SO MANY IMPROVEMENTS

.vscode/c_cpp_properties.json

@@ -0,0 +1,39 @@
+{
+    "configurations": [
+        {
+            "name": "Win32",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [
+                "_DEBUG",
+                "UNICODE",
+                "_UNICODE"
+            ],
+            "windowsSdkVersion": "10.0.19041.0",
+            "compilerPath": "D:\\Applications\\VisualStudio\\VC\\Tools\\MSVC\\14.29.30133\\bin\\Hostx64\\x64\\cl.exe",
+            "cStandard": "c17",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "windows-msvc-x64"
+        },
+        {
+            "name": "ARM",
+            "includePath": [
+                "${workspaceFolder}/**"
+            ],
+            "defines": [
+                "_DEBUG",
+                "UNICODE",
+                "_UNICODE",
+                "__linux__",
+                "__unix__"
+            ],
+            "windowsSdkVersion": "10.0.19041.0",
+            "compilerPath": "D:\\Programs\\Raspbian10-Windows64-Toolchain-8.3.0\\raspbian10\\bin\\arm-raspbian10-linux-gnueabihf-g++.exe",
+            "cStandard": "c17",
+            "cppStandard": "c++17",
+            "intelliSenseMode": "linux-gcc-arm"
+        }
+    ],
+    "version": 4
+}

.vscode/settings.json

@@ -77,6 +77,13 @@
         "xstddef": "cpp",
         "xstring": "cpp",
         "xtree": "cpp",
-        "xutility": "cpp"
-    }
+        "xutility": "cpp",
+        "*.tcc": "cpp",
+        "cstdarg": "cpp",
+        "cwctype": "cpp",
+        "memory_resource": "cpp",
+        "string_view": "cpp",
+        "cinttypes": "cpp"
+    },
+    "cmake.configureOnOpen": false
 }

makefile

@@ -14,8 +14,9 @@
 # -l{libname} -> link with {libname} - remember that libraries all start with 'lib' then end in an extention - {libname} only refers to the name between those - ex. libLIBRARY.so -> -lLIBRARY
 # -L{path} -> add a path in which to search for specified libs (-l's, see above)
 # -Wl,{option} -> pass an option to the linker (this is only here because it was used in the source Makefile)
+# -mcpu/mfpu -> architecture/feature options(for using NEON): https://gist.github.com/fm4dd/c663217935dc17f0fc73c9c81b0aa845
 
-#rwildcard = $(foreach d,$(wildcard $(addsuffix *,$(1))),$(call rwildcard,$(d)/,$(2)) $(filter $(subst *,%,$(2)),$(d)))
+rwildcard = $(foreach d,$(wildcard $(addsuffix *,$(1))),$(call rwildcard,$(d)/,$(2)) $(filter $(subst *,%,$(2)),$(d)))
 
 mode ?= windows-release
 
@@ -26,13 +27,11 @@ SRC_DIR := src
 OBJ_DIR := obj
 BIN_DIR := bin
 
+#SRC_EXT := cpp c s S
+
 PROGRAM := $(BIN_DIR)/vision_program
-#SRC := $(wildcard $(SRC_DIR)/*.cpp)
-SRC_T := $(wildcard $(SRC_DIR)/*.cpp) $(wildcard $(SRC_DIR)/extras/*.cpp)
-#SRC_R := $(wildcard $(SRC_DIR)/*.cpp) $(wildcard $(SRC_DIR)/**/*.cpp)
-#SRC_R := $(call rwildcard,$(SRC_DIR)/,*.cpp)
-SRCS := $(SRC_T)
-OBJS := $(SRCS:$(SRC_DIR)/%.cpp=$(OBJ_DIR)/%.o)
+SRCS := $(call rwildcard,$(SRC_DIR)/,*.cpp *.c *.S *.s)
+OBJS := $(SRCS:$(SRC_DIR)/%=$(OBJ_DIR)/%.o)
 
