From f7db7456dbdf04c2f84665e6f143047e6efd9309 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nicolas.pope@utu.fi>
Date: Tue, 15 Oct 2019 11:17:09 +0300
Subject: [PATCH] Implements #201 file stream pausing
---
applications/reconstruct/src/main.cpp | 8 +-
components/common/cpp/src/configuration.cpp | 10 ++-
components/rgbd-sources/CMakeLists.txt | 21 ++---
.../rgbd-sources/include/ftl/rgbd/source.hpp | 6 +-
components/rgbd-sources/src/source.cpp | 22 +++---
.../src/{ => sources/ftlfile}/file_source.cpp | 2 +-
.../src/{ => sources/ftlfile}/file_source.hpp | 6 +-
.../src/sources/ftlfile/player.cpp | 79 +++++++++++++++++++
.../src/sources/ftlfile/player.hpp | 47 +++++++++++
.../src/{ => sources/image}/image.hpp | 0
.../middlebury}/middlebury_source.cpp | 0
.../middlebury}/middlebury_source.hpp | 0
.../src/{ => sources/net}/net.cpp | 0
.../src/{ => sources/net}/net.hpp | 0
.../realsense}/realsense_source.cpp | 0
.../realsense}/realsense_source.hpp | 0
.../src/{ => sources/snapshot}/snapshot.cpp | 0
.../snapshot}/snapshot_source.cpp | 0
.../snapshot}/snapshot_source.hpp | 0
.../{ => sources/stereovideo}/calibrate.cpp | 0
.../{ => sources/stereovideo}/calibrate.hpp | 0
.../src/{ => sources/stereovideo}/local.cpp | 0
.../src/{ => sources/stereovideo}/local.hpp | 0
.../{ => sources/stereovideo}/stereovideo.cpp | 0
.../{ => sources/stereovideo}/stereovideo.hpp | 0
.../src/{ => sources/virtual}/virtual.cpp | 0
components/rgbd-sources/test/source_unit.cpp | 10 ++-
27 files changed, 179 insertions(+), 32 deletions(-)
rename components/rgbd-sources/src/{ => sources/ftlfile}/file_source.cpp (96%)
rename components/rgbd-sources/src/{ => sources/ftlfile}/file_source.hpp (86%)
create mode 100644 components/rgbd-sources/src/sources/ftlfile/player.cpp
create mode 100644 components/rgbd-sources/src/sources/ftlfile/player.hpp
rename components/rgbd-sources/src/{ => sources/image}/image.hpp (100%)
rename components/rgbd-sources/src/{ => sources/middlebury}/middlebury_source.cpp (100%)
rename components/rgbd-sources/src/{ => sources/middlebury}/middlebury_source.hpp (100%)
rename components/rgbd-sources/src/{ => sources/net}/net.cpp (100%)
rename components/rgbd-sources/src/{ => sources/net}/net.hpp (100%)
rename components/rgbd-sources/src/{ => sources/realsense}/realsense_source.cpp (100%)
rename components/rgbd-sources/src/{ => sources/realsense}/realsense_source.hpp (100%)
rename components/rgbd-sources/src/{ => sources/snapshot}/snapshot.cpp (100%)
rename components/rgbd-sources/src/{ => sources/snapshot}/snapshot_source.cpp (100%)
rename components/rgbd-sources/src/{ => sources/snapshot}/snapshot_source.hpp (100%)
rename components/rgbd-sources/src/{ => sources/stereovideo}/calibrate.cpp (100%)
rename components/rgbd-sources/src/{ => sources/stereovideo}/calibrate.hpp (100%)
rename components/rgbd-sources/src/{ => sources/stereovideo}/local.cpp (100%)
rename components/rgbd-sources/src/{ => sources/stereovideo}/local.hpp (100%)
rename components/rgbd-sources/src/{ => sources/stereovideo}/stereovideo.cpp (100%)
rename components/rgbd-sources/src/{ => sources/stereovideo}/stereovideo.hpp (100%)
rename components/rgbd-sources/src/{ => sources/virtual}/virtual.cpp (100%)
