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+[package] +name = "mswebrtc" +version = "0.1.0" +edition = "2021" + +[lib] +name = "mswebrtc" +crate-type = ["staticlib"] + +[dependencies] +qocrlif = { git = "ssh://git@github.com/carnegierobotics/qocrlif.git", rev = "cfc4a40acf1a90ea48a20655c92d917d3ed98e6a" } +fragunfrag = { git = "ssh://git@github.com/carnegierobotics/fragunfrag.git", rev = "0f9ba8fb1cb0ed14cb154f694b6cc558d7720a3d" } +str0m = "0.9.0" +systemstat = "0.1.6" +reqwest = {version="0.12.12", features=["blocking"]} +serde = { version = "1.0.218", features = ["derive"] } +serde_json = "1.0.139" + +[build-dependencies] +cbindgen = "0.12" +uuid = {version="1.16", features=["v4"]} diff --git a/rust/libmultisense-ambarella/build.rs b/rust/libmultisense-ambarella/build.rs new file mode 100644 index 00000000..04298dd0 --- /dev/null +++ b/rust/libmultisense-ambarella/build.rs @@ -0,0 +1,23 @@ +extern crate cbindgen; + +use uuid::Uuid; + +fn main() { + let mut output_file = std::env::current_dir().unwrap(); + output_file.push(std::env::var("CARGO_TARGET_DIR").unwrap()); + output_file.push("mswebrtc.h"); + + let b = cbindgen::Builder::new() + .with_include_guard( + "MSWEBRTC_H".to_owned() + + &Uuid::new_v4() + .to_string() + .to_uppercase() + .split("-") //split and fold here because join is experimental + .fold(String::new(), |a, b| a + "_" + b), + ) + .with_crate(std::env::current_dir().unwrap()); + b.generate() + .expect("Failed to generate bindings") + .write_to_file(output_file); +} diff --git a/rust/libmultisense-ambarella/src/lib.rs b/rust/libmultisense-ambarella/src/lib.rs new file mode 100644 index 00000000..833ee1b2 --- /dev/null +++ b/rust/libmultisense-ambarella/src/lib.rs @@ -0,0 +1,258 @@ +use reqwest::{self, StatusCode}; +use std::{ffi::CStr, net::UdpSocket, os::raw::c_char, str::Utf8Error}; +use str0m::{change::SdpOffer, Candidate, Rtc}; +use systemstat::{Platform, System}; + +mod network; + +pub struct MswebrtcImpl { + host: String, + pc: Rtc, + sockets: Vec, +} + +struct Info { + builddate: String, +} + +#[allow(dead_code)] +#[derive(Debug)] +pub struct MswebrtcError { + what: String, + err: Option>, +} + +impl MswebrtcImpl { + fn connect(&mut self) -> Result<(), MswebrtcError> { + let client = reqwest::blocking::Client::builder() + .danger_accept_invalid_certs(true) + .build() + .unwrap(); + let offer = SdpOffer::from_sdp_string( + client + .get(self.host.clone() + "/offer") + .send() + .map_err(|e| MswebrtcError { + what: "Failed to request offer".to_owned(), + err: Some(Box::new(e)), + })? + .text() + .map_err(|e| MswebrtcError { + what: "Failed to extract offer from HTTP response".to_owned(), + err: Some(Box::new(e)), + })? + .as_str(), + ) + .map_err(|e| MswebrtcError { + what: "Failed to parse offer".to_owned(), + err: Some(Box::new(e)), + })?; + + //enumerate local ip addresses to enumerate ice candidates + { + let system = System::new(); + let networks = system.networks().map_err(|e| MswebrtcError { + what: "Failed to enumarate networks".to_owned(), + err: Some(Box::new(e)), + })?; + + let mut found = false; + for net in networks.values() { + for n in &net.addrs { + if let systemstat::IpAddr::V4(v) = n.addr { + if !v.is_loopback() && !v.is_link_local() && !v.is_broadcast() { + let socket = + UdpSocket::bind(format!("{v}:0")).map_err(|e| MswebrtcError { + what: "Failed to bind socket".to_owned(), + err: Some(Box::new(e)), + })?; + let candidate = Candidate::host( + socket.local_addr().map_err(|e| MswebrtcError { + what: "failed to get address for socket".to_owned(), + err: Some(Box::new(e)), + })?, + "udp", + ) + .map_err(|e| MswebrtcError { + what: "Failed to create ICE candidate".to_owned(), + err: Some(Box::new(e)), + })?; + if self.pc.add_local_candidate(candidate).is_some() { + found = true; + self.sockets.push(socket); + } + } + } + } + } + if !found { + Err(MswebrtcError { + what: "Failed to find valid local ICE candidate. Do we have any network interfaces?".to_owned(), + err: None + })? + } + } + let