edge_processor

Configuration and services specific to the Guest Node

##Static Camera Device Names##

The two cameras, upward and downward, need to be distinguished in order for plugins to properly handle data regarding their physical characteristics (e.g., orientation, direction, lens). Udev rules are provided that map the system's device names for the standard AoT cameras in /dev to static names that identify their physical position on the node.

When the cameras are connected, they should be available for access at /dev/waggle_cam_top and /dev/waggle_cam_bottom. The above two are symbolic links to the standard Linux video# naming scheming under /dev. For example -

$ ls -l /dev/waggle_cam_bottom /dev/waggle_cam_*
lrwxrwxrwx 1 root root 6 Dec  1 20:18 /dev/waggle_cam_bottom -> video0
lrwxrwxrwx 1 root root 6 Dec  1 20:18 /dev/waggle_cam_top -> video1

OpenCV uses the system video device indicies, so the files 'waggle_cam_top_idx' and 'waggle_cam_bottom_idx' under '/etc/waggle' are populated with the index of the associated device. For example, the index of the top camera is

$ cat /etc/waggle/waggle_cam_top_idx
1

Using OpenCV (for Python) one can reference the desired camera as follows:

top_camera_index = int(open('/etc/waggle/waggle_cam_top_idx', 'r').read())
device = cv2.VideoCapture(top_camera_index)
...

## Installation of OpenCL for Mali T-62X

The base Waggle image for Odroid XU4 (version 2.1.4) comes with kernel driver (version 10.1) for Mali T-628. 

* NOTE: To check if the system has kernel driver for the GPU
```bash
$ ls -l /dev/mali*
crwxrwxrwx 1 root root 10, 61 Feb 11  2016 /dev/mali0

OpenCL for Mali-6xx

To be able to use the GPU in applications or OpenCV OpenCL library needs to be installed. To install OpenCL library

cd ~
git clone https://github.com/mdrjr/5422_mali.git
cd 5422_mali
# change the version to r9 because the 10.1 version of the kernel driver is not compatible with r14, which is the latest
git checkout r9p0
cd fbdev
make

After the installation the libraries should appear under /usr/lib/arm-linux-gnueabihf/mali-egl.

$ ls -l /usr/lib/arm-linux-gnueabihf/mali-egl/
total 18140
-rw-r--r-- 1 root root       38 Jan  4 21:09 ld.so.conf
-rwxr-xr-x 1 root root     4862 Jan  5 23:11 libEGL.so
lrwxrwxrwx 1 root root        9 Jan  4 21:09 libEGL.so.1 -> libEGL.so
lrwxrwxrwx 1 root root        9 Jan  4 21:09 libEGL.so.1.4 -> libEGL.so
-rwxr-xr-x 1 root root     4862 Jan  5 23:11 libGLESv1_CM.so
lrwxrwxrwx 1 root root       15 Jan  4 21:09 libGLESv1_CM.so.1 -> libGLESv1_CM.so
lrwxrwxrwx 1 root root       15 Jan  4 21:09 libGLESv1_CM.so.1.1 -> libGLESv1_CM.so
-rwxr-xr-x 1 root root     4862 Jan  5 23:11 libGLESv2.so
lrwxrwxrwx 1 root root       12 Jan  4 21:09 libGLESv2.so.2 -> libGLESv2.so
lrwxrwxrwx 1 root root       12 Jan  4 21:09 libGLESv2.so.2.0 -> libGLESv2.so
-rwxr-xr-x 1 root root 18534752 Jan  5 23:11 libmali.so
-rwxr-xr-x 1 root root     4862 Jan  5 23:11 libOpenCL.so
lrwxrwxrwx 1 root root       12 Jan  4 21:09 libOpenCL.so.1 -> libOpenCL.so
lrwxrwxrwx 1 root root       12 Jan  4 21:09 libOpenCL.so.1.1 -> libOpenCL.so