rgb_narrow_stream.cpp

Go to the documentation of this file.

/*  Copyright (c) 2023, Beamagine
 
    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 copyright holders 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
    COPYRIGHT HOLDERS OR CONTRIBUTORS 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.
*/
 
#include "sensor_stream.hpp"
 
#include <sys/socket.h>
#include <netinet/in.h>
#include <netdb.h>
#include <stdio.h>
#include <string.h>
#include <arpa/inet.h>
#include <stdint.h>
#include <arpa/inet.h>
#include <sys/socket.h>
#include <unistd.h>
 
#include <pthread.h>
#include <thread>
 
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/image_encodings.h>
#include <image_transport/image_transport.h>
 
#include <cv_bridge/cv_bridge.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
 
#include <libL3Cam.h>
#include <beamagine.h>
#include <beamErrors.h>
 
bool g_listening = false;
 
bool g_rgb = false; // true if rgb available, false if narrow available
bool g_wide = false;
 
void ImageThread(image_transport::Publisher publisher)
{
    struct sockaddr_in m_socket;
    int m_socket_descriptor;           // Socket descriptor
    std::string m_address = "0.0.0.0"; // Local address of the network interface port connected to the L3CAM
    int m_udp_port = 6020;             // For RGB and Allied Narrow it's 6020
 
    socklen_t socket_len = sizeof(m_socket);
    char *buffer;
    buffer = (char *)malloc(64000);
 
    uint16_t m_image_height;
    uint16_t m_image_width;
    uint8_t m_image_channels;
    uint32_t m_timestamp;
    int m_image_data_size;
    bool m_is_reading_image = false;
    char *m_image_buffer = NULL;
    int bytes_count = 0;
 
    if ((m_socket_descriptor = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1)
    {
        perror("Opening socket");
        return;
    }
    // else ROS_INFO("Socket RGB created");
 
    memset((char *)&m_socket, 0, sizeof(struct sockaddr_in));
    m_socket.sin_addr.s_addr = inet_addr((char *)m_address.c_str());
    m_socket.sin_family = AF_INET;
    m_socket.sin_port = htons(m_udp_port);
 
    if (inet_aton((char *)m_address.c_str(), &m_socket.sin_addr) == 0)
    {
        perror("inet_aton() failed");
        return;
    }
 
    if (bind(m_socket_descriptor, (struct sockaddr *)&m_socket, sizeof(struct sockaddr_in)) == -1)
    {
        perror("Could not bind name to socket");
        close(m_socket_descriptor);
        return;
    }
 
    int rcvbufsize = 134217728;
    if (0 != setsockopt(m_socket_descriptor, SOL_SOCKET, SO_RCVBUF, (char *)&rcvbufsize, sizeof(rcvbufsize)))
    {
        perror("Error setting size to socket");
        return;
    }
 
    // 1 second timeout for socket
    struct timeval read_timeout;
    read_timeout.tv_sec = 1;
    setsockopt(m_socket_descriptor, SOL_SOCKET, SO_RCVTIMEO, &read_timeout, sizeof read_timeout);
 
    g_listening = true;
    if (g_rgb)
        ROS_INFO("RGB streaming");
    else
        ROS_INFO("Allied Narrow streaming");
 
    uint8_t *image_pointer = NULL;
 
    while (g_listening)
    {
        int size_read = recvfrom(m_socket_descriptor, buffer, 64000, 0, (struct sockaddr *)&m_socket, &socket_len);
        if (size_read == 11) // Header
        {
            memcpy(&m_image_height, &buffer[1], 2);
            memcpy(&m_image_width, &buffer[3], 2);
            memcpy(&m_image_channels, &buffer[5], 1);
 
            if (image_pointer != NULL)
            {
                free(image_pointer);
                image_pointer = NULL;
            }
            if (m_image_buffer != NULL)
            {
                free(m_image_buffer);
                m_image_buffer = NULL;
            }
 
            m_image_buffer = (char *)malloc(m_image_height * m_image_width * m_image_channels);
            image_pointer = (uint8_t *)malloc(m_image_height * m_image_width * m_image_channels);
 
            memcpy(&m_timestamp, &buffer[6], sizeof(uint32_t));
            m_image_data_size = m_image_height * m_image_width * m_image_channels;
            m_is_reading_image = true;
            bytes_count = 0;
        }
        else if (size_read == 1) // End, send image
        {
            if(bytes_count != m_image_data_size)
            {
                ROS_WARN_STREAM("rgb_narrow NET PROBLEM: bytes_count != m_image_data_size");
                continue;
            }
 
            m_is_reading_image = false;
            bytes_count = 0;
            memcpy(image_pointer, m_image_buffer, m_image_data_size);
 
            cv::Mat img_data;
            if (m_image_channels == 1)
            {
                img_data = cv::Mat(m_image_height, m_image_width, CV_8UC1, image_pointer);
            }
            else if (m_image_channels == 2)
            {
                img_data = cv::Mat(m_image_height, m_image_width, CV_8UC2, image_pointer);
                if(g_rgb && !g_wide) // econ
                {
                    cv::cvtColor(img_data, img_data, cv::COLOR_YUV2BGR_YUYV);
                }
                else // econ wide and narrow
                {
                    cv::cvtColor(img_data, img_data, cv::COLOR_YUV2BGR_Y422);
                }
            }
            else if (m_image_channels == 3)
            {
                img_data = cv::Mat(m_image_height, m_image_width, CV_8UC3, image_pointer);
            }
 
