Merge pull request IntelRealSense#6136 from dorodnic/ethernet

RealSense Device over Network

CMake/global_config.cmake

@@ -69,6 +69,11 @@ macro(global_set_flags)
         include(libusb_config)
     endif()
 
+    if(BUILD_NETWORK_DEVICE)
+        add_definitions(-DNET_DEVICE)
+        set(LRS_NET_TARGET realsense2-net)
+    endif()
+
     add_definitions(-D${BACKEND} -DUNICODE)
 endmacro()
 

CMake/lrs_options.cmake

@@ -27,6 +27,7 @@ option(BUILD_OPENNI2_BINDINGS "Build OpenNI bindings" OFF)
 option(IMPORT_DEPTH_CAM_FW "Download the latest firmware for the depth cameras" ON)
 option(BUILD_CV_KINFU_EXAMPLE "Build OpenCV KinectFusion example" OFF)
 option(FORCE_RSUSB_BACKEND "Use RS USB backend, mandatory for Win7/MacOS/Android, optional for Linux" OFF)
+option(BUILD_NETWORK_DEVICE "Build Network Device support" OFF)
 option(FORCE_LIBUVC "Explicitly turn-on libuvc backend - deprecated, use FORCE_RSUSB_BACKEND instead" OFF)
 option(FORCE_WINUSB_UVC "Explicitly turn-on winusb_uvc (for win7) backend - deprecated, use FORCE_RSUSB_BACKEND instead" OFF)
 option(ANDROID_USB_HOST_UVC "Build UVC backend for Android - deprecated, use FORCE_RSUSB_BACKEND instead" OFF)

CMake/realsense2-netConfig.cmake.in

@@ -0,0 +1,12 @@
+@PACKAGE_INIT@
+
+set(realsense2-net_VERSION_MAJOR "@REALSENSE_VERSION_MAJOR@")
+set(realsense2-net_VERSION_MINOR "@REALSENSE_VERSION_MINOR@")
+set(realsense2-net_VERSION_PATCH "@REALSENSE_VERSION_PATCH@")
+
+set(realsense2-net_VERSION ${realsense2-net_VERSION_MAJOR}.${realsense2-net_VERSION_MINOR}.${realsense2-gl_VERSION_PATCH})
+
+set_and_check(realsense2-net_INCLUDE_DIR "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@")
+
+include("${CMAKE_CURRENT_LIST_DIR}/realsense2-netTargets.cmake")
+set(realsense2-net_LIBRARY realsense2-net::realsense2-net)

CMake/unix_config.cmake

@@ -10,6 +10,7 @@ macro(os_set_flags)
     if(${MACHINE} MATCHES "arm-linux-gnueabihf")
         set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -mfpu=neon -mfloat-abi=hard -ftree-vectorize -latomic")
         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -mfloat-abi=hard -ftree-vectorize -latomic")
+        add_definitions(-DRASPBERRY_PI)
     elseif(${MACHINE} MATCHES "aarch64-linux-gnu")
         set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -mstrict-align -ftree-vectorize")
         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mstrict-align -ftree-vectorize")

CMakeLists.txt

@@ -87,6 +87,11 @@ if(BUILD_UNIT_TESTS)
     add_subdirectory(unit-tests)
 endif()
 
+if(BUILD_NETWORK_DEVICE)
+    add_subdirectory(src/ethernet)
+    add_subdirectory(src/compression)
+endif()
+
 if(BUILD_WITH_TM2)
     add_tm2()
 endif()

common/model-views.cpp

@@ -5339,8 +5339,9 @@ namespace rs2
         // draw device header
         ////////////////////////////////////////
         const bool is_playback_device = dev.is<playback>();
+        bool is_ip_device = dev.supports(RS2_CAMERA_INFO_IP_ADDRESS);
         auto header_h = panel_height;
-        if (is_playback_device) header_h += 15;
+        if (is_playback_device || is_ip_device) header_h += 15;
 
         ImColor device_header_background_color = title_color;
         const float left_space = 3.f;
@@ -5372,28 +5373,39 @@ namespace rs2
         std::stringstream ss;
         if(dev.supports(RS2_CAMERA_INFO_NAME))
             ss << dev.get_info(RS2_CAMERA_INFO_NAME);
-        ImGui::Text(" %s", ss.str().c_str());
-        if (dev.supports(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR))
+        if(is_ip_device)
         {
-            std::string desc = dev.get_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR);
-            ss.str("");
-            ss << "   " << textual_icons::usb_type << " " << desc;
-            ImGui::SameLine();
-            if (!starts_with(desc, "3.")) ImGui::PushStyleColor(ImGuiCol_Text, yellow);
-            else ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
-            ImGui::Text(" %s", ss.str().c_str());
-            ImGui::PopStyleColor();
-            ss.str("");
-            ss << "The camera was detected by the OS as connected to a USB " << desc << " port";
+            ImGui::Text(" %s", ss.str().substr(0, ss.str().find("\n IP Device")).c_str());
+
             ImGui::PushFont(window.get_font());
-            ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
-            if (ImGui::IsItemHovered())
-                ImGui::SetTooltip(" %s", ss.str().c_str());
-            ImGui::PopStyleColor();
+            ImGui::Text("\tNetwork Device at %s", dev.get_info(RS2_CAMERA_INFO_IP_ADDRESS));
             ImGui::PopFont();
         }
+        else
+        {
+            ImGui::Text(" %s", ss.str().c_str());
 