answer = self + .pc + .sdp_api() + .accept_offer(offer) + .map_err(|e| MswebrtcError { + what: "Failed to accept RTC offer".to_owned(), + err: Some(Box::new(e)), + })?; + + let answer = serde_json::to_string(&answer).map_err(|e| MswebrtcError { + what: "Failed to serialize answer".to_owned(), + err: Some(Box::new(e)), + })?; + client + .post(self.host.clone() + "/answer") + .header("content-type", "application/json") + .body(answer) + .send() + .map(|_| Ok(())) + .map_err(|e| MswebrtcError { + what: "Failed to post answer to server".to_owned(), + err: Some(Box::new(e)), + })? + } + fn disconnect(&self) { + println!("DISCONNECT"); + } + + fn get_info(&self) -> Result { + let client = reqwest::blocking::Client::builder() + .danger_accept_invalid_certs(true) + .build() + .unwrap(); + let j = client + .get(self.host.clone() + "/info.json") + .send() + .map_err(|e| MswebrtcError { + what: "Failed to request offer".to_owned(), + err: Some(Box::new(e)), + })?; + let j = j.text().map_err(|e| MswebrtcError { + what: "Failed to extract offer from HTTP response".to_owned(), + err: Some(Box::new(e)), + })?; + let j: serde_json::Value = serde_json::from_str(j.as_str()).map_err(|e| MswebrtcError { + what: "Failed to parse info.json".to_owned(), + err: Some(Box::new(e)), + })?; + Ok(Info { + builddate: j["build-time"].to_string(), + }) + } + + fn set_network(&self, ns: network::Network) -> Result<(), MswebrtcError> { + let s = serde_json::to_string(&ns).map_err(|e| MswebrtcError { + what: format!("{:?}", &e), + err: Some(Box::new(e)), + })?; + let client = reqwest::blocking::Client::builder() + .danger_accept_invalid_certs(true) + .build() + .unwrap(); + let j = client + .post(self.host.clone() + "/network.json") + .body(s) + .send() + .map_err(|e| MswebrtcError { + what: "Failed to set network".to_owned(), + err: Some(Box::new(e)), + })?; + match j.status() { + StatusCode::OK => Ok(()), + e => Err(MswebrtcError { + what: format!("Server failed to set network: {:?}", e), + err: None, + }), + } + } +} + +#[no_mangle] +pub extern "C" fn create_mswebrtc_impl(host: *const std::ffi::c_char) -> *mut MswebrtcImpl { + let pc = Rtc::new(); + let out = Box::new(MswebrtcImpl { + host: unsafe { std::ffi::CStr::from_ptr(host) } + .to_str() + .unwrap() + .to_string(), + pc: pc, + sockets: Vec::new(), + }); + Box::into_raw(out) +} + +#[no_mangle] +pub extern "C" fn connect_mswebrtc_impl(obj: *mut MswebrtcImpl) -> bool { + let r = unsafe { &mut *obj }; + match r.connect() { + Ok(_) => true, + Err(e) => { + println!("ERROR CONNECTING: {:?}", e); + false + } + } +} + +#[no_mangle] +pub extern "C" fn get_info_mswebrtc_impl( + obj: *mut MswebrtcImpl, + mut buildtime: *mut std::ffi::c_char, +) -> bool { + let r = unsafe { &*obj }; + let i = r.get_info(); + match i { + Ok(i) => { + for (i, c) in i.builddate.chars().enumerate() { + unsafe { *buildtime = c as std::ffi::c_char }; + buildtime = buildtime.wrapping_add(1); + if i >= 31 { + break; + } + } + true + } + Err(e) => { + println!("ERROR Getting Info: {:?}", e); + false + } + } +} + +#[no_mangle] +pub extern "C" fn set_network_mswebrtc_impl( + obj: *mut MswebrtcImpl, + addr: *const c_char, + netmask: *const c_char, + gateway: *const c_char, +) -> bool { + let n = || -> Result, Utf8Error> { + Ok(network::Network::from_strings( + unsafe { CStr::from_ptr(addr) }.to_str()?, + unsafe { CStr::from_ptr(netmask) }.to_str()?, + unsafe { CStr::from_ptr(gateway) }.to_str()?, + )) + }; + match n() { + Ok(Some(n)) => match unsafe { obj.as_mut() } { + Some(o) => o.set_network(n).is_ok(), + None => false, + }, + _ => false, + } +} + +#[no_mangle] +pub extern "C" fn disconnect_mswebrtc_impl(obj: *mut MswebrtcImpl) { + let r = unsafe { &*obj }; + r.disconnect() +} + +#[no_mangle] +pub extern "C" fn destroy_mswebrtc_impl(obj: *mut MswebrtcImpl) { + drop(unsafe { Box::from_raw(obj) }); +} diff --git a/rust/libmultisense-ambarella/src/network.rs b/rust/libmultisense-ambarella/src/network.rs new file mode 100644 index 00000000..7f646952 --- /dev/null +++ b/rust/libmultisense-ambarella/src/network.rs @@ -0,0 +1,51 @@ +use serde::{Deserialize, Serialize}; +use std::{net::Ipv4Addr, str::FromStr}; + +#[derive(Debug, Deserialize, Serialize, Clone)] +pub struct Network { + #[serde(rename(serialize = "ip-address", deserialize = "ip-address"))] + pub addr: String, + #[serde(rename(serialize = "netmask", deserialize = "netmask"))] + pub mask: u8, + pub gateway: Option, +} + +fn addr_to_cidr(addr: &str) -> Option { + let a = Ipv4Addr::from_str(addr); + match a { + Ok(a) => { + let b = a.to_bits(); + let mut out = 32; + let mut i = 0; + while i < 32 { + if (b & (1 << i)) != 0 { + break; + } + out -= 1; + i += 1; + } + while i < 32 { + if (b & (1 << i)) == 0 { + return None; + } + i += 1; + } + Some(out) + } + Err(_) => None, + } +} + +impl Network { + pub fn from_strings(addr: &str, mask: &str, gateway: &str) -> Option { + Some(Network { + addr: addr.to_string(), + mask: addr_to_cidr(mask)?, + gateway: if gateway.is_empty() { + None + } else { + Some(gateway.to_string()) + }, + }) + } +} diff --git a/source/LibMultiSense/CMakeLists.txt b/source/LibMultiSense/CMakeLists.txt index 7a4cb8ea..e1b985c4 100644 --- a/source/LibMultiSense/CMakeLists.txt +++ b/source/LibMultiSense/CMakeLists.txt @@ -1,3 +1,5 @@ +include(ExternalProject) + set(MULTISENSE_HEADERS ${CMAKE_CURRENT_LIST_DIR}/include/MultiSense/MultiSenseChannel.hh ${CMAKE_CURRENT_LIST_DIR}/include/MultiSense/MultiSenseTypes.hh ${CMAKE_CURRENT_LIST_DIR}/include/MultiSense/MultiSenseUtilities.hh) @@ -21,6 +23,26 @@ set(DETAILS_SRC details/factory.cc details/legacy/udp.cc details/legacy/utilities.cc) +find_program(CARGO "cargo") +if (CARGO) + set(BUILD_MSWEBRTC ON) +endif (CARGO) + +if (BUILD_MSWEBRTC) + set(DETAILS_SRC ${DETAILS_SRC} details/mswebrtc/channel.cc) + set(MSWEBRTC_SRC_DIR ${CMAKE_SOURCE_DIR}/rust/libmultisense-ambarella) + ExternalProject_Add(libmultisense-ambarella + PREFIX ${CMAKE_CURRENT_BINARY_DIR}/libmultisense-ambarella-prefix + SOURCE_DIR ${MSWEBRTC_SRC_DIR} + BUILD_IN_SOURCE TRUE + CONFIGURE_COMMAND "" + INSTALL_COMMAND "" + BUILD_ALWAYS TRUE + BUILD_COMMAND ${CMAKE_COMMAND} -E env CARGO_TARGET_DIR=${CMAKE_CURRENT_BINARY_DIR}/libmultisense-ambarella-prefix/src/libmultisense-ambarella-build ${CARGO} build --profile release) +else (BUILD_MSWEBRTC) + message("Cargo not found, not building mswebrtc channel implementation") +endif (BUILD_MSWEBRTC) + if (${BUILD_SHARED_LIBS}) add_library(MultiSense SHARED ${MULTISENSE_HEADERS} ${DETAILS_SRC}) @@ -31,7 +53,25 @@ else() endif() -target_link_libraries(MultiSense MultiSenseWire) + +if (BUILD_MSWEBRTC) + ExternalProject_Get_property(libmultisense-ambarella PREFIX) + target_include_directories(MultiSense + PRIVATE ${PREFIX}/src/libmultisense-ambarella-build) + add_dependencies(MultiSense libmultisense-ambarella) + + #this option avoids a linker warning, because libmswebrtc.a is missing a section + target_link_options(MultiSense INTERFACE -z noexecstack) + + #This rather long list of libraries was generated with the following invocation + # `cargo rustc -- --print native-static-libs` + # we may need to run that again in the mysterious future if our list of dependencies changes + # maybe there's a way to have cmake do this? + target_link_libraries(MultiSense INTERFACE ${PREFIX}/src/libmultisense-ambarella-build/release/libmswebrtc.a -lssl -lcrypto -lgcc_s -lutil -lrt -lpthread -lm -ldl -lc) +endif (BUILD_MSWEBRTC) + + +target_link_libraries(MultiSense PRIVATE MultiSenseWire) target_include_directories(MultiSense PUBLIC $ PUBLIC $) @@ -48,7 +88,7 @@ endif() if (BUILD_JSON_SERIALIZATION) if(nlohmann_json_FOUND) - target_link_libraries(MultiSense nlohmann_json::nlohmann_json) + target_link_libraries(MultiSense PUBLIC nlohmann_json::nlohmann_json) endif() endif() @@ -67,11 +107,11 @@ set_target_properties(MultiSense PROPERTIES PUBLIC_HEADER "${MULTISENSE_HEADERS} # if(${CMAKE_SYSTEM_NAME} MATCHES "Windows") - target_link_libraries(MultiSense ws2_32) + target_link_libraries(MultiSense PUBLIC