cleanup warnings

services/bao-video/src/main.rs

@@ -1,8 +1,7 @@
-use cramium_hal::iox::IoGpio;
 use cramium_hal::iox::{IoxPort, IoxValue};
+use cramium_hal::minigfx::*;
 use cramium_hal::sh1107::{Mono, Oled128x128};
 use cramium_hal::udma::{PeriphId, Udma};
-use cramium_hal::{minigfx::*, sh1107};
 
 mod gfx;
 mod homography;
@@ -53,7 +52,6 @@ fn wrapped_main() -> ! {
     log::set_max_level(log::LevelFilter::Info);
 
     let tt = ticktimer::Ticktimer::new().unwrap();
-    let xns = xous_names::XousNames::new().unwrap();
 
     let iox = cram_hal_service::IoxHal::new();
     let udma_global = cram_hal_service::UdmaGlobal::new();
@@ -91,17 +89,16 @@ fn wrapped_main() -> ! {
 
     let mut frames = 0;
     let mut frame = [0u8; IMAGE_WIDTH * IMAGE_HEIGHT];
-    let mut decode_success = false;
+    let mut decode_success;
     // while iox.get_gpio_pin_value(IoxPort::PB, 9) == IoxValue::High {}
     loop {
         #[cfg(not(feature = "decongest-udma"))]
         cam.capture_async();
 
         let mut candidates = Vec::<Point>::new();
         decode_success = false;
-        log::info!("------------- SEARCH -----------");
+        log::info!("------------- SEARCH {} -----------", frames);
         let finder_width = qr::find_finders(&mut candidates, &frame, BW_THRESH, IMAGE_WIDTH) as isize;
-        const CROSSHAIR_LEN: isize = 3;
         if candidates.len() == 3 {
             let candidates_orig = candidates.clone();
             let mut x_candidates: [Point; 3] = [Point::new(0, 0); 3];
@@ -293,7 +290,7 @@ fn wrapped_main() -> ! {
                 for c in candidates_orig.iter() {
                     log::debug!("******    candidate: {}, {}    ******", c.x, c.y);
                     // remap image to screen coordinates (it's 2:1)
-                    let mut c_screen = *c / 2;
+                    let c_screen = *c / 2;
                     // flip coordinates to match the camera data
                     // c_screen = Point::new(c_screen.x, sh1107.dimensions().y - 1 - c_screen.y);
                     qr::draw_crosshair(&mut sh1107, c_screen);
@@ -328,23 +325,32 @@ fn wrapped_main() -> ! {
         // clear the front buffer
         sh1107.clear();
 
+        let mut start = tt.elapsed_ms();
         let mut now = tt.elapsed_ms();
         const TIMEOUT_MS: u64 = 100;
         #[cfg(feature = "decongest-udma")]
         {
             // don't parallelize the camera capture to avoid triggering a hardware bug
             // in the SPIM block.
-            while iox.get_gpio_pin_value(IoxPort::PB, 9) == IoxValue::High
-                && ((tt.elapsed_ms() - now) < TIMEOUT_MS)
-            {}
+            while iox.get_gpio_pin_value(IoxPort::PB, 9) == IoxValue::High && ((now - start) < TIMEOUT_MS) {
+                now = tt.elapsed_ms();
+            }
+            if now - start >= TIMEOUT_MS {
+                log::info!("Timeout before capture_async()!");
+            }
             cam.capture_async();
         }
 
         // wait for the transfer to finish
+        start = tt.elapsed_ms();
         now = tt.elapsed_ms();
-        while cam.udma_busy(cramium_hal::udma::Bank::Rx) && ((tt.elapsed_ms() - now) < TIMEOUT_MS) {
+        while cam.udma_busy(cramium_hal::udma::Bank::Rx) && ((now - start) < TIMEOUT_MS) {
+            now = tt.elapsed_ms();
             // busy-wait to get better time resolution on when the frame ends
         }
+        if now - start >= TIMEOUT_MS {
+            log::info!("Timeout before rx_buf()!");
+        }
         let fb: &[u32] = cam.rx_buf();
 
         // fb is an array of IMAGE_WIDTH x IMAGE_HEIGHT x u16

services/bao-video/src/modules.rs

@@ -72,6 +72,9 @@ impl FracIter {
         self.count = 0;
     }
 
+    #[allow(dead_code)]
+    /// Untested, but reserved API for adjusting grid streaming if we need better performance on
+    /// higher resolution QR codes
     pub fn error(&self) -> isize {
         if (self.current & (FIXED_POINT - 1)) == 0 {
             0
@@ -82,6 +85,10 @@ impl FracIter {
         }
     }
 
+    #[allow(dead_code)]
+    /// Untested, but reserved API for adjusting grid streaming if we need better performance on
+    /// higher resolution QR codes
+    ///
     /// The sign on m applies to n, but n is represented as a sign-less quantity
     pub fn nudge(&mut self, m: isize, n: usize) {
         assert!(n < FIXED_POINT);

services/bao-video/src/qr.rs

@@ -18,9 +18,6 @@ const UPPER_1: usize = 2 << SEQ_FP_SHIFT;
 const LOWER_3: usize = 2 << SEQ_FP_SHIFT;
 const UPPER_3: usize = 4 << SEQ_FP_SHIFT;
 
-pub const STORAGE: usize = 92;
-
-pub const BW_THRESH: u8 = 128;
 /// Finder search margin, as defined by expected QR code code widths (so this scales with the effective
 /// resolution of the code)
 pub const FINDER_SEARCH_MARGIN: isize = 2;
@@ -44,6 +41,8 @@ pub fn draw_crosshair(image: &mut dyn FrameBuffer, p: Point) {
     );
 }
 
+#[allow(dead_code)]
+/// Used for debugging QR code algorithms
 pub fn draw_line(image: &mut dyn FrameBuffer, l: &LineDerivation, color: ColorNative) {
     let axis = l.independent_axis;
     let (m, b) = l.equation.unwrap();
@@ -292,8 +291,10 @@ impl QrCorners {
         }
     }
 
+    #[allow(dead_code)]
     pub fn derived_corner(&self) -> Direction { self.derived_corner }
 
+    #[allow(dead_code)]
     pub fn center_point(&self, dir: Direction) -> Option<Point> { self.corners[dir as usize].finder_ref }
 
     fn outline_search(&mut self, ir: &mut ImageRoi) {
@@ -689,6 +690,7 @@ impl<'a> ImageRoi<'a> {
         }
     }
 
+    #[allow(dead_code)]
     pub fn absolute_to_roi(&self, point: Point) -> Option<Point> {
         let x = point.x - self.x0 as isize;
         let y = point.y - self.y0 as isize;