[136] | 1 | /* lib3dv/detail/device_impl.cc
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| 2 | *
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| 3 | * Copyright (C) 2013 VisLab
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| 4 | *
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| 5 | * This file is part of lib3dv; you can redistribute it and/or modify
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| 6 | * it under the terms of the GNU Lesser General Public License as published by
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| 7 | * the Free Software Foundation; either version 3 of the License, or (at
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| 8 | * your option) any later version.
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| 9 | *
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| 10 | * This program is distributed in the hope that it will be useful, but
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| 11 | * WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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| 13 | * General Public License for more details.
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| 14 | *
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| 15 | * You should have received a copy of the GNU Lesser General Public License
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| 16 | * along with this program; if not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 |
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| 19 |
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| 20 | #include <lib3dv/detail/device_impl.h>
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| 21 |
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| 22 | #include <boost/asio/deadline_timer.hpp>
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| 23 | #include <boost/bind/protect.hpp>
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| 24 | #include <boost/ref.hpp>
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| 25 | #include <boost/system/error_code.hpp>
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| 26 | #include <boost/uuid/uuid_io.hpp>
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| 27 |
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| 28 | #include <cstring>
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| 29 | #include <iostream>
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| 30 | #include <vector>
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| 31 |
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| 32 | namespace lib3dv
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| 33 | {
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| 34 | void on_deadline(boost::asio::deadline_timer& deadline,
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| 35 | boost::asio::ip::udp::socket& socket,
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| 36 | uint8_t log_level,
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| 37 | bool wait,
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| 38 | boost::asio::io_service& io_service,
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| 39 | const boost::function<void (void)>& cleanup,
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| 40 | const boost::system::error_code& error)
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| 41 | {
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| 42 | if(!error) // can be a direct invocation, or triggered by an expired timer
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| 43 | {
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| 44 | if(deadline.expires_at() < boost::asio::deadline_timer::traits_type::now()) // expired timer
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| 45 | {
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| 46 | if(log_level > 0) std::cout << "[II] lib3dv: deadline expired, cleaning up..." << std::endl;
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| 47 |
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| 48 | cleanup();
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| 49 | }
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| 50 | else // direct (first) invocation
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| 51 | {
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| 52 | deadline.async_wait(boost::bind(on_deadline, boost::ref(deadline), boost::ref(socket), log_level, wait, boost::ref(io_service), cleanup, _1));
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| 53 | }
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| 54 | }
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| 55 | else if(error == boost::asio::error::operation_aborted) // can be triggered by cancel() or expires_from_now()
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| 56 | {
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| 57 | if(log_level > 1) std::cout << "[II] lib3dv: deadline canceled" << std::endl; // cancel(), nothing to do
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| 58 |
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| 59 | if(wait) // expires_from_now() we start to wait again
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| 60 | {
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| 61 | if(log_level > 1) std::cout << "[II] lib3dv: data deadline extended" << std::endl;
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| 62 |
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| 63 | deadline.async_wait(boost::bind(on_deadline, boost::ref(deadline), boost::ref(socket), log_level, wait, boost::ref(io_service), cleanup, _1));
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| 64 | }
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| 65 | }
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| 66 | else // another error occourred
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| 67 | std::cerr << "[EE] lib3dv: " << error.message() << std::endl;
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| 68 | }
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| 69 |
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| 70 | lib3dv::device create(boost::shared_ptr<lib3dv::detail::device_impl> impl)
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| 71 | {
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| 72 | lib3dv::device device;
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| 73 | device.m_impl = impl;
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| 74 | return device;
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| 75 | }
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| 76 |
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| 77 | namespace detail
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| 78 | {
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| 79 | device_impl::device_impl(const boost::asio::ip::address_v4& local_address,
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| 80 | const boost::asio::ip::address_v4& remote_address, unsigned short remote_commands_port, unsigned short remote_data_port,
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| 81 | const boost::uuids::uuid& guid,
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| 82 | const std::bitset<device::capability::NUM>& capabilities,
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| 83 | const device::version_info& version,
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| 84 | uint8_t log_level,
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| 85 | lib3dv::error& device_error) :
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| 86 | m_log_level(log_level),
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| 87 | m_timeout(device::DEFAULT_TIMEOUT),
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| 88 | m_local_address(local_address),
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| 89 | m_remote_address(remote_address),
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| 90 | m_remote_commands_port(remote_commands_port),
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| 91 | m_remote_data_port(remote_data_port),
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| 92 | m_data_socket(m_data_socket_io_service),
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| 93 | m_commands_socket(m_commands_socket_io_service),
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| 94 | m_commands_deadline(m_commands_socket_io_service),
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| 95 | m_data_deadline(m_data_socket_io_service),
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| 96 | m_guid(guid),
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| 97 | m_capabilities(capabilities),
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| 98 | m_version(version),
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| 99 | m_max_connection_id(0),
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| 100 | m_status(device::status::ONLINE)
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| 101 | {
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| 102 | boost::system::error_code error;
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| 103 |
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| 104 | m_data_socket.open(boost::asio::ip::udp::v4(), error);
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| 105 |
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| 106 | if(error)
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| 107 | {
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| 108 | std::cerr << "[EE] lib3dv: " << error.message() << std::endl;
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| 109 | device_error = lib3dv::error::NETWORK_FAILURE;
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| 110 | }
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| 111 |
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| 112 | m_commands_socket.open(boost::asio::ip::udp::v4(), error);
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| 113 |
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| 114 | if(error)
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| 115 | {
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| 116 | std::cerr << "[EE] lib3dv: " << error.message() << std::endl;
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| 117 | device_error = lib3dv::error::NETWORK_FAILURE;
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| 118 | }
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| 119 |
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| 120 | #ifdef _MSC_VER
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| 121 | boost::asio::socket_base::receive_buffer_size option(8192 * 1024);
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| 122 | m_data_socket.set_option(option);
