Merge pull request #3 from kipr/refactor

Update Refactor branch

.gitignore

@@ -1,2 +1,4 @@
 build
-.vscode/
+.vscode/
+documentation/html
+documentation/man

documentation/CMakeLists.txt

@@ -23,6 +23,26 @@ if (with_documentation)
   endforeach()
   list(APPEND DOCUMENTATION_DIRECTORIES ${CMAKE_SOURCE_DIR}/documentation/pages)
 
+ #Project Settings
+  set(DOXYGEN_PROJECT_LOGO ${CMAKE_SOURCE_DIR}/documentation/kipr.png)
+  set(DOXYGEN_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/documentation)
+  #Build Settings
+  set(DOXYGEN_EXTRACT_ALL YES)
+  set(DOXYGEN_GENERATE_TODOLIST NO)
+  #Input Settings
+  set(DOXYGEN_RECURSIVE YES)
+  #Source Browser Settings
+  set(DOXYGEN_REFERENCED_BY_RELATION YES)
+  set(DOXYGEN_REFERENCES_RELATION YES)
+  #HTML
+    #Note: Finding a red color that wasn't ugly was a challenge, so it's purple for now
+    #(because purple is an awesome color)
+  set(DOXYGEN_HTML_COLORSTYLE_HUE 243)
+  set(DOXYGEN_HTML_COLORSTYLE_SAT 96)
+  set(DOXYGEN_HTML_COLORSTYLE_GAMMA 95)
+  set(DOXYGEN_DISABLE_INDEX YES)
+  set(DOXYGEN_GENERATE_TREEVIEW YES)
+
   doxygen_add_docs(
     documentation
     ${DOCUMENTATION_DIRECTORIES}

module/camera/dependencies/zlib/CMakeLists.txt

@@ -11,15 +11,15 @@ set(ZLIB_COMMON_OPTIONS
 if (CMAKE_CROSSCOMPILING)
   get_property(ARCH GLOBAL PROPERTY arch)
   ExternalProject_Add(dep_zlib
-    URL https://www.zlib.net/zlib-1.2.12.tar.gz
+    URL https://www.zlib.net/zlib-1.2.13.tar.gz
     CMAKE_ARGS
       -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
       ${ZLIB_COMMON_OPTIONS}
     INSTALL_COMMAND make install
   )
 else()
   ExternalProject_Add(dep_zlib
-    URL https://www.zlib.net/zlib-1.2.12.tar.gz
+    URL https://www.zlib.net/zlib-1.2.13.tar.gz
     CMAKE_ARGS
       ${ZLIB_COMMON_OPTIONS}
     INSTALL_COMMAND make install
@@ -36,4 +36,4 @@ target_include_directories(zlib_wrapper INTERFACE ${ZLIB_INCLUDE_DIR})
 # z
 add_library(z_wrapper INTERFACE)
 add_dependencies(z_wrapper zlib_wrapper)
-target_link_libraries(z_wrapper INTERFACE zlib_wrapper z)
+target_link_libraries(z_wrapper INTERFACE zlib_wrapper z)

module/camera/protected/kipr/camera/channel.hpp → module/camera/protected/kipr/camera/channel_impl.hpp

@@ -1,8 +1,9 @@
-#ifndef _KIPR_CAMERA_CHANNEL_HPP_
-#define _KIPR_CAMERA_CHANNEL_HPP_
+#ifndef _KIPR_CAMERA_CHANNEL_IMPL_HPP_
+#define _KIPR_CAMERA_CHANNEL_IMPL_HPP_
 
 #include "kipr/camera/object.hpp"
 #include "kipr/config/config.hpp"
+#include "kipr/camera/channel.hpp"
 
 #include <opencv2/core/core.hpp>
 
@@ -41,29 +42,6 @@ namespace kipr
       static std::map<std::string, ChannelImpl *> m_channelImpls;
     };
 
