diff --git a/web-service/src/index.js b/web-service/src/index.js
index 1971f340dfa75ab34d9f8efc6968b7b38cffa68f..c6b37247ac0c0e63ad0eefbd8b81ad5594d6b432 100644
--- a/web-service/src/index.js
+++ b/web-service/src/index.js
@@ -11,31 +11,55 @@ let peer_uris = {};
let uri_data = {};
+/**
+ * A client stream request object. Each source maintains a list of clients who
+ * are wanting frames from that source. Clients can only request N frames at a
+ * time, after that if no new request is received then the client is removed.
+ *
+ * @param {Peer} peer Peer websocket wrapper
+ * @param {number} N Number of frames requested
+ * @param {number} rate Bitrate index requested
+ * @param {string} dest URI destination
+ */
function RGBDClient(peer, N, rate, dest) {
this.peer = peer;
- this.txmax = N*16;
+ this.txmax = N*16; // 16 is for 16 blocks per frame... this will change in the near future
this.rate = rate;
this.dest = dest;
this.txcount = 0;
}
+/**
+ * Actually send a frame over network to the client.
+ */
RGBDClient.prototype.push = function(uri, frame, ttime, chunk, rgb, depth) {
this.peer.send(uri, frame, ttime, chunk, rgb, depth);
this.txcount++;
}
+/**
+ * A video stream. Each peer provides a list of these streams. Each stream can
+ * receive frames from the source and forward those frames to any clients.
+ * Therefore each of these stream objects maintains a list of clients and
+ * loops over them whenever a new frame is received.
+ *
+ * @param {string} uri Address of the stream
+ * @param {Peer} peer Origin of the stream
+ */
function RGBDStream(uri, peer) {
this.uri = uri;
this.peer = peer;
this.title = "";
- this.rgb = null;
- this.depth = null;
+ this.rgb = null; // TODO: No longer works as an image
+ this.depth = null; // TODO: No longer works as an image
this.pose = null;
this.clients = [];
this.rxcount = 10;
this.rxmax = 10;
+ // Add RPC handler to receive frames from the source
peer.bind(uri, (frame, ttime, chunk, rgb, depth) => {
+ // Forward frames to all clients
this.pushFrames(frame, ttime, chunk, rgb, depth);
this.rxcount++;
if (this.rxcount >= this.rxmax && this.clients.length > 0) {
@@ -176,6 +200,7 @@ app.ws('/', (ws, req) => {
checkStreams(p);
});
+ // Used to sync clocks
p.bind("__ping__", () => {
return Date.now();
});
@@ -198,6 +223,7 @@ app.ws('/', (ws, req) => {
}
});
+ // Requests camera calibration information
p.proxy("source_details", (cb, uri, chan) => {
let peer = uri_data[uri].peer;
if (peer) {
@@ -205,6 +231,7 @@ app.ws('/', (ws, req) => {
}
});
+ // Get the current position of a camera
p.proxy("get_pose", (cb, uri) => {
//console.log("SET POSE");
let peer = uri_data[uri].peer;
@@ -213,6 +240,7 @@ app.ws('/', (ws, req) => {
}
});
+ // Change the position of a camera
p.bind("set_pose", (uri, vec) => {
let peer = uri_data[uri].peer;
if (peer) {
@@ -221,6 +249,7 @@ app.ws('/', (ws, req) => {
}
});
+ // Request from frames from a source
p.bind("get_stream", (uri, N, rate, pid, dest) => {
let peer = uri_data[uri].peer;
if (peer) {
@@ -229,6 +258,7 @@ app.ws('/', (ws, req) => {
}
});
+ // Register a new stream
p.bind("add_stream", (uri) => {
console.log("Adding stream: ", uri);
//uri_to_peer[streams[i]] = peer;
diff --git a/web-service/src/peer.js b/web-service/src/peer.js
index 26a65782bdeeea5aaa295e9b15f1e7735958ef89..51cd78e6a9ad07ec17f478646b3b60171e6280bc 100644
--- a/web-service/src/peer.js
+++ b/web-service/src/peer.js
@@ -6,6 +6,7 @@ const kConnecting = 1;
const kConnected = 2;
const kDisconnected = 3;
+// Generate a unique id for this webservice
let my_uuid = new Uint8Array(16);
my_uuid[0] = 44;
my_uuid = Buffer.from(my_uuid);
@@ -13,6 +14,10 @@ my_uuid = Buffer.from(my_uuid);
const kMagic = 0x0009340053640912;
const kVersion = 0;
+/**
+ * Wrap a web socket with a MsgPack RCP protocol that works with our C++ version.