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| 123 | #endif
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| 124 |
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| 125 | m_data_socket.set_option(boost::asio::socket_base::broadcast(true));
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| 126 | m_data_socket.bind(boost::asio::ip::udp::endpoint(local_address, 0), error);
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| 127 |
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| 128 | if(error)
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| 129 | {
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| 130 | std::cerr << "[EE] lib3dv: " << error.message() << std::endl;
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| 131 | device_error = lib3dv::error::NETWORK_FAILURE;
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| 132 | }
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| 133 |
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| 134 | m_commands_socket.set_option(boost::asio::socket_base::broadcast(true));
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| 135 | m_commands_socket.bind(boost::asio::ip::udp::endpoint(local_address, 0), error);
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| 136 |
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| 137 | if(error)
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| 138 | {
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| 139 | std::cerr << "[EE] lib3dv: " << error.message() << std::endl;
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| 140 | device_error = lib3dv::error::NETWORK_FAILURE;
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| 141 | }
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| 142 |
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| 143 | m_data_socket_io_service.post(boost::bind(&device_impl::on_data_received, this, boost::system::error_code(), 0));
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| 144 | m_data_socket_io_service_thread = boost::thread(boost::bind(&boost::asio::io_service::run, &m_data_socket_io_service));
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| 145 |
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| 146 | if(log_level > 0) std::cout << "[II] lib3dv: device " << m_guid << std::endl;
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| 147 | if(log_level > 0) std::cout << "\tcontrol channel: " << m_commands_socket.local_endpoint() << " <-> " << m_remote_address << ':' << m_remote_commands_port << std::endl;
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| 148 | if(log_level > 0) std::cout << "\tdata channel " << m_data_socket.local_endpoint() << " <-> " << m_remote_address << ':' << m_remote_data_port << std::endl;
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| 149 |
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| 150 | if(device_error != lib3dv::error::NONE)
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| 151 | m_status = device::status::OFFLINE;
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| 152 | }
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| 153 |
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| 154 | device_impl::~device_impl()
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| 155 | {
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| 156 | if(m_log_level > 0) std::cout << "[II] lib3dv: destructor called" << std::endl;
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| 157 |
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| 158 | boost::system::error_code error;
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| 159 |
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| 160 | if(m_data_socket.is_open())
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| 161 | m_data_socket.close(error);
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| 162 |
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| 163 | m_data_socket_io_service.stop();
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| 164 |
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| 165 | if(m_commands_socket.is_open())
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| 166 | m_commands_socket.close(error);
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| 167 |
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| 168 | m_commands_socket_io_service.stop();
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| 169 |
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| 170 | m_data_socket_io_service_thread.join();
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| 171 |
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| 172 | if(m_log_level > 0) std::cout << "[II] lib3dv: destructor complete" << std::endl;
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| 173 | }
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| 174 |
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| 175 | uint64_t device_impl::connect_image_callback(const boost::function<void (boost::shared_ptr<const lib3dv::image>, uint32_t)>& function)
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| 176 | {
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| 177 | m_connections[m_max_connection_id] = m_image_signal.connect(function);
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| 178 | ++m_max_connection_id;
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| 179 | return (m_max_connection_id - 1);
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| 180 | }
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| 181 |
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| 182 | uint64_t device_impl::connect_terrain_callback(const boost::function<void (boost::shared_ptr<const lib3dv::terrain>, uint32_t)>& function)
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| 183 | {
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| 184 | m_connections[m_max_connection_id] = m_terrain_signal.connect(function);
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| 185 | ++m_max_connection_id;
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| 186 | return (m_max_connection_id - 1);
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| 187 | }
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| 188 |
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| 189 | uint64_t device_impl::connect_obstacles_callback(const boost::function<void (boost::shared_ptr<const std::vector<lib3dv::obstacle> >, uint32_t)>& function)
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| 190 | {
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| 191 | m_connections[m_max_connection_id] = m_obstacles_signal.connect(function);
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| 192 | ++m_max_connection_id;
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| 193 | return (m_max_connection_id - 1);
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| 194 | }
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| 195 |
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| 196 | uint64_t device_impl::connect_motion_callback(const boost::function<void (boost::shared_ptr<const lib3dv::motion>, uint32_t)>& function)
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| 197 | {
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| 198 | m_connections[m_max_connection_id] = m_motion_signal.connect(function);
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| 199 | ++m_max_connection_id;
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| 200 | return (m_max_connection_id - 1);
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| 201 | }
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| 202 |
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| 203 | uint64_t device_impl::connect_classification_callback(const boost::function<void (boost::shared_ptr<const lib3dv::classification>, uint32_t)>& function)
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| 204 | {
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| 205 | m_connections[m_max_connection_id] = m_classification_signal.connect(function);
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| 206 | ++m_max_connection_id;
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| 207 | return (m_max_connection_id - 1);
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| 208 | }
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| 209 |
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| 210 |
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| 211 | LIB3DV_DEPRECATED uint64_t device_impl::connect_image_callback(const boost::function<void (boost::shared_ptr<lib3dv::image>, uint32_t)>& function)
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| 212 | {
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| 213 | m_connections[m_max_connection_id] = m_deprecated_image_signal.connect(function);
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| 214 | ++m_max_connection_id;
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| 215 | return (m_max_connection_id - 1);
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| 216 | }
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| 217 |
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| 218 | LIB3DV_DEPRECATED uint64_t device_impl::connect_terrain_callback(const boost::function<void (boost::shared_ptr<lib3dv::terrain>, uint32_t)>& function)
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| 219 | {
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| 220 | m_connections[m_max_connection_id] = m_deprecated_terrain_signal.connect(function);
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| 221 | ++m_max_connection_id;
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| 222 | return (m_max_connection_id - 1);
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| 223 | }
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| 224 |
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| 225 | LIB3DV_DEPRECATED uint64_t device_impl::connect_obstacles_callback(const boost::function<void (boost::shared_ptr<std::vector<lib3dv::obstacle> >, uint32_t)>& function)
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| 226 | {
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| 227 | m_connections[m_max_connection_id] = m_deprecated_obstacles_signal.connect(function);
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| 228 | ++m_max_connection_id;
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| 229 | return (m_max_connection_id - 1);
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| 230 | }
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| 231 |
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| 232 | LIB3DV_DEPRECATED uint64_t device_impl::connect_motion_callback(const boost::function<void (boost::shared_ptr<lib3dv::motion>, uint32_t)>& function)