 CDEBUG := -g -Og
 LDEBUG := -g
@@ -41,8 +40,12 @@ LRELEASE :=
 
 CPPFLAGS := -pthread -Iinclude -Iinclude/opencv -MMD -MP
 CFLAGS := -Wall
+ASMFLAGS := -mcpu=cortex-a72 -mfpu=neon-fp-armv8
 LDFLAGS := -pthread -Wall -Llib -Wl,--unresolved-symbols=ignore-in-shared-libs
-LDLIBS := -lm -lpigpio -lwpilibc -lwpiHal -lcameraserver -lntcore -lcscore -lopencv_dnn -lopencv_highgui -lopencv_ml -lopencv_objdetect -lopencv_shape -lopencv_stitching -lopencv_superres -lopencv_videostab -lopencv_calib3d -lopencv_videoio -lopencv_imgcodecs -lopencv_features2d -lopencv_video -lopencv_photo -lopencv_imgproc -lopencv_flann -lopencv_core -lwpiutil -latomic
+LDLIBS := -lm -lpigpio -lwpilibc -lwpiHal -lcameraserver -lntcore -lcscore -lopencv_dnn -lopencv_highgui -lopencv_ml \
+	-lopencv_objdetect -lopencv_shape -lopencv_stitching -lopencv_superres -lopencv_videostab -lopencv_calib3d \
+	-lopencv_videoio -lopencv_imgcodecs -lopencv_features2d -lopencv_video -lopencv_photo -lopencv_imgproc -lopencv_flann \
+	-lopencv_core -lwpiutil -latomic
 
 ifneq (,$(findstring windows,$(mode))) #windows
 CXX := $(CROSS_PREFIX)$(CXX)
@@ -64,9 +67,18 @@ all: $(PROGRAM)
 rebuild: all | clean
 
 #compile for each source
-$(OBJ_DIR)/%.o: $(SRC_DIR)/%.cpp | $(OBJ_DIR)
+$(OBJ_DIR)/%.cpp.o : $(SRC_DIR)/%.cpp | $(OBJ_DIR)
+	$(CXX) $(COPT) -c -o $(OBJ_DIR)/$(@F) -std=c++17 $(CPPFLAGS) $(CFLAGS) $<
+
+$(OBJ_DIR)/%.c.o : $(SRC_DIR)/%.c | $(OBJ_DIR)
 	$(CXX) $(COPT) -c -o $(OBJ_DIR)/$(@F) -std=c++17 $(CPPFLAGS) $(CFLAGS) $<
 
+$(OBJ_DIR)/%.S.o : $(SRC_DIR)/%.S | $(OBJ_DIR)
+	$(CXX) $(COPT) -c -o $(OBJ_DIR)/$(@F) -std=c++17 $(ASMFLAGS) $(CPPFLAGS) $(CFLAGS) $<
+
+$(OBJ_DIR)/%.s.o : $(SRC_DIR)/%.s | $(OBJ_DIR)
+	$(CXX) $(COPT) -c -o $(OBJ_DIR)/$(@F) -std=c++17 $(ASMFLAGS) $(CPPFLAGS) $(CFLAGS) $<
+
 #link all objects
 $(PROGRAM): $(OBJS) | $(BIN_DIR)
 	$(CXX) $(LOPT) -o $@ $(LDFLAGS) $(foreach file,$(^F),$(OBJ_DIR)/$(file)) $(LDLIBS)

