diff --git a/components/rgbd-sources/include/ftl/rgbd/detail/netframe.hpp b/components/rgbd-sources/include/ftl/rgbd/detail/netframe.hpp
index 1abb624c96e6a6871c2058b2e69574331183e7b4..eb9c64b99a03c66f331381a595d308f1345fa100 100644
--- a/components/rgbd-sources/include/ftl/rgbd/detail/netframe.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/detail/netframe.hpp
@@ -14,8 +14,7 @@ namespace detail {
* Also maintains statistics about the frame transmission for later analysis.
*/
struct NetFrame {
- cv::Mat channel1;
- cv::Mat channel2;
+ cv::Mat channel[2];
volatile int64_t timestamp;
std::atomic<int> chunk_count[2];
std::atomic<int> channel_count;
diff --git a/components/rgbd-sources/src/sources/net/net.cpp b/components/rgbd-sources/src/sources/net/net.cpp
index d6d3c78042a99b72adbabe96152c016a5941cb88..16c5994d491bd1d7794166a26a6174511307cc9b 100644
--- a/components/rgbd-sources/src/sources/net/net.cpp
+++ b/components/rgbd-sources/src/sources/net/net.cpp
@@ -52,8 +52,8 @@ NetFrame &NetFrameQueue::getFrame(int64_t ts, const cv::Size &s, int c1type, int
f.chunk_total[1] = 0;
f.channel_count = 0;
f.tx_size = 0;
- f.channel1.create(s, c1type);
- f.channel2.create(s, c2type);
+ f.channel[0].create(s, c1type);
+ f.channel[1].create(s, c2type);
return f;
}
oldest = (f.timestamp < oldest) ? f.timestamp : oldest;
@@ -72,8 +72,8 @@ NetFrame &NetFrameQueue::getFrame(int64_t ts, const cv::Size &s, int c1type, int
f.chunk_total[1] = 0;
f.channel_count = 0;
f.tx_size = 0;
- f.channel1.create(s, c1type);
- f.channel2.create(s, c2type);
+ f.channel[0].create(s, c1type);
+ f.channel[1].create(s, c2type);
return f;
}
}
@@ -100,8 +100,8 @@ NetSource::NetSource(ftl::rgbd::Source *host)
params_right_.width = 0;
has_calibration_ = false;
- decoder_c1_ = nullptr;
- decoder_c2_ = nullptr;
+ decoder_[0] = nullptr;
+ decoder_[1] = nullptr;
host->on("gamma", [this,host](const ftl::config::Event&) {
gamma_ = host->value("gamma", 1.0f);
@@ -173,8 +173,8 @@ NetSource::NetSource(ftl::rgbd::Source *host)
}
NetSource::~NetSource() {
- if (decoder_c1_) ftl::codecs::free(decoder_c1_);
- if (decoder_c2_) ftl::codecs::free(decoder_c2_);
+ if (decoder_[0]) ftl::codecs::free(decoder_[0]);
+ if (decoder_[1]) ftl::codecs::free(decoder_[1]);
if (uri_.size() > 0) {
host_->getNet()->unbind(uri_);
@@ -212,22 +212,47 @@ NetSource::~NetSource() {
void NetSource::_createDecoder(int chan, const ftl::codecs::Packet &pkt) {
UNIQUE_LOCK(mutex_,lk);
- auto *decoder = (chan == 0) ? decoder_c1_ : decoder_c2_;
+ auto *decoder = decoder_[chan];
if (decoder) {
if (!decoder->accepts(pkt)) {
- ftl::codecs::free((chan == 0) ? decoder_c1_ : decoder_c2_);
+ ftl::codecs::free(decoder_[chan]);
} else {
return;
}
}
- if (chan == 0) {
- decoder_c1_ = ftl::codecs::allocateDecoder(pkt);
+ decoder_[chan] = ftl::codecs::allocateDecoder(pkt);
+}
+
+void NetSource::_processConfig(const ftl::codecs::Packet &pkt) {
+ std::tuple<std::string, std::string> cfg;
+ auto unpacked = msgpack::unpack((const char*)pkt.data.data(), pkt.data.size());
+ unpacked.get().convert(cfg);
+
+ LOG(INFO) << "Config Received: " << std::get<1>(cfg);
+ // TODO: This needs to be put in safer / better location
+ host_->set(std::get<0>(cfg), nlohmann::json::parse(std::get<1>(cfg)));
+}
+
+void NetSource::_processCalibration(const ftl::codecs::Packet &pkt) {
+ std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, ftl::rgbd::capability_t> params;
+ auto unpacked = msgpack::unpack((const char*)pkt.data.data(), pkt.data.size());
+ unpacked.get().convert(params);
+
+ if (std::get<1>(params) == Channel::Left) {
+ params_ = std::get<0>(params);
+ capabilities_ = std::get<2>(params);
+ has_calibration_ = true;
+ LOG(INFO) << "Got Calibration channel: " << params_.width << "x" << params_.height;
} else {
- decoder_c2_ = ftl::codecs::allocateDecoder(pkt);
+ params_right_ = std::get<0>(params);
}
}
+void NetSource::_processPose(const ftl::codecs::Packet &pkt) {
+ LOG(INFO) << "Got POSE channel";
+}
+
void NetSource::_recvPacket(short ttimeoff, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
// Capture time here for better net latency estimate
int64_t now = std::chrono::time_point_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now()).time_since_epoch().count();
@@ -240,32 +265,11 @@ void NetSource::_recvPacket(short ttimeoff, const ftl::codecs::StreamPacket &spk
const ftl::codecs::Channel rchan = spkt.channel;
const int channum = (rchan == Channel::Colour) ? 0 : 1;
- // Should config items be parsed here?