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| 233 | {
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| 234 | m_connections[m_max_connection_id] = m_deprecated_motion_signal.connect(function);
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| 235 | ++m_max_connection_id;
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| 236 | return (m_max_connection_id - 1);
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| 237 | }
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| 238 |
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| 239 | LIB3DV_DEPRECATED uint64_t device_impl::connect_classification_callback(const boost::function<void (boost::shared_ptr<lib3dv::classification>, uint32_t)>& function)
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| 240 | {
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| 241 | m_connections[m_max_connection_id] = m_deprecated_classification_signal.connect(function);
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| 242 | ++m_max_connection_id;
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| 243 | return (m_max_connection_id - 1);
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| 244 | }
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| 245 |
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| 246 | uint64_t device_impl::connect_timeout_callback(const boost::function<void (void)>& function)
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| 247 | {
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| 248 | m_connections[m_max_connection_id] = m_timeout_signal.connect(function);
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| 249 | ++m_max_connection_id;
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| 250 | return (m_max_connection_id - 1);
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| 251 | }
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| 252 |
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| 253 | void device_impl::disconnect_callback(uint64_t id)
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| 254 | {
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| 255 | std::map<uint64_t, boost::signals2::connection>::iterator cc = m_connections.find(id);
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| 256 |
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| 257 | if(cc != m_connections.end())
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| 258 | {
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| 259 | cc->second.disconnect();
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| 260 | m_connections.erase(cc);
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| 261 | }
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| 262 | }
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| 263 |
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| 264 |
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| 265 |
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| 266 | void on_device_info_received(const boost::system::error_code& error,
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| 267 | size_t bytes_received,
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| 268 | boost::asio::ip::udp::socket& socket,
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| 269 | boost::array<uint8_t, device_impl::MAX_UDP_PAYLOAD_SIZE>& receive_buffer,
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| 270 | boost::asio::ip::udp::endpoint& local_endpoint,
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| 271 | boost::asio::ip::udp::endpoint& remote_endpoint,
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| 272 | std::vector<device>& devices,
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| 273 | uint8_t log_level,
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| 274 | lib3dv::error& device_error)
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| 275 | {
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| 276 | if(!error)
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| 277 | {
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| 278 | if(bytes_received >= sizeof(protocol::packet_header) + sizeof(protocol::command_header))
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| 279 | {
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| 280 | if(!memcmp(receive_buffer.data(), "#3DV", 4) && receive_buffer.data()[4] <= protocol::version::MAX_SUPPORTED)
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| 281 | {
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| 282 | const protocol::packet_header* packet_header = reinterpret_cast<const protocol::packet_header*>(receive_buffer.data());
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| 283 | const protocol::command_header* command_header = reinterpret_cast<const protocol::command_header*>(receive_buffer.data() + sizeof(protocol::packet_header));
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| 284 | const protocol::device_info* device_info = reinterpret_cast<const protocol::device_info*>(receive_buffer.data() + sizeof(protocol::packet_header) + sizeof(protocol::command_header));
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| 285 |
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| 286 | device_error = static_cast<lib3dv::error::types>(packet_header->m_error);
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| 287 |
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| 288 | if(device_error == lib3dv::error::NONE)
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| 289 | {
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| 290 | boost::uuids::uuid guid;
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| 291 |
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| 292 | std::copy(device_info->m_guid, device_info->m_guid + 16, guid.data);
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| 293 |
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| 294 | std::bitset<device::capability::NUM> capabilities;
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| 295 |
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| 296 | for(unsigned int i = 0; i < device::capability::NUM; ++i)
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| 297 | if((device_info->m_capabilities) & (1 << i))
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| 298 | capabilities.set(i);
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| 299 |
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| 300 | device::version_info version;
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| 301 | const uint8_t* raw_framework_version = device_info->m_framework_version;
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| 302 | const uint8_t* raw_application_version = device_info->m_application_version;
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| 303 |
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| 304 | version.m_protocol = packet_header->m_protocol_version;
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| 305 | std::copy(device_info->m_framework_version, raw_framework_version + 3, version.m_framework);
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| 306 | std::copy(raw_application_version, raw_application_version + 3, version.m_application);
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| 307 |
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| 308 | device_impl* device = new device_impl(local_endpoint.address().to_v4(),
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| 309 | remote_endpoint.address().to_v4(), remote_endpoint.port(), 0,
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| 310 | guid,
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| 311 | capabilities,
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| 312 | version,
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| 313 | log_level, device_error);
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| 314 |
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| 315 | if(device_error == lib3dv::error::NONE)
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| 316 | devices.push_back(create(boost::shared_ptr<device_impl>(device)));
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| 317 | else
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| 318 | delete device;
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| 319 | }
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| 320 | }
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| 321 | else
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| 322 | std::cerr << "[EE] lib3dv: unknown packet received" << std::endl;
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| 323 | }
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| 324 | else
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| 325 | {
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| 326 | std::cerr << "[EE] lib3dv: " << error.message() << std::endl;
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| 327 | device_error = lib3dv::error::NETWORK_FAILURE;
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| 328 | }
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| 329 |
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| 330 | if(socket.is_open())
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| 331 | socket.async_receive_from(boost::asio::buffer(receive_buffer), remote_endpoint, boost::bind(on_device_info_received, _1, _2,
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| 332 | boost::ref(socket), boost::ref(receive_buffer),
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| 333 | boost::ref(local_endpoint), boost::ref(remote_endpoint),
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| 334 | boost::ref(devices), log_level, boost::ref(device_error)));
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| 335 | }
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| 336 | }
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| 337 |
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| 338 | void cleanup(boost::asio::io_service& io_service, boost::asio::ip::udp::socket& socket, lib3dv::error& device_error)
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| 339 | {
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| 340 | boost::system::error_code error;
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| 341 |
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| 342 | if(socket.is_open())
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| 343 | socket.close(error);
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| 344 |
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| 345 | device_error = error ? lib3dv::error::NETWORK_FAILURE : lib3dv::error::NONE;
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| 346 |
