Merge branch 'bugfix/organizer_for_apps' into 'main'

rename o3Rorganizer2D as O3Rorganizer Closes #253 See merge request syntron/support/csr/ifm3d/ifm3d!325
ifm · Aug 25, 2023 · c183682 · c183682
2 parents 95d9a4f + 5bbfe88
commit c183682
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Showing 6 changed files with 28 additions and 14 deletions.
diff --git a/modules/device/include/ifm3d/device/err.h b/modules/device/include/ifm3d/device/err.h
@@ -61,6 +61,8 @@ extern IFM3D_DEVICE_EXPORT const int IFM3D_BUFFER_ID_NOT_AVAILABLE;
 extern IFM3D_DEVICE_EXPORT const int IFM3D_NETWORK_ERROR;
 extern IFM3D_DEVICE_EXPORT const int IFM3D_SYSTEM_ERROR;
 extern IFM3D_DEVICE_EXPORT const int IFM3D_CORRUPTED_STRUCT;
+extern IFM3D_DEVICE_EXPORT const int
+  IFM3D_DEVICE_PORT_INCOMPATIBLE_WITH_ORGANIZER;
 // sensor errors
 extern IFM3D_DEVICE_EXPORT const int IFM3D_XMLRPC_OBJ_NOT_FOUND;
 extern IFM3D_DEVICE_EXPORT const int IFM3D_INVALID_PARAM;

diff --git a/modules/device/src/libifm3d_device/err.cpp b/modules/device/src/libifm3d_device/err.cpp
@@ -46,6 +46,7 @@ const int IFM3D_BUFFER_ID_NOT_AVAILABLE = -100032;
 const int IFM3D_NETWORK_ERROR = -100033;
 const int IFM3D_SYSTEM_ERROR = -100034;
 const int IFM3D_CORRUPTED_STRUCT = -100035;
+const int IFM3D_DEVICE_PORT_INCOMPATIBLE_WITH_ORGANIZER = -100036;
 // sensor errors
 const int IFM3D_XMLRPC_OBJ_NOT_FOUND = 100000;
 const int IFM3D_INVALID_PARAM = 101000;
@@ -155,6 +156,9 @@ ifm3d::strerror(int errnum)
     case IFM3D_CORRUPTED_STRUCT:
       return "Lib: The given Buffer does not contain the expected struct or "
              "the data is corrupted.";
+    case IFM3D_DEVICE_PORT_INCOMPATIBLE_WITH_ORGANIZER:
+      return "Lib: The device's PCIC port does not match any compatible "
+             "organizers";
     case IFM3D_XMLRPC_OBJ_NOT_FOUND:
       return "Sensor: XMLRPC obj not found - trying to access dead session?";
     case IFM3D_INVALID_PARAM:

diff --git a/modules/framegrabber/src/libifm3d_framegrabber/frame_grabber_impl.hpp b/modules/framegrabber/src/libifm3d_framegrabber/frame_grabber_impl.hpp
@@ -32,7 +32,7 @@
 #include <o3d_organizer.hpp>
 #include <o3x_organizer.hpp>
 #include <o3r_organizer3D.hpp>
-#include <o3r_organizer2D.hpp>
+#include <o3r_organizer.hpp>
 #include <fmt/core.h>
 
 namespace ifm3d
@@ -226,14 +226,21 @@ ifm3d::FrameGrabber::Impl::Impl(ifm3d::Device::Ptr cam,
                 {
                   this->SetOrganizer(std::make_unique<O3ROrganizer3D>());
                 }
-              if (port_info.type == "2D")
+              else
                 {
-                  this->SetOrganizer(std::make_unique<O3ROrganizer2D>());
+                  this->SetOrganizer(std::make_unique<O3ROrganizer>());
                 }
             }
         }
     }
 
