tami/MYNT-EYE-S-SDK
6
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Add async callback for motion datas

Browse Source
This commit is contained in:
John Zhao 2018-05-31 20:36:17 +08:00
parent 7e55f78418
commit f447739488
4 changed files with 26 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/api/api.cc
View File

@ -139,9 +139,8 @@ void API::SetStreamCallback(const Stream &stream, stream_callback_t callback) {
void API::SetMotionCallback(motion_callback_t callback) { void API::SetMotionCallback(motion_callback_t callback) {
static auto callback_ = callback; static auto callback_ = callback;
if (callback_) { if (callback_) {
device_->SetMotionCallback([](const device::MotionData &data) { device_->SetMotionCallback(
callback_({data.imu}); [](const device::MotionData &data) { callback_({data.imu}); }, true);
} /*, true*/);
} else { } else {
device_->SetMotionCallback(nullptr); device_->SetMotionCallback(nullptr);
} }

2
src/device/device.cc
View File

@ -295,7 +295,7 @@ void Device::SetMotionCallback(motion_callback_t callback, bool async) {
if (callback) { if (callback) {
if (async) if (async)
motion_async_callback_ = motion_async_callback_ =
std::make_shared<motion_async_callback_t>("motion", callback); std::make_shared<motion_async_callback_t>("motion", callback, true);
} else { } else {
motion_async_callback_ = nullptr; motion_async_callback_ = nullptr;
} }

6
src/internal/async_callback.h
View File

@ -20,6 +20,7 @@
#include <mutex> #include <mutex>
#include <string> #include <string>
#include <thread> #include <thread>
#include <vector>
#include "mynteye/mynteye.h" #include "mynteye/mynteye.h"
@ -30,7 +31,7 @@ class AsyncCallback {
public: public:
using callback_t = std::function<void(Data data)>; using callback_t = std::function<void(Data data)>;
AsyncCallback(std::string name, callback_t callback); AsyncCallback(std::string name, callback_t callback, bool concat = false);
~AsyncCallback(); ~AsyncCallback();
void PushData(Data data); void PushData(Data data);
@ -48,8 +49,9 @@ class AsyncCallback {
bool running_; bool running_;
std::thread thread_; std::thread thread_;
Data data_;
std::uint32_t count_; std::uint32_t count_;
bool concat_;
std::vector<Data> datas_;
}; };
MYNTEYE_END_NAMESPACE MYNTEYE_END_NAMESPACE

26
src/internal/async_callback_impl.h
View File

@ -23,8 +23,12 @@
MYNTEYE_BEGIN_NAMESPACE MYNTEYE_BEGIN_NAMESPACE
template <class Data> template <class Data>
AsyncCallback<Data>::AsyncCallback(std::string name, callback_t callback) AsyncCallback<Data>::AsyncCallback(
: name_(std::move(name)), callback_(std::move(callback)), count_(0) { std::string name, callback_t callback, bool concat)
: name_(std::move(name)),
callback_(std::move(callback)),
count_(0),
concat_(concat) {
VLOG(2) << __func__; VLOG(2) << __func__;
running_ = true; running_ = true;
thread_ = std::thread(&AsyncCallback<Data>::Run, this); thread_ = std::thread(&AsyncCallback<Data>::Run, this);
@ -47,7 +51,10 @@ AsyncCallback<Data>::~AsyncCallback() {
template <class Data> template <class Data>
void AsyncCallback<Data>::PushData(Data data) { void AsyncCallback<Data>::PushData(Data data) {
std::lock_guard<std::mutex> _(mtx_); std::lock_guard<std::mutex> _(mtx_);
data_ = data; if (!concat_) {
datas_.clear();
}
datas_.push_back(data);
++count_; ++count_;
cv_.notify_one(); cv_.notify_one();
} }
@ -62,13 +69,18 @@ void AsyncCallback<Data>::Run() {
if (!running_) if (!running_)
break; break;
if (callback_) if (callback_) {
callback_(data_); for (auto &&data : datas_) {
callback_(data);
}
}
if (VLOG_IS_ON(2) && count_ > 1) { if (VLOG_IS_ON(2) && count_ > datas_.size()) {
VLOG(2) << "AsyncCallback(" << name_ << ") dropped " << (count_ - 1); VLOG(2) << "AsyncCallback(" << name_ << ") dropped "
<< (count_ - datas_.size());
} }
count_ = 0; count_ = 0;
datas_.clear();
} }
VLOG(2) << "AsyncCallback(" << name_ << ") thread end"; VLOG(2) << "AsyncCallback(" << name_ << ") thread end";
} }