From dd2fd91964771ee3739d1a11fb01edcab4b2bd78 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Mon, 20 Jan 2020 15:52:04 +0200
Subject: [PATCH] Send and receive data channels
---
applications/gui/src/src_window.cpp | 6 ++++++
applications/reconstruct/src/main.cpp | 1 +
.../rgbd-sources/include/ftl/rgbd/frame.hpp | 10 ++++++++++
components/rgbd-sources/src/frame.cpp | 12 ++++++++++++
components/streams/src/receiver.cpp | 6 +++++-
components/streams/src/sender.cpp | 19 +++++++++++++++++++
6 files changed, 53 insertions(+), 1 deletion(-)
diff --git a/applications/gui/src/src_window.cpp b/applications/gui/src/src_window.cpp
index bb2105ce9..baa3a6f41 100644
--- a/applications/gui/src/src_window.cpp
+++ b/applications/gui/src/src_window.cpp
@@ -83,6 +83,12 @@ SourceWindow::SourceWindow(ftl::gui::Screen *screen)
// Request the channels required by current camera configuration
interceptor_->select(fs.id, _aggregateChannels());
+ /*if (fs.frames[0].hasChannel(Channel::Data)) {
+ int data = 0;
+ fs.frames[0].get(Channel::Data, data);
+ LOG(INFO) << "GOT DATA : " << data;
+ }*/
+
const auto *cstream = interceptor_;
_createDefaultCameras(fs, cstream->available(fs.id).has(Channel::Depth));
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index 9eabd9e0a..6d91839dc 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -188,6 +188,7 @@ static void run(ftl::Configurable *root) {
reconstr->setGenerator(gen);
reconstr->onFrameSet([sender,i](ftl::rgbd::FrameSet &fs) {
fs.id = i;
+ //fs.frames[0].create(Channel::Data, 44);
sender->post(fs);
return true;
});
diff --git a/components/rgbd-sources/include/ftl/rgbd/frame.hpp b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
index eb59f9393..69ed68746 100644
--- a/components/rgbd-sources/include/ftl/rgbd/frame.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/frame.hpp
@@ -284,6 +284,9 @@ public:
* Obtain a mask of all available channels in the frame.
*/
inline ftl::codecs::Channels<0> getChannels() const { return channels_; }
+ inline ftl::codecs::Channels<0> getVideoChannels() const { return channels_; }
+
+ inline ftl::codecs::Channels<2048> getDataChannels() const { return data_channels_; }
/**
* Is the channel data currently located on GPU. This also returns false if
@@ -381,6 +384,13 @@ public:
*/
std::string getConfigString() const;
+ /**
+ * Access the raw data channel vector object.
+ */
+ const std::vector<unsigned char> &getRawData(ftl::codecs::Channel c) const;
+
+ void createRawData(ftl::codecs::Channel c, const std::vector<unsigned char> &v);
+
/**
* Wrapper to access a config property. If the property does not exist or
* is not of the requested type then the returned optional is false.
diff --git a/components/rgbd-sources/src/frame.cpp b/components/rgbd-sources/src/frame.cpp
index 4ed2b4351..6fb82e19e 100644
--- a/components/rgbd-sources/src/frame.cpp
+++ b/components/rgbd-sources/src/frame.cpp
@@ -443,3 +443,15 @@ std::string ftl::rgbd::Frame::getConfigString() const {
return get<nlohmann::json>(ftl::codecs::Channel::Configuration).dump();
}
+const std::vector<unsigned char> &ftl::rgbd::Frame::getRawData(ftl::codecs::Channel channel) const {
+ if (static_cast<int>(channel) < static_cast<int>(ftl::codecs::Channel::Data)) throw ftl::exception("Non data channel");
+ if (!hasChannel(channel)) throw ftl::exception("Data channel does not exist");
+
+ return data_data_.at(static_cast<int>(channel));
+}
+
+void ftl::rgbd::Frame::createRawData(ftl::codecs::Channel c, const std::vector<unsigned char> &v) {
+ data_data_.insert({static_cast<int>(c), v});
+ data_channels_ += c;
+}
+
diff --git a/components/streams/src/receiver.cpp b/components/streams/src/receiver.cpp
index ad74db5d7..5e525ea0f 100644
--- a/components/streams/src/receiver.cpp
+++ b/components/streams/src/receiver.cpp
@@ -103,7 +103,11 @@ void Receiver::setStream(ftl::stream::Stream *s) {
//return;
//}
- if (channum >= 64) {
+ if (channum >= 2048) {
+ InternalStates &frame = _getFrame(spkt);
+ frame.frame.createRawData(spkt.channel, pkt.data);
+ return;
+ } else if (channum >= 64) {
for (int i=0; i<pkt.frame_count; ++i) {
InternalStates &frame = _getFrame(spkt,i);
diff --git a/components/streams/src/sender.cpp b/components/streams/src/sender.cpp
index 261c8b2fe..db7bb7c04 100644
--- a/components/streams/src/sender.cpp
+++ b/components/streams/src/sender.cpp
@@ -141,6 +141,25 @@ void Sender::post(const ftl::rgbd::FrameSet &fs) {
available += c;
}
}
+
+ // FIXME: Allow data channel selection rather than always send
+ for (auto c : frame.getDataChannels()) {
+ StreamPacket spkt;
+ spkt.version = 4;
+ spkt.timestamp = fs.timestamp;
+ spkt.streamID = 0; //fs.id;
+ spkt.frame_number = i;
+ spkt.channel = c;
+
+ ftl::codecs::Packet pkt;
+ pkt.codec = ftl::codecs::codec_t::MSGPACK;
+ pkt.definition = ftl::codecs::definition_t::Any;
+ pkt.frame_count = 1;
+ pkt.flags = 0;
+ pkt.bitrate = 0;
+ pkt.data = frame.getRawData(c);
+ stream_->post(spkt, pkt);
+ }
}
for (auto c : available) {
--
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