+ * @param {websocket} ws Websocket object
+ */
function Peer(ws) {
this.sock = ws;
this.status = kConnecting;
@@ -79,6 +84,9 @@ function Peer(ws) {
Peer.uuid = my_uuid;
+/**
+ * @private
+ */
Peer.prototype._dispatchNotification = function(name, args) {
if (this.bindings.hasOwnProperty(name)) {
//console.log("Notification for: ", name);
@@ -88,6 +96,9 @@ Peer.prototype._dispatchNotification = function(name, args) {
}
}
+/**
+ * @private
+ */
Peer.prototype._dispatchCall = function(name, id, args) {
if (this.bindings.hasOwnProperty(name)) {
//console.log("Call for:", name, id);
@@ -114,6 +125,9 @@ Peer.prototype._dispatchCall = function(name, id, args) {
}
}
+/**
+ * @private
+ */
Peer.prototype._dispatchResponse = function(id, res) {
if (this.callbacks.hasOwnProperty(id)) {
this.callbacks[id].call(this, res);
@@ -123,6 +137,14 @@ Peer.prototype._dispatchResponse = function(id, res) {
}
}
+/**
+ * Register an RPC handler that will be called from a remote machine. Remotely
+ * passed arguments are provided to the given function as normal arguments, and
+ * if the function returns a value, it will be returned over the network also.
+ *
+ * @param {string} name The name of the function
+ * @param {function} f A function or lambda to be callable remotely
+ */
Peer.prototype.bind = function(name, f) {
if (this.bindings.hasOwnProperty(name)) {
//console.error("Duplicate bind to same procedure");
@@ -132,6 +154,10 @@ Peer.prototype.bind = function(name, f) {
}
}
+/**
+ * Allow an RPC call to pass through to another machine with minimal local
+ * processing.
+ */
Peer.prototype.proxy = function(name, f) {
if (this.proxies.hasOwnProperty(name)) {
//console.error("Duplicate proxy to same procedure");
@@ -141,6 +167,13 @@ Peer.prototype.proxy = function(name, f) {
}
}
+/**
+ * Call a procedure on a remote machine.
+ *
+ * @param {string} name Name of the procedure
+ * @param {function} cb Callback to receive return value as argument
+ * @param {...} args Any number of arguments to also pass to remote procedure
+ */
Peer.prototype.rpc = function(name, cb, ...args) {
let id = this.cbid++;
this.callbacks[id] = cb;
@@ -160,6 +193,12 @@ Peer.prototype.sendB = function(name, args) {
}
}
+/**
+ * Call a remote procedure but with no return value expected.
+ *
+ * @param {string} name Name of the procedure
+ * @param {...} args Any number of arguments to also pass to remote procedure
+ */
Peer.prototype.send = function(name, ...args) {
try {
this.sock.send(encode([0, name, args]));
@@ -173,6 +212,9 @@ Peer.prototype.close = function() {
this.status = kDisconnected;
}
+/**
+ * @private
+ */
Peer.prototype._notify = function(evt, ...args) {
if (this.events.hasOwnProperty(evt)) {
for (let i=0; i<this.events[evt].length; i++) {
@@ -182,6 +224,13 @@ Peer.prototype._notify = function(evt, ...args) {
}
}
+/**
+ * Register a callback for socket events. Events include: 'connect',
+ * 'disconnect' and 'error'.
+ *
+ * @param {string} evt Event name
+ * @param {function} f Callback on event
+ */
Peer.prototype.on = function(evt, f) {
if (!this.events.hasOwnProperty(evt)) {
this.events[evt] = [];