Properly read from the device

.gitignore

@@ -9,4 +9,8 @@ Cargo.lock
 # These are backup files generated by rustfmt
 **/*.rs.bk
 
-bazel-*
+# Bazel buildsystem
+bazel-*
+
+# Core files
+core

libodm/cpp/listener.cc

@@ -8,21 +8,21 @@ public:
 
 void LeapEventListener::onConnect(const Controller &controller)
 {
-    std::cout << "LeapMotion Controller: Connected" << std::endl;
+    // std::cout << "LeapMotion Controller: Connected" << std::endl;
 }
 
 //Not dispatched when running in a debugger
 void LeapEventListener::onDisconnect(const Controller &controller)
 {
-    std::cout << "LeapMotion Controller: Disconnected" << std::endl;
+    // std::cout << "LeapMotion Controller: Disconnected" << std::endl;
 }
 
 void LeapEventListener::onFrame(const Controller &controller)
 {
-    std::cout << "New frame available" << std::endl;
-    Frame frame = controller.frame();
+    // std::cout << "New frame available" << std::endl;
+    // Frame frame = controller.frame();
 
-    // Get the camera images
-    images = frame.images();
+    // // Get the camera images
+    // images = frame.images();
 
 }

libodm/cpp/wrapper.cc

@@ -17,7 +17,7 @@ extern "C" const unsigned char *getImageRight();
 
 //---- Start Globals ----//
 Controller *controller = nullptr;
-ImageList images;
+// ImageList images;
 //---- End Globals ----//
 
 #include "listener.cc"
@@ -35,25 +35,25 @@ void beginEventLoop()
         controller->setPolicyFlags(Controller::POLICY_IMAGES);
 
         // Set up event handling
-        LeapEventListener listener;
-        controller->addListener(listener);
+        // LeapEventListener listener;
+        // controller->addListener(listener);
     }
 }
 
 void endEventLoop()
 {
-    // if (controller != nullptr)
-    // {
-    //     delete controller;
-    // }
+    if (controller != nullptr)
+    {
+        delete controller;
+    }
 }
 
 bool isControllerCreated() { return controller != nullptr; }
-bool imageExists() { return images.count() == 2; }
-int getImageHeight() { return images[0].height(); }
-int getImageWidth() { return images[0].width(); }
-int getImageBPP() { return images[0].bytesPerPixel(); }
-const unsigned char *getImageLeft() { return images[0].data(); }
-const unsigned char *getImageRight() { return images[1].data(); }
+bool imageExists() { return controller->frame().images().count() == 2; }
+int getImageHeight() { return controller->frame().images()[0].height(); }
+int getImageWidth() { return controller->frame().images()[0].width(); }
+int getImageBPP() { return controller->frame().images()[0].bytesPerPixel(); }
+const unsigned char *getImageLeft() { return controller->frame().images()[0].data(); }
+const unsigned char *getImageRight() { return controller->frame().images()[1].data(); }
 
 //---- End Public Function Impls ----//

libodm/src/leapmotion/device.rs

@@ -1,3 +1,5 @@
+use std::time::{Duration, SystemTime};
+
 use crate::leapmotion::ffi::endEventLoop;
 
 use super::ffi;
@@ -5,14 +7,14 @@ use super::ffi;
 #[derive(Debug)]
 pub enum DeviceError {
     InstanceError,
+    Timeout,
 }
 
 pub struct LeapMotionDevice {}
 
 impl LeapMotionDevice {
-
     /// Creates a LeapMotionDevice by talking to the device driver. This can only be called once
-    pub fn create_device() -> Result<Self, DeviceError> {
+    pub fn create_device(timeout: Duration) -> Result<Self, DeviceError> {
         log::debug!("Creating LeapMotion device access");
 
         // Handle possible error with multiple instances
@@ -30,6 +32,23 @@ impl LeapMotionDevice {
             ffi::beginEventLoop();
         }
 
+        // Pause a small amount of time for the device to finish init or for the timeout to be hit
+        let time_now = SystemTime::now();
+        loop {
+            // Handle timeout
+            if time_now.elapsed().unwrap() > timeout {
+                log::error!("Hit device init timeout");
+                return Err(DeviceError::Timeout);
+            }
+
+            // Handle device connect
+            unsafe {
+                if ffi::isControllerCreated() && ffi::imageExists() {
+                    break;
+                }
+            }
+        }
+
         log::debug!("Device created");
         Ok(Self {})
     }
@@ -38,8 +57,8 @@ impl LeapMotionDevice {
 impl Drop for LeapMotionDevice {
     fn drop(&mut self) {
         log::debug!("Informing wrapper to deallocate LeapMotion device");
-        unsafe{
+        unsafe {
             ffi::endEventLoop();
         }
     }
-}
+}

odm.sh

@@ -0,0 +1,10 @@
+#! /bin/bash
+# This is a small wrapper script to handle configuring your library path before executing ODM
+
+set -e
+
+echo "Enabling core dumps"
+ulimit -c unlimited
+
+echo "Starting cargo with new flags"
+LD_LIBRARY_PATH="$(pwd)/libodm/lib:$LD_LIBRARY_PATH" cargo run $@

odm/Cargo.toml

@@ -9,3 +9,6 @@ edition = "2018"
 [dependencies]
 libodm = { version = "0.1.0", path = "../libodm"}
 clap = "2.33.3"
+fern = "0.6.0"
+log = "0.4.14"
+chrono = "0.4.19"

odm/src/cli/logging.rs

@@ -0,0 +1,21 @@
+
+pub fn start_fern() {
+    fern::Dispatch::new()
+    // Perform allocation-free log formatting
+    .format(|out, message, record| {
+        out.finish(format_args!(
+            "{}[{}][{}] {}",
+            chrono::Local::now().format("[%Y-%m-%d][%H:%M:%S]"),
+            record.target(),
+            record.level(),
+            message
+        ))
+    })
+    // Add blanket level filter -
+    .level(log::LevelFilter::Debug)
+    
+    // Output to stdout, files, and other Dispatch configurations
+    .chain(std::io::stdout())
+    // Apply globally
+    .apply().unwrap();
+}

odm/src/cli/mod.rs

@@ -0,0 +1 @@
+pub mod logging;

odm/src/main.rs

@@ -1,11 +1,17 @@
 use std::time::Duration;
 
+use cli::logging::start_fern;
 use libodm::leapmotion::device::LeapMotionDevice;
 
+mod cli;
+
 fn main() {
+
+    start_fern();
     
     // Init a device
-    let device = LeapMotionDevice::create_device().unwrap();
+    let device = LeapMotionDevice::create_device(Duration::from_secs(1)).unwrap();
+
+    log::info!("Got data");
 
-    std::thread::sleep(Duration::from_secs(1));
 }

scripts/inspect-core.sh

@@ -0,0 +1,5 @@
+#! /bin/bash
+
+set -e
+
+LD_LIBRARY_PATH="$(pwd)/libodm/lib:$LD_LIBRARY_PATH" gdb ./target/debug/odm