web-view-cpp/main_class.cpp at master · scs/web-view-cpp · GitHub

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#include "main_class.h"
#include "version.h"
#include "ipc.h"


#include <unistd.h>


CMain::CMain() {
}


CMain::~CMain() {
	OscDestroy();
}


OSC_ERR CMain::Init(int argc, char ** argv) {

	OSC_ERR err;

	/******* Create the framework **********/
	if((err=OscCreate(
			&OscModule_log,
			&OscModule_sup,
			&OscModule_bmp,
			&OscModule_cam,
			&OscModule_vis,
			&OscModule_gpio
			))!=SUCCESS)
		return(err);


	OscLogSetConsoleLogLevel(INFO);
	OscLogSetFileLogLevel(WARN);

	OscGpioConfigSensorLedOut(true);


#if defined(OSC_HOST) || defined(OSC_SIM)
	{
		void * hFileNameReader;

		if((err=OscFrdCreateConstantReader(&hFileNameReader, TEST_IMAGE_FN))!=SUCCESS)
			return(err);
		if((err=OscCamSetFileNameReader(hFileNameReader))!=SUCCESS)
			return(err);
	}
#endif /* OSC_HOST or OSC_SIM */

	/* init the camera */
	if((err=m_camera.Init(ROI(), 2))!=SUCCESS)
		return(err);

	m_camera.setAutoExposure(true);


	char* osc_version;
	OscGetVersionString(&osc_version);
	string welcome_msg="###  "APP_NAME" "+getAppVersion().toStr()+"  OSCAR "+osc_version+"  ###\n";
	OscLog(INFO, welcome_msg.c_str());


	return(SUCCESS);
}

OSC_ERR CMain::MainLoop() {
	OSC_ERR err=SUCCESS;

	CIPC ipc(m_camera);
	err=ipc.Init();

	OscSimInitialize();

	/* read one image ahead */
	m_camera.CapturePicture();
	m_camera.ReadPicture();


	uint32 startCyc=OscSupCycGet();

	while(err==SUCCESS) { /* infinite loop if no error occurs */

		err=ipc.handleIpcRequests();

		/* Allow other processes to run. Due to kernel tick rate of 250Hz this
		 * call will return in 4ms. */
		usleep(500);

		/* Advance the simulation step counter. */
		OscSimStep();


		uint32 delta_time_us=OscSupCycToMicroSecs(OscSupCycGet() - startCyc);
		if(delta_time_us/1000 > 1000) {
			startCyc=OscSupCycGet();
			if(ipc.img_count > 0)
				printf("Sent %i images in %i ms\n", ipc.img_count, (int) delta_time_us/1000);
			ipc.img_count=0;
		}
	}
	return(err);
}