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| 347 | io_service.stop();
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| 348 | }
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| 349 |
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| 350 | std::vector<device> device_impl::enumerate(const boost::asio::ip::address_v4& local_address, unsigned short remote_port,
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| 351 | uint8_t log_level,
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| 352 | lib3dv::error& device_error,
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| 353 | const boost::posix_time::time_duration& timeout)
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| 354 | {
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| 355 | std::vector<device> devices;
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| 356 | boost::asio::ip::udp::endpoint local_endpoint(local_address, 0);
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| 357 |
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| 358 | boost::asio::io_service io_service;
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| 359 | boost::asio::ip::udp::socket socket(io_service);
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| 360 | boost::asio::deadline_timer deadline(io_service);
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| 361 | boost::system::error_code error;
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| 362 |
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| 363 | socket.open(boost::asio::ip::udp::v4(), error);
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| 364 |
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| 365 | if(error)
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| 366 | {
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| 367 | std::cerr << "[EE] lib3dv: " << error.message() << std::endl;
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| 368 | device_error = lib3dv::error::NETWORK_FAILURE;
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| 369 | return devices;
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| 370 | }
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| 371 |
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| 372 | socket.set_option(boost::asio::socket_base::broadcast(true));
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| 373 | socket.bind(local_endpoint, error);
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| 374 |
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| 375 | if(error)
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| 376 | {
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| 377 | std::cerr << "[EE] lib3dv: " << error.message() << std::endl;
|
---|
| 378 | device_error = lib3dv::error::NETWORK_FAILURE;
|
---|
| 379 | return devices;
|
---|
| 380 | }
|
---|
| 381 |
|
---|
| 382 | boost::asio::ip::udp::endpoint remote_endpoint;
|
---|
| 383 | boost::array<uint8_t, MAX_UDP_PAYLOAD_SIZE> receive_buffer;
|
---|
| 384 |
|
---|
| 385 | socket.async_receive_from(boost::asio::buffer(receive_buffer), remote_endpoint, boost::bind(on_device_info_received, _1, _2,
|
---|
| 386 | boost::ref(socket), boost::ref(receive_buffer),
|
---|
| 387 | boost::ref(local_endpoint), boost::ref(remote_endpoint),
|
---|
| 388 | boost::ref(devices), log_level, boost::ref(device_error)));
|
---|
| 389 |
|
---|
| 390 | deadline.expires_from_now(timeout);
|
---|
| 391 | on_deadline(deadline, socket, log_level, false, io_service, boost::bind(cleanup, boost::ref(io_service), boost::ref(socket), boost::ref(device_error)), boost::system::error_code());
|
---|
| 392 |
|
---|
| 393 | boost::thread io_service_thread(boost::bind(&boost::asio::io_service::run, &io_service));
|
---|
| 394 |
|
---|
| 395 | boost::asio::ip::address_v4 remote_broadcast_address = boost::asio::ip::address_v4::broadcast(local_address, boost::asio::ip::address_v4::netmask(local_address));
|
---|
| 396 |
|
---|
| 397 | boost::shared_ptr<protocol::packet_header> packet_header = boost::shared_ptr<protocol::packet_header>(new protocol::packet_header());
|
---|
| 398 | boost::shared_ptr<protocol::command_header> raw_command = boost::shared_ptr<protocol::command_header>(new protocol::command_header());
|
---|
| 399 | boost::shared_ptr<std::vector<uint8_t> > raw_command_data = boost::shared_ptr<std::vector<uint8_t> >(new std::vector<uint8_t>());
|
---|
| 400 |
|
---|
| 401 | packet_header->m_magic[0] = '#';
|
---|
| 402 | packet_header->m_magic[1] = '3';
|
---|
| 403 | packet_header->m_magic[2] = 'D';
|
---|
| 404 | packet_header->m_magic[3] = 'V';
|
---|
| 405 | packet_header->m_protocol_version = 0;
|
---|
| 406 | packet_header->m_fragment = 0;
|
---|
| 407 | packet_header->m_total_fragments = 1;
|
---|
| 408 | packet_header->m_payload_type = protocol::payload::COMMAND;
|
---|
| 409 |
|
---|
| 410 | raw_command->m_type = lib3dv::detail::command::ENUMERATE_DEVICES;
|
---|
| 411 | raw_command->m_size = 0;
|
---|
| 412 |
|
---|
| 413 | boost::array<boost::asio::const_buffer, 3> buffers;
|
---|
| 414 |
|
---|
| 415 | buffers[0] = boost::asio::buffer(packet_header.get(), sizeof(protocol::packet_header));
|
---|
| 416 | buffers[1] = boost::asio::buffer(raw_command.get(), sizeof(protocol::command_header));
|
---|
| 417 | buffers[2] = boost::asio::buffer(raw_command_data->data(), raw_command_data->size());
|
---|
| 418 |
|
---|
| 419 | if(log_level > 0) std::cout << "[II] lib3dv: broadcasting discovery message to " << remote_broadcast_address << ':' << remote_port << std::endl;
|
---|
| 420 |
|
---|
| 421 | socket.send_to(buffers, boost::asio::ip::udp::endpoint(remote_broadcast_address, remote_port), 0, error);
|
---|
| 422 |
|
---|
| 423 | if(error)
|
---|
| 424 | {
|
---|
| 425 | std::cerr << "[EE] lib3dv: " << error.message() << std::endl;
|
---|
| 426 | device_error = lib3dv::error::NETWORK_FAILURE;
|
---|
| 427 | return devices;
|
---|
| 428 | }
|
---|
| 429 |
|
---|
| 430 | if(log_level > 0) std::cout << "[II] lib3dv: broadcast complete" << std::endl;
|
---|
| 431 |
|
---|
| 432 | io_service_thread.join();
|
---|
| 433 |
|
---|
| 434 | if(log_level > 0) std::cout << "[II] lib3dv: device discovery complete" << std::endl;
|
---|
| 435 |
|
---|
| 436 | device_error = lib3dv::error::NONE;
|
---|
| 437 |
|
---|
| 438 | return devices;
|
---|
| 439 | }
|
---|
| 440 |
|
---|
| 441 | void device_impl::on_data_received(const boost::system::error_code& error, size_t bytes_received)
|
---|
| 442 | {
|
---|
| 443 | if(m_log_level > 1) std::cout << std::endl << "[II] lib3dv: " << " " << bytes_received << " data bytes read" << std::endl;
|
---|
| 444 |
|
---|
| 445 | m_data_deadline.expires_from_now(m_timeout);
|
---|
| 446 |
|
---|
| 447 | if(bytes_received >= sizeof(protocol::packet_header) && !memcmp(m_data_payload.c_array(), "#3DV", 4))
|
---|
| 448 | {
|
---|
| 449 | protocol::packet_header* packet_header = reinterpret_cast<protocol::packet_header*>(m_data_payload.c_array());
|
---|
| 450 |
|
---|
| 451 | if(m_log_level > 1)
|
---|
| 452 | {
|
---|
| 453 | std::cout << "\t" << "protocol version = " << (int)(packet_header->m_protocol_version) << std::endl;
|
---|
| 454 | std::cout << "\t" << "guid = " << packet_header->m_guid << std::endl;
|
---|
| 455 | std::cout << "\t" << "fragment = " << packet_header->m_fragment << " / " << packet_header->m_total_fragments << std::endl;
|
---|
| 456 | std::cout << "\t" << "payload_type = " << (int)packet_header->m_payload_type << std::endl;
|
---|
| 457 | }
|
---|
| 458 |
|
---|
| 459 | cleanup_reassembly_container(m_images, m_image_fragments);
|
---|
| 460 | cleanup_reassembly_container(m_terrains, m_terrain_fragments);
|
---|
| 461 | cleanup_reassembly_container(m_obstacles, m_obstacle_fragments);
|
---|
| 462 | cleanup_reassembly_container(m_poses, m_pose_fragments);
|
---|
| 463 |
|
---|
| 464 | switch(packet_header->m_payload_type)
|
---|
| 465 | {
|
---|
| 466 | case protocol::payload::IMAGE_INFO_HEADER :
|
---|
| 467 | {
|
---|
| 468 | protocol::image_info_header* image_info_header = reinterpret_cast<protocol::image_info_header*>(m_data_payload.c_array() + sizeof(protocol::packet_header));
|
---|
| 469 |
|
---|
| 470 | if(m_log_level > 0 && image_info_header->m_type)
|
---|
| 471 | {
|
---|
| 472 | std::cout << (m_log_level == 1 ? "\n" : "");
|
---|
| 473 | std::cout << (m_log_level > 1 ? "\t" : "") << "image" << std::endl;
|
---|
| 474 | std::cout << (m_log_level > 1 ? "\t" : "") << " guid = " << packet_header->m_guid << std::endl;
|
---|
| 475 | std::cout << (m_log_level > 1 ? "\t" : "") << " header:" << std::endl;
|
---|
| 476 | std::cout << (m_log_level > 1 ? "\t" : "") << " bpp = " << (int)image_info_header->m_bpp << std::endl;
|
---|
| 477 | std::cout << (m_log_level > 1 ? "\t" : "") << " channels = " << (int)image_info_header->m_channels << std::endl;
|
---|
| 478 | std::cout << (m_log_level > 1 ? "\t" : "") << " width = " << image_info_header->m_width << std::endl;
|
---|
| 479 | std::cout << (m_log_level > 1 ? "\t" : "") << " height = " << image_info_header->m_height << std::endl;
|
---|
| 480 | std::cout << (m_log_level > 1 ? "\t" : "") << " size = " << image_info_header->m_size << std::endl;
|
---|
| 481 | std::cout << (m_log_level > 1 ? "\t" : "") << " type = " << (int)image_info_header->m_type << std::endl;
|
---|
| 482 | std::cout << (m_log_level > 1 ? "\t" : "") << " format = " << (int)image_info_header->m_format << std::endl;
|
---|
| 483 | std::cout << (m_log_level == 1 ? " data: " : "");
|
---|
| 484 | }
|
---|
| 485 |
|
---|
| 486 | boost::shared_ptr<raw_image_type> image = init_reassembly_container(m_images, m_image_fragments, *image_info_header, packet_header->m_guid);
|
---|
| 487 |
|
---|
| 488 | if(image)
|
---|
| 489 | {
|
---|
| 490 | boost::shared_ptr<lib3dv::image> output_image = boost::shared_ptr<lib3dv::image>(new lib3dv::image());
|
---|
| 491 |
|
---|
| 492 | output_image->m_width = image->m_header.m_width;
|
---|
| 493 | output_image->m_height = image->m_header.m_height;
|
---|
| 494 | output_image->m_channels = image->m_header.m_channels;
|
---|
| 495 | output_image->m_bpp = image->m_header.m_bpp;
|
---|
| 496 | output_image->m_type = static_cast<lib3dv::image::type::types>(image->m_header.m_type);
|
---|
| 497 | output_image->m_format = static_cast<lib3dv::image::format::types>(image->m_header.m_format);
|
---|
| 498 | output_image->m_timestamp = boost::posix_time::ptime(boost::gregorian::date(1970,1,1)) +
|
---|
| 499 | boost::posix_time::seconds(image->m_header.m_timestamp / 1000000) + // this serves as a workaround to an integer overflow in boost versions <= 1.51
|
---|
| 500 | boost::posix_time::microseconds(image->m_header.m_timestamp % 1000000);
|
---|
| 501 | output_image->m_buffer.swap(image->m_buffer);
|
---|
| 502 |
|
---|
| 503 | m_image_signal(output_image, packet_header->m_guid);
|
---|
