Add Socket Support

.gitignore

@@ -38,11 +38,6 @@ install_manifest.txt
 compile_commands.json
 CTestTestfile.cmake
 _deps
-*_autogen
-
-# Qt
-*.xml
-*adaptor*
 
 # Executables
 FaultFinder

.vscode/launch.json

@@ -5,7 +5,7 @@
     "version": "0.2.0",
     "configurations": [
         {
-            "name": "Debug",
+            "name": "Build and Debug",
             "type": "cppdbg",
             "request": "launch",
             "program": "${workspaceFolder}/FaultFinder",

.vscode/settings.json

@@ -55,7 +55,6 @@
         "streambuf": "cpp",
         "thread": "cpp",
         "cinttypes": "cpp",
-        "typeinfo": "cpp",
+        "typeinfo": "cpp"
-        "qdbusconnection": "cpp"
     }
 }

.vscode/tasks.json

@@ -6,7 +6,6 @@
             "type": "shell",
             "command": "cmake",
             "args": [
-                "-DCMAKE_BUILD_TYPE=Debug",
                 "."
             ],
             "group": {

CMakeLists.txt

@@ -5,41 +5,20 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 
 find_package( OpenCV REQUIRED )
 find_package( Ebus REQUIRED )
-find_package( Qt5 COMPONENTS Widgets Network DBus Sql Positioning SerialPort REQUIRED )
+find_package( Qt5 COMPONENTS Widgets Network REQUIRED )
-
-set(CMAKE_AUTOMOC ON)
-
-set(prog_SRCS DBus.xml)
-qt5_generate_dbus_interface(ConfigManager.hpp
-  DBus.xml
-  OPTIONS -A
-)
-qt5_add_dbus_adaptor(prog_SRCS
-  ${CMAKE_CURRENT_BINARY_DIR}/DBus.xml
-  ConfigManager.hpp
-  ConfigManager
-)
 
 include_directories(
     ${OpenCV_INCLUDE_DIRS}
     ${Ebus_INCLUDE_DIRS}
     ${Qt5Widgets_INCLUDE_DIRS}
     ${Qt5Network_INCLUDE_DIRS}
-    ${Qt5DBus_INCLUDE_DIRS}
-    ${Qt5Sql_INCLUDE_DIRS}
-    ${Qt5Positioning_INCLUDE_DIRS}
-    ${Qt5SerialPort_INCLUDE_DIRS}
 )
 
 add_executable( FaultFinder 
     FaultFinder.cpp
-    StreamManager.cpp
+    StreamManager.cpp 
     ImageManager.cpp
-    ConfigManager.cpp
     FaultManager.cpp
-    StreamReader.cpp
-    main.cpp
-    ${prog_SRCS}
 )
 
 target_link_libraries( FaultFinder
@@ -47,8 +26,5 @@ target_link_libraries( FaultFinder
     ${Ebus_LIBRARIES}
     ${Qt5Widgets_LIBRARIES}
     ${Qt5Network_LIBRARIES}
-    ${Qt5DBus_LIBRARIES}
+  )
-    ${Qt5Sql_LIBRARIES}
+message( ${Qt5Network_INCLUDE_DIRS} )
-    ${Qt5Positioning_LIBRARIES}
-    ${Qt5SerialPort_LIBRARIES}
-)

ConfigManager.cpp

@@ -1,93 +0,0 @@
-#include <QDBusConnection>
-#include <QDebug>
-
-#include "ConfigManager.hpp"
-#include "dbusadaptor.h"
-
-ConfigManager::ConfigManager(QObject *parent) : QObject(parent)
-{
-    new ConfigManagerAdaptor(this);
-
-    QDBusConnection dbus = QDBusConnection::sessionBus();
-    dbus.registerObject("/configuration", this);
-    dbus.registerService("com.infraredinspectionsystems.FaultFinder");
-}
-
-ConfigManager::~ConfigManager()
-{
-
-}
-
-bool ConfigManager::GetRecordingState()
-{
-    qDebug() << "ConfigManager::GetRecordingState";
-    return this->recording;
-}
-
-void ConfigManager::SetRecordingState(bool enable)
-{
-    // if sensor is cold
-    qDebug() << "ConfigManager::SetRecordingState";
-    if (this->recording != enable) {
-        this->recording = enable;
-        emit NewRecordingState(this->recording);
-    }
-}
-
-int ConfigManager::GetFrameRate()
-{
-    qDebug() << "ConfigManager::GetFrameRate";
-    return this->frame_rate;
-}
-
-void ConfigManager::SetFrameRate(int frame_rate)
-{
-    qDebug() << "ConfigManager::SetFrameRate";
-    if (this->frame_rate != frame_rate) {
-        this->frame_rate = frame_rate;
-        emit NewFrameRate(this->frame_rate);
-    }
-}
-
-double ConfigManager::GetEmissivity()
-{
-    qDebug() << "ConfigManager::GetEmissivity";
-    return this->emissivity;
-}
-
-void ConfigManager::SetEmissivity(double emissivity)
-{
-    qDebug() << "ConfigManager::SetEmissivity";
-    if (this->emissivity != emissivity) {
-        this->emissivity = emissivity;
-        emit NewEmissivity(this->emissivity);
-    }
-}
-
-QString ConfigManager::GetViewfinderConfig()
-{
-    qDebug() << "ConfigManager::GetViewfinderConfig";
-    QJsonDocument doc(this->viewfinder_config);
-    return doc.toJson();
-}
-
-void ConfigManager::SetViewfinderConfig(QString config)
-{
-    qDebug() << "ConfigManager::SetViewfinderConfig";
-    QJsonDocument doc = QJsonDocument::fromJson(config.toUtf8());
-    this->viewfinder_config = doc.object();
-}
-
-QString ConfigManager::GetTriggerConfig()
-{
-    qDebug() << "ConfigManager::GetTriggerConfig";
-    QJsonDocument doc(this->trigger_config);
-    return doc.toJson();
-}
-
-void ConfigManager::SetTriggerConfig(QString config)
-{
-    qDebug() << "ConfigManager::SetTriggerConfig";
-    QJsonDocument doc = QJsonDocument::fromJson(config.toUtf8());
-    this->trigger_config = doc.object();
-}