-    class Channel
-    {
-    public:
-      Channel(Device *device, const config::Config &config);
-      ~Channel();
-
-      void invalidate();
-      const ObjectVector *objects() const;
-      Device *device() const;
-
-      /**
-      * Do not call this method unless you know what you are doing!
-      */
-      void setConfig(const config::Config &config);
-
-    private:
-      Device *m_device;
-      config::Config m_config;
-      mutable ObjectVector m_objects;
-      ChannelImpl *m_impl;
-      mutable bool m_valid;
-    };
-
     typedef std::vector<Channel *> ChannelPtrVector;
   }
 }

module/camera/public/kipr/camera/channel.hpp

@@ -0,0 +1,39 @@
+#ifndef _KIPR_CAMERA_CHANNEL_HPP_
+#define _KIPR_CAMERA_CHANNEL_HPP_
+
+#include "kipr/camera/object.hpp"
+#include "kipr/config/config.hpp"
+
+namespace kipr
+{
+  namespace camera
+  {
+    class Device;
+    class ChannelImpl;
+
+    class Channel
+    {
+    public:
+      Channel(Device *device, const config::Config &config);
+      ~Channel();
+
+      void invalidate();
+      const ObjectVector *objects() const;
+      Device *device() const;
+
+      /**
+      * Do not call this method unless you know what you are doing!
+      */
+      void setConfig(const config::Config &config);
+
+    private:
+      Device *m_device;
+      config::Config m_config;
+      mutable ObjectVector m_objects;
+      ChannelImpl *m_impl;
+      mutable bool m_valid;
+    };
+  }
+}
+
+#endif

module/camera/public/kipr/camera/image.hpp

@@ -1,6 +1,8 @@
 #ifndef _KIPR_CAMERA_IMAGE_HPP_
 #define _KIPR_CAMERA_IMAGE_HPP_
 
+#include <algorithm>
+
 namespace kipr
 {
   namespace camera
@@ -29,6 +31,8 @@ namespace kipr
       Image(const Image &);
       Image(Image &&);
 
+      Image &operator=(Image);
+
       ~Image();
 
       bool isEmpty() const;
@@ -41,6 +45,17 @@ namespace kipr
       unsigned getStride() const;
       bool isOwned() const;
 
+      friend void swap(Image &first, Image &second)
+      {
+        using std::swap;
+        swap(first.type_, second.type_);
+        swap(first.data_, second.data_);
+        swap(first.owned_, second.owned_);
+        swap(first.width_, second.width_);
+        swap(first.height_, second.height_);
+        swap(first.stride_, second.stride_);
+      }
+
     private:
       Type type_;
       unsigned char *data_;

module/camera/src/camera.cpp

@@ -2,6 +2,7 @@
 #include "channel_p.hpp"
 #include "kipr/camera/camera.h"
 #include "kipr/camera/channel.hpp"
+#include "kipr/camera/channel_impl.hpp"
 #include "UDPVideo.hpp"
 
 #include <csetjmp>

module/camera/src/camera_c.cpp

@@ -1,6 +1,7 @@
 #include "kipr/camera/camera.h"
 #include "kipr/camera/camera.hpp"
 #include "kipr/camera/channel.hpp"
+#include "kipr/camera/channel_impl.hpp"
 #include "kipr/log/log.hpp"
 #include "camera_c_p.hpp"
 #include "logger.hpp"

module/camera/src/channel.cpp

@@ -6,51 +6,6 @@
 using namespace kipr;
 using namespace kipr::camera;
 