| 504 | m_deprecated_image_signal(output_image, packet_header->m_guid);
|
---|
| 505 | }
|
---|
| 506 |
|
---|
| 507 | break;
|
---|
| 508 | }
|
---|
| 509 |
|
---|
| 510 | case protocol::payload::IMAGE_DATA :
|
---|
| 511 | {
|
---|
| 512 | boost::shared_ptr<raw_image_type> image = fill_reassembly_container(m_images, m_image_fragments,
|
---|
| 513 | bytes_received, packet_header->m_guid,
|
---|
| 514 | packet_header->m_fragment, packet_header->m_total_fragments);
|
---|
| 515 |
|
---|
| 516 | if(image)
|
---|
| 517 | {
|
---|
| 518 | boost::shared_ptr<lib3dv::image> output_image = boost::shared_ptr<lib3dv::image>(new lib3dv::image());
|
---|
| 519 |
|
---|
| 520 | output_image->m_width = image->m_header.m_width;
|
---|
| 521 | output_image->m_height = image->m_header.m_height;
|
---|
| 522 | output_image->m_channels = image->m_header.m_channels;
|
---|
| 523 | output_image->m_bpp = image->m_header.m_bpp;
|
---|
| 524 | output_image->m_type = static_cast<lib3dv::image::type::types>(image->m_header.m_type);
|
---|
| 525 | output_image->m_format = static_cast<lib3dv::image::format::types>(image->m_header.m_format);
|
---|
| 526 | output_image->m_timestamp = boost::posix_time::ptime(boost::gregorian::date(1970,1,1)) +
|
---|
| 527 | boost::posix_time::seconds(image->m_header.m_timestamp / 1000000) + // this serves as a workaround to an integer overflow in boost versions <= 1.51
|
---|
| 528 | boost::posix_time::microseconds(image->m_header.m_timestamp % 1000000);
|
---|
| 529 | output_image->m_buffer.swap(image->m_buffer);
|
---|
| 530 |
|
---|
| 531 | m_image_signal(output_image, packet_header->m_guid);
|
---|
| 532 | m_deprecated_image_signal(output_image, packet_header->m_guid);
|
---|
| 533 | }
|
---|
| 534 |
|
---|
| 535 | break;
|
---|
| 536 | }
|
---|
| 537 |
|
---|
| 538 | case protocol::payload::TERRAIN_INFO_HEADER :
|
---|
| 539 | {
|
---|
| 540 | protocol::terrain_info_header* terrain_info_header = reinterpret_cast<protocol::terrain_info_header*>(m_data_payload.c_array() + sizeof(protocol::packet_header));
|
---|
| 541 |
|
---|
| 542 | if(m_log_level > 0)
|
---|
| 543 | {
|
---|
| 544 | std::cout << (m_log_level == 1 ? "\n" : "");
|
---|
| 545 | std::cout << (m_log_level > 1 ? "\t" : "") << "terrain" << std::endl;
|
---|
| 546 | std::cout << (m_log_level > 1 ? "\t" : "") << " guid = " << packet_header->m_guid << std::endl;
|
---|
| 547 | std::cout << (m_log_level > 1 ? "\t" : "") << " header:" << std::endl;
|
---|
| 548 | std::cout << (m_log_level > 1 ? "\t" : "") << " x cells number = " << (int)terrain_info_header->m_x_cell_num << std::endl;
|
---|
| 549 | std::cout << (m_log_level > 1 ? "\t" : "") << " x cells size = " << (int)terrain_info_header->m_x_cell_size << std::endl;
|
---|
| 550 | std::cout << (m_log_level > 1 ? "\t" : "") << " x min = " << terrain_info_header->m_x_min << std::endl;
|
---|
| 551 | std::cout << (m_log_level > 1 ? "\t" : "") << " y cells number = " << (int)terrain_info_header->m_y_cell_num << std::endl;
|
---|
| 552 | std::cout << (m_log_level > 1 ? "\t" : "") << " y cells size = " << (int)terrain_info_header->m_y_cell_size << std::endl;
|
---|
| 553 | std::cout << (m_log_level > 1 ? "\t" : "") << " y min = " << terrain_info_header->m_y_min << std::endl;
|
---|
| 554 | std::cout << (m_log_level == 1 ? " data: " : "");
|
---|
| 555 | }
|
---|
| 556 |
|
---|
| 557 | boost::shared_ptr<raw_terrain_type> terrain = init_reassembly_container(m_terrains, m_terrain_fragments, *terrain_info_header, packet_header->m_guid);
|
---|
| 558 |
|
---|
| 559 | if(terrain)
|
---|
| 560 | decode_terrain(terrain, packet_header->m_guid);
|
---|
| 561 |
|
---|
| 562 | break;
|
---|
| 563 | }
|
---|
| 564 |
|
---|
| 565 | case protocol::payload::TERRAIN_DATA :
|
---|
| 566 | {
|
---|
| 567 | boost::shared_ptr<raw_terrain_type> terrain = fill_reassembly_container(m_terrains, m_terrain_fragments,
|
---|
| 568 | bytes_received, packet_header->m_guid,
|
---|
| 569 | packet_header->m_fragment, packet_header->m_total_fragments);
|
---|
| 570 |
|
---|
| 571 | if(terrain)
|
---|
| 572 | decode_terrain(terrain, packet_header->m_guid);
|
---|
| 573 |
|
---|
| 574 | break;
|
---|
| 575 | }
|
---|
| 576 |
|
---|
| 577 | case protocol::payload::OBSTACLES_MAP_INFO_HEADER :
|
---|
| 578 | {
|
---|
| 579 | protocol::obstacles_map_info_header* obstacles_map_info_header = reinterpret_cast<protocol::obstacles_map_info_header*>(m_data_payload.c_array() + sizeof(protocol::packet_header));
|
---|
| 580 |
|
---|
| 581 | if(m_log_level > 0)
|
---|
| 582 | {
|
---|
| 583 | std::cout << (m_log_level == 1 ? "\n" : "");
|
---|
| 584 | std::cout << (m_log_level > 1 ? "\t" : "") << "obstacles" << std::endl;
|
---|
| 585 | std::cout << (m_log_level > 1 ? "\t" : "") << " guid = " << packet_header->m_guid << std::endl;
|
---|
| 586 | std::cout << (m_log_level > 1 ? "\t" : "") << " header:" << std::endl;
|
---|
| 587 | std::cout << (m_log_level > 1 ? "\t" : "") << " obstacles number = " << (int)obstacles_map_info_header->m_obstacles_num << std::endl;
|
---|
| 588 | std::cout << (m_log_level == 1 ? " data: " : "");
|
---|
| 589 | }
|
---|
| 590 |
|
---|
| 591 | boost::shared_ptr<raw_obstacles_type> obstacles = init_reassembly_container(m_obstacles, m_obstacle_fragments, *obstacles_map_info_header, packet_header->m_guid);
|
---|
| 592 |
|
---|
| 593 | if(obstacles)
|
---|
| 594 | decode_obstacles(obstacles, packet_header->m_guid);
|
---|
| 595 |
|
---|
| 596 | break;
|
---|
| 597 | }
|
---|
| 598 |
|
---|
| 599 | case protocol::payload::OBSTACLES_MAP_DATA:
|
---|
| 600 | {
|
---|
| 601 | boost::shared_ptr<raw_obstacles_type> obstacles = fill_reassembly_container(m_obstacles, m_obstacle_fragments,
|
---|
| 602 | bytes_received, packet_header->m_guid,
|
---|
| 603 | packet_header->m_fragment, packet_header->m_total_fragments);
|
---|
| 604 | if(obstacles)
|
---|
| 605 | decode_obstacles(obstacles, packet_header->m_guid);
|
---|
| 606 |
|
---|
| 607 | break;
|
---|
| 608 | }
|
---|
| 609 |
|
---|
| 610 | case protocol::payload::MOTION_INFO_HEADER :
|
---|
| 611 | {
|
---|
| 612 | protocol::motion_info_header* motion_info_header = reinterpret_cast<protocol::motion_info_header*>(m_data_payload.c_array() + sizeof(protocol::packet_header));
|
---|
| 613 |
|
---|
| 614 | if(m_log_level > 0)
|
---|
| 615 | {
|
---|
| 616 | std::cout << (m_log_level == 1 ? "\n" : "");
|
---|
| 617 | std::cout << (m_log_level > 1 ? "\t" : "") << "pose" << std::endl;
|
---|
| 618 | std::cout << (m_log_level > 1 ? "\t" : "") << " guid = " << packet_header->m_guid << std::endl;
|
---|
| 619 | std::cout << (m_log_level > 1 ? "\t" : "") << " header:" << std::endl;
|
---|
| 620 | std::cout << (m_log_level > 1 ? "\t" : "") << " size = " << motion_info_header->m_size << std::endl;
|
---|
| 621 | std::cout << (m_log_level > 1 ? "\t" : "") << " poses = " << (int) motion_info_header->m_poses_num << std::endl;
|
---|
| 622 | std::cout << (m_log_level == 1 ? " data: " : "");
|
---|
| 623 | }
|
---|
| 624 |
|
---|
| 625 | boost::shared_ptr<raw_motion_type> motion = init_reassembly_container(m_poses, m_pose_fragments, *motion_info_header, packet_header->m_guid);
|
---|
| 626 |
|
---|
| 627 | if(motion)
|
---|
| 628 | decode_motion(motion, packet_header->m_guid);
|
---|
| 629 |
|
---|
| 630 | break;
|
---|
| 631 | }
|
---|
| 632 |
|
---|
| 633 | case protocol::payload::MOTION_DATA :
|
---|
| 634 | {
|
---|
| 635 | boost::shared_ptr<raw_motion_type> motion = fill_reassembly_container(m_poses, m_pose_fragments,
|
---|
| 636 | bytes_received, packet_header->m_guid,
|
---|
| 637 | packet_header->m_fragment, packet_header->m_total_fragments);
|
---|
| 638 |
|
---|
| 639 | if(motion)
|
---|
| 640 | decode_motion(motion, packet_header->m_guid);
|
---|
| 641 |
|
---|
| 642 | break;
|
---|
| 643 | }
|
---|
| 644 |
|
---|
| 645 | case protocol::payload::CLASSIFICATION_INFO_HEADER :
|
---|
| 646 | {
|
---|
| 647 | //std::cout << "classification header!"<<std::endl;
|
---|
| 648 |
|
---|
| 649 | protocol::classifier_info_header* classifier_info_header = reinterpret_cast<protocol::classifier_info_header*>(m_data_payload.c_array() + sizeof(protocol::packet_header));
|
---|
| 650 |
|
---|
| 651 | if(m_log_level > 0)
|
---|
| 652 | {
|
---|
| 653 | std::cout << (m_log_level == 1 ? "\n" : "");
|
---|
| 654 | std::cout << (m_log_level > 1 ? "\t" : "") << "candidate" << std::endl;
|
---|
| 655 | std::cout << (m_log_level > 1 ? "\t" : "") << " guid = " << packet_header->m_guid << std::endl;
|
---|
| 656 | std::cout << (m_log_level > 1 ? "\t" : "") << " header:" << std::endl;
|
---|
| 657 | std::cout << (m_log_level > 1 ? "\t" : "") << " size = " << classifier_info_header->m_size << std::endl;
|
---|
| 658 | std::cout << (m_log_level == 1 ? " data: " : "");
|
---|
| 659 | }
|
---|
| 660 |
|
---|
| 661 | boost::shared_ptr<raw_candidate_type> classification = init_reassembly_container(m_candidates, m_candidates_fragments, *classifier_info_header, packet_header->m_guid);
|
---|
| 662 |
|
---|
| 663 | if(classification)
|
---|
| 664 | decode_classification(classification, packet_header->m_guid);
|
---|
| 665 |
|
---|
| 666 | break;
|
---|
| 667 | }
|
---|
| 668 |
|
---|
| 669 | case protocol::payload::CLASSIFICATION_DATA :
|
---|
| 670 | {
|
---|
| 671 | //std::cout << "classification data!"<<std::endl;
|
---|
| 672 |
|
---|
| 673 | boost::shared_ptr<raw_candidate_type> classification = fill_reassembly_container(m_candidates, m_candidates_fragments,
|
---|
| 674 | bytes_received, packet_header->m_guid,
|
---|
| 675 | packet_header->m_fragment, packet_header->m_total_fragments);
|
---|
| 676 |
|
---|
| 677 | if(classification)
|
---|
| 678 | decode_classification(classification, packet_header->m_guid);
|
---|
| 679 |
|
---|
| 680 | break;
|
---|
| 681 | }
|
---|
| 682 |
|
---|
| 683 |
|
---|
| 684 | case protocol::payload::KEEP_ALIVE:
|
---|
| 685 | {
|
---|
| 686 | break;
|
---|
| 687 | }
|
---|
| 688 |
|
---|
| 689 | default:
|
---|
| 690 | std::cerr << "[EE] lib3dv: unknown payload type: " << (int)packet_header->m_payload_type << std::endl;
|
---|
| 691 | }
|
---|
| 692 | }
|
---|
| 693 |
|
---|
| 694 | m_data_socket.async_receive_from(boost::asio::buffer(&m_data_payload, MAX_UDP_PAYLOAD_SIZE),
|
---|
| 695 | m_data_sender_endpoint,
|
---|
| 696 | boost::bind(&device_impl::on_data_received, this, boost::asio::placeholders::error, boost::asio::placeholders::bytes_transferred));
|
---|
| 697 | }
|
---|
| 698 |
|
---|
| 699 | void device_impl::decode_terrain(boost::shared_ptr<raw_terrain_type> terrain, uint32_t guid)
|
---|
| 700 | {
|
---|
| 701 | boost::shared_ptr<lib3dv::terrain> output_terrain = boost::shared_ptr<lib3dv::terrain>(new lib3dv::terrain());
|
---|
| 702 | output_terrain->m_data.reserve(terrain->m_buffer.size() / 2);
|
---|
| 703 |
|
---|
| 704 | float x_min = terrain->m_header.m_x_min / 100.0f;
|
---|
| 705 | float y_min = terrain->m_header.m_y_min / 100.0f;
|
---|
| 706 |
|
---|