ConfigManager.hpp

@@ -1,55 +0,0 @@
-#ifndef CONFIG_MANAGER_H
-#define CONFIG_MANAGER_H
-
-#include <QObject>
-#include <QJsonObject>
-
-class ConfigManager: public QObject
-{
-    Q_OBJECT;
-    Q_PROPERTY(bool recording READ GetRecordingState WRITE SetRecordingState)
-    Q_PROPERTY(int frame_rate READ GetFrameRate WRITE SetFrameRate)
-    Q_PROPERTY(double emissivity READ GetEmissivity WRITE SetEmissivity)
-    Q_PROPERTY(QString viewfinder_config READ GetViewfinderConfig WRITE SetViewfinderConfig)
-    Q_PROPERTY(QString trigger_config READ GetTriggerConfig WRITE SetTriggerConfig)
-
-public:
-    ConfigManager(QObject *parent);
-    virtual ~ConfigManager();
-
-public slots:
-    bool GetRecordingState();
-    void SetRecordingState(bool enable);
-    int GetFrameRate();
-    void SetFrameRate(int frame_rate);
-    double GetEmissivity();
-    void SetEmissivity(double emissivity);
-    QString GetViewfinderConfig();
-    void SetViewfinderConfig(QString config);
-    QString GetTriggerConfig();
-    void SetTriggerConfig(QString config);
-
-signals:
-    void NewRecordingState(bool enable);
-    void NewFrameRate(int frame_rate);
-    void NewEmissivity(double emissivity);
-
-private:
-    bool recording = false;
-    int frame_rate = 5;
-    double emissivity = 0.95;
-    QJsonObject viewfinder_config = QJsonObject(
-    {
-        qMakePair(QString("palette"), QJsonValue("rainbow")),
-        qMakePair(QString("low_temp"), QJsonValue(0)),
-        qMakePair(QString("high_temp"), QJsonValue(100))
-    });
-    QJsonObject trigger_config = QJsonObject(
-    {
-        qMakePair(QString("method"), QJsonValue("threshold")),
-        qMakePair(QString("min"), QJsonValue(50)),
-        qMakePair(QString("max"), QJsonValue(100))
-    });
-};
-
-#endif

FaultFinder.cpp

@@ -1,14 +1,45 @@
-#include "FaultFinder.hpp"
+#include <iostream>
 
-FaultFinder::FaultFinder(QObject *parent) : QObject(parent)
+#include "StreamManager.hpp"
+#include "ImageManager.hpp"
+#include "FaultManager.hpp"
+
+using namespace std;
+
+int main(int argc, char **argv)
 {
-    fault_mgr = new FaultManager(this);
+    StreamManager stream_mgr;
-    image_mgr = new ImageManager(this);
+    ImageManager image_mgr;
-    config_mgr = new ConfigManager(this);
+    FaultManager fault_mgr;
-    stream_mgr = new StreamManager(this);
+    PvString lConnectionID;
-}
 
-FaultFinder::~FaultFinder()
+    // If running in test mode
-{
+    if (argc > 1 && !strcmp(argv[1], "test"))
+    {
+        while(1)
+        {
+            if (!image_mgr.ProcessImage(0, 0, 0, fault_mgr, true))
+                break;
+        }
+        return 0;
+    }
+    
+    // If no devies are found, exit.
+    if (stream_mgr.FindDevice(&lConnectionID).IsFailure())
+    {
+        return -1;
+    }
 
+    if (stream_mgr.ConnectToDevice(lConnectionID).IsFailure())
+    {
+        return -1;
+    }
+
+    stream_mgr.OpenStream(lConnectionID);
+    
+    stream_mgr.AcquireImages(image_mgr, fault_mgr);
+
+    stream_mgr.Disconnect();
+
+    return 0;
 }

