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oculus_client.cpp
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oculus_client.cpp
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#include <fstream>
#include <memory>
#include <string>
#include <thread>
using std::string;
#include <libg3logger/g3logger.h>
#include <CLI/CLI.hpp>
#include <boost/asio.hpp>
#include <boost/bind.hpp>
#include "liboculus/DataRx.h"
#include "liboculus/IoServiceThread.h"
#include "liboculus/PingAgreesWithConfig.h"
#include "liboculus/SonarPlayer.h"
#include "liboculus/StatusRx.h"
using std::ios_base;
using std::ofstream;
using std::shared_ptr;
using liboculus::DataRx;
using liboculus::IoServiceThread;
using liboculus::SimplePingResult;
using liboculus::SonarConfiguration;
using liboculus::SonarPlayerBase;
using liboculus::SonarStatus;
using liboculus::StatusRx;
// using liboculus::SonarPlayer;
int playbackSonarFile(const std::string &filename, ofstream &output,
int stopAfter = -1);
// Make these global so signal handler can access it
std::unique_ptr<liboculus::IoServiceThread> _io_thread;
bool doStop = false;
// Catch signals
void signalHandler(int signo) {
if (_io_thread) _io_thread->stop();
doStop = true;
}
double mean_image_intensity(const liboculus::ImageData &imageData) {
double f = 0;
for (int r = 0; r < imageData.nRanges(); ++r) {
for (int a = 0; a < imageData.nBeams(); ++a) {
f += imageData.at_uint32(a, r);
}
}
f /= (imageData.nRanges() * imageData.nBeams());
return f;
}
int main(int argc, char **argv) {
libg3logger::G3Logger logger("ocClient");
CLI::App app{"Simple Oculus Sonar app"};
int verbosity = 0;
app.add_flag("-v,--verbose", verbosity,
"Additional output (use -vv for even more!)");
string ipAddr("auto");
app.add_option("ip", ipAddr,
"IP address of sonar or \"auto\" to automatically detect.");
string outputFilename("");
app.add_option("-o,--output", outputFilename,
"Saves raw sonar data to specified file.");
// Playback currently not working
// string inputFilename("");
// app.add_option("-i,--input", inputFilename,
// "Reads raw sonar data from specified file. Plays file "
// "contents rather than contacting \"real\" sonar on
// network.");
int bitDepth(8);
app.add_option("-b,--bits", bitDepth, "Bit depth oof data (8,16,32)");
int stopAfter = -1;
app.add_option("-n,--frames", stopAfter, "Stop after (n) frames.");
float range = 4;
app.add_option("-r,--range", range, "Range in meters");
float gain = 50;
app.add_option("-g, --gain", gain, "Gain as a percentage (1-100)");
CLI11_PARSE(app, argc, argv);
if (verbosity == 1) {
logger.setLevel(INFO);
} else if (verbosity > 1) {
logger.setLevel(DEBUG);
}
if ((bitDepth != 8) && (bitDepth != 16) && (bitDepth != 32)) {
LOG(FATAL) << "Invalid bit depth " << bitDepth;
exit(-1);
}
if ((gain < 1) || (gain > 100)) {
LOG(FATAL) << "Invalid gain " << gain
<< "; should be in the range of 1-100";
}
ofstream output;
if (!outputFilename.empty()) {
LOG(DEBUG) << "Opening output file " << outputFilename;
output.open(outputFilename, ios_base::binary | ios_base::out);
if (!output.is_open()) {
LOG(WARNING) << "Unable to open " << outputFilename << " for output.";
exit(-1);
}
}
// If playing back an input file, run a different main loop ...