| 707 | float x_cell_size = terrain->m_header.m_x_cell_size / 100.0f;
|
---|
| 708 | float y_cell_size = terrain->m_header.m_y_cell_size / 100.0f;
|
---|
| 709 |
|
---|
| 710 | uint16_t x_cell_num = terrain->m_header.m_x_cell_num;
|
---|
| 711 | uint16_t y_cell_num = terrain->m_header.m_y_cell_num;
|
---|
| 712 |
|
---|
| 713 | const int16_t* data = reinterpret_cast<const int16_t*>(terrain->m_buffer.data());
|
---|
| 714 | std::vector<lib3dv::point3>& output_terrain_data = output_terrain->m_data;
|
---|
| 715 |
|
---|
| 716 | lib3dv::point3 p;
|
---|
| 717 | unsigned int t = 0;
|
---|
| 718 |
|
---|
| 719 | for(unsigned int x = 0; x < x_cell_num; ++x)
|
---|
| 720 | {
|
---|
| 721 | p.m_x = x_min + x * x_cell_size;
|
---|
| 722 |
|
---|
| 723 | for(unsigned int y = 0; y < y_cell_num; ++y)
|
---|
| 724 | {
|
---|
| 725 | if(data[t] != static_cast<int16_t>(0x8000))
|
---|
| 726 | {
|
---|
| 727 | p.m_y = y_min + y * y_cell_size;
|
---|
| 728 | p.m_z = data[t] / 100.0f;
|
---|
| 729 | output_terrain_data.push_back(p);
|
---|
| 730 | }
|
---|
| 731 |
|
---|
| 732 | ++t;
|
---|
| 733 | }
|
---|
| 734 | }
|
---|
| 735 |
|
---|
| 736 | m_terrain_signal(output_terrain, guid);
|
---|
| 737 | m_deprecated_terrain_signal(output_terrain, guid);
|
---|
| 738 | }
|
---|
| 739 |
|
---|
| 740 | void device_impl::decode_obstacles(boost::shared_ptr<raw_obstacles_type> obstacles, uint32_t guid)
|
---|
| 741 | {
|
---|
| 742 | boost::shared_ptr<std::vector<lib3dv::obstacle> > output_obstacles = boost::shared_ptr<std::vector<lib3dv::obstacle> >(new std::vector<lib3dv::obstacle>(obstacles->m_header.m_obstacles_num));
|
---|
| 743 | uint8_t* raw_obstacle = obstacles->m_buffer.data();
|
---|
| 744 |
|
---|
| 745 | for(std::vector<lib3dv::obstacle>::iterator oo = output_obstacles->begin(); oo != output_obstacles->end(); ++oo)
|
---|
| 746 | {
|
---|
| 747 | const protocol::obstacle_info_header* obstacle_header = reinterpret_cast<const protocol::obstacle_info_header*>(raw_obstacle);
|
---|
| 748 | const protocol::stixel* obstacle_data = reinterpret_cast<const protocol::stixel*>(raw_obstacle + sizeof(protocol::obstacle_info_header));
|
---|
| 749 |
|
---|
| 750 | oo->m_guid = obstacle_header->m_guid;
|
---|
| 751 | oo->m_data.resize(obstacle_header->m_stixel_num);
|
---|
| 752 |
|
---|
| 753 | for(unsigned int s = 0; s < obstacle_header->m_stixel_num; ++s)
|
---|
| 754 | {
|
---|
| 755 | lib3dv::stixel& stixel = oo->m_data[s];
|
---|
| 756 |
|
---|
| 757 | stixel.m_dx = obstacle_data[s].m_dx / 100.0f;
|
---|
| 758 | stixel.m_dy = obstacle_data[s].m_dy / 100.0f;
|
---|
| 759 | stixel.m_x = obstacle_data[s].m_x / 100.0f;
|
---|
| 760 | stixel.m_y = obstacle_data[s].m_y / 100.0f;
|
---|
| 761 | stixel.m_z = obstacle_data[s].m_z / 100.0f;
|
---|
| 762 | stixel.m_height = obstacle_data[s].m_height / 100.0f;
|
---|
| 763 | }
|
---|
| 764 |
|
---|
| 765 | raw_obstacle += (sizeof(protocol::obstacle_info_header) + obstacle_header->m_stixel_num * sizeof(protocol::stixel));
|
---|
| 766 | }
|
---|
| 767 |
|
---|
| 768 | m_obstacles_signal(output_obstacles, guid);
|
---|
| 769 | m_deprecated_obstacles_signal(output_obstacles, guid);
|
---|
| 770 | }
|
---|
| 771 |
|
---|
| 772 | void device_impl::decode_motion(boost::shared_ptr<raw_motion_type> motion, uint32_t guid)
|
---|
| 773 | {
|
---|
| 774 | boost::shared_ptr<lib3dv::motion> output_motion = boost::shared_ptr<lib3dv::motion>(new lib3dv::motion());
|
---|
| 775 | output_motion->m_poses.resize(motion->m_header.m_poses_num);
|
---|
| 776 |
|
---|
| 777 | std::vector<lib3dv::pose>& output_poses = output_motion->m_poses;
|
---|
| 778 | uint8_t* raw_pose = motion->m_buffer.data();
|
---|
| 779 |
|
---|
| 780 | for(std::vector<lib3dv::pose>::iterator pose = output_poses.begin(); pose != output_poses.end(); ++pose)
|
---|
| 781 | {
|
---|
| 782 | const protocol::pose_info_header* pose_header = reinterpret_cast<const protocol::pose_info_header*>(raw_pose);
|
---|
| 783 | raw_pose += sizeof(protocol::pose_info_header);
|
---|
| 784 |
|
---|
| 785 | const double* pose_data = reinterpret_cast<const double*>(raw_pose);
|
---|
| 786 |
|
---|
| 787 | pose->m_timestamp = boost::posix_time::ptime(boost::gregorian::date(1970,1,1)) +
|
---|
| 788 | boost::posix_time::seconds(pose_header->m_timestamp / 1000000) + // this serves as a workaround to an integer overflow in boost versions <= 1.51
|
---|
| 789 | boost::posix_time::microseconds(pose_header->m_timestamp % 1000000);
|
---|
| 790 |
|
---|
| 791 | if ( pose_header->m_type == 0 )
|
---|
| 792 | pose->m_type = lib3dv::pose::type::CURRENT_POSE;
|
---|
| 793 | else if ( pose_header->m_type == 1 )
|
---|
| 794 | pose->m_type = lib3dv::pose::type::RELATIVE_POSE;
|
---|
| 795 |
|
---|
| 796 |
|
---|
| 797 | pose->m_data.resize(pose_header->m_pose_num);
|
---|
| 798 |
|
---|
| 799 | for (uint8_t i = 0; i < pose->m_data.size(); i++)
|
---|
| 800 | pose->m_data[i] = pose_data[i];
|
---|
| 801 |
|
---|
| 802 | raw_pose += (pose_header->m_pose_num * sizeof(double));
|
---|
| 803 | }
|
---|
| 804 |
|
---|
| 805 | m_motion_signal(output_motion, guid);
|
---|
| 806 | m_deprecated_motion_signal(output_motion, guid);
|
---|
| 807 | }
|
---|
| 808 |
|
---|
| 809 | void device_impl::decode_classification(boost::shared_ptr<raw_candidate_type> candidates, uint32_t guid)
|
---|
| 810 | {
|
---|
| 811 | boost::shared_ptr<lib3dv::classification> output_classification = boost::shared_ptr<lib3dv::classification>(new lib3dv::classification());
|
---|
| 812 | output_classification->m_candidates.resize(candidates->m_header.m_candidates_num);
|
---|
| 813 | uint8_t* raw_candidate = candidates->m_buffer.data();
|
---|
| 814 | output_classification->m_timestamp = boost::posix_time::ptime(boost::gregorian::date(1970,1,1)) +
|
---|
| 815 | boost::posix_time::seconds(candidates->m_header.m_timestamp / 1000000) + // this serves as a workaround to an integer overflow in boost versions <= 1.51
|
---|
| 816 | boost::posix_time::microseconds(candidates->m_header.m_timestamp % 1000000);
|
---|
| 817 | for(std::vector<lib3dv::candidate>::iterator oo = output_classification->m_candidates.begin(); oo != output_classification->m_candidates.end(); ++oo)
|
---|
| 818 | {
|
---|
| 819 | //const protocol::classifier_info_header * classifier_header = reinterpret_cast<const protocol::classifier_info_header*>(raw_candidate);
|
---|
| 820 | //const protocol::classifier_data* candidate_data = reinterpret_cast<const protocol::classifier_data*>(raw_candidate + sizeof(protocol::classifier_info_header));
|
---|
| 821 | const protocol::classifier_data* candidate_data = reinterpret_cast<const protocol::classifier_data*>(raw_candidate);
|
---|
| 822 | //oo->m_category = lib3dv::category_type::types (candidate_data->m_category);
|
---|
| 823 | //oo->m_confidence = candidate_data->m_confidence;
|
---|
| 824 | //oo->m_wp_lb.m_x = candidate_data->m_wp_lb_x;
|
---|
| 825 | //oo->m_wp_lb.m_y = candidate_data->m_wp_lb_y;
|
---|
| 826 | //oo->m_wp_lb.m_z = candidate_data->m_wp_lb_z;
|
---|
| 827 | oo->m_x0 = candidate_data->m_x0;
|
---|
| 828 | oo->m_y0 = candidate_data->m_y0;
|
---|
| 829 | oo->m_x1 = candidate_data->m_x1;
|
---|
| 830 | oo->m_y1 = candidate_data->m_y1;
|
---|
| 831 | oo->m_confidence = candidate_data->m_confidence/100.0;
|
---|
| 832 | oo->m_category = lib3dv::category_type::types (candidate_data->m_category);
|
---|
| 833 | oo->m_guid = candidate_data->m_guid;
|
---|
| 834 |
|
---|
| 835 | //std::cout << oo->m_guid <<"("<<"\t"<< oo->m_x0<<","<<oo->m_y0<<","<<oo->m_x1<<","<<oo->m_y1 << ") "<<oo->m_confidence<< " "<< oo->m_category<<std::endl;
|
---|
| 836 | raw_candidate += sizeof(protocol::classifier_data);
|
---|
| 837 | }
|
---|
| 838 | boost::shared_ptr<lib3dv::classification> output_motion = boost::shared_ptr<lib3dv::classification>(new lib3dv::classification());
|
---|
| 839 | m_classification_signal(output_classification, guid);
|
---|
| 840 | m_deprecated_classification_signal(output_classification, guid);
|
---|
| 841 | }
|
---|
| 842 |
|
---|
| 843 |
|
---|
| 844 | void device_impl::save_properties(error& error)
|
---|
| 845 | {
|
---|
| 846 | boost::shared_ptr<detail::command> command = boost::shared_ptr<detail::command>(new detail::command());
|
---|
| 847 |
|
---|
| 848 | command->m_type = detail::command::SAVE_PROPERTIES;
|
---|
| 849 |
|
---|
| 850 | send_command(command, error);
|
---|
| 851 |
|
---|
| 852 | m_commands_socket_io_service.run();
|
---|
| 853 | m_commands_socket_io_service.reset();
|
---|
| 854 | }
|
---|
| 855 |
|
---|
| 856 | void device_impl::reset_properties(error& error)
|
---|
| 857 | {
|
---|
| 858 | boost::shared_ptr<detail::command> command = boost::shared_ptr<detail::command>(new detail::command());
|
---|
| 859 |
|
---|
| 860 | command->m_type = detail::command::RESET_PROPERTIES;
|
---|
| 861 |
|
---|
| 862 | send_command(command, error);
|
---|
| 863 |
|
---|
| 864 | m_commands_socket_io_service.run();
|
---|
| 865 | m_commands_socket_io_service.reset();
|
---|
| 866 | }
|
---|
| 867 |
|
---|
| 868 | std::vector<device::property> device_impl::enumerate_properties(lib3dv::error& error)
|
---|
| 869 | {
|
---|
| 870 | boost::shared_ptr<detail::command> command = boost::shared_ptr<detail::command>(new detail::command());
|
---|
| 871 | std::vector<device::property> properties;
|
---|
| 872 |
|
---|
| 873 | command->m_type = detail::command::ENUMERATE_PROPERTIES;
|
---|
| 874 | command->m_result = boost::ref(properties);
|
---|
| 875 |
|
---|
| 876 | send_command(command, error);
|
---|
| 877 |
|
---|
| 878 | m_commands_socket_io_service.run();
|
---|
| 879 | m_commands_socket_io_service.reset();
|
---|
| 880 |
|
---|
| 881 | return properties;
|
---|
| 882 | }
|
---|
| 883 |
|
---|
| 884 | boost::any device_impl::get_property_value(uint16_t address, lib3dv::error& error)
|
---|
| 885 | {
|
---|
| 886 | boost::shared_ptr<detail::command> command = boost::shared_ptr<detail::command>(new detail::command());
|
---|
| 887 |
|
---|
| 888 | command->m_type = detail::command::GET_PROPERTY;
|
---|
| 889 | command->m_data.resize(sizeof(uint16_t));
|
---|
| 890 | *(reinterpret_cast<uint16_t*>(command->m_data.data())) = address;
|
---|
| 891 |
|
---|
| 892 | send_command(command, error);
|
---|
| 893 |
|
---|
| 894 | m_commands_socket_io_service.run();
|
---|
| 895 | m_commands_socket_io_service.reset();
|
---|
| 896 |
|
---|
| 897 | return command->m_result;
|
---|
| 898 | }
|
---|
| 899 |
|
---|
| 900 | template<typename T>
|
---|
| 901 | size_t set_property_value_helper(uint8_t type, size_t size, protocol::param_info& info, boost::shared_ptr<detail::command> command, const boost::any& value)
|
---|
| 902 | {
|
---|
| 903 | info.m_value_type = type;
|
---|
| 904 | size += sizeof(T);
|
---|
| 905 | command->m_data.resize(size);
|
---|
| 906 |
|
---|
| 907 | *(reinterpret_cast<T*>(command->m_data.data() + sizeof(protocol::param_info))) = boost::any_cast<T>(value);