FaultFinder.hpp

@@ -1,27 +0,0 @@
-#ifndef FAULT_FINDER_H
-#define FAULT_FINDER_H
-
-#include <QObject>
-
-#include "StreamManager.hpp"
-#include "ImageManager.hpp"
-#include "FaultManager.hpp"
-#include "ConfigManager.hpp"
-
-class FaultFinder : public QObject
-{
-    Q_OBJECT;
-
-public:
-    FaultFinder(QObject *parent);
-    virtual ~FaultFinder();
-
-    FaultManager *fault_mgr;
-    ImageManager *image_mgr;
-    ConfigManager *config_mgr;
-    StreamManager *stream_mgr;
-
-    bool test_mode = false;
-};
-
-#endif

FaultManager.cpp

@@ -1,81 +1,11 @@
+#include <opencv2/opencv.hpp>
+
 #include "FaultManager.hpp"
 
-FaultManager::FaultManager(QObject *parent) : QObject(parent)
+using namespace cv;
+
+void FaultManager::SaveImage(Mat image)
 {
-    bool res;
+    // Tag date, time, gps in file meta data
-
+    //imwrite( "/tmp/uniquetime.png", image);
-    res = OpenDatabase();
-
-    if (!res) {
-        qCritical() << "Failed to open database connection.";
-        exit(15);
-    }
-
-    res = OpenSerial();
-
-    if (!res) {
-        qCritical() << "Failure to open GPS serial device.";
-        exit(16);
-    }
-
-    StartGPS();
-}
-
-FaultManager::~FaultManager()
-{
-    db.close();
-    gps->stopUpdates();
-    serial->close();
-}
-
-bool FaultManager::OpenDatabase()
-{
-    db = QSqlDatabase::addDatabase("QMYSQL");
-    db.setHostName("localhost");
-    db.setDatabaseName("FaultDatabase");
-    db.setUserName("user");
-    db.setPassword("faultfinder");
-    return db.open();   
-}
-
-bool FaultManager::OpenSerial()
-{
-    serial = new QSerialPort();
-    serial->setPortName("ttyUSB0");
-    serial->setBaudRate(QSerialPort::Baud4800);
-    serial->setDataBits(QSerialPort::Data8);
-    serial->setParity(QSerialPort::NoParity);
-    serial->setStopBits(QSerialPort::OneStop);
-    serial->setFlowControl(QSerialPort::NoFlowControl);
-    return serial->open(QIODevice::ReadOnly);
-}
-
-void FaultManager::StartGPS()
-{
-    gps = new QNmeaPositionInfoSource(QNmeaPositionInfoSource::RealTimeMode);
-    gps->setDevice((QIODevice *)serial);
-    gps->startUpdates();
-}
-
-void FaultManager::SaveImage(QByteArray *imageBuffer)
-{
-    QSqlQuery query;
-
-    // Get GPS Location
-    QGeoPositionInfo position = gps->lastKnownPosition(true);
-    QGeoCoordinate coorinate = position.coordinate();
-
-    query.prepare("INSERT INTO Faults (latitude, longitude, altitude, image) "
-                  "VALUES (:latitude, :longitude, :altitude, :image)");
-    if (coorinate.isValid())
-    {
-        // This probably wont work without proper converstions
-        query.bindValue(":latitude", coorinate.latitude());
-        query.bindValue(":longitude", coorinate.longitude());
-        query.bindValue(":altitude", coorinate.altitude());
-    }
-    query.bindValue(":image", *imageBuffer);
-
-    // Save to Database
-    query.exec();
 }

FaultManager.hpp

@@ -1,31 +1,15 @@
-#ifndef FAULT_MANAGER_H
+#ifndef FAULTMANAGER_H
-#define FAULT_MANAGER_H
+#define FAULTMANAGER_H
 
-#include <QObject>
+#include <opencv2/core.hpp>
-#include <QDebug>
-#include <QSqlDatabase>
-#include <QSqlQuery>
-#include <QSaveFile>
-#include <QNmeaPositionInfoSource>
-#include <QSerialPort>
 
-class FaultManager: public QObject
+class FaultManager
 {
-    Q_OBJECT;
 
 public:
-    FaultManager(QObject *parent);
-    virtual ~FaultManager();
-    void SaveImage(QByteArray *imageBuffer);
-
-private:
-    bool OpenDatabase();
-    bool OpenSerial();
-    void StartGPS();
-    QSqlDatabase db;
-    QSerialPort *serial;
-    QNmeaPositionInfoSource *gps;
 
+    void SaveImage(cv::Mat image);
+    
 };
 
 #endif

ImageManager.cpp

@@ -3,8 +3,8 @@
 #include <opencv2/imgcodecs.hpp>
 #include <opencv2/imgproc.hpp>
 