-
+            if (dev.supports(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR))
+            {
+                std::string desc = dev.get_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR);
+                ss.str("");
+                ss << "   " << textual_icons::usb_type << " " << desc;
+                ImGui::SameLine();
+                if (!starts_with(desc, "3.")) ImGui::PushStyleColor(ImGuiCol_Text, yellow);
+                else ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
+                ImGui::Text(" %s", ss.str().c_str());
+                ImGui::PopStyleColor();
+                ss.str("");
+                ss << "The camera was detected by the OS as connected to a USB " << desc << " port";
+                ImGui::PushFont(window.get_font());
+                ImGui::PushStyleColor(ImGuiCol_Text, light_grey);
+                if (ImGui::IsItemHovered())
+                    ImGui::SetTooltip(" %s", ss.str().c_str());
+                ImGui::PopStyleColor();
+                ImGui::PopFont();
+            }
+        }
+
         //ImGui::Text(" %s", dev.get_info(RS2_CAMERA_INFO_NAME));
         ImGui::PopFont();
 

common/model-views.h

@@ -172,6 +172,8 @@ namespace rs2
             static const char* show_map_ruler      { "viewer_model.show_map_ruler" };
             static const char* show_stream_details { "viewer_model.show_stream_details" };
             static const char* metric_system       { "viewer_model.metric_system" };
+
+            static const char* last_ip             { "viewer_model.last_ip" };
         }
         namespace window
         {

config/librealsense-net.pc.in

@@ -0,0 +1,17 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=${prefix}
+includedir=${prefix}/include
+#TODO: libdir=${exec_prefix}/lib@MULTI_ARCH_SUFFIX@
+libdir= ${prefix}/lib/x86_64-linux-gnu
+
+Name: realsense2-gl
+Description: Intel(R) RealSense(tm) Network Device Extension Module
+Version: @REALSENSE-NET_VERSION_STRING@
+URL: https://github.com/IntelRealSense/librealsense
+Requires.private: @LRS_LIB_NAME@
+Libs: -L${libdir} -l@LRS_LIB_NAME@
+Libs.private: @LRS_PKG_LIBS@
+Cflags: -I${includedir}
+
+#TODO check -Wl -Bdynamic
+#Libs: -L${libdir} -Wl,-Bdynamic -lrealsense

include/librealsense2-net/rs_net.h

@@ -0,0 +1,29 @@
+/* License: Apache 2.0. See LICENSE file in root directory.
+   Copyright(c) 2020 Intel Corporation. All Rights Reserved. */
+
+/** \file rs_net.h
+* \
+* Exposes RealSense network device functionality for C compilers
+*/
+
+#ifndef LIBREALSENSE_RS2_NET_H
+#define LIBREALSENSE_RS2_NET_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "librealsense2/rs.h"
+
+/**
+ * Net device is a rs2_device that can be stream and be contolled remotely over network 
+ * \param[in] api_version Users are expected to pass their version of \c RS2_API_VERSION to make sure they are running the correct librealsense version.
+ * \param[in] address remote devce ip address. should be the address of the hosting device
+ * \param[out] error  if non-null, receives any error that occurs during this call, otherwise, errors are ignored
+ */
+rs2_device* rs2_create_net_device(int api_version, const char* address, rs2_error** error);
+
+#ifdef __cplusplus
+}
+#endif
+#endif

include/librealsense2-net/rs_net.hpp

@@ -0,0 +1,47 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2020 Intel Corporation. All Rights Reserved.
+
+#ifndef LIBREALSENSE_RS2_NET_HPP
+#define LIBREALSENSE_RS2_NET_HPP
+
+#include <librealsense2/rs.hpp>
+#include "rs_net.h"
+
+#include <memory>
+
+namespace rs2
+{
+        class net_device : public rs2::device
+        {
+        public:
+            net_device(const std::string& address) : rs2::device(init(address)) { }
+
+            /**
+            * Add network device to existing context.
+            * Any future queries on the context will return this device.
+            * This operation cannot be undone (except for destroying the context)
+            *
+            * \param[in] ctx   context to add the device to
+            */
+            void add_to(context& ctx)
+            {
+                rs2_error* e = nullptr;
+                rs2_context_add_software_device(((std::shared_ptr<rs2_context>)ctx).get(), _dev.get(), &e);
+                error::handle(e);
+            }
+
+
+        private:
+            std::shared_ptr<rs2_device> init(const std::string& address)
+            {
+                rs2_error* e = nullptr;
+                auto dev = std::shared_ptr<rs2_device>(
+                    rs2_create_net_device(RS2_API_VERSION, address.c_str(), &e),
+                    rs2_delete_device);
+                error::handle(e);
+
+                return dev;
+            }
+        };
+}
+#endif // LIBREALSENSE_RS2_NET_HPP