makefile.backup

@@ -0,0 +1,88 @@
+# https://www.gnu.org/software/make/manual/html_node/index.html
+# https://stackoverflow.com/questions/30573481/how-to-write-a-makefile-with-separate-source-and-header-directories
+# https://stackoverflow.com/questions/2826029/passing-additional-variables-from-command-line-to-make
+# https://web.stanford.edu/class/archive/cs/cs107/cs107.1174/guide_make.html
+
+# Compiler Options: https://gcc.gnu.org/onlinedocs/gcc/Option-Summary.html
+# -pthread -> link POSIX thread library - use in compiling AND linking
+# -g -> compile for use with debug tools (GDB)
+# -O -> optimization preference (O0 is default, O{1-3} set different levels (3 is the most optimized), Og optimizes but includes debug info, -Ofast and -Os also exist)
+# -c -> compile only (no linking)
+# -o{file} -> output to {file}, usually a '.o'
+# -I{path} -> INCLUDE this path in header search
+# -W(all) -> compiler warning level (commonly set to 'all', but other options exist)
+# -l{libname} -> link with {libname} - remember that libraries all start with 'lib' then end in an extention - {libname} only refers to the name between those - ex. libLIBRARY.so -> -lLIBRARY
+# -L{path} -> add a path in which to search for specified libs (-l's, see above)
+# -Wl,{option} -> pass an option to the linker (this is only here because it was used in the source Makefile)
+
+#rwildcard = $(foreach d,$(wildcard $(addsuffix *,$(1))),$(call rwildcard,$(d)/,$(2)) $(filter $(subst *,%,$(2)),$(d)))
+
+mode ?= windows-release
+
+CROSS_PREFIX := arm-raspbian10-linux-gnueabihf-
+CXX := g++
+
+SRC_DIR := src
+OBJ_DIR := obj
+BIN_DIR := bin
+
+PROGRAM := $(BIN_DIR)/vision_program
+#SRC := $(wildcard $(SRC_DIR)/*.cpp)
+SRC_T := $(wildcard $(SRC_DIR)/*.cpp) $(wildcard $(SRC_DIR)/extras/*.cpp)
+#SRC_R := $(wildcard $(SRC_DIR)/*.cpp) $(wildcard $(SRC_DIR)/**/*.cpp)
+#SRC_R := $(call rwildcard,$(SRC_DIR)/,*.cpp)
+SRCS := $(SRC_T)
+OBJS := $(SRCS:$(SRC_DIR)/%.cpp=$(OBJ_DIR)/%.o)
+
+CDEBUG := -g -Og
+LDEBUG := -g
+CRELEASE := -O3
+LRELEASE :=
+
+CPPFLAGS := -pthread -Iinclude -Iinclude/opencv -MMD -MP
+CFLAGS := -Wall
+LDFLAGS := -pthread -Wall -Llib -Wl,--unresolved-symbols=ignore-in-shared-libs
+LDLIBS := -lm -lpigpio -lwpilibc -lwpiHal -lcameraserver -lntcore -lcscore -lopencv_dnn -lopencv_highgui -lopencv_ml -lopencv_objdetect -lopencv_shape -lopencv_stitching -lopencv_superres -lopencv_videostab -lopencv_calib3d -lopencv_videoio -lopencv_imgcodecs -lopencv_features2d -lopencv_video -lopencv_photo -lopencv_imgproc -lopencv_flann -lopencv_core -lwpiutil -latomic
+
+ifneq (,$(findstring windows,$(mode))) #windows
+CXX := $(CROSS_PREFIX)$(CXX)
+else #native
+endif
+
+ifneq (,$(findstring release,$(mode))) #release
+COPT := $(CRELEASE)
+LOPT := $(LRELEASE)
+else #ifneq (,$(findstring debug,$(mode))) #debug
+COPT := $(CDEBUG)
+LOPT := $(LDEBUG)
+endif
+
+.PHONY: all rebuild clean
+
+all: $(PROGRAM)
+
+rebuild: all | clean
+
+#compile for each source
+$(OBJ_DIR)/%.o: $(SRC_DIR)/%.cpp | $(OBJ_DIR)
+	$(CXX) $(COPT) -c -o $(OBJ_DIR)/$(@F) -std=c++17 $(CPPFLAGS) $(CFLAGS) $<
+
+#link all objects
+$(PROGRAM): $(OBJS) | $(BIN_DIR)
+	$(CXX) $(LOPT) -o $@ $(LDFLAGS) $(foreach file,$(^F),$(OBJ_DIR)/$(file)) $(LDLIBS)
+
+#create dirs if nonexistant
+$(BIN_DIR) $(OBJ_DIR):
+	mkdir $@
+
+#install: all
+#	cp runCamera $(BIN_DIR)
+
+clean:
+ifneq (,$(findstring windows,$(mode)))#find a better solution for windows, as this doesn't work if the dirs are not empty (kind of pointless)
+	rmdir $(OBJ_DIR) $(BIN_DIR)
+else 
+	$(RM) -rv $(OBJ_DIR) $(BIN_DIR)
+endif
+
+-include $(OBJS:.o=.d)