-#include "FaultFinder.hpp"
 #include "ImageManager.hpp"
+#include "FaultManager.hpp"
 
 #define ZERO 0
 #define BITS8 0xff
@@ -13,20 +13,9 @@
 
 using namespace cv;
 
-//Mat testFrame = imread("/home/midstate/Documents/flirTest.tif", CV_16UC1);
+Mat testFrame = imread("/home/midstate/Documents/flirTest.tif", CV_16UC1);
 
-ImageManager::ImageManager(QObject *parent) : QObject(parent)
+bool ImageManager::ProcessImage(uint32_t width, uint32_t height, uint8_t *imgPointer, FaultManager fault_mgr, bool test = false)
-{
-    socket = new QUdpSocket();
-    socket->connectToHost(QHostAddress::LocalHost, 40000, QIODevice::ReadWrite);
-}
-
-ImageManager::~ImageManager()
-{
-
-}
-
-void ImageManager::ProcessImage(int width, int height, uint8_t *imgPointer)
 {
     Mat frame, mask, viewfinder;
     std::vector<std::vector<Point>> contours;
@@ -43,16 +32,14 @@ void ImageManager::ProcessImage(int width, int height, uint8_t *imgPointer)
     else
     {
         throttle_count++;
-        return;
+        return true;
     }
 
     // Read in frame
-    //if (!test)
+    if (!test)
-    //    frame = Mat(height, width, CV_16UC1, imgPointer, Mat::AUTO_STEP);
+        frame = Mat(height, width, CV_16UC1, imgPointer, Mat::AUTO_STEP);
-    //else
+    else
-    //    frame = testFrame;
+        frame = testFrame;
-
-    frame = Mat(height, width, CV_16UC1, imgPointer, Mat::AUTO_STEP);
 
     // Create mask and then flatten
     GaussianBlur(frame, mask, cv::Size(0, 0), 1);
@@ -76,19 +63,31 @@ void ImageManager::ProcessImage(int width, int height, uint8_t *imgPointer)
 
        if (area > fault_area)
        {
-            // Fault Detected, Draw on Screen and Save to Database
+           drawContours(viewfinder, contours, i, Scalar(ZERO, BITS8, ZERO), 2);
-            drawContours(viewfinder, contours, i, Scalar(ZERO, BITS8, ZERO), 2);
+           fault_mgr.SaveImage(viewfinder);
-
-            std::vector<uchar> imageBuffer;
-            imencode(".pgm", frame, imageBuffer);
-            QByteArray* imageBytes = new QByteArray(reinterpret_cast<const char*>(imageBuffer.data()), imageBuffer.size());
-
-            ((FaultFinder*)(parent()))->fault_mgr->SaveImage(imageBytes);
        }
     }
 
+    // Create Viewfinder Window
+    createTrackbar("Lower Bound", "FLIR Viewfinder", &lower_bound, BITS14, NULL);
+    createTrackbar("Upper Bound", "FLIR Viewfinder", &upper_bound, BITS14, NULL);
+    createTrackbar("Temperature Threshold", "FLIR Viewfinder", &temp_threshold, BITS14, NULL);
+    createTrackbar("Fault Area", "FLIR Viewfinder", &fault_area, 0x50280, NULL);
+    // Make clicking a pixel display the temp value
+    //setMouseCallback("FLIR Viewfinder", NULL);
+    namedWindow("FLIR Viewfinder", WINDOW_AUTOSIZE);
+    imshow("FLIR Viewfinder", viewfinder);
+
+    if (waitKey(1) == 27 || getWindowProperty("FLIR Viewfinder", WND_PROP_FULLSCREEN) == -1)
+    {
+        destroyAllWindows();
+        return false;
+    }
+
     // Send image to other servers
     SendImage(viewfinder);
+
+    return true;
 }
 
 void ImageManager::SendImage(Mat image)

ImageManager.hpp

@@ -1,28 +1,31 @@
-#ifndef IMAGE_MANAGER_H
+#ifndef ImageManager_H
-#define IMAGE_MANAGER_H
+#define ImageManager_H
 
-#include <QObject>
-#include <QUdpSocket>
 #include <opencv2/core.hpp>
+#include <QUdpSocket>
+#include "FaultManager.hpp"
 
 #define THROTTLE_AMOUNT 1
 
-class ImageManager: public QObject
+class ImageManager
 {
-    Q_OBJECT;
 
 public:
-    ImageManager(QObject *parent);
-    virtual ~ImageManager();
 
-    void ProcessImage(int width, int height, uint8_t *imgPointer);
+    bool ProcessImage(uint32_t width, uint32_t height, uint8_t *imgPointer, FaultManager fault_mgr, bool test);
     void SendImage(cv::Mat image);
 
     QUdpSocket *socket;
 
+    ImageManager() {
+        socket = new QUdpSocket();
+        socket->connectToHost(QHostAddress::LocalHost, 40000, QIODevice::ReadWrite);
+    }
+
 private:
+
     int throttle_count = 1;
-    
+
 };
 