diff --git a/applications/reconstruct/src/main.cpp b/applications/reconstruct/src/main.cpp
index d86eb5ea1..c1afeed96 100644
--- a/applications/reconstruct/src/main.cpp
+++ b/applications/reconstruct/src/main.cpp
@@ -95,6 +95,9 @@ static void writeSourceProperties(ftl::codecs::Writer &writer, int id, ftl::rgbd
static void run(ftl::Configurable *root) {
Universe *net = ftl::create<Universe>(root, "net");
ftl::ctrl::Slave slave(net, root);
+
+ // Controls
+ auto *controls = ftl::create<ftl::Configurable>(root, "controls");
net->start();
net->waitConnections();
@@ -236,10 +239,11 @@ static void run(ftl::Configurable *root) {
group->setLatency(4);
group->setName("ReconGroup");
- group->sync([splat,virt,&busy,&slave,&scene_A,&scene_B,&align](ftl::rgbd::FrameSet &fs) -> bool {
+ group->sync([splat,virt,&busy,&slave,&scene_A,&scene_B,&align,controls](ftl::rgbd::FrameSet &fs) -> bool {
//cudaSetDevice(scene->getCUDADevice());
- if (slave.isPaused()) return true;
+ //if (slave.isPaused()) return true;
+ if (controls->value("paused", false)) return true;
if (busy) {
LOG(INFO) << "Group frameset dropped: " << fs.timestamp;
diff --git a/components/common/cpp/src/configuration.cpp b/components/common/cpp/src/configuration.cpp
index 6881c181d..bd9d9feec 100644
--- a/components/common/cpp/src/configuration.cpp
+++ b/components/common/cpp/src/configuration.cpp
@@ -185,7 +185,15 @@ static void _indexConfig(json_t &cfg) {
}
ftl::Configurable *ftl::config::find(const std::string &uri) {
- auto ix = config_instance.find(uri);
+ std::string actual_uri = uri;
+ if (uri[0] == '/') {
+ if (uri.size() == 1) {
+ return rootCFG;
+ } else {
+ actual_uri = rootCFG->getID() + uri;
+ }
+ }
+ auto ix = config_instance.find(actual_uri);
if (ix == config_instance.end()) return nullptr;
else return (*ix).second;
}
diff --git a/components/rgbd-sources/CMakeLists.txt b/components/rgbd-sources/CMakeLists.txt
index e064f91a2..0dbd5ccf8 100644
--- a/components/rgbd-sources/CMakeLists.txt
+++ b/components/rgbd-sources/CMakeLists.txt
@@ -1,13 +1,13 @@
set(RGBDSRC
- src/calibrate.cpp
- src/local.cpp
+ src/sources/stereovideo/calibrate.cpp
+ src/sources/stereovideo/local.cpp
src/disparity.cpp
src/source.cpp
src/frame.cpp
src/frameset.cpp
- src/stereovideo.cpp
- src/middlebury_source.cpp
- src/net.cpp
+ src/sources/stereovideo/stereovideo.cpp
+ src/sources/middlebury/middlebury_source.cpp
+ src/sources/net/net.cpp
src/streamer.cpp
src/colour.cpp
src/group.cpp
@@ -18,18 +18,19 @@ set(RGBDSRC
src/cb_segmentation.cpp
src/abr.cpp
src/offilter.cpp
- src/virtual.cpp
- src/file_source.cpp
+ src/sources/virtual/virtual.cpp
+ src/sources/ftlfile/file_source.cpp
+ src/sources/ftlfile/player.cpp
)
if (HAVE_REALSENSE)
- list(APPEND RGBDSRC "src/realsense_source.cpp")
+ list(APPEND RGBDSRC "src/sources/realsense/realsense_source.cpp")
endif()
if (LibArchive_FOUND)
list(APPEND RGBDSRC
- src/snapshot.cpp
- src/snapshot_source.cpp
+ src/sources/snapshot/snapshot.cpp
+ src/sources/snapshot/snapshot_source.cpp
)
endif (LibArchive_FOUND)
diff --git a/components/rgbd-sources/include/ftl/rgbd/source.hpp b/components/rgbd-sources/include/ftl/rgbd/source.hpp
index 62286ee55..862d472f1 100644
