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refactor(synthetic): callback complete

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This commit is contained in:
TinyOh
2019-01-22 16:21:04 +08:00
parent c894ca4a4f
commit cdc5db724d
2 changed files with 69 additions and 294 deletions
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113
src/mynteye/api/synthetic.cc
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@@ -158,16 +158,9 @@ const struct Synthetic::stream_control_t Synthetic::getControlDateWithStream(
std::shared_ptr<Processor> Synthetic::getProcessorWithStream(
const Stream& stream) {
// for (auto &&it : processors_) {
// std::cout << it->Name();
// for (auto it_s : it->getTargetStreams()) {
// std::cout << it_s.stream << "----" << it_s.mode << std::endl;
// }
// }
for (auto &&it : processors_) {
for (auto it_s : it->getTargetStreams()) {
if (it_s.stream == stream) {
// std::cout << it_s.stream << "----" << it_s.mode << std::endl;
return it;
}
}
@@ -190,20 +183,20 @@ void Synthetic::setControlDateCallbackWithStream(
LOG(ERROR) << "ERROR: no suited processor for stream "<< ctr_data.stream;
}
void Synthetic::setControlDateModeWithStream(
const struct stream_control_t& ctr_data) {
for (auto &&it : processors_) {
int i = 0;
for (auto it_s : it->getTargetStreams()) {
if (it_s.stream == ctr_data.stream) {
it->target_streams_[i].mode = ctr_data.mode;
return;
}
i++;
}
}
LOG(ERROR) << "ERROR: no suited processor for stream "<< ctr_data.stream;
}
// void Synthetic::setControlDateModeWithStream(
// const struct stream_control_t& ctr_data) {
// for (auto &&it : processors_) {
// int i = 0;
// for (auto it_s : it->getTargetStreams()) {
// if (it_s.stream == ctr_data.stream) {
// it->target_streams_[i].mode = ctr_data.mode;
// return;
// }
// i++;
// }
// }
// LOG(ERROR) << "ERROR: no suited processor for stream "<< ctr_data.stream;
// }
bool Synthetic::checkControlDateWithStream(const Stream& stream) const {
for (auto &&it : processors_) {
@@ -220,15 +213,15 @@ bool Synthetic::checkControlDateWithStream(const Stream& stream) const {
// return checkControlDateWithStream(stream);
// }
Synthetic::status_mode_t Synthetic::GetStreamStatusMode(
const Stream &stream) const {
if (checkControlDateWithStream(stream)) {
auto ctrData = getControlDateWithStream(stream);
return ctrData.mode;
} else {
return MODE_STATUS_LAST;
}
}
// Synthetic::status_mode_t Synthetic::GetStreamStatusMode(
// const Stream &stream) const {
// if (checkControlDateWithStream(stream)) {
// auto ctrData = getControlDateWithStream(stream);
// return ctrData.mode;
// } else {
// return MODE_STATUS_LAST;
// }
// }
// void Synthetic::EnableStreamData(const Stream &stream) {
// // Activate processors of synthetic stream
@@ -283,15 +276,24 @@ bool Synthetic::IsStreamDataEnabled(const Stream &stream) const {
void Synthetic::SetStreamCallback(
const Stream &stream, stream_callback_t callback) {
stream_control_t data;
data.stream = stream;
if (callback == nullptr) {
stream_callbacks_.erase(stream);
data.stream_callback = nullptr;
} else {
stream_callbacks_[stream] = callback;
data.stream_callback = callback;
}
setControlDateCallbackWithStream(data);
}
bool Synthetic::HasStreamCallback(const Stream &stream) const {
return stream_callbacks_.find(stream) != stream_callbacks_.end();
if (checkControlDateWithStream(stream)) {
auto data = getControlDateWithStream(stream);
if (data.stream_callback != nullptr) {
return true;
}
}
return false;
}
void Synthetic::StartVideoStreaming() {
@@ -308,7 +310,8 @@ void Synthetic::StartVideoStreaming() {
ProcessNativeStream(stream, stream_data);
// Need mutex if set callback after start
if (HasStreamCallback(stream)) {
stream_callbacks_.at(stream)(stream_data);
auto data = getControlDateWithStream(stream);
data.stream_callback(stream_data);
}
},
true);
@@ -790,14 +793,22 @@ void Synthetic::InitProcessors() {
std::make_shared<RootProcessor>(RECTIFY_PROC_PERIOD);
root_processor->AddChild(rectify_processor);
rectify_processor->addTargetStreams({Stream::LEFT_RECTIFIED, StatusMode::MODE_STATUS_LAST, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