 #endif

StreamManager.cpp

@@ -1,74 +1,15 @@
+#include <iostream>
+
+#include <PvSystem.h>
+#include <PvDevice.h>
+#include <PvDeviceGEV.h>
+#include <PvStream.h>
+#include <PvStreamGEV.h>
+
 #include "StreamManager.hpp"
-#include "FaultFinder.hpp"
+#include "FaultManager.hpp"
 
-StreamManager::StreamManager(QObject *parent) : QObject(parent)
+PvResult StreamManager::FindDevice(PvString *aConnectionID)
-{  
-    // Connect Signals
-    connect(((FaultFinder *)parent)->config_mgr, &ConfigManager::NewEmissivity, this, &StreamManager::SetEmissivity);
-    connect(((FaultFinder *)parent)->config_mgr, &ConfigManager::NewFrameRate, this, &StreamManager::SetFrameRate);
-
-    PvResult res;
-
-    res = FindDevice();
-
-    if (res.IsFailure())
-        exit(res.GetCode());
-
-    res = ConnectToDevice();
-
-    if (res.IsFailure())
-        exit(res.GetCode());
-
-    res = OpenStream();
-
-    if (res.IsFailure())
-        exit(res.GetCode());
-
-    ConfigureStream();
-
-    CreatePipeline();
-
-    StartStream();
-
-    ImageThread = new StreamReader(Device, Stream, Pipeline);
-    connect(ImageThread, &StreamReader::NewImage, this, &StreamManager::SendForProcessing, Qt::QueuedConnection);
-    ImageThread->start(QThread::TimeCriticalPriority);
-}
-
-StreamManager::~StreamManager()
-{
-    ImageThread->requestInterruption();
-    ImageThread->wait();
-    StopStream();
-    Disconnect();
-}
-
-void StreamManager::SendForProcessing(int width, int height, uint8_t *imgPointer)
-{
-    ((FaultFinder *)parent())->image_mgr->ProcessImage(width, height, imgPointer);
-}
-
-void StreamManager::SetEmissivity(double emissivity)
-{
-    if (lDeviceParams)
-        lDeviceParams->SetFloatValue("ObjectEmissivity", emissivity);
-}
-
-void StreamManager::SetFrameRate(int frame_rate)
-{
-    if (lDeviceParams)
-        lDeviceParams->SetFloatValue("PS0FrameRate", frame_rate);
-}
-
-bool StreamManager::GetReadyState()
-{
-    bool cold = false;
-    if (lDeviceParams)
-        lDeviceParams->GetBooleanValue("FPACold", cold);
-    return cold;
-}
-
-PvResult StreamManager::FindDevice()
 {
     PvResult lResult = PvResult();
     const PvDeviceInfo *lSelectedDI = NULL;
@@ -96,50 +37,55 @@ PvResult StreamManager::FindDevice()
 
     if (lDIVector.size() == 0)
     {
-        qCritical() << "Device not found!";
+        std::cout << "Device not found!" << std::endl;
         lResult.SetCode(PV_NOT_FOUND);
         return lResult;
     }
 
     lSelectedDI = lDIVector.front();
 
-    ConnectionID = lSelectedDI->GetConnectionID();
+    *aConnectionID = lSelectedDI->GetConnectionID();
 
     lResult.SetCode(PV_OK);
 
     return lResult;
 }
 
-PvResult StreamManager::ConnectToDevice()
+PvResult StreamManager::ConnectToDevice(const PvString &aConnectionID)
 {
     PvResult lResult;
 
     // Connect to the GigE Vision or USB3 Vision device
-    qInfo() << "Connecting to device.";
+    std::cout << "Connecting to device." << std::endl;
-    Device = PvDevice::CreateAndConnect(ConnectionID, &lResult);
+    lDevice = PvDevice::CreateAndConnect(aConnectionID, &lResult);
-    if (Device == NULL)
+    if (lDevice == NULL)
     {
-        qCritical() << "Unable to connect to device.";
+        std::cout << "Unable to connect to device." << std::endl;
     }
 
     return lResult;
 }
 
-PvResult StreamManager::OpenStream()
+PvResult StreamManager::OpenStream(const PvString &aConnectionID)
 {
     PvResult lResult;
 
-    // Open stream to the GigE Vision or USB3 Vision device
+    if (lDevice == NULL)
-    qInfo() << "Opening stream from device.";
+    {
-    Stream = PvStream::CreateAndOpen(ConnectionID, &lResult);
+        return lResult;
+    }
 