--- a/components/rgbd-sources/include/ftl/rgbd/source.hpp
+++ b/components/rgbd-sources/include/ftl/rgbd/source.hpp
@@ -9,7 +9,6 @@
#include <ftl/uri.hpp>
#include <ftl/rgbd/detail/source.hpp>
#include <ftl/codecs/packet.hpp>
-#include <ftl/codecs/reader.hpp>
#include <opencv2/opencv.hpp>
#include <Eigen/Eigen>
#include <string>
@@ -30,6 +29,7 @@ static inline bool isValidDepth(float d) { return (d > 0.01f) && (d < 39.99f); }
class SnapshotReader;
class VirtualSource;
+class Player;
/**
* RGBD Generic data source configurable entity. This class hides the
@@ -247,9 +247,9 @@ class Source : public ftl::Configurable {
detail::Source *_createNetImpl(const ftl::URI &uri);
detail::Source *_createDeviceImpl(const ftl::URI &uri);
- static ftl::codecs::Reader *__createReader(const std::string &path);
+ static ftl::rgbd::Player *__createReader(const std::string &path);
- static std::map<std::string, ftl::codecs::Reader*> readers__;
+ static std::map<std::string, ftl::rgbd::Player*> readers__;
};
}
diff --git a/components/rgbd-sources/src/source.cpp b/components/rgbd-sources/src/source.cpp
index 114ba2693..610f9d08a 100644
--- a/components/rgbd-sources/src/source.cpp
+++ b/components/rgbd-sources/src/source.cpp
@@ -2,20 +2,20 @@
#include <ftl/rgbd/source.hpp>
#include <ftl/threads.hpp>
-#include "net.hpp"
-#include "stereovideo.hpp"
-#include "image.hpp"
-#include "middlebury_source.hpp"
+#include "sources/net/net.hpp"
+#include "sources/stereovideo/stereovideo.hpp"
+#include "sources/image/image.hpp"
+#include "sources/middlebury/middlebury_source.hpp"
#ifdef HAVE_LIBARCHIVE
#include <ftl/rgbd/snapshot.hpp>
-#include "snapshot_source.hpp"
+#include "sources/snapshot/snapshot_source.hpp"
#endif
-#include "file_source.hpp"
+#include "sources/ftlfile/file_source.hpp"
#ifdef HAVE_REALSENSE
-#include "realsense_source.hpp"
+#include "sources/realsense/realsense_source.hpp"
using ftl::rgbd::detail::RealsenseSource;
#endif
@@ -30,7 +30,7 @@ using ftl::rgbd::capability_t;
using ftl::codecs::Channel;
using ftl::rgbd::detail::FileSource;
-std::map<std::string, ftl::codecs::Reader*> Source::readers__;
+std::map<std::string, ftl::rgbd::Player*> Source::readers__;
Source::Source(ftl::config::json_t &cfg) : Configurable(cfg), pose_(Eigen::Matrix4d::Identity()), net_(nullptr) {
impl_ = nullptr;
@@ -120,7 +120,7 @@ ftl::rgbd::detail::Source *Source::_createFileImpl(const ftl::URI &uri) {
string ext = path.substr(eix+1);
if (ext == "ftl") {
- ftl::codecs::Reader *reader = __createReader(path);
+ ftl::rgbd::Player *reader = __createReader(path);
LOG(INFO) << "Playing track: " << uri.getFragment();
return new FileSource(this, reader, std::stoi(uri.getFragment()));
} else if (ext == "png" || ext == "jpg") {
@@ -146,7 +146,7 @@ ftl::rgbd::detail::Source *Source::_createFileImpl(const ftl::URI &uri) {
return nullptr;
}
-ftl::codecs::Reader *Source::__createReader(const std::string &path) {
+ftl::rgbd::Player *Source::__createReader(const std::string &path) {
if (readers__.find(path) != readers__.end()) {
return readers__[path];
}
@@ -156,7 +156,7 @@ ftl::codecs::Reader *Source::__createReader(const std::string &path) {
// FIXME: This is a memory leak, must delete ifstream somewhere.