// if (!inputFilename.empty()) {
// playbackSonarFile(inputFilename, output, stopAfter);
// return 0;
// }
int count = 0;
signal(SIGHUP, signalHandler);
LOG(DEBUG) << "Starting loop";
SonarConfiguration config;
config.setPingRate(pingRateNormal);
LOG(INFO) << "Setting range to " << range;
config.setRange(range);
LOG(INFO) << "Setting gain to " << gain;
config.setGainPercent(gain).noGainAssistance();
if (bitDepth == 8) {
config.setDataSize(dataSize8Bit);
} else if (bitDepth == 16) {
config.setDataSize(dataSize16Bit);
} else if (bitDepth == 32) {
config.sendGain().setDataSize(dataSize32Bit);
}
_io_thread.reset(new IoServiceThread);
DataRx _data_rx(_io_thread->context());
StatusRx _status_rx(_io_thread->context());
// Callback for a SimplePingResultV1
_data_rx.setCallback<liboculus::SimplePingResultV1>(
[&](const liboculus::SimplePingResultV1 &ping) {
// Pings are only sent to the callback if valid()
// don't need to check independently
{
const auto valid = checkPingAgreesWithConfig(ping, config);
if (!valid) {
LOG(WARNING) << "Mismatch between requested config and ping";
}
}
ping.dump();
if (output.is_open()) {
const char *cdata =
reinterpret_cast<const char *>(ping.buffer()->data());
output.write(cdata, ping.buffer()->size());
}
LOG(DEBUG) << "Average intensity: "
<< mean_image_intensity(ping.image());
count++;
if ((stopAfter > 0) && (count >= stopAfter)) _io_thread->stop();
});
// Callback for a SimplePingResultV2
_data_rx.setCallback<liboculus::SimplePingResultV2>(
[&](const liboculus::SimplePingResultV2 &ping) {
// Pings are only sent to the callback if valid()
// don't need to check independently
{
const auto valid = checkPingAgreesWithConfig(ping, config);
if (!valid) {
LOG(WARNING) << "Mismatch between requested config and ping";
}
}
ping.dump();
if (output.is_open()) {
const char *cdata =
reinterpret_cast<const char *>(ping.buffer()->data());
output.write(cdata, ping.buffer()->size());
}
LOG(DEBUG) << "Average intensity: "
<< mean_image_intensity(ping.image());
count++;
if ((stopAfter > 0) && (count >= stopAfter)) doStop = true;
});
// When the _data_rx connects, send the configuration
_data_rx.setOnConnectCallback([&]() {
config.dump();
_data_rx.sendSimpleFireMessage(config);
});
// Connect the client
if (ipAddr == "auto") {
// To autoconnect, define a callback for the _status_rx which
// connects _data_rx to the received IP address
_status_rx.setCallback([&](const SonarStatus &status, bool is_valid) {
if (!is_valid || _data_rx.isConnected()) return;
_data_rx.connect(status.ipAddr());
});
} else {
// Otherwise, just (attempt to) connect the DataRx to the specified IP
// address
_data_rx.connect(ipAddr);
}
_io_thread->start();
int lastCount = 0;
while (!doStop) {
// Very rough Hz calculation right now
const auto c = count;
LOG(INFO) << "Received pings at " << c - lastCount << " Hz";
lastCount = c;
sleep(1);
}
_io_thread->stop();
_io_thread->join();
if (output.is_open()) output.close();
LOG(INFO) << "At exit";
return 0;
}
// !! Playback not currently working
//
// int playbackSonarFile(const std::string &filename, ofstream &output,
// int stopAfter) {
// shared_ptr<SonarPlayerBase> player(SonarPlayerBase::OpenFile(filename));
// if (!player) {
// LOG(WARNING) << "Unable to open sonar file";
// return -1;
// }
// if (!player->open(filename)) {
// LOG(INFO) << "Failed to open " << filename;
// return -1;
// }
// int count = 0;
// // SimplePingResult ping;
// // while( player->nextPing(ping) && !player->eof() ) {
// // if (!ping.valid()) {
// // LOG(WARNING) << "Invalid ping";
// // continue;
// // }
// // ping.dump();
// // if (output.is_open()) {
// // const char *cdata = reinterpret_cast<const char
// *>(ping.buffer().data());
// // output.write(cdata, ping.buffer().size());
// // }
// // count++;
// // if( (stopAfter > 0) && (count >= stopAfter) ) break;
// // }
// LOG(INFO) << count << " sonar packets decoded";
// return 0;
// }