-    if (Stream != NULL)
+    // Open stream to the GigE Vision or USB3 Vision device
+    std::cout << "Opening stream from device." << std::endl;
+    lStream = PvStream::CreateAndOpen(aConnectionID, &lResult);
+
+    if (lStream != NULL)
     {
         // If this is a GigE Vision device, configure GigE Vision specific streaming parameters
-        PvDeviceGEV* lDeviceGEV = dynamic_cast<PvDeviceGEV *>(Device);
+        PvDeviceGEV* lDeviceGEV = dynamic_cast<PvDeviceGEV *>(lDevice);
         if ( lDeviceGEV != NULL )
         {
-            PvStreamGEV *lStreamGEV = static_cast<PvStreamGEV *>(Stream);
+            PvStreamGEV *lStreamGEV = static_cast<PvStreamGEV *>(lStream);
 
             // Negotiate packet size
             lDeviceGEV->NegotiatePacketSize();
@@ -150,87 +96,184 @@ PvResult StreamManager::OpenStream()
     }
     else
     {
-        qCritical() << "Unable to stream from device.";
+        std::cout << "Unable to stream from device." << std::endl;
     }  
 
     return lResult;
 }
 
-void StreamManager::ConfigureStream()
+void StreamManager::CreateStreamBuffers()
 {
+    // Reading payload size from device
+    uint32_t lSize = lDevice->GetPayloadSize();
+
+    // Use BUFFER_COUNT or the maximum number of buffers, whichever is smaller
+    uint32_t lBufferCount = (lStream->GetQueuedBufferMaximum() < BUFFER_COUNT) ?
+        lStream->GetQueuedBufferMaximum() :
+        BUFFER_COUNT;
+
+    // Allocate buffers
+    for (uint32_t i = 0; i < lBufferCount; i++)
+    {
+        // Create new buffer object
+        PvBuffer *lBuffer = new PvBuffer;
+
+        // Have the new buffer object allocate payload memory
+        lBuffer->Alloc(static_cast<uint32_t>(lSize));
+        
+        // Add to external list - used to eventually release the buffers
+        lBufferList.push_back(lBuffer);
+    }
+    
+    // Queue all buffers in the stream
+    BufferList::iterator lIt = lBufferList.begin();
+    while (lIt != lBufferList.end())
+    {
+        lStream->QueueBuffer( *lIt );
+        lIt++;
+    }
+}
+
+void StreamManager::AcquireImages(ImageManager image_mgr, FaultManager fault_mgr)
+{
+    if (lDevice == NULL || lStream == NULL)
+    {
+        return;
+    }
+
+    CreateStreamBuffers();
+
     // Get device parameters need to control streaming
-    lDeviceParams = Device->GetParameters();
+    PvGenParameterArray *lDeviceParams = lDevice->GetParameters();
 
     // Use Temperature Format Instead of Raw Counts
     lDeviceParams->SetEnumValue("IRFormat", 1);
 
-    SetEmissivity(((FaultFinder *)parent())->config_mgr->GetEmissivity());
+    // Set Emissivity
-    SetFrameRate(((FaultFinder *)parent())->config_mgr->GetFrameRate());
+    //lDeviceParams->SetFloatValue("ObjectEmissivity", 0.95);
-}
 
-void StreamManager::CreatePipeline()
-{
-    // Create the PvPipeline object
-    Pipeline = new PvPipeline( Stream );
-
-    if ( Pipeline != NULL )
-    {        
-        // Reading payload size from device
-        uint32_t lSize = Device->GetPayloadSize();
-    
-        // Set the Buffer count and the Buffer size
-        Pipeline->SetBufferCount( BUFFER_COUNT );
-        Pipeline->SetBufferSize( lSize );
-    }
-}
-
-void StreamManager::StartStream()
-{
     // Map the GenICam AcquisitionStart and AcquisitionStop commands
     PvGenCommand *lStart = dynamic_cast<PvGenCommand *>(lDeviceParams->Get("AcquisitionStart"));
-
+    PvGenCommand *lStop = dynamic_cast<PvGenCommand *>(lDeviceParams->Get("AcquisitionStop"));
-    qInfo() << "Starting pipeline";
-    Pipeline->Start();
 
     // Get stream parameters
-    PvGenParameterArray *lStreamParams = Stream->GetParameters();
+    PvGenParameterArray *lStreamParams = lStream->GetParameters();
 
     // Map a few GenICam stream stats counters
     PvGenFloat *lFrameRate = dynamic_cast<PvGenFloat *>(lStreamParams->Get("AcquisitionRate"));
     PvGenFloat *lBandwidth = dynamic_cast<PvGenFloat *>(lStreamParams->Get("Bandwidth"));
 
     // Enable streaming and send the AcquisitionStart command
-    qInfo() << "Enabling streaming and sending AcquisitionStart command.";
+    std::cout << "Enabling streaming and sending AcquisitionStart command." << std::endl;
-    Device->StreamEnable();
+    lDevice->StreamEnable();
     lStart->Execute();
-}
 
