch(...){
+      cerr << "exception caught in ui::draw" << endl;
+      UiManager::accessLocks.at(this->id)->unlock();
+   }
 }

Sources/src/Visnode/ui/uiDrawer.cpp

@@ -12,21 +12,22 @@ framerateChecker* ui::UiDrawer::fpsCounter = new framerateChecker();
 namespace ui{
     //draws the UI for the left screen of the psvr
     void UiDrawer::drawUi(){
+                DEBUG_LOG("\nBegan new pipeline cycle-------------------------------")
             fcheckManager::fcUI.tickBegin();
             UMat UiMat = prepareUiMat();               //prepare black background 960*1080
-            DEBUG_LOG("prepared UI mat")
+                DEBUG_LOG("prepared UI mat")
             cameraManager::accessLocks[0]->lock();      //lock the capture access
             UMat cameraFrame = cameraManager::captures[0];   //retreive latest camera frame
             cameraManager::accessLocks[0]->unlock();    //unlock capture access
-            DEBUG_LOG("retreived camera frame")
+                DEBUG_LOG("retreived camera frame")
             if(cameraFrame.rows <= 0 || cameraFrame.cols <= 0) return;  //check for empty frame
             cameraFrame = resizeIn(cameraFrame);                //resize the frame to the standard format
-            DEBUG_LOG("resized camera frame")
+                DEBUG_LOG("resized camera frame")
             //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)));
-            DEBUG_LOG("copied camera frame")
+                DEBUG_LOG("copied camera frame")
             UiMat = OverlayBlackMask(UiMat, OverlayMat);    //add the fixed overlay
-            DEBUG_LOG("overlayed camera frame")
+                DEBUG_LOG("overlayed camera frame")
             if(UiController::showMenu){
                 UiDrawer::drawMenu();
                 OsMatLock.lock();

Sources/src/Visnode/ui/uiManager.cpp

@@ -47,9 +47,9 @@ namespace ui{
             newUI->myWindow = "project- UI"+std::to_string(i);
             #ifdef OGLWIN
                 DEBUG_LOG("created opengl window")
-                namedWindow(newUI->myWindow,WINDOW_OPENGL);
-                cv::setOpenGlContext(newUI->myWindow);
-                setOpenGlDrawCallback(newUI->myWindow, on_opengl);
+                
+                //cv::setOpenGlContext(newUI->myWindow);
+                //setOpenGlDrawCallback(newUI->myWindow, on_opengl);
             #else
                 DEBUG_LOG("created cpu-based window")
                 namedWindow(newUI->myWindow);
@@ -67,7 +67,7 @@ namespace ui{
             accessLocks.at(i)->unlock();
             std::thread* t = new std::thread(ui::UiManager::beginDrawRoutineForUi,newUI);
             Threadweaver::stick_this_thread_to_core(t,0);
-            Threadweaver::osUiDrawerThread = t; //TODO fix?
+            Threadweaver::osUiDrawerThread = t;
         }
         uiShouldRun = true;
     }