- auto *r = new ftl::codecs::Reader(*file);
+ auto *r = new ftl::rgbd::Player(*file);
readers__[path] = r;
r->begin();
return r;
diff --git a/components/rgbd-sources/src/file_source.cpp b/components/rgbd-sources/src/sources/ftlfile/file_source.cpp
similarity index 96%
rename from components/rgbd-sources/src/file_source.cpp
rename to components/rgbd-sources/src/sources/ftlfile/file_source.cpp
index 38acf1a7c..323f1ae72 100644
--- a/components/rgbd-sources/src/file_source.cpp
+++ b/components/rgbd-sources/src/sources/ftlfile/file_source.cpp
@@ -20,7 +20,7 @@ void FileSource::_createDecoder(int ix, const ftl::codecs::Packet &pkt) {
decoders_[ix] = ftl::codecs::allocateDecoder(pkt);
}
-FileSource::FileSource(ftl::rgbd::Source *s, ftl::codecs::Reader *r, int sid) : ftl::rgbd::detail::Source(s) {
+FileSource::FileSource(ftl::rgbd::Source *s, ftl::rgbd::Player *r, int sid) : ftl::rgbd::detail::Source(s) {
reader_ = r;
has_calibration_ = false;
decoders_[0] = nullptr;
diff --git a/components/rgbd-sources/src/file_source.hpp b/components/rgbd-sources/src/sources/ftlfile/file_source.hpp
similarity index 86%
rename from components/rgbd-sources/src/file_source.hpp
rename to components/rgbd-sources/src/sources/ftlfile/file_source.hpp
index 1f2241ea0..80f3b368b 100644
--- a/components/rgbd-sources/src/file_source.hpp
+++ b/components/rgbd-sources/src/sources/ftlfile/file_source.hpp
@@ -5,7 +5,7 @@
#include <loguru.hpp>
#include <ftl/rgbd/source.hpp>
-#include <ftl/codecs/reader.hpp>
+#include "player.hpp"
#include <ftl/codecs/decoder.hpp>
#include <list>
@@ -16,7 +16,7 @@ namespace detail {
class FileSource : public detail::Source {
public:
- FileSource(ftl::rgbd::Source *, ftl::codecs::Reader *, int sid);
+ FileSource(ftl::rgbd::Source *, ftl::rgbd::Player *, int sid);
~FileSource();
bool capture(int64_t ts);
@@ -27,7 +27,7 @@ class FileSource : public detail::Source {
//void reset();
private:
- ftl::codecs::Reader *reader_;
+ ftl::rgbd::Player *reader_;
bool has_calibration_;
struct PacketPair {
diff --git a/components/rgbd-sources/src/sources/ftlfile/player.cpp b/components/rgbd-sources/src/sources/ftlfile/player.cpp
new file mode 100644
index 000000000..cabbce642
--- /dev/null
+++ b/components/rgbd-sources/src/sources/ftlfile/player.cpp
@@ -0,0 +1,79 @@
+#include "player.hpp"
+#include <ftl/configuration.hpp>
+
+using ftl::rgbd::Player;
+
+Player::Player(std::istream &s) : stream_(&s), reader_(s) {
+ auto *c = ftl::config::find("/controls");
+
+ offset_ = 0;
+
+ if (c) {
+ paused_ = c->value("paused", false);
+ c->on("paused", [this,c](const ftl::config::Event &e) {
+ UNIQUE_LOCK(mtx_, lk);
+ paused_ = c->value("paused", false);
+ if (paused_) {
+ pause_time_ = last_ts_;
+ } else {
+ offset_ += last_ts_ - pause_time_;
+ }
+ });
+
+ looping_ = c->value("looping", true);
+ c->on("looping", [this,c](const ftl::config::Event &e) {
+ looping_ = c->value("looping", false);
+ });
+
+ speed_ = c->value("speed", 1.0f);
+ c->on("speed", [this,c](const ftl::config::Event &e) {
+ speed_ = c->value("speed", 1.0f);
+ });
+
+ reversed_ = c->value("reverse", false);
+ c->on("reverse", [this,c](const ftl::config::Event &e) {
+ reversed_ = c->value("reverse", false);
+ });
+ }
+}
+
+Player::~Player() {
+ // TODO: Remove callbacks
+}
+
+bool Player::read(int64_t ts) {
+ std::unique_lock<std::mutex> lk(mtx_, std::defer_lock);
+ if (!lk.try_lock()) return true;
+
+ last_ts_ = ts;
+ if (paused_) return true;
+
+ int64_t adjusted_ts = int64_t(float(ts - reader_.getStartTime()) * speed_) + reader_.getStartTime() + offset_;