-void StreamManager::StopStream()
+    double lFrameRateVal = 0.0;
-{
+    double lBandwidthVal = 0.0;
+
+    // Acquire images until the user instructs us to stop.
+    while (true)
+    {
+        PvBuffer *lBuffer = NULL;
+        PvResult lOperationResult;
+
+        // Retrieve next buffer
+        PvResult lResult = lStream->RetrieveBuffer(&lBuffer, &lOperationResult, 1000);
+        if (lResult.IsOK())
+        {
+            if (lOperationResult.IsOK())
+            {
+                PvPayloadType lType;
+
+                lFrameRate->GetValue(lFrameRateVal);
+                lBandwidth->GetValue(lBandwidthVal);
+
+                // If the buffer contains an image, display width and height.
+                uint32_t lWidth = 0, lHeight = 0;
+                lType = lBuffer->GetPayloadType();
+
+                if (lType == PvPayloadTypeImage)
+                {
+                    // Get image specific buffer interface.
+                    PvImage *lImage = lBuffer->GetImage();
+
+                    // Read width, height.
+                    lWidth = lImage->GetWidth();
+                    lHeight = lImage->GetHeight();
+
+                    // Process Image
+                    if (!image_mgr.ProcessImage(lWidth, lHeight, lImage->GetDataPointer(), fault_mgr, false))
+                        break;
+
+                    std::cout << "  W: " << std::dec << lWidth << " H: " << lHeight;
+                }
+                else 
+                {
+                    std::cout << " (buffer does not contain image)";
+                }
+                std::cout << "  " << lFrameRateVal << " FPS  " << ( lBandwidthVal / 1000000.0 ) << " Mb/s   \r";
+            }
+            else
+            {
+                std::cout << lOperationResult.GetCodeString().GetAscii() << "\r";
+            }
+
+            // Re-queue the buffer in the stream object
+            lStream->QueueBuffer(lBuffer);
+        }
+        else
+        {
+            // Retrieve buffer failure
+            std::cout << lResult.GetCodeString().GetAscii() << "\r";
+        }
+    }
+
     // Tell the device to stop sending images.
-    qInfo() << "Sending AcquisitionStop command to the device";
+    std::cout << "Sending AcquisitionStop command to the device" << std::endl;
-    PvGenCommand *lStop = dynamic_cast<PvGenCommand *>(lDeviceParams->Get("AcquisitionStop"));
     lStop->Execute();
 
     // Disable streaming on the device
-    qInfo() << "Disable streaming on the controller.";;
+    std::cout << "Disable streaming on the controller." << std::endl;
-    Device->StreamDisable();
+    lDevice->StreamDisable();
 
-    // Stop the pipeline
+    // Abort all buffers from the stream and dequeue
-    qInfo() << "Stop pipeline";
+    std::cout << "Aborting buffers still in stream" << std::endl;
-    Pipeline->Stop();
+    lStream->AbortQueuedBuffers();
+    while (lStream->GetQueuedBufferCount() > 0)
+    {
+        PvBuffer *lBuffer = NULL;
+        PvResult lOperationResult;
+
+        lStream->RetrieveBuffer(&lBuffer, &lOperationResult);
+    }
+
+    FreeStreamBuffers();
+}
+
+void StreamManager::FreeStreamBuffers()
+{
+    // Go through the buffer list
+    BufferList::iterator lIt = lBufferList.begin();
+    while (lIt != lBufferList.end())
+    {
+        delete *lIt;
+        lIt++;
+    }
+
+    // Clear the buffer list 
+    lBufferList.clear();
 }
 
 void StreamManager::Disconnect()
 {
-    if (Stream != NULL)
+    if (lStream != NULL)
     {
-        Stream->Close();
+        lStream->Close();
-        PvStream::Free(Stream);
+        PvStream::Free( lStream );
     }
-    if (Device != NULL)
+    if (lDevice != NULL)
     {
-        Device->Disconnect();
+        lDevice->Disconnect();
-        PvDevice::Free(Device);
+        PvDevice::Free(lDevice);
     }
 }

StreamManager.hpp

@@ -1,51 +1,32 @@
-#ifndef STREAM_MANAGER_H
+#include <list>
-#define STREAM_MANAGER_H
 
-#include <QObject>
-#include <QDebug>
-
-#include <PvSystem.h>
 #include <PvDevice.h>
 #include <PvStream.h>
-#include <PvPipeline.h>
+#include <PvBuffer.h>
-#include <PvDeviceGEV.h>
+
-#include <PvStreamGEV.h>
+#include "ImageManager.hpp"
-#include "StreamReader.hpp"
+#include "FaultManager.hpp"
 
 #define BUFFER_COUNT (32)
+typedef std::list<PvBuffer *> BufferList;
 