rectify_processor->addTargetStreams({Stream::RIGHT_RECTIFIED, StatusMode::MODE_STATUS_LAST, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
disparity_processor->addTargetStreams({Stream::DISPARITY, StatusMode::MODE_STATUS_LAST, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
disparitynormalized_processor->addTargetStreams({Stream::DISPARITY_NORMALIZED, StatusMode::MODE_STATUS_LAST, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
points_processor->addTargetStreams({Stream::POINTS, StatusMode::MODE_STATUS_LAST, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
depth_processor->addTargetStreams({Stream::DEPTH, StatusMode::MODE_STATUS_LAST, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
root_processor->addTargetStreams({Stream::LEFT, StatusMode::MODE_STATUS_LAST, Mode::MODE_NATIVE, Mode::MODE_NATIVE, nullptr});
root_processor->addTargetStreams({Stream::RIGHT, StatusMode::MODE_STATUS_LAST, Mode::MODE_NATIVE, Mode::MODE_NATIVE, nullptr});
rectify_processor->addTargetStreams(
{Stream::LEFT_RECTIFIED, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
rectify_processor->addTargetStreams(
{Stream::RIGHT_RECTIFIED, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
disparity_processor->addTargetStreams(
{Stream::DISPARITY, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
disparitynormalized_processor->addTargetStreams(
{Stream::DISPARITY_NORMALIZED, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
points_processor->addTargetStreams(
{Stream::POINTS, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
depth_processor->addTargetStreams(
{Stream::DEPTH, Mode::MODE_LAST, Mode::MODE_LAST, nullptr});
root_processor->addTargetStreams(
{Stream::LEFT, Mode::MODE_NATIVE, Mode::MODE_NATIVE, nullptr});
root_processor->addTargetStreams(
{Stream::RIGHT, Mode::MODE_NATIVE, Mode::MODE_NATIVE, nullptr});
processors_.push_back(root_processor);
processors_.push_back(rectify_processor);
@@ -1007,11 +1018,13 @@ bool Synthetic::OnDepthProcess(
void Synthetic::OnRectifyPostProcess(Object *const out) {
const ObjMat2 *output = Object::Cast<ObjMat2>(out);
if (HasStreamCallback(Stream::LEFT_RECTIFIED)) {
stream_callbacks_.at(Stream::LEFT_RECTIFIED)(
auto data = getControlDateWithStream(Stream::LEFT_RECTIFIED);
data.stream_callback(
{output->first_data, output->first, nullptr, output->first_id});
}
if (HasStreamCallback(Stream::RIGHT_RECTIFIED)) {
stream_callbacks_.at(Stream::RIGHT_RECTIFIED)(
auto data = getControlDateWithStream(Stream::RIGHT_RECTIFIED);
data.stream_callback(
{output->second_data, output->second, nullptr, output->second_id});
}
}
@@ -1019,7 +1032,8 @@ void Synthetic::OnRectifyPostProcess(Object *const out) {
void Synthetic::OnDisparityPostProcess(Object *const out) {
const ObjMat *output = Object::Cast<ObjMat>(out);
if (HasStreamCallback(Stream::DISPARITY)) {
stream_callbacks_.at(Stream::DISPARITY)(
auto data = getControlDateWithStream(Stream::DISPARITY);
data.stream_callback(
{output->data, output->value, nullptr, output->id});
}
}
@@ -1027,7 +1041,8 @@ void Synthetic::OnDisparityPostProcess(Object *const out) {
void Synthetic::OnDisparityNormalizedPostProcess(Object *const out) {
const ObjMat *output = Object::Cast<ObjMat>(out);
if (HasStreamCallback(Stream::DISPARITY_NORMALIZED)) {
stream_callbacks_.at(Stream::DISPARITY_NORMALIZED)(
auto data = getControlDateWithStream(Stream::DISPARITY_NORMALIZED);
data.stream_callback(
{output->data, output->value, nullptr, output->id});
}
}
@@ -1035,7 +1050,8 @@ void Synthetic::OnDisparityNormalizedPostProcess(Object *const out) {
void Synthetic::OnPointsPostProcess(Object *const out) {
const ObjMat *output = Object::Cast<ObjMat>(out);
if (HasStreamCallback(Stream::POINTS)) {
stream_callbacks_.at(Stream::POINTS)(
auto data = getControlDateWithStream(Stream::POINTS);
data.stream_callback(
{output->data, output->value, nullptr, output->id});
}
}
@@ -1043,7 +1059,8 @@ void Synthetic::OnPointsPostProcess(Object *const out) {
void Synthetic::OnDepthPostProcess(Object *const out) {
const ObjMat *output = Object::Cast<ObjMat>(out);
if (HasStreamCallback(Stream::DEPTH)) {
stream_callbacks_.at(Stream::DEPTH)(
auto data = getControlDateWithStream(Stream::DEPTH);
data.stream_callback(
{output->data, output->value, nullptr, output->id});
}
}