|
---|
| 908 |
|
---|
| 909 | return size;
|
---|
| 910 | }
|
---|
| 911 |
|
---|
| 912 | template<>
|
---|
| 913 | size_t set_property_value_helper<bool>(uint8_t type, size_t size, protocol::param_info& info, boost::shared_ptr<detail::command> command, const boost::any& value)
|
---|
| 914 | {
|
---|
| 915 | info.m_value_type = type;
|
---|
| 916 | size += sizeof(uint8_t);
|
---|
| 917 | command->m_data.resize(size);
|
---|
| 918 |
|
---|
| 919 | *(reinterpret_cast<uint8_t*>(command->m_data.data() + sizeof(protocol::param_info))) = static_cast<uint8_t>(boost::any_cast<bool>(value));
|
---|
| 920 |
|
---|
| 921 | return size;
|
---|
| 922 | }
|
---|
| 923 |
|
---|
| 924 | template<>
|
---|
| 925 | size_t set_property_value_helper<std::string>(uint8_t type, size_t size, protocol::param_info& info, boost::shared_ptr<detail::command> command, const boost::any& value)
|
---|
| 926 | {
|
---|
| 927 | const std::string& str_value = boost::any_cast<std::string>(value);
|
---|
| 928 | size_t str_size = std::min(str_value.size(), (size_t)255);
|
---|
| 929 |
|
---|
| 930 | info.m_value_type = type;
|
---|
| 931 | size += (sizeof(uint8_t) + str_size);
|
---|
| 932 | command->m_data.resize(size);
|
---|
| 933 |
|
---|
| 934 | uint8_t* data = command->m_data.data() + sizeof(protocol::param_info);
|
---|
| 935 |
|
---|
| 936 | *(reinterpret_cast<uint8_t*>(data)) = str_size;
|
---|
| 937 | data += sizeof(uint8_t);
|
---|
| 938 |
|
---|
| 939 | std::copy(str_value.data(), str_value.data() + str_size, data);
|
---|
| 940 | data += str_size;
|
---|
| 941 |
|
---|
| 942 | return size;
|
---|
| 943 | }
|
---|
| 944 |
|
---|
| 945 | void device_impl::set_property_value(uint16_t address, const boost::any& value, lib3dv::error& error)
|
---|
| 946 | {
|
---|
| 947 | boost::shared_ptr<detail::command> command = boost::shared_ptr<detail::command>(new detail::command());
|
---|
| 948 |
|
---|
| 949 | size_t size = sizeof(protocol::param_info);
|
---|
| 950 |
|
---|
| 951 | protocol::param_info info;
|
---|
| 952 |
|
---|
| 953 | info.m_value_address = address;
|
---|
| 954 | info.m_readonly = 0;
|
---|
| 955 | info.m_category = 0;
|
---|
| 956 | info.m_value_description_size = 0;
|
---|
| 957 |
|
---|
| 958 | const std::type_info& type = value.type();
|
---|
| 959 |
|
---|
| 960 | if(type == typeid(bool)) size = set_property_value_helper<bool>(command::BOOL, size, info, command, value);
|
---|
| 961 | else if(type == typeid(int64_t)) size = set_property_value_helper<int64_t>(command::INT64, size, info, command, value);
|
---|
| 962 | else if(type == typeid(int32_t)) size = set_property_value_helper<int32_t>(command::INT32, size, info, command, value);
|
---|
| 963 | else if(type == typeid(int16_t)) size = set_property_value_helper<int16_t>(command::INT16, size, info, command, value);
|
---|
| 964 | else if(type == typeid(int8_t)) size = set_property_value_helper<int8_t>(command::INT8, size, info, command, value);
|
---|
| 965 | else if(type == typeid(uint64_t)) size = set_property_value_helper<uint64_t>(command::UINT64, size, info, command, value);
|
---|
| 966 | else if(type == typeid(uint32_t)) size = set_property_value_helper<uint32_t>(command::UINT32, size, info, command, value);
|
---|
| 967 | else if(type == typeid(uint16_t)) size = set_property_value_helper<uint16_t>(command::UINT16, size, info, command, value);
|
---|
| 968 | else if(type == typeid(uint8_t)) size = set_property_value_helper<uint8_t>(command::UINT8, size, info, command, value);
|
---|
| 969 | else if(type == typeid(float)) size = set_property_value_helper<float>(command::FLOAT32, size, info, command, value);
|
---|
| 970 | else if(type == typeid(double)) size = set_property_value_helper<double>(command::FLOAT64, size, info, command, value);
|
---|
| 971 | else if(type == typeid(std::string)) size = set_property_value_helper<std::string>(command::STRING, size, info, command, value);
|
---|
| 972 |
|
---|
| 973 | command->m_type = detail::command::SET_PROPERTY;
|
---|
| 974 | *(reinterpret_cast<protocol::param_info*>(command->m_data.data())) = info;
|
---|
| 975 |
|
---|
| 976 | send_command(command, error);
|
---|
| 977 |
|
---|
| 978 | m_commands_socket_io_service.run();
|
---|
| 979 | m_commands_socket_io_service.reset();
|
---|
| 980 | }
|
---|
| 981 |
|
---|
| 982 | void device_impl::start_transmission(lib3dv::error& error)
|
---|
| 983 | {
|
---|
| 984 | boost::shared_ptr<detail::command> command = boost::shared_ptr<detail::command>(new detail::command());
|
---|
| 985 |
|
---|
| 986 | command->m_type = detail::command::START_TRANSMISSION;
|
---|
| 987 | command->m_data.resize(sizeof(uint16_t));
|
---|
| 988 | *(reinterpret_cast<uint16_t*>(command->m_data.data())) = m_data_socket.local_endpoint().port();
|
---|
| 989 |
|
---|
| 990 | send_command(command, error);
|
---|
| 991 |
|
---|
| 992 | m_data_deadline.expires_from_now(m_timeout);
|
---|
| 993 |
|
---|
| 994 | on_deadline(m_data_deadline, m_data_socket, m_log_level, true, m_data_socket_io_service, boost::bind(&device_impl::on_timeout, this, boost::ref(error)), boost::system::error_code());
|
---|
| 995 |
|
---|
| 996 | m_commands_socket_io_service.run();
|
---|
| 997 | m_commands_socket_io_service.reset();
|
---|
| 998 |
|
---|
| 999 | if(error != lib3dv::error::NONE)
|
---|
| 1000 | m_status = device::status::OFFLINE;
|
---|
| 1001 | else
|
---|
| 1002 | m_status = device::status::TRANSMITTING;
|
---|
| 1003 | }
|
---|
| 1004 |
|
---|
| 1005 | void device_impl::stop_transmission(lib3dv::error& error)
|
---|
| 1006 | {
|
---|
| 1007 | boost::shared_ptr<detail::command> command = boost::shared_ptr<detail::command>(new detail::command());
|
---|
| 1008 |
|
---|
| 1009 | command->m_type = detail::command::STOP_TRANSMISSION;
|
---|
| 1010 |
|
---|
| 1011 | send_command(command, error);
|
---|
| 1012 |
|
---|
| 1013 | m_commands_socket_io_service.run();
|
---|
| 1014 | m_commands_socket_io_service.reset();
|
---|
| 1015 |
|
---|
| 1016 | if(error != lib3dv::error::NONE)
|
---|
| 1017 | m_status = device::status::OFFLINE;
|
---|
| 1018 | else
|
---|
| 1019 | m_status = device::status::ONLINE;
|
---|
| 1020 | }
|
---|
| 1021 |
|
---|
| 1022 | void device_impl::poweroff(lib3dv::error& error)
|
---|
| 1023 | {
|
---|
| 1024 | m_status = device::status::OFFLINE;
|
---|
| 1025 |
|
---|
| 1026 | boost::shared_ptr<detail::command> command = boost::shared_ptr<detail::command>(new detail::command());
|
---|
| 1027 |
|
---|
| 1028 | command->m_type = detail::command::POWEROFF;
|
---|
| 1029 |
|
---|
| 1030 | send_command(command, error);
|
---|
| 1031 |
|
---|
| 1032 | m_commands_socket_io_service.run();
|
---|
| 1033 | m_commands_socket_io_service.reset();
|
---|
| 1034 | }
|
---|
| 1035 |
|
---|
| 1036 | void device_impl::reboot(lib3dv::error& error)
|
---|
| 1037 | {
|
---|
| 1038 | m_status = device::status::OFFLINE;
|
---|
| 1039 |
|
---|
| 1040 | boost::shared_ptr<detail::command> command = boost::shared_ptr<detail::command>(new detail::command());
|
---|
| 1041 |
|
---|
| 1042 | command->m_type = detail::command::REBOOT;
|
---|
| 1043 |
|
---|
| 1044 | send_command(command, error);
|
---|
| 1045 |
|
---|
| 1046 | m_commands_socket_io_service.run();
|
---|
| 1047 | m_commands_socket_io_service.reset();
|
---|
| 1048 | }
|
---|
| 1049 |
|
---|
| 1050 | void device_impl::send_command(boost::shared_ptr<lib3dv::detail::command> command, lib3dv::error& error)
|
---|
| 1051 | {
|
---|
| 1052 | error = lib3dv::error::NONE;
|
---|
| 1053 |
|
---|
| 1054 | boost::shared_ptr<protocol::packet_header> packet_header = boost::shared_ptr<protocol::packet_header>(new protocol::packet_header());
|
---|
| 1055 | boost::shared_ptr<protocol::command_header> raw_command = boost::shared_ptr<protocol::command_header>(new protocol::command_header());
|
---|
| 1056 | boost::shared_ptr<std::vector<uint8_t> > raw_command_data = boost::shared_ptr<std::vector<uint8_t> >(new std::vector<uint8_t>());
|
---|
| 1057 |
|
---|
| 1058 | packet_header->m_magic[0] = '#';
|
---|
| 1059 | packet_header->m_magic[1] = '3';
|
---|
| 1060 | packet_header->m_magic[2] = 'D';
|
---|
| 1061 | packet_header->m_magic[3] = 'V';
|
---|
| 1062 | packet_header->m_protocol_version = 0;
|
---|
| 1063 | packet_header->m_fragment = 0;
|
---|
| 1064 | packet_header->m_total_fragments = 1;
|
---|
| 1065 | packet_header->m_payload_type = protocol::payload::COMMAND;
|
---|
| 1066 |
|
---|
| 1067 | raw_command->m_type = command->m_type;
|
---|
| 1068 | raw_command->m_size = command->m_data.size();
|
---|
| 1069 |
|
---|
| 1070 | raw_command_data->swap(command->m_data);
|
---|
| 1071 |
|
---|
| 1072 | boost::array<boost::asio::const_buffer, 3> buffers;
|
---|
| 1073 |
|
---|
| 1074 | buffers[0] = boost::asio::buffer(packet_header.get(), sizeof(protocol::packet_header));
|
---|
| 1075 | buffers[1] = boost::asio::buffer(raw_command.get(), sizeof(protocol::command_header));
|
---|
| 1076 | buffers[2] = boost::asio::buffer(raw_command_data->data(), raw_command_data->size());
|
---|
| 1077 |
|
---|
| 1078 | m_commands_socket.async_send_to(buffers,
|
---|
| 1079 | boost::asio::ip::udp::endpoint(m_remote_address, m_remote_commands_port),
|
---|
| 1080 | boost::bind(&device_impl::on_command_sent, this,
|
---|
| 1081 | boost::asio::placeholders::error,
|
---|
| 1082 | boost::asio::placeholders::bytes_transferred,
|
---|
| 1083 | boost::ref(command->m_result), boost::ref(error)));
|
---|
| 1084 |
|
---|
| 1085 | m_commands_deadline.expires_from_now(m_timeout);
|
---|
| 1086 | on_deadline(m_commands_deadline, m_commands_socket, m_log_level, false, m_commands_socket_io_service, boost::bind(&device_impl::on_timeout, this, boost::ref(error)), boost::system::error_code());
|
---|
| 1087 | }
|
---|
| 1088 |
|
---|
| 1089 | void device_impl::on_timeout(lib3dv::error& device_error)
|
---|
| 1090 | {
|
---|
| 1091 | // we don't have to close the connections if the timeout has been triggered by a stop_transmission()
|
---|
| 1092 | if(m_status == device::status::TRANSMITTING)
|
---|
| 1093 | {
|
---|
| 1094 | boost::system::error_code error;
|
---|
| 1095 |
|
---|
| 1096 | if(m_commands_socket.is_open())
|
---|
| 1097 | m_commands_socket.close(error);
|
---|
| 1098 |
|
---|
| 1099 | m_commands_socket_io_service.stop();
|
---|
| 1100 |
|
---|
| 1101 | if(m_data_socket.is_open())
|
---|
| 1102 | m_data_socket.close(error);
|
---|
| 1103 |
|
---|
| 1104 | m_data_socket_io_service.stop();
|
---|
| 1105 |
|
---|
| 1106 | m_status = device::status::OFFLINE;
|
---|
| 1107 |
|
---|
| 1108 | device_error = error ? lib3dv::error::NETWORK_FAILURE : lib3dv::error::NETWORK_TIMEOUT;
|
---|
| 1109 |
|
---|
| 1110 | m_timeout_signal();
|
---|
| 1111 | }
|
---|
| 1112 | }
|
---|
| 1113 |
|
---|
| 1114 | void device_impl::on_command_sent(const boost::system::error_code& error, size_t bytes_sent, boost::any& result, lib3dv::error& device_error)
|
---|
