Add configuration to stream, H264 support, codec selection

components/rgbd-sources/src/sources/net/net.cpp

@@ -90,55 +90,6 @@ void NetFrameQueue::freeFrame(NetFrame &f) {
 
 // ===== NetSource =============================================================
 
-/*bool NetSource::_getCalibration(Universe &net, const UUID &peer, const string &src, ftl::rgbd::Camera &p, ftl::codecs::Channel chan) {
-	try {
-		while(true) {
-			auto [cap,buf] = net.call<tuple<unsigned int,vector<unsigned char>>>(peer_, "source_details", src, chan);
-
-			capabilities_ = cap;
-
-			if (buf.size() > 0) {
-				memcpy((char*)&p, buf.data(), buf.size());
-				
-				if (sizeof(p) != buf.size()) {
-					LOG(ERROR) << "Corrupted calibration";
-					return false;
-				}
-
-				LOG(INFO) << "Calibration received: " << p.cx << ", " << p.cy << ", " << p.fx << ", " << p.fy;
-
-				if (chan == Channel::Left) {
-					// Put calibration into config manually
-					host_->getConfig()["focal"] = p.fx;
-					host_->getConfig()["centre_x"] = p.cx;
-					host_->getConfig()["centre_y"] = p.cy;
-					host_->getConfig()["baseline"] = p.baseline;
-					host_->getConfig()["doffs"] = p.doffs;
-				} else {
-					host_->getConfig()["focal_right"] = p.fx;
-					host_->getConfig()["centre_x_right"] = p.cx;
-					host_->getConfig()["centre_y_right"] = p.cy;
-					host_->getConfig()["baseline_right"] = p.baseline;
-					host_->getConfig()["doffs_right"] = p.doffs;
-				}
-				
-				return true;
-			} else {
-				LOG(INFO) << "Could not get calibration, retrying";
-				sleep_for(milliseconds(500));
-			}
-		}
-		
-	} catch (const std::exception& ex) {
-		LOG(ERROR) << "Exception: " << ex.what();
-		return false;
-
-	} catch (...) {
-		LOG(ERROR) << "Unknown exception";
-		return false;
-	}
-}*/
-
 NetSource::NetSource(ftl::rgbd::Source *host)
 		: ftl::rgbd::detail::Source(host), active_(false), minB_(9), maxN_(1), adaptive_(0), queue_(3) {
 
@@ -306,10 +257,6 @@ void NetSource::_recvPacket(short ttimeoff, const ftl::codecs::StreamPacket &spk
 			params_ = std::get<0>(params);
 			capabilities_ = std::get<2>(params);
 			has_calibration_ = true;
-
-			//rgb_ = cv::Mat(cv::Size(params_.width, params_.height), CV_8UC3, cv::Scalar(0,0,0));
-			//depth_ = cv::Mat(cv::Size(params_.width, params_.height), CV_32FC1, 0.0f);
-
 			LOG(INFO) << "Got Calibration channel: " << params_.width << "x" << params_.height;
 		} else {
 			params_right_ = std::get<0>(params);
@@ -380,36 +327,26 @@ void NetSource::_recvPacket(short ttimeoff, const ftl::codecs::StreamPacket &spk
 	}
 
 	// Last chunk of both channels now received
-	if (frame.channel_count == spkt.channel_count &&
-			frame.chunk_count[0] == frame.chunk_total[0] &&
-			frame.chunk_count[1] == frame.chunk_total[1]) {
-		UNIQUE_LOCK(frame.mtx, flk);
+	if (frame.channel_count == spkt.channel_count) {
+		_completeFrame(frame, now-(spkt.timestamp+frame.tx_latency));
+	}
+}
 
-		if (frame.timestamp >= 0 && frame.chunk_count[0] == frame.chunk_total[0] && frame.chunk_count[1] == frame.chunk_total[1]) {
-			timestamp_ = frame.timestamp;
-			frame.tx_latency = now-(spkt.timestamp+frame.tx_latency);
-
-			adaptive_ = abr_.selectBitrate(frame);
-			//LOG(INFO) << "Frame finished: " << frame.timestamp;
-			host_->notify(frame.timestamp, frame.channel1, frame.channel2);
-			/*auto cb = host_->callback();
-			if (cb) {
-				try {
-					cb(frame.timestamp, frame.channel1, frame.channel2);
-				} catch (...) {
-					LOG(ERROR) << "Exception in net frame callback";
-				}
-			} else {
-				LOG(ERROR) << "NO FRAME CALLBACK";
-			}*/
-
-			queue_.freeFrame(frame);
-
-			{
-				// Decrement expected frame counter
-				N_--;
-			}
-		}
+void NetSource::_completeFrame(NetFrame &frame, int64_t latency) {
+	UNIQUE_LOCK(frame.mtx, flk);
+
+	// Frame must not have already been freed.
+	if (frame.timestamp >= 0) {
+		timestamp_ = frame.timestamp;
+		frame.tx_latency = latency;
+
+		// Note: Not used currently
+		adaptive_ = abr_.selectBitrate(frame);
+
+		host_->notify(frame.timestamp, frame.channel1, frame.channel2);
+
+		queue_.freeFrame(frame);
+		N_--;
 	}
 }
 
@@ -429,12 +366,6 @@ void NetSource::setPose(const Eigen::Matrix4d &pose) {
 
 ftl::rgbd::Camera NetSource::parameters(ftl::codecs::Channel chan) {
 	if (chan == ftl::codecs::Channel::Right) {
-		/*if (params_right_.width == 0) {
-			auto uri = host_->get<string>("uri");
-			if (!uri) return params_;
-
-			_getCalibration(*host_->getNet(), peer_, *uri, params_right_, chan);
-		}*/
 		return params_right_;
 	} else {
 		return params_;
@@ -459,27 +390,11 @@ void NetSource::_updateURI() {
 		}
 		peer_ = *p;
 
-		//has_calibration_ = _getCalibration(*host_->getNet(), peer_, *uri, params_, ftl::codecs::Channel::Left);
-		//_getCalibration(*host_->getNet(), peer_, *uri, params_right_, ftl::codecs::Channel::Right);
-
 		host_->getNet()->bind(*uri, [this](short ttimeoff, const ftl::codecs::StreamPacket &spkt, const ftl::codecs::Packet &pkt) {
-			//if (chunk == -1) {
-				//#ifdef HAVE_NVPIPE
-				//_recvVideo(frame, ttimeoff, bitrate, jpg, d);
-				//#else
-				//LOG(ERROR) << "Cannot receive HEVC, no NvPipe support";
-				//#endif
-			//} else {
-				//_recvChunk(frame, ttimeoff, bitrate, chunk, jpg, d);
-				_recvPacket(ttimeoff, spkt, pkt);
-			//}
+			_recvPacket(ttimeoff, spkt, pkt);
 		});
 
 		N_ = 0;
-
-		//d_rgb_ = cv::Mat(cv::Size(params_.width, params_.height), CV_8UC3, cv::Scalar(0,0,0));
-		//d_depth_ = cv::Mat(cv::Size(params_.width, params_.height), CV_32FC1, 0.0f);
-
 		uri_ = *uri;
 		active_ = true;
 	} else {