ws2_32) elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") - target_link_libraries(MultiSense pthread) + target_link_libraries(MultiSense PUBLIC pthread) else() - target_link_libraries(MultiSense pthread rt) + target_link_libraries(MultiSense PUBLIC pthread rt) endif() if (BUILD_TESTS) diff --git a/source/LibMultiSense/details/factory.cc b/source/LibMultiSense/details/factory.cc index 252e8f5b..48ef7186 100644 --- a/source/LibMultiSense/details/factory.cc +++ b/source/LibMultiSense/details/factory.cc @@ -35,6 +35,7 @@ **/ #include "details/legacy/channel.hh" +#include "details/mswebrtc/channel.hh" namespace multisense { @@ -56,6 +57,18 @@ std::unique_ptr Channel::create(const Config &config, return nullptr; } } + case ChannelImplementation::MSWEBRTC: + { + try + { + return std::unique_ptr(new mswebrtc::MswebrtcChannel(config)); + } + catch(const std::exception &e) + { + CRL_DEBUG("Unable to create legacy channel %s\n", e.what()); + return nullptr; + } + } default: { return nullptr; diff --git a/source/LibMultiSense/details/mswebrtc/channel.cc b/source/LibMultiSense/details/mswebrtc/channel.cc new file mode 100644 index 00000000..4c903b87 --- /dev/null +++ b/source/LibMultiSense/details/mswebrtc/channel.cc @@ -0,0 +1,152 @@ +/** + * @file channel.cc + * + * Copyright 2013-2025 + * Carnegie Robotics, LLC + * 4501 Hatfield Street, Pittsburgh, PA 15201 + * http://www.carnegierobotics.com + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the Carnegie Robotics, LLC nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CARNEGIE ROBOTICS, LLC BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Significant history (date, user, job code, action): + * 2024-12-24, malvarado@carnegierobotics.com, IRAD, Created file. + **/ + + +#include "details/mswebrtc/channel.hh" + +namespace multisense { +namespace mswebrtc { + +MswebrtcChannel::MswebrtcChannel(const Config &c):impl(create_mswebrtc_impl(c.ip_address.c_str())) +{ +} + +MswebrtcChannel::~MswebrtcChannel() +{ + destroy_mswebrtc_impl(impl); +} + + +Status MswebrtcChannel::start_streams(const std::vector &) +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +Status MswebrtcChannel::stop_streams(const std::vector &) +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +void MswebrtcChannel::add_image_frame_callback(std::function) +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +void MswebrtcChannel::add_imu_frame_callback(std::function) +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +Status MswebrtcChannel::connect(const Config &) +{ + if (connect_mswebrtc_impl(impl)) { + return Status::OK; + } + else { + return Status::FAILED; + } +} + +void MswebrtcChannel::disconnect() +{ + disconnect_mswebrtc_impl(impl); +} + +std::optional MswebrtcChannel::get_next_image_frame() +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +std::optional MswebrtcChannel::get_next_imu_frame() +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +MultiSenseConfig MswebrtcChannel::get_config() +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +Status MswebrtcChannel::set_config(const MultiSenseConfig &) +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +StereoCalibration MswebrtcChannel::get_calibration() +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +Status MswebrtcChannel::set_calibration(const StereoCalibration &) +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +MultiSenseInfo MswebrtcChannel::get_info() +{ + char builddate[32] = {}; + MultiSenseInfo out = {}; + get_info_mswebrtc_impl(impl, builddate); + out.version.firmware_build_date = std::string(builddate); + return out; +} + +Status MswebrtcChannel::set_device_info(const MultiSenseInfo::DeviceInfo &, const std::string &) +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +std::optional MswebrtcChannel::get_system_status() +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +Status MswebrtcChannel::set_network_config(const MultiSenseInfo::NetworkInfo &settings, + const std::optional &bcast_interface) +{ + if (bcast_interface) { + CRL_DEBUG("bcast_interface not supported in set_network_config for mswebrtc\n"); + } + if (set_network_mswebrtc_impl(impl, settings.ip_address.c_str(), settings.netmask.c_str(), settings.gateway.c_str())) { + return multisense::Status::OK; + } + else { + return multisense::Status::FAILED; + } +} + +} +} diff --git a/source/LibMultiSense/include/MultiSense/MultiSenseChannel.hh b/source/LibMultiSense/include/MultiSense/MultiSenseChannel.hh index d2e82d23..2334ad82 100644 --- a/source/LibMultiSense/include/MultiSense/MultiSenseChannel.hh +++ b/source/LibMultiSense/include/MultiSense/MultiSenseChannel.hh @@ -54,7 +54,12 @@ public: /// /// @brief Use the Legacy MultiSense wire protocol implemented as part of LibMultiSense /// - LEGACY + LEGACY, + + /// + /// @brief Use the Webrtc-derived MultiSense wire protocol implemented for the Ambarella multisense variant + /// + MSWEBRTC }; /// diff --git a/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh b/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh index ffe10cbd..856f2a9c 100644 --- a/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh +++ b/source/LibMultiSense/include/MultiSense/MultiSenseTypes.hh @@ -1622,7 +1622,7 @@ struct MultiSenseInfo /// MultiSenseInfo::Version firmware_version{}; - /// + ///1 /// @brief ID for the version of hardware /// uint64_t hardware_version = 0; diff --git a/source/LibMultiSense/include/details/mswebrtc/channel.hh b/source/LibMultiSense/include/details/mswebrtc/channel.hh new file mode 100644 index 00000000..20aa18e6 --- /dev/null +++ b/source/LibMultiSense/include/details/mswebrtc/channel.hh @@ -0,0 +1,163 @@ +/** + * @file channel.hh + * + * Copyright 2013-2025 + * Carnegie Robotics, LLC + * 4501 Hatfield Street, Pittsburgh, PA 15201 + * http://www.carnegierobotics.com + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the Carnegie Robotics, LLC nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CARNEGIE ROBOTICS, LLC BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Significant history (date, user, job code, action): + * 2024-12-24, malvarado@carnegierobotics.com, IRAD, Created file. + **/ + +#pragma once + +#include "MultiSense/MultiSenseChannel.hh" +#include "utility/Exception.hh" +#include "mswebrtc.h" + +namespace multisense{ +namespace mswebrtc{ + + +class MswebrtcChannel : public Channel +{ +public: + explicit MswebrtcChannel(const Config &config); + + virtual ~MswebrtcChannel(); + + /// + /// @brief Start a collection of image streams. Repeated calls to this function will not implicitly + /// stop the previously started streams. For example if a user started a left_raw stream in one + /// call and a disparity stream in a second call, both streams would be active until stop_streams + /// is called for either + /// + Status start_streams(const std::vector &sources) final override; + + /// + /// @brief Stop a collection of streams + /// + Status stop_streams(const std::vector &sources) final override; + + /// + /// @brief Add a image frame callback to get serviced inline with the receipt of a new frame. Only + /// a single image frame callback can be added to the channel + /// NOTE: Perform minimal work in this callback, and ideally copy the lightweight + /// ImageFrame object out to another processing thread + /// + void add_image_frame_callback(std::function callback) final override; + + /// + /// @brief Add a imu frame callback to get serviced inline with the receipt of a new frame. Only + /// a single imu frame callback can be added to the channel + /// NOTE: Perform minimal work in this callback, and ideally copy the lightweight + /// ImuFrame object out to another processing thread + /// + void add_imu_frame_callback(std::function callback) final override; + + /// + /// @brief Initialize the connection to the camera + /// + Status connect(const Config &config) final override; + + /// + /// @brief Disconnect from the camera + /// + void disconnect() final override; + + /// + /// @brief A blocking call that waits for one