| 1115 | {
|
---|
| 1116 | if(m_log_level > 1) std::cout << "[II] lib3dv: command sent " << error << " (" << bytes_sent << " bytes)" << std::endl;
|
---|
| 1117 |
|
---|
| 1118 | m_commands_socket.async_receive_from(boost::asio::buffer(m_commands_payload), m_commands_sender_endpoint, boost::bind(&device_impl::on_command_received, this,
|
---|
| 1119 | boost::asio::placeholders::error,
|
---|
| 1120 | boost::asio::placeholders::bytes_transferred,
|
---|
| 1121 | boost::ref(result), boost::ref(device_error)));
|
---|
| 1122 | }
|
---|
| 1123 |
|
---|
| 1124 | inline const uint8_t* decode_value(const uint8_t* value, command::values type, boost::any& result)
|
---|
| 1125 | {
|
---|
| 1126 | switch(type)
|
---|
| 1127 | {
|
---|
| 1128 | case command::BOOL : { result = static_cast<bool>(*reinterpret_cast<const uint8_t*>(value)); value += sizeof(uint8_t); break; }
|
---|
| 1129 |
|
---|
| 1130 | case command::INT64 : { result = *reinterpret_cast<const int64_t*>(value); value += sizeof(int64_t); break; }
|
---|
| 1131 |
|
---|
| 1132 | case command::INT32 : { result = *reinterpret_cast<const int32_t*>(value); value += sizeof(int32_t); break; }
|
---|
| 1133 |
|
---|
| 1134 | case command::INT16 : { result = *reinterpret_cast<const int16_t*>(value); value += sizeof(int16_t); break; }
|
---|
| 1135 |
|
---|
| 1136 | case command::INT8 : { result = *reinterpret_cast<const int8_t*>(value); value += sizeof(int8_t); break; }
|
---|
| 1137 |
|
---|
| 1138 | case command::UINT64 : { result = *reinterpret_cast<const uint64_t*>(value); value += sizeof(uint64_t); break; }
|
---|
| 1139 |
|
---|
| 1140 | case command::UINT32 : { result = *reinterpret_cast<const uint32_t*>(value); value += sizeof(uint32_t); break; }
|
---|
| 1141 |
|
---|
| 1142 | case command::UINT16 : { result = *reinterpret_cast<const uint16_t*>(value); value += sizeof(uint16_t); break; }
|
---|
| 1143 |
|
---|
| 1144 | case command::UINT8 : { result = *reinterpret_cast<const uint8_t*>(value); value += sizeof(uint8_t); break; }
|
---|
| 1145 |
|
---|
| 1146 | case command::FLOAT32 : { result = *reinterpret_cast<const float*>(value); value += sizeof(float); break; }
|
---|
| 1147 |
|
---|
| 1148 | case command::FLOAT64 : { result = *reinterpret_cast<const double*>(value); value += sizeof(double); break; }
|
---|
| 1149 |
|
---|
| 1150 | case command::STRING :
|
---|
| 1151 | {
|
---|
| 1152 | size_t size = *value;
|
---|
| 1153 | value += sizeof(uint8_t);
|
---|
| 1154 |
|
---|
| 1155 | result = std::string(value, value + size);
|
---|
| 1156 | value += size;
|
---|
| 1157 |
|
---|
| 1158 | break;
|
---|
| 1159 | }
|
---|
| 1160 | }
|
---|
| 1161 |
|
---|
| 1162 | return value;
|
---|
| 1163 | }
|
---|
| 1164 |
|
---|
| 1165 | const uint8_t* device_impl::decode_property(device::property& property, const uint8_t* data)
|
---|
| 1166 | {
|
---|
| 1167 | const protocol::param_info* param_info = reinterpret_cast<const protocol::param_info*>(data);
|
---|
| 1168 |
|
---|
| 1169 | data += sizeof(protocol::param_info);
|
---|
| 1170 |
|
---|
| 1171 | property.m_address = param_info->m_value_address;
|
---|
| 1172 | property.m_readonly = param_info->m_readonly;
|
---|
| 1173 |
|
---|
| 1174 | switch(param_info->m_category)
|
---|
| 1175 | {
|
---|
| 1176 | case(command::VALUE) :
|
---|
| 1177 | {
|
---|
| 1178 | property.m_category = device::property::VALUE;
|
---|
| 1179 | data = decode_value(data, static_cast<command::values>(param_info->m_value_type), property.m_value);
|
---|
| 1180 |
|
---|
| 1181 | break;
|
---|
| 1182 | }
|
---|
| 1183 |
|
---|
| 1184 | case(command::RANGE) :
|
---|
| 1185 | {
|
---|
| 1186 | data = decode_value(data, static_cast<command::values>(param_info->m_value_type), property.m_value);
|
---|
| 1187 |
|
---|
| 1188 | property.m_category = device::property::RANGE;
|
---|
| 1189 | property.m_attributes.resize(3);
|
---|
| 1190 |
|
---|
| 1191 | data = decode_value(data, static_cast<command::values>(param_info->m_value_type), property.m_attributes[0].first);
|
---|
| 1192 | property.m_attributes[0].second = "min";
|
---|
| 1193 |
|
---|
| 1194 | data = decode_value(data, static_cast<command::values>(param_info->m_value_type), property.m_attributes[1].first);
|
---|
| 1195 | property.m_attributes[1].second = "max";
|
---|
| 1196 |
|
---|
| 1197 | data = decode_value(data, static_cast<command::values>(param_info->m_value_type), property.m_attributes[2].first);
|
---|
| 1198 | property.m_attributes[2].second = "step";
|
---|
| 1199 |
|
---|
| 1200 | break;
|
---|
| 1201 | }
|
---|
| 1202 |
|
---|
| 1203 | case(command::SELECTION) :
|
---|
| 1204 | {
|
---|
| 1205 | data = decode_value(data, static_cast<command::values>(param_info->m_value_type), property.m_value);
|
---|
| 1206 |
|
---|
| 1207 | property.m_category = device::property::SELECTION;
|
---|
| 1208 |
|
---|
| 1209 | uint16_t num = *reinterpret_cast<const uint16_t*>(data);
|
---|
| 1210 | data += sizeof(uint16_t);
|
---|
| 1211 |
|
---|
| 1212 | property.m_attributes.resize(num);
|
---|
| 1213 |
|
---|
| 1214 | for(unsigned int a = 0; a < num; ++a)
|
---|
| 1215 | {
|
---|
| 1216 | data = decode_value(data, static_cast<command::values>(param_info->m_value_type), property.m_attributes[a].first);
|
---|
| 1217 |
|
---|
| 1218 | size_t size = *data;
|
---|
| 1219 | data += sizeof(uint8_t);
|
---|
| 1220 |
|
---|
| 1221 | property.m_attributes[a].second = std::string(data, data + size);
|
---|
| 1222 | data += size;
|
---|
| 1223 | }
|
---|
| 1224 |
|
---|
| 1225 | break;
|
---|
| 1226 | }
|
---|
| 1227 | }
|
---|
| 1228 |
|
---|
| 1229 | std::string description((const char*)data, param_info->m_value_description_size);
|
---|
| 1230 | data += param_info->m_value_description_size;
|
---|
| 1231 |
|
---|
| 1232 | property.m_name = description;
|
---|
| 1233 |
|
---|
| 1234 | return data;
|
---|
| 1235 | }
|
---|
| 1236 |
|
---|
| 1237 | void device_impl::on_command_received(const boost::system::error_code& error, size_t bytes_received, boost::any& result, lib3dv::error& device_error)
|
---|
| 1238 | {
|
---|
| 1239 | if(m_log_level > 1) std::cout << std::endl << "[II] lib3dv: " << " " << bytes_received << " data bytes read" << std::endl;
|
---|
| 1240 |
|
---|
| 1241 | m_commands_deadline.cancel();
|
---|
| 1242 |
|
---|
| 1243 | if(bytes_received >= sizeof(protocol::packet_header) && !memcmp(m_commands_payload.c_array(), "#3DV", 4))
|
---|
| 1244 | {
|
---|
| 1245 | const uint8_t* data = m_commands_payload.c_array();
|
---|
| 1246 | const protocol::packet_header* packet_header = reinterpret_cast<const protocol::packet_header*>(data);
|
---|
| 1247 | data += sizeof(protocol::packet_header);
|
---|
| 1248 |
|
---|
| 1249 | if(m_log_level > 1)
|
---|
| 1250 | {
|
---|
| 1251 | std::cout << "\t" << "protocol version = " << (int)(packet_header->m_protocol_version) << std::endl;
|
---|
| 1252 | std::cout << "\t" << "guid = " << packet_header->m_guid << std::endl;
|
---|
| 1253 | std::cout << "\t" << "fragment = " << packet_header->m_fragment << " / " << packet_header->m_total_fragments << std::endl;
|
---|
| 1254 | std::cout << "\t" << "payload_type = " << (int)packet_header->m_payload_type << std::endl;
|
---|
| 1255 | std::cout << "\t" << "error = " << (int)packet_header->m_error << std::endl;
|
---|
| 1256 | }
|
---|
| 1257 |
|
---|
| 1258 | if(!packet_header->m_error)
|
---|
| 1259 | {
|
---|
| 1260 | device_error.m_type = static_cast<lib3dv::error::types>(packet_header->m_error);
|
---|
| 1261 |
|
---|
| 1262 | switch(packet_header->m_payload_type)
|
---|
| 1263 | {
|
---|
| 1264 | case protocol::payload::COMMAND :
|
---|
| 1265 | {
|
---|
| 1266 | const protocol::command_header* command_header = reinterpret_cast<const protocol::command_header*>(data);
|
---|
| 1267 | data += sizeof(protocol::command_header);
|
---|
| 1268 |
|
---|
| 1269 | switch(command_header->m_type)
|
---|
| 1270 | {
|
---|
| 1271 | case(command::ENUMERATE_PROPERTIES) :
|
---|
| 1272 | {
|
---|
| 1273 | std::vector<device::property>& properties = boost::any_cast<boost::reference_wrapper<std::vector<device::property> > >(result);
|
---|
| 1274 |
|
---|
| 1275 | const protocol::params_info_header* params_info_header = reinterpret_cast<const protocol::params_info_header*>(data);
|
---|
| 1276 | data += sizeof(protocol::params_info_header);
|
---|
| 1277 |
|
---|
| 1278 | for(unsigned int i = 0; i < params_info_header->m_params_num; ++i)
|
---|
| 1279 | {
|
---|
| 1280 | device::property property;
|
---|
| 1281 |
|
---|
| 1282 | data = decode_property(property, data);
|
---|
| 1283 |
|
---|
| 1284 | properties.push_back(property);
|
---|
| 1285 | }
|
---|
| 1286 |
|
---|
| 1287 | break;
|
---|
| 1288 | }
|
---|
| 1289 |
|
---|
| 1290 | case(command::GET_PROPERTY) :
|
---|
| 1291 | {
|
---|
| 1292 | device::property property;
|
---|
| 1293 |
|
---|
| 1294 | decode_property(property, data);
|
---|
| 1295 |
|
---|
| 1296 | result = property.m_value;
|
---|
| 1297 |
|
---|
| 1298 | break;
|
---|
| 1299 | }
|
---|
| 1300 | }
|
---|
| 1301 |
|
---|
| 1302 | break;
|
---|
| 1303 | }
|
---|
| 1304 |
|
---|
| 1305 | default:
|
---|
| 1306 | std::cerr << "[EE] lib3dv: unknown payload type: " << (int)packet_header->m_payload_type << std::endl;
|
---|
| 1307 | }
|
---|
| 1308 | } else
|
---|
| 1309 | device_error.m_type = static_cast<lib3dv::error::types>(packet_header->m_error);
|
---|
| 1310 | }
|
---|
| 1311 | }
|
---|
| 1312 |
|
---|
| 1313 | std::ostream& operator<< (std::ostream& output, const device_impl& device)
|
---|
| 1314 | {
|
---|
| 1315 | output << "guid: " << device.m_guid
|
---|
| 1316 | << " address: " << device.m_remote_address
|
---|
| 1317 | << " version: " << (int)device.version().m_protocol
|
---|
| 1318 | << " / " << (int)device.version().m_framework[device::version_info::MAJOR]
|
---|
| 1319 | << "." << (int)device.version().m_framework[device::version_info::MINOR]
|
---|
| 1320 | << "." << (int)device.version().m_framework[device::version_info::STEP]
|
---|
| 1321 | << " / " << (int)device.version().m_application[device::version_info::MAJOR]
|
---|
| 1322 | << "." << (int)device.version().m_application[device::version_info::MINOR]
|
---|
| 1323 | << "." << (int)device.version().m_application[device::version_info::STEP]
|
---|
| 1324 | << " capabilities:" << (device.capabilities()[device::capability::DEPTH_MAPPING] ? " DEPTH_MAPPING" : "")
|
---|
| 1325 | << (device.capabilities()[device::capability::OBSTACLE_DETECTION] ? " OBSTACLE_DETECTION" : "")
|
---|
| 1326 | << (device.capabilities()[device::capability::TERRAIN_MAPPING] ? " TERRAIN_MAPPING" : "")
|
---|
| 1327 | << (device.capabilities()[device::capability::MOTION_ESTIMATION] ? " MOTION_ESTIMATION" : "")
|
---|
| 1328 | << (device.capabilities()[device::capability::CLASSIFICATION] ? " CLASSIFICATION" : "");
|
---|
| 1329 |
|
---|
| 1330 | return output;
|
---|
| 1331 | }
|
---|
| 1332 | }
|
---|
| 1333 | }
|
---|