Fix for extremely slow line sensor

Author: yurii-litvinov

trikControl/src/abstractVirtualSensorWorker.cpp

@@ -29,10 +29,11 @@ using namespace trikControl;
 AbstractVirtualSensorWorker::AbstractVirtualSensorWorker(const QString &script, const QString &inputFile
 		, const QString &outputFile, DeviceState &state, trikHal::HardwareAbstractionInterface &hardwareAbstraction)
 	: mSystemConsole(hardwareAbstraction.systemConsole())
-	, mOutputFifo(hardwareAbstraction.createFifo(outputFile))
 	, mScript(script)
 	, mInputFile(hardwareAbstraction.createOutputDeviceFile(inputFile))
 	, mState(state)
+	, mHardwareAbstraction(hardwareAbstraction)
+	, mOutputFile(outputFile)
 {
 }
 
@@ -59,6 +60,8 @@ void AbstractVirtualSensorWorker::stop()
 
 void AbstractVirtualSensorWorker::init()
 {
+	mOutputFifo.reset(mHardwareAbstraction.createFifo(mOutputFile));
+
 	if (mState.isReady() && QFileInfo(mInputFile->fileName()).exists() && QFileInfo(mOutputFifo->fileName()).exists()) {
 		// Sensor is up and ready.
 		QLOG_ERROR() << "Trying to init video sensor that is already running, ignoring";

trikControl/src/abstractVirtualSensorWorker.h

@@ -115,6 +115,12 @@ private slots:
 
 	/// Current state of a device, shared between worker and proxy.
 	DeviceState &mState;
+
+	/// Reference to hardware abstraction needed to create FIFO objects in correct thread.
+	trikHal::HardwareAbstractionInterface &mHardwareAbstraction;
+
+	/// Name of an output file.
+	const QString mOutputFile;
 };
 
 }

trikScriptRunner/src/threading.cpp

@@ -42,8 +42,8 @@ void Threading::startMainThread(const QString &script)
 	mFinishedThreads.clear();
 	mPreventFromStart.clear();
 
-	QRegExp const mainRegexp("(.*var main\\s*=\\s*\\w*\\s*function\\(.*\\).*)|(.*function\\s+%1\\s*\\(.*\\).*)");
-	bool needCallMain = mainRegexp.exactMatch(script) && !script.trimmed().endsWith("main();");
+	const QRegExp mainRegexp("(.*var main\\s*=\\s*\\w*\\s*function\\(.*\\).*)|(.*function\\s+%1\\s*\\(.*\\).*)");
+	const bool needCallMain = mainRegexp.exactMatch(script) && !script.trimmed().endsWith("main();");
 
 	startThread("main", mScriptWorker->createScriptEngine(), needCallMain ? script + "\nmain();" : script);
 }
@@ -84,7 +84,7 @@ void Threading::startThread(const QString &threadId, QScriptEngine *engine, cons
 	}
 
 	QLOG_INFO() << "Starting new thread" << threadId << "with engine" << engine;
-	ScriptThread *thread = new ScriptThread(*this, threadId, engine, script);
+	ScriptThread * const thread = new ScriptThread(*this, threadId, engine, script);
 	connect(&mScriptControl, SIGNAL(quitSignal()), thread, SIGNAL(stopRunning()), Qt::DirectConnection);
 	mThreads[threadId] = thread;
 	mFinishedThreads.remove(threadId);