+ bool res = reader_.read(adjusted_ts);
+
+ if (looping_ && !res) {
+ reader_.end();
+ offset_ = 0;
+ stream_->clear();
+ stream_->seekg(0);
+ if (!reader_.begin()) {
+ LOG(ERROR) << "Could not loop";
+ return false;
+ }
+ return true;
+ }
+
+ return res;
+}
+
+void Player::onPacket(int streamID, const std::function<void(const ftl::codecs::StreamPacket &, ftl::codecs::Packet &)> &f) {
+ reader_.onPacket(streamID, f);
+}
+
+bool Player::begin() {
+ return reader_.begin();
+}
+
+bool Player::end() {
+ return reader_.end();
+}
diff --git a/components/rgbd-sources/src/sources/ftlfile/player.hpp b/components/rgbd-sources/src/sources/ftlfile/player.hpp
new file mode 100644
index 000000000..f826caaba
--- /dev/null
+++ b/components/rgbd-sources/src/sources/ftlfile/player.hpp
@@ -0,0 +1,47 @@
+#ifndef _FTL_RGBD_PLAYER_HPP_
+#define _FTL_RGBD_PLAYER_HPP_
+
+#include <iostream>
+#include <ftl/codecs/reader.hpp>
+#include <ftl/threads.hpp>
+
+namespace ftl {
+namespace rgbd {
+
+/**
+ * Simple wrapper around stream reader to control file playback.
+ */
+class Player {
+ public:
+ explicit Player(std::istream &s);
+ ~Player();
+
+ bool read(int64_t ts);
+
+ void onPacket(int streamID, const std::function<void(const ftl::codecs::StreamPacket &, ftl::codecs::Packet &)> &);
+
+ bool begin();
+ bool end();
+
+ inline int64_t getStartTime() { return reader_.getStartTime(); }
+
+ private:
+ std::istream *stream_;
+ ftl::codecs::Reader reader_;
+
+ bool paused_;
+ bool reversed_;
+ bool looping_;
+ float speed_;
+
+ int64_t pause_time_;
+ int64_t offset_;
+ int64_t last_ts_;
+
+ MUTEX mtx_;
+};
+
+}
+}
+
+#endif // _FTL_RGBD_PLAYER_HPP_
diff --git a/components/rgbd-sources/src/image.hpp b/components/rgbd-sources/src/sources/image/image.hpp
similarity index 100%
rename from components/rgbd-sources/src/image.hpp
rename to components/rgbd-sources/src/sources/image/image.hpp
diff --git a/components/rgbd-sources/src/middlebury_source.cpp b/components/rgbd-sources/src/sources/middlebury/middlebury_source.cpp
similarity index 100%
rename from components/rgbd-sources/src/middlebury_source.cpp
rename to components/rgbd-sources/src/sources/middlebury/middlebury_source.cpp
diff --git a/components/rgbd-sources/src/middlebury_source.hpp b/components/rgbd-sources/src/sources/middlebury/middlebury_source.hpp
similarity index 100%
rename from components/rgbd-sources/src/middlebury_source.hpp
rename to components/rgbd-sources/src/sources/middlebury/middlebury_source.hpp
diff --git a/components/rgbd-sources/src/net.cpp b/components/rgbd-sources/src/sources/net/net.cpp
similarity index 100%
rename from components/rgbd-sources/src/net.cpp
rename to components/rgbd-sources/src/sources/net/net.cpp
diff --git a/components/rgbd-sources/src/net.hpp b/components/rgbd-sources/src/sources/net/net.hpp
similarity index 100%
rename from components/rgbd-sources/src/net.hpp
rename to components/rgbd-sources/src/sources/net/net.hpp
diff --git a/components/rgbd-sources/src/realsense_source.cpp b/components/rgbd-sources/src/sources/realsense/realsense_source.cpp
similarity index 100%
rename from components/rgbd-sources/src/realsense_source.cpp
rename to components/rgbd-sources/src/sources/realsense/realsense_source.cpp
diff --git a/components/rgbd-sources/src/realsense_source.hpp b/components/rgbd-sources/src/sources/realsense/realsense_source.hpp
similarity index 100%
rename from components/rgbd-sources/src/realsense_source.hpp
rename to components/rgbd-sources/src/sources/realsense/realsense_source.hpp