            std_msgs::Header header;
            header.frame_id = g_rgb ? "rgb" : "allied_narrow";
            // m_timestamp format: hhmmsszzz
            time_t raw_time = ros::Time::now().toSec();
            std::tm *time_info = std::localtime(&raw_time);
            time_info->tm_sec = 0;
            time_info->tm_min = 0;
            time_info->tm_hour = 0;
            header.stamp.sec = std::mktime(time_info) +
                               (uint32_t)(m_timestamp / 10000000) * 3600 +     // hh
                               (uint32_t)((m_timestamp / 100000) % 100) * 60 + // mm
                               (uint32_t)((m_timestamp / 1000) % 100);         // ss
            header.stamp.nsec = (m_timestamp % 1000) * 1e6;                    // zzz
 
            const std::string encoding = m_image_channels == 1 ? sensor_msgs::image_encodings::MONO8 : sensor_msgs::image_encodings::BGR8;
            sensor_msgs::ImagePtr img_msg = cv_bridge::CvImage(header, encoding, img_data).toImageMsg();
 
            publisher.publish(img_msg);
        }
        else if (size_read > 0 && m_is_reading_image) // Data
        {
            memcpy(&m_image_buffer[bytes_count], buffer, size_read);
            bytes_count += size_read;
 
            // check if under size
            //if (bytes_count >= m_image_data_size)
            //    m_is_reading_image = false;
        }
        // size_read == -1 --> timeout
    }
 
    publisher.shutdown();
    ROS_INFO_STREAM("Exiting " << (g_rgb ? "RGB" : "Allied Narrow") << " streaming thread");
    free(buffer);
    free(m_image_buffer);
 
    shutdown(m_socket_descriptor, SHUT_RDWR);
    close(m_socket_descriptor);
 
    pthread_exit(0);
}
 
namespace l3cam_ros
{
    class RgbNarrowStream : public SensorStream
    {
    public:
        explicit RgbNarrowStream() : SensorStream()
        {
        }
 
        image_transport::Publisher publisher_;
 
    private:
        void stopListening()
        {
            g_listening = false;
        }
 
    }; // class RgbNarrowStream
 
} // namespace l3cam_ros
 
int main(int argc, char **argv)
{
    ros::init(argc, argv, "rgb_narrow_stream");
 
    l3cam_ros::RgbNarrowStream *node = new l3cam_ros::RgbNarrowStream();
 
    // Check if service is available
    ros::Duration timeout_duration(node->timeout_secs_);
    if (!node->client_get_sensors_.waitForExistence(timeout_duration))
    {
        ROS_ERROR_STREAM(node->getNamespace() << " error: " << getErrorDescription(L3CAM_ROS_SERVICE_AVAILABILITY_TIMEOUT_ERROR) << ". Waited " << timeout_duration << " seconds");
        return L3CAM_ROS_SERVICE_AVAILABILITY_TIMEOUT_ERROR;
    }
 
    int error = L3CAM_OK;
    bool sensor_is_available = false;
    // Shutdown if sensor is not available or if error returned
    if (node->client_get_sensors_.call(node->srv_get_sensors_))
    {
        error = node->srv_get_sensors_.response.error;
 
        if (!error)
        {
            for (int i = 0; i < node->srv_get_sensors_.response.num_sensors; ++i)
            {
                if (node->srv_get_sensors_.response.sensors[i].sensor_type == sensor_econ_rgb && node->srv_get_sensors_.response.sensors[i].sensor_available)
                {
                    sensor_is_available = true;
                    g_rgb = true;
                    g_wide = false;
                }
                else if (node->srv_get_sensors_.response.sensors[i].sensor_type == sensor_econ_wide && node->srv_get_sensors_.response.sensors[i].sensor_available)
                {
                    sensor_is_available = true;
                    g_rgb = true;
                    g_wide = true;
                }
                else if (node->srv_get_sensors_.response.sensors[i].sensor_type == sensor_allied_narrow && node->srv_get_sensors_.response.sensors[i].sensor_available)
                {
                    sensor_is_available = true;
                    g_rgb = false;
                }
            }
        }
        else
        {
            ROS_ERROR_STREAM(node->getNamespace() << " error " << error << " while checking sensor availability in " << __func__ << ": " << getErrorDescription(error));
            return error;
        }
    }
    else
    {
        ROS_ERROR_STREAM(node->getNamespace() << " error: Failed to call service get_sensors_available");
        return L3CAM_ROS_FAILED_TO_CALL_SERVICE;
    }
 
    if (sensor_is_available)
    {
        ROS_INFO_STREAM((g_rgb ? "RGB" : "Allied Narrow") << " camera available for streaming");
        node->declareServiceServers((g_rgb ? "rgb" : "allied_narrow"));
    }
    else
    {
        return 0;
    }
 
    image_transport::ImageTransport it(*node);
    node->publisher_ = it.advertise(g_rgb ? "/img_rgb" : "/img_narrow", 10);
    std::thread thread(ImageThread, node->publisher_);
    thread.detach();
 
    node->spin();
 
    node->publisher_.shutdown();
    g_listening = false;
    usleep(2000000);
 
    ros::shutdown();
    return 0;
}