+  if (organizer_ == nullptr)
+    {
+      LOG_ERROR(
+        "The device's PCIC port does not match any compatible organizers");
+      throw ifm3d::Error(IFM3D_DEVICE_PORT_INCOMPATIBLE_WITH_ORGANIZER);
+    }
+
   LOG_INFO("Camera connection info: ip={}, port={}",
            this->cam_ip_,
            this->pcic_port_);

diff --git a/...libifm3d_framegrabber/o3r_organizer2D.cpp → ...c/libifm3d_framegrabber/o3r_organizer.cpp b/...libifm3d_framegrabber/o3r_organizer2D.cpp → ...c/libifm3d_framegrabber/o3r_organizer.cpp
@@ -3,17 +3,17 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#include <o3r_organizer2D.hpp>
+#include <o3r_organizer.hpp>
 #include <ifm3d/common/logging/log.h>
 #include <ifm3d/device/err.h>
 #include <ifm3d/fg/buffer.h>
 #include <ifm3d/fg/organizer_utils.h>
 #include <ifm3d/fg/distance_image_info.h>
 
 ifm3d::Organizer::Result
-ifm3d::O3ROrganizer2D::Organize(const std::vector<uint8_t>& data,
-                                const std::set<buffer_id>& requested_images,
-                                const bool masking)
+ifm3d::O3ROrganizer::Organize(const std::vector<uint8_t>& data,
+                              const std::set<buffer_id>& requested_images,
+                              const bool masking)
 {
   std::map<buffer_id, Buffer> images;
 

diff --git a/...libifm3d_framegrabber/o3r_organizer2D.hpp → ...c/libifm3d_framegrabber/o3r_organizer.hpp b/...libifm3d_framegrabber/o3r_organizer2D.hpp → ...c/libifm3d_framegrabber/o3r_organizer.hpp
@@ -3,8 +3,8 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#ifndef IFM3D_FG_O3R_ORGANIZER_2D_H
-#  define IFM3D_FG_O3D_ORGANIZER_2D_H
+#ifndef IFM3D_FG_O3R_ORGANIZER_H
+#  define IFM3D_FG_O3D_ORGANIZER__H
 
 #  include <optional>
 #  include <ifm3d/fg/organizer.h>
@@ -13,13 +13,13 @@ namespace ifm3d
 {
 
   /**
-   * organizer for O3R 2D port
+   * organizer for O3R 2D and app port
    */
-  class O3ROrganizer2D : public Organizer
+  class O3ROrganizer : public Organizer
   {
   public:
-    O3ROrganizer2D() = default;
-    ~O3ROrganizer2D() = default;
+    O3ROrganizer() = default;
+    ~O3ROrganizer() = default;
 
     Result Organize(const std::vector<uint8_t>& data,
                     const std::set<buffer_id>& requestedImages,
@@ -29,4 +29,4 @@ namespace ifm3d
 
 } // end: namespace ifm3d
 
-#endif // IFM3D_FG_O3D_ORGANIZER_H
+#endif // IFM3D_FG_O3D_ORGANIZER__H
diff --git a/modules/pybind11/src/bindings/error.h b/modules/pybind11/src/bindings/error.h
@@ -148,6 +148,7 @@ bind_error(pybind11::module_& m)
   ifm3d::add_attr(error_class, "IFM3D_NETWORK_ERROR", IFM3D_NETWORK_ERROR);
   ifm3d::add_attr(error_class, "IFM3D_SYSTEM_ERROR", IFM3D_SYSTEM_ERROR);
   ifm3d::add_attr(error_class, "IFM3D_CORRUPTED_STRUCT", IFM3D_CORRUPTED_STRUCT);
+  ifm3d::add_attr(error_class, "IFM3D_DEVICE_PORT_INCOMPATIBLE_WITH_ORGANIZER", IFM3D_DEVICE_PORT_INCOMPATIBLE_WITH_ORGANIZER);
   ifm3d::add_attr(error_class, "IFM3D_XMLRPC_OBJ_NOT_FOUND", IFM3D_XMLRPC_OBJ_NOT_FOUND);
   ifm3d::add_attr(error_class, "IFM3D_INVALID_PARAM", IFM3D_INVALID_PARAM);
   ifm3d::add_attr(error_class, "IFM3D_INVALID_VALUE_TYPE", IFM3D_INVALID_VALUE_TYPE);