diff --git a/components/rgbd-sources/src/snapshot.cpp b/components/rgbd-sources/src/sources/snapshot/snapshot.cpp
similarity index 100%
rename from components/rgbd-sources/src/snapshot.cpp
rename to components/rgbd-sources/src/sources/snapshot/snapshot.cpp
diff --git a/components/rgbd-sources/src/snapshot_source.cpp b/components/rgbd-sources/src/sources/snapshot/snapshot_source.cpp
similarity index 100%
rename from components/rgbd-sources/src/snapshot_source.cpp
rename to components/rgbd-sources/src/sources/snapshot/snapshot_source.cpp
diff --git a/components/rgbd-sources/src/snapshot_source.hpp b/components/rgbd-sources/src/sources/snapshot/snapshot_source.hpp
similarity index 100%
rename from components/rgbd-sources/src/snapshot_source.hpp
rename to components/rgbd-sources/src/sources/snapshot/snapshot_source.hpp
diff --git a/components/rgbd-sources/src/calibrate.cpp b/components/rgbd-sources/src/sources/stereovideo/calibrate.cpp
similarity index 100%
rename from components/rgbd-sources/src/calibrate.cpp
rename to components/rgbd-sources/src/sources/stereovideo/calibrate.cpp
diff --git a/components/rgbd-sources/src/calibrate.hpp b/components/rgbd-sources/src/sources/stereovideo/calibrate.hpp
similarity index 100%
rename from components/rgbd-sources/src/calibrate.hpp
rename to components/rgbd-sources/src/sources/stereovideo/calibrate.hpp
diff --git a/components/rgbd-sources/src/local.cpp b/components/rgbd-sources/src/sources/stereovideo/local.cpp
similarity index 100%
rename from components/rgbd-sources/src/local.cpp
rename to components/rgbd-sources/src/sources/stereovideo/local.cpp
diff --git a/components/rgbd-sources/src/local.hpp b/components/rgbd-sources/src/sources/stereovideo/local.hpp
similarity index 100%
rename from components/rgbd-sources/src/local.hpp
rename to components/rgbd-sources/src/sources/stereovideo/local.hpp
diff --git a/components/rgbd-sources/src/stereovideo.cpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
similarity index 100%
rename from components/rgbd-sources/src/stereovideo.cpp
rename to components/rgbd-sources/src/sources/stereovideo/stereovideo.cpp
diff --git a/components/rgbd-sources/src/stereovideo.hpp b/components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp
similarity index 100%
rename from components/rgbd-sources/src/stereovideo.hpp
rename to components/rgbd-sources/src/sources/stereovideo/stereovideo.hpp
diff --git a/components/rgbd-sources/src/virtual.cpp b/components/rgbd-sources/src/sources/virtual/virtual.cpp
similarity index 100%
rename from components/rgbd-sources/src/virtual.cpp
rename to components/rgbd-sources/src/sources/virtual/virtual.cpp
diff --git a/components/rgbd-sources/test/source_unit.cpp b/components/rgbd-sources/test/source_unit.cpp
index ca66273a9..1b69631aa 100644
--- a/components/rgbd-sources/test/source_unit.cpp
+++ b/components/rgbd-sources/test/source_unit.cpp
@@ -18,6 +18,14 @@ class SnapshotReader {
Snapshot readArchive() { return Snapshot(); };
};
+class Player {
+ public:
+ explicit Player(std::istream &) {}
+
+ bool begin() { return true; }
+ bool end() { return true; }
+};
+
namespace detail {
class ImageSource : public ftl::rgbd::detail::Source {
@@ -76,7 +84,7 @@ class SnapshotSource : public ftl::rgbd::detail::Source {
class FileSource : public ftl::rgbd::detail::Source {
public:
- FileSource(ftl::rgbd::Source *host, ftl::codecs::Reader *r, int) : ftl::rgbd::detail::Source(host) {
+ FileSource(ftl::rgbd::Source *host, ftl::rgbd::Player *r, int) : ftl::rgbd::detail::Source(host) {
last_type = "filesource";
}
--
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