Changeset 401 in flair-src for trunk

Timestamp:

Mar 18, 2021, 11:07:59 AM (4 years ago)

Author:

Sanahuja Guillaume

Message:

resolve bug when not using hdsvisionfilter but using cameras on dm3730

Location:

trunk

Files:

• demos/CircleFollower/uav/CMakeLists.txt (modified) (1 diff)
• demos/Gps/uav/CMakeLists.txt (modified) (1 diff)
• demos/MixedReality/real/uav/CMakeLists.txt (modified) (1 diff)
• demos/MixedReality/virtual/uav/CMakeLists.txt (modified) (1 diff)
• demos/PidStandalone/uav/CMakeLists.txt (modified) (1 diff)
• demos/SimpleFleet/uav/CMakeLists.txt (modified) (1 diff)
• demos/Skeletons/CustomReferenceAngles/CMakeLists.txt (modified) (1 diff)
• demos/Skeletons/CustomTorques/CMakeLists.txt (modified) (1 diff)
• lib/FlairCore/src/Image.cpp (modified) (1 diff)
• lib/FlairCore/src/Image.h (modified) (1 diff)
• lib/FlairSensorActuator/src/V4LCamera_impl.cpp (modified) (4 diffs)

trunk/demos/CircleFollower/uav/CMakeLists.txt

@@ -4 +4 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
-SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 SET(FLAIR_USE_VRPN TRUE)

trunk/demos/Gps/uav/CMakeLists.txt

@@ -4 +4 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
-SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 

trunk/demos/MixedReality/real/uav/CMakeLists.txt

@@ -4 +4 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
-SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 SET(FLAIR_USE_VRPN TRUE)
+
 include($ENV{FLAIR_ROOT}/flair-src/cmake-modules/GlobalCmakeFlair.cmake)
 

trunk/demos/MixedReality/virtual/uav/CMakeLists.txt

@@ -4 +4 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
-SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 SET(FLAIR_USE_VRPN TRUE)

trunk/demos/PidStandalone/uav/CMakeLists.txt

@@ -4 +4 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
-SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 

trunk/demos/SimpleFleet/uav/CMakeLists.txt

@@ -4 +4 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
-SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 SET(FLAIR_USE_VRPN TRUE)

trunk/demos/Skeletons/CustomReferenceAngles/CMakeLists.txt

@@ -4 +4 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
-SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 

trunk/demos/Skeletons/CustomTorques/CMakeLists.txt

@@ -4 +4 @@
 SET(FLAIR_USE_FILTER TRUE)
 SET(FLAIR_USE_SENSOR_ACTUATOR TRUE)
-SET(FLAIR_USE_VISION_FILTER TRUE)
 SET(FLAIR_USE_META TRUE)
 

trunk/lib/FlairCore/src/Image.cpp

@@ -64 +64 @@
 void Image::RawRead(char *dst) const { Warn("non implementé\n"); }
 
+char* Image::AllocFunction(ssize_t size) {
+  return allocFunction(size);
+}
+
+void Image::FreeFunction(char* buffer) {
+ freeFunction(buffer); 
+}
+
 void Image::RegisterAllocFunction(char*(*func)(ssize_t size)) {
   if(allocFunction==DefaultAllocFunction) allocFunction=func;

trunk/lib/FlairCore/src/Image.h

@@ -111 +111 @@
   static void RegisterAllocFunction(char*(*func)(ssize_t size));
   static void RegisterFreeFunction(void(*func)(char* buffer));
+  static char* AllocFunction(ssize_t size);
+  static void FreeFunction(char* buffer);
 
 private:

trunk/lib/FlairSensorActuator/src/V4LCamera_impl.cpp

@@ -29 +29 @@
 #include <cstring>
 #include <sys/mman.h>
-#include <VisionFilter.h>
 
 using std::string;
@@ -104 +103 @@
   if(useMemoryUsrPtr) {
     for (int i = 0; i < nbBuffers; i++) {
-      FreeFunction((char*)buffers[i]);
+      Image::FreeFunction((char*)buffers[i]);
     }
   } else {
-      FreeFunction(imageData);
+      Image::FreeFunction(imageData);
   }
   close(device);
@@ -212 +211 @@
 
   //allocate output data
-  imageData = AllocFunction(self->output->GetDataType().GetSize());
+  imageData = Image::AllocFunction(self->output->GetDataType().GetSize());
   //Printf("cmem allocated %i at %x\n",output->GetDataType().GetSize(),imageData);
 
@@ -237 +236 @@
 
   for (int i=0; i<nbBuffers; i++) {
-    buffers[i] =AllocFunction(self->output->GetDataType().GetSize());
+    buffers[i] =Image::AllocFunction(self->output->GetDataType().GetSize());
   }