- if (rchan == Channel::Configuration) {
- std::tuple<std::string, std::string> cfg;
- auto unpacked = msgpack::unpack((const char*)pkt.data.data(), pkt.data.size());
- unpacked.get().convert(cfg);
-
- LOG(INFO) << "Config Received: " << std::get<1>(cfg);
- }
- else if (rchan == Channel::Calibration) {
- std::tuple<ftl::rgbd::Camera, ftl::codecs::Channel, ftl::rgbd::capability_t> params;
- auto unpacked = msgpack::unpack((const char*)pkt.data.data(), pkt.data.size());
- unpacked.get().convert(params);
-
- if (std::get<1>(params) == Channel::Left) {
- params_ = std::get<0>(params);
- capabilities_ = std::get<2>(params);
- has_calibration_ = true;
- LOG(INFO) << "Got Calibration channel: " << params_.width << "x" << params_.height;
- } else {
- params_right_ = std::get<0>(params);
- }
-
- return;
- } else if (rchan == Channel::Pose) {
- LOG(INFO) << "Got POSE channel";
- return;
+ // Deal with the special channels...
+ switch (rchan) {
+ case Channel::Configuration : _processConfig(pkt); return;
+ case Channel::Calibration : _processCalibration(pkt); return;
+ case Channel::Pose : _processPose(pkt); return;
}
if (!has_calibration_) {
@@ -281,19 +285,19 @@ void NetSource::_recvPacket(short ttimeoff, const ftl::codecs::StreamPacket &spk
// Only decode if this channel is wanted.
if (rchan == Channel::Colour || rchan == chan) {
_createDecoder(channum, pkt);
- auto *decoder = (rchan == Channel::Colour) ? decoder_c1_ : decoder_c2_;
+ auto *decoder = decoder_[channum];
if (!decoder) {
LOG(ERROR) << "No frame decoder available";
return;
}
- decoder->decode(pkt, (rchan == Channel::Colour) ? frame.channel1 : frame.channel2);
+ decoder->decode(pkt, frame.channel[channum]);
} else if (chan != Channel::None && rchan != Channel::Colour) {
// Didn't receive correct second channel so just clear the images
if (isFloatChannel(chan)) {
- frame.channel2.setTo(cv::Scalar(0.0f));
+ frame.channel[1].setTo(cv::Scalar(0.0f));
} else {
- frame.channel2.setTo(cv::Scalar(0,0,0));
+ frame.channel[1].setTo(cv::Scalar(0,0,0));
}
}
@@ -314,7 +318,6 @@ void NetSource::_recvPacket(short ttimeoff, const ftl::codecs::StreamPacket &spk
++frame.chunk_count[channum];
if (frame.chunk_count[channum] == frame.chunk_total[channum]) ++frame.channel_count;
-
if (frame.chunk_count[channum] > frame.chunk_total[channum]) LOG(FATAL) << "TOO MANY CHUNKS";
// Capture tx time of first received chunk
@@ -326,7 +329,7 @@ void NetSource::_recvPacket(short ttimeoff, const ftl::codecs::StreamPacket &spk
}
}
- // Last chunk of both channels now received
+ // Last chunk of both channels now received, so we are done.
if (frame.channel_count == spkt.channel_count) {
_completeFrame(frame, now-(spkt.timestamp+frame.tx_latency));
}
@@ -343,7 +346,7 @@ void NetSource::_completeFrame(NetFrame &frame, int64_t latency) {
// Note: Not used currently
adaptive_ = abr_.selectBitrate(frame);
- host_->notify(frame.timestamp, frame.channel1, frame.channel2);
+ host_->notify(frame.timestamp, frame.channel[0], frame.channel[1]);
queue_.freeFrame(frame);
N_--;
diff --git a/components/rgbd-sources/src/sources/net/net.hpp b/components/rgbd-sources/src/sources/net/net.hpp
index 5d0b4e9afcc9a514433164526a9b43209dec11c3..5cef2726d2cdc5c34c161a74b25d45234f55ce48 100644
--- a/components/rgbd-sources/src/sources/net/net.hpp
+++ b/components/rgbd-sources/src/sources/net/net.hpp
@@ -68,8 +68,7 @@ class NetSource : public detail::Source {
//NvPipe *nv_channel2_decoder_;
//#endif
- ftl::codecs::Decoder *decoder_c1_;
- ftl::codecs::Decoder *decoder_c2_;
+ ftl::codecs::Decoder *decoder_[2];
// Adaptive bitrate functionality
ftl::rgbd::detail::bitrate_t adaptive_; // Current adapted bitrate
@@ -87,6 +86,9 @@ class NetSource : public detail::Source {
//void _checkAdaptive(int64_t);
void _createDecoder(int chan, const ftl::codecs::Packet &);
void _completeFrame(NetFrame &frame, int64_t now);
+ void _processCalibration(const ftl::codecs::Packet &pkt);
+ void _processConfig(const ftl::codecs::Packet &pkt);
+ void _processPose(const ftl::codecs::Packet &pkt);
};
}