-ChannelImpl::ChannelImpl() : m_dirty(true) {}
-
-ChannelImpl::~ChannelImpl() {}
-
-void ChannelImpl::setImage(const cv::Mat &image)
-{
-  if (image.empty())
-  {
-    m_image = cv::Mat();
-    m_dirty = true;
-    return;
-  }
-  m_image = image;
-  m_dirty = true;
-}
-
-ObjectVector ChannelImpl::objects(const config::Config &config)
-{
-  if (m_dirty)
-  {
-    update(m_image);
-    m_dirty = false;
-  }
-  return findObjects(config);
-}
-
-std::map<std::string, ChannelImpl *> ChannelImplManager::m_channelImpls = {
-  {"hsv", new HsvChannelImpl()},
-};
-
-void ChannelImplManager::setImage(const cv::Mat &image)
-{
-  std::map<std::string, ChannelImpl *>::iterator it = m_channelImpls.begin();
-  for (; it != m_channelImpls.end(); ++it)
-    it->second->setImage(image);
-}
-
-ChannelImpl *ChannelImplManager::channelImpl(const std::string &name)
-{
-  std::map<std::string, ChannelImpl *>::iterator it = m_channelImpls.find(name);
-  return (it == m_channelImpls.end()) ? 0 : it->second;
-}
-
-// Channel //
-
 Channel::Channel(Device *device, const config::Config &config)
     : m_device(device), m_config(config), m_impl(0), m_valid(false)
 {

module/camera/src/channel_impl.cpp

@@ -0,0 +1,50 @@
+#include "kipr/camera/channel_impl.hpp"
+#include "channel_p.hpp"
+
+#include "logger.hpp"
+
+using namespace kipr;
+using namespace kipr::camera;
+
+ChannelImpl::ChannelImpl() : m_dirty(true) {}
+
+ChannelImpl::~ChannelImpl() {}
+
+void ChannelImpl::setImage(const cv::Mat &image)
+{
+  if (image.empty())
+  {
+    m_image = cv::Mat();
+    m_dirty = true;
+    return;
+  }
+  m_image = image;
+  m_dirty = true;
+}
+
+ObjectVector ChannelImpl::objects(const config::Config &config)
+{
+  if (m_dirty)
+  {
+    update(m_image);
+    m_dirty = false;
+  }
+  return findObjects(config);
+}
+
+std::map<std::string, ChannelImpl *> ChannelImplManager::m_channelImpls = {
+  {"hsv", new HsvChannelImpl()},
+};
+
+void ChannelImplManager::setImage(const cv::Mat &image)
+{
+  std::map<std::string, ChannelImpl *>::iterator it = m_channelImpls.begin();
+  for (; it != m_channelImpls.end(); ++it)
+    it->second->setImage(image);
+}
+
+ChannelImpl *ChannelImplManager::channelImpl(const std::string &name)
+{
+  std::map<std::string, ChannelImpl *>::iterator it = m_channelImpls.find(name);
+  return (it == m_channelImpls.end()) ? 0 : it->second;
+}

module/camera/src/channel_p.hpp

@@ -2,7 +2,7 @@
 #define _KIPR_CAMERA_CHANNEL_P_HPP_
 
 #include "kipr/camera/camera.hpp"
-#include "kipr/camera/channel.hpp"
+#include "kipr/camera/channel_impl.hpp"
 #include "kipr/camera/object.hpp"
 #include <opencv2/core/core.hpp>
 

module/camera/src/image.cpp

@@ -21,7 +21,7 @@ Image::Image(
   unsigned char *const data,
   const bool owned
 ) : type_(type)
-  , data_(nullptr)
+  , data_(data)
   , owned_(owned)
   , width_(width)
   , height_(height)
@@ -53,6 +53,12 @@ Image::Image(Image &&rhs)
   rhs.owned_ = false;
 }
 
+Image &Image::operator=(Image other)
+{
+  swap(*this, other);
+  return *this;
+}
+
 Image::~Image()
 {
   if (owned_) delete[] data_;

module/core/src/device/wombat/wombat_device.cpp

@@ -162,7 +162,7 @@ class WombatDevice : public kipr::core::Device
       return false;
     }
 
-    if (read_buffer[0] != 'J')
+    if (read_buffer && read_buffer[0] != 'J')
     {
       logger.error() << "DMA de-synchronized";
       return false;