-class StreamManager : public QObject
+class StreamManager
 {
-    Q_OBJECT;
 
 public:
-    StreamManager(QObject *parent);
+    
-    virtual ~StreamManager();
+    PvResult FindDevice(PvString *aConnectionID);
-
+    PvResult ConnectToDevice(const PvString &aConnectionID);
-    bool GetReadyState();
+    PvResult OpenStream(const PvString &aConnectionID);
-
+    void AcquireImages(ImageManager image_mgr, FaultManager fault_mgr);
-public slots:
-    void SetEmissivity(double emissivity);
-    void SetFrameRate(int frame_rate);
-    void SendForProcessing(int width, int height, uint8_t *imgPointer);
-
-private:
-    PvResult FindDevice();
-    PvResult ConnectToDevice();
-    PvResult OpenStream();
-    void ConfigureStream();
-    void StartStream();
-    void StopStream();
-    void CreatePipeline();
-    void AcquireImages();
     void Disconnect();
 
-    PvString ConnectionID;
+private:
-    PvDevice *Device = NULL;
-    PvStream *Stream = NULL;
-    PvGenParameterArray *lDeviceParams = NULL;
-    PvPipeline *Pipeline = NULL;
-    StreamReader *ImageThread;
-};
 
-#endif
+    PvDevice *lDevice = NULL;
+    PvStream *lStream = NULL;
+    BufferList lBufferList;
+
+    void CreateStreamBuffers();
+    void FreeStreamBuffers();
+};

StreamReader.cpp

@@ -1,61 +0,0 @@
-#include "StreamReader.hpp"
-
-StreamReader::StreamReader(PvDevice *Device, PvStream *Stream, PvPipeline *Pipeline)
-{
-    this->Device = Device;
-    this->Stream = Stream;
-    this->Pipeline = Pipeline;
-}
-
-void StreamReader::run()
-{
-    while (!isInterruptionRequested())
-    {
-        PvBuffer *lBuffer = NULL;
-        PvResult lOperationResult;
-
-        // wait for this to unblock before called in event loop
-        // Retrieve next buffer
-        PvResult lResult = Pipeline->RetrieveNextBuffer(&lBuffer, 1000, &lOperationResult);
-        if (lResult.IsOK())
-        {
-            if (lOperationResult.IsOK())
-            {
-                PvPayloadType lType;
-
-                // If the buffer contains an image, display width and height.
-                uint32_t lWidth = 0, lHeight = 0;
-                lType = lBuffer->GetPayloadType();
-
-                if (lType == PvPayloadTypeImage)
-                {
-                    // Get image specific buffer interface.
-                    PvImage *lImage = lBuffer->GetImage();
-
-                    // Read width, height.
-                    lWidth = lImage->GetWidth();
-                    lHeight = lImage->GetHeight();
-
-                    // May need to push copy of data, not pointer to buffer in case it deallocs
-                    emit NewImage(lWidth, lHeight, lImage->GetDataPointer());
-                }
-                else 
-                {
-                    qWarning() << " (buffer does not contain image)";
-                }
-            }
-            else
-            {
-                qInfo() << lOperationResult.GetCodeString().GetAscii() << "\r";
-            }
-
-            // Re-queue the buffer in the stream object
-            Stream->QueueBuffer(lBuffer);
-        }
-        else
-        {
-            // Retrieve buffer failure
-            qCritical() << lResult.GetCodeString().GetAscii() << "\r";
-        }
-    }
-}

StreamReader.hpp

@@ -1,28 +0,0 @@
-#ifndef STREAM_READER_H
-#define STREAM_READER_H
-
-#include <QThread>
-#include <QDebug>
-#include <PvDevice.h>
-#include <PvStream.h>
-#include <PvPipeline.h>
-
-class StreamReader : public QThread
-{
-    Q_OBJECT;
-
-    void run();
-
-public:
-    StreamReader(PvDevice *Device, PvStream *Stream, PvPipeline *Pipeline);
-
-signals:
-    void NewImage(int width, int height, uint8_t *imgPointer);
-
-private:
-    PvDevice *Device = NULL;
-    PvStream *Stream = NULL;
-    PvPipeline *Pipeline = NULL; 
-};
-
-#endif

TODO

@@ -0,0 +1,2 @@
+- Switch BufferList to Pipeline
+- Signal Break From While Loop

cmake/FindEbus.cmake

@@ -89,7 +89,7 @@ if(NOT Ebus_INCLUDE_DIR OR NOT EXISTS ${Ebus_INCLUDE_DIR})
         "path to ebus include directory,"
         "e.g. /opt/pleora/ebus_sdk/Ubuntu-x86_64/include.")
 else()
-    #message(STATUS "ebus include dir found: " ${Ebus_INCLUDE_DIR})
+    message(STATUS "ebus include dir found: " ${Ebus_INCLUDE_DIR})
 endif()
 
 # Find library directory for ebus

main.cpp

@@ -1,21 +0,0 @@
-#include <csignal>
-#include <QCoreApplication>
-
-#include "FaultFinder.hpp"
-
-using namespace std;
-
-void handleClose(int signal)
-{
-    qApp->exit(14);
-}
-
-int main(int argc, char **argv)
-{
-    QCoreApplication app(argc, argv);
-    FaultFinder ff(&app);
-
-    signal(SIGINT, &handleClose);
-
-    return app.exec();
-}