include/librealsense2/h/rs_sensor.h

@@ -33,6 +33,7 @@ typedef enum rs2_camera_info {
     RS2_CAMERA_INFO_PRODUCT_LINE                   , /**< Device product line D400/SR300/L500/T200 */
     RS2_CAMERA_INFO_ASIC_SERIAL_NUMBER             , /**< ASIC serial number */
     RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID             , /**< Firmware update ID */
+    RS2_CAMERA_INFO_IP_ADDRESS                     , /**< IP address for remote camera. */
     RS2_CAMERA_INFO_COUNT                            /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
 } rs2_camera_info;
 const char* rs2_camera_info_to_string(rs2_camera_info info);

include/librealsense2/hpp/rs_internal.hpp

@@ -259,23 +259,25 @@ namespace rs2
 
     class software_device : public device
     {
-        std::shared_ptr<rs2_device> create_device_ptr()
+        std::shared_ptr<rs2_device> create_device_ptr(std::function<void(rs2_device*)> deleter)
         {
             rs2_error* e = nullptr;
             std::shared_ptr<rs2_device> dev(
                 rs2_create_software_device(&e),
-                rs2_delete_device);
+                deleter);
             error::handle(e);
             return dev;
         }
 
     public:
-        software_device()
-            : device(create_device_ptr())
-        {}
+        software_device(std::function<void(rs2_device*)> deleter = &rs2_delete_device)
+            : device(create_device_ptr(deleter))
+        {
+            this->set_destruction_callback([]{});
+        }
 
         software_device(std::string name)
-            : device(create_device_ptr())
+            : device(create_device_ptr(&rs2_delete_device))
         {
             update_info(RS2_CAMERA_INFO_NAME, name);
         }

scripts/setup_network_queues.sh

@@ -0,0 +1,6 @@
+#!/bin/bash -e
+
+echo 8388608 > /proc/sys/net/core/wmem_default
+echo 8388608 > /proc/sys/net/core/rmem_default
+
+echo "Setting-up network queues successfully changed"

src/compression/CMakeLists.txt

@@ -0,0 +1,65 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2019 Intel Corporation. All Rights Reserved.
+cmake_minimum_required(VERSION 3.1.0)
+
+project(realsense2-compression VERSION 1.0.0 LANGUAGES CXX C)
+
+# Save the command line compile commands in the build output
+set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
+
+set(DEPENDENCIES ${DEPENDENCIES} realsense2)
+
+file(GLOB COMPRESSION_SOURCES 
+    "*.h"
+    "*.cpp"
+    "../ipDeviceCommon/*.h"
+)
+
+set(COMPRESSION_SOURCES ${COMPRESSION_SOURCES} ${LZ4_DIR}/lz4.h ${LZ4_DIR}/lz4.c)
+
+add_library(${PROJECT_NAME} STATIC ${COMPRESSION_SOURCES})
+
+include_directories(${PROJECT_NAME}
+    ../../common
+    ../ipDeviceCommon
+    ../../third-party/easyloggingpp/src    
+)
+
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_11)
+#set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 11)
+
+add_dependencies(${PROJECT_NAME} 
+    libjpeg-turbo
+)
+
+include_directories(${PROJECT_NAME}
+    ${CMAKE_BINARY_DIR}/libjpeg-turbo/include
+    ${LZ4_DIR}
+)
+
+if(WIN32)
+    target_link_libraries(${PROJECT_NAME}
+        PRIVATE ${DEPENDENCIES}
+        PRIVATE ${CMAKE_BINARY_DIR}/libjpeg-turbo/lib/turbojpeg-static.lib
+    )
+else()
+    target_link_libraries(${PROJECT_NAME}
+        PRIVATE ${DEPENDENCIES}
+        PRIVATE ${CMAKE_BINARY_DIR}/libjpeg-turbo/lib/libturbojpeg.a
+    )
+endif()    
+
+set_target_properties (${PROJECT_NAME} PROPERTIES FOLDER "Library")
+
+set(CMAKECONFIG_COMPRESS_INSTALL_DIR "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")
+install(TARGETS ${PROJECT_NAME}
+    EXPORT realsense2-compressTargets
+    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+    PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)
+
+install(EXPORT realsense2-compressTargets
+    FILE realsense2-compressTargets.cmake
+    NAMESPACE ${PROJECT_NAME}::
+    DESTINATION ${CMAKECONFIG_COMPRESS_INSTALL_DIR}
+)