image frame from the camera. + /// + /// If you’ve set a receive timeout (via Config), it will block until that timeout expires; + /// otherwise, it blocks indefinitely until data arrives. + /// + /// @return The newly received ImageFrame, or std::nullopt if timed out (and you used a timeout). + /// + std::optional get_next_image_frame() final override; + + /// + /// @brief A blocking call that waits for one imu frame from the camera. + /// + /// If you’ve set a receive timeout (via Config), it will block until that timeout expires; + /// otherwise, it blocks indefinitely until data arrives. + /// + /// @return The newly received ImuFrame, or std::nullopt if timed out (and you used a timeout). + /// + std::optional get_next_imu_frame() final override; + + /// + /// @brief Get the current MultiSense configuration + /// + MultiSenseConfig get_config() final override; + + /// + /// @brief Get set the current MultiSense configuration + /// + Status set_config(const MultiSenseConfig &config) final override; + + /// + /// @brief Get the current stereo calibration. The output calibration will correspond to the full-resolution + /// operating mode of the camera + /// + StereoCalibration get_calibration() final override; + + /// + /// @brief Set the current stereo calibration. The calibration is expected to be or the full-resolution + /// operating mode of the camera + /// + Status set_calibration(const StereoCalibration &calibration) final override; + + /// + /// @brief Get the device info associated with the camera + /// + MultiSenseInfo get_info() final override; + + /// + /// @brief Set the camera's device info. This setting is protected via a key since invalid values in the + /// device info can result in internal camera failures + /// + Status set_device_info(const MultiSenseInfo::DeviceInfo &device_info, const std::string &key) final override; + + /// + /// @brief Query the current MultiSense status + /// + std::optional get_system_status() final override; + + /// + /// @brief Update the network configuration of the MultiSense. This will require a hardware reboot of the + /// MultiSense after it's been successfully applied + /// + Status set_network_config(const MultiSenseInfo::NetworkInfo &config, + const std::optional &broadcast_interface) final override; + +private: + MswebrtcImpl *impl; +}; + +} +} diff --git a/source/Utilities/LibMultiSense/SaveImageUtility/SaveImageUtility.cc b/source/Utilities/LibMultiSense/SaveImageUtility/SaveImageUtility.cc index 8a105518..aed4b94b 100644 --- a/source/Utilities/LibMultiSense/SaveImageUtility/SaveImageUtility.cc +++ b/source/Utilities/LibMultiSense/SaveImageUtility/SaveImageUtility.cc @@ -48,6 +48,7 @@ #include #include #include +#include #include #include @@ -142,15 +143,28 @@ int main(int argc, char** argv) bool save_depth = false; bool save_left_rect = false; bool save_color = false; + lms::Channel::ChannelImplementation impl = lms::Channel::ChannelImplementation::LEGACY; int c; - while(-1 != (c = getopt(argc, argv, "a:m:n:dlc"))) + while(-1 != (c = getopt(argc, argv, "a:m:n:i:dlc"))) { switch(c) { case 'a': ip_address = std::string(optarg); break; case 'm': mtu = static_cast(atoi(optarg)); break; case 'n': number_of_images = static_cast(atoi(optarg)); break; + case 'i': { + if (strcmp(optarg, "legacy") == 0) { + impl = lms::Channel::ChannelImplementation::LEGACY; + } + else if (strcmp(optarg, "mswebrtc") == 0) { + impl = lms::Channel::ChannelImplementation::MSWEBRTC; + } + else { + std::cout << "Invalid channel implementation requested, using default implementation" << std::endl; + } + break; + } case 'd': save_depth = true; break; case 'l': save_left_rect = true; break; case 'c': save_color = true; break; @@ -158,7 +172,7 @@ int main(int argc, char** argv) } } - const auto channel = lms::Channel::create(lms::Channel::Config{ip_address, mtu}); + const auto channel = lms::Channel::create(lms::Channel::Config{ip_address, mtu}, impl); if (!channel) { std::cerr << "Failed to create channel" << std::endl;;