* Container playback example

Signed-off-by: Christian Berger <christian.berger@gu.se>
se-research · Oct 25, 2017 · 6e28c5e · 6e28c5e
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diff --git a/tutorials/CMakeLists.txt b/tutorials/CMakeLists.txt
@@ -35,6 +35,7 @@ ADD_SUBDIRECTORY (diningphilosophers)
 ADD_SUBDIRECTORY (helloworld)
 ADD_SUBDIRECTORY (logmessage)
 ADD_SUBDIRECTORY (ipcsharedmemory)
+ADD_SUBDIRECTORY (playcontainers)
 ADD_SUBDIRECTORY (readzipfile)
 ADD_SUBDIRECTORY (realtimeservice)
 ADD_SUBDIRECTORY (serialreceivebytes)

diff --git a/tutorials/playcontainers/.gitignore b/tutorials/playcontainers/.gitignore
@@ -0,0 +1 @@
+playcontainers
diff --git a/tutorials/playcontainers/CMakeLists.txt b/tutorials/playcontainers/CMakeLists.txt
@@ -0,0 +1,56 @@
+# playcontainers - Sample application
+# Copyright (C) 2017 Christian Berger
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+
+CMAKE_MINIMUM_REQUIRED (VERSION 2.8)
+
+PROJECT (playcontainers)
+
+###########################################################################
+# Add a local CMake module search path dependent on the desired installation destination.
+# Thus, artifacts from the complete source build can be given precendence over any installed versions.
+IF(UNIX)
+    SET (CMAKE_MODULE_PATH "${CMAKE_INSTALL_PREFIX}/share/cmake-${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}/Modules" ${CMAKE_MODULE_PATH})
+ENDIF()
+IF(WIN32)
+    SET (CMAKE_MODULE_PATH "${CMAKE_INSTALL_PREFIX}/CMake-${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}/Modules" ${CMAKE_MODULE_PATH})
+ENDIF()
+
+###########################################################################
+# Compile flags to enable C++11.
+SET (CXX_OPTIONS       "-std=c++11")
+SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC ${CXX_OPTIONS} -pipe")
+
+###########################################################################
+# Find OpenDaVINCI.
+SET(OPENDAVINCI_DIR "${CMAKE_INSTALL_PREFIX}")
+FIND_PACKAGE (OpenDaVINCI REQUIRED)
+
+###############################################################################
+# Set header files from OpenDaVINCI.
+INCLUDE_DIRECTORIES (${OPENDAVINCI_INCLUDE_DIRS})
+# Set include directory.
+INCLUDE_DIRECTORIES(include)
+
+###############################################################################
+# Build this project.
+ADD_EXECUTABLE (playcontainers "PlayContainers.cpp")
+TARGET_LINK_LIBRARIES (playcontainers ${OPENDAVINCI_LIBRARIES}) 
+
+###############################################################################
+# Install this project.
+INSTALL(TARGETS playcontainers RUNTIME DESTINATION bin COMPONENT tutorials)
+
diff --git a/tutorials/playcontainers/Dockerfile b/tutorials/playcontainers/Dockerfile
@@ -0,0 +1,39 @@
+# Copyright (C) 2017  Christian Berger
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+FROM ubuntu:14.04
+MAINTAINER Christian Berger "christian.berger@gu.se"
+
+# Set the env variable DEBIAN_FRONTEND to noninteractive
+ENV DEBIAN_FRONTEND noninteractive
+
+# The following list of libraries was determined from the binaries up to the
+# top most layer.
+RUN apt-get update -y && \
+    apt-get upgrade -y && \
+    apt-get dist-upgrade -y
+
+RUN apt-get install -y --no-install-recommends \
+    ant \
+    build-essential \
+    cmake \
+    default-jdk \
+    default-jre \
+    python2.7
+
+RUN apt-get autoremove && \
+    apt-get autoclean && \
+    apt-get clean
+
diff --git a/tutorials/playcontainers/OpenDaVINCITestData-recording.rec b/tutorials/playcontainers/OpenDaVINCITestData-recording.rec
diff --git a/tutorials/playcontainers/PlayContainers.cpp b/tutorials/playcontainers/PlayContainers.cpp
@@ -0,0 +1,81 @@
+/**
+ * OpenDaVINCI - Tutorial.
+ * Copyright (C) 2017 Christian Berger
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ * 
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#include <iostream>
+
+#include <opendavinci/odcore/base/Lock.h>
+#include <opendavinci/odcore/data/Container.h>
+#include <opendavinci/odcore/io/URL.h>
+#include <opendavinci/odtools/player/Player.h>
+
+#include <opendavinci/odcore/wrapper/SharedMemory.h>
+#include <opendavinci/odcore/wrapper/SharedMemoryFactory.h>
+
+#include <opendavinci/generated/odcore/data/SharedPointCloud.h>
+
+using namespace std;
+
+int32_t main(int32_t argc, char **argv) {
+    if (2 != argc) {
+        cerr << "Use with: " << argv[0] << " file.rec" << endl;
+        return -1;
+    }
+    else {
+        // Setting file for playback.
+        odcore::io::URL url("file://" + string(argv[1]));
+        // Size of the memory buffer (should be large enough to hold point clouds for example).
+        const uint32_t MEMORY_SEGMENT_SIZE = 3*1024*1024;
+        // Number of memory segments.
+        const uint32_t NUMBER_OF_SEGMENTS = 3;
+        // If AUTO_REWIND is true, the file will be played endlessly.
+        const bool AUTO_REWIND = false;
+        // For sequential playback, THREADING must be set to false.
+        const bool TRHEADING = false;
+        // Construct the player.
+        odtools::player::Player player(url, AUTO_REWIND, MEMORY_SEGMENT_SIZE, NUMBER_OF_SEGMENTS, TRHEADING);
+
+        std::shared_ptr<odcore::wrapper::SharedMemory> spcSharedMemory;
+
+        while (player.hasMoreData()) {
+            // Read the next container from file.
+            odcore::data::Container c = player.getNextContainerToBeSent();
+
+            cout << "Found Container " << c.getDataType()
+                                       << ", sent " << c.getSentTimeStamp().getYYYYMMDD_HHMMSSms()
+                                       << ", received " << c.getReceivedTimeStamp().getYYYYMMDD_HHMMSSms()
+                                       << ", sample time stamp " << c.getSampleTimeStamp().getYYYYMMDD_HHMMSSms() << endl;
+
+            if (c.getDataType() == odcore::data::SharedPointCloud::ID()) {
+                odcore::data::SharedPointCloud spc = c.getData<odcore::data::SharedPointCloud>();
+                cout << spc.toString() << endl;
+
+                if (spcSharedMemory.get() != NULL) {
+                    // Attach the shared point cloud to the shared memory.
+                    spcSharedMemory = odcore::wrapper::SharedMemoryFactory::attachToSharedMemory(spc.getName());
+                }
+                else {
+                    odcore::base::Lock l(spcSharedMemory);
+                    // TODO: Do something with the raw data in memory; cf. https://github.com/se-research/OpenDaVINCI/blob/master/odcockpit/src/plugins/environmentviewer/EnvironmentViewerGLWidget.cpp#L489-L558
+                }
+            }
+        }
+
+    }
+}
+
diff --git a/tutorials/playcontainers/README.rst b/tutorials/playcontainers/README.rst
@@ -0,0 +1,104 @@
+How to read Containers from a .rec file
+"""""""""""""""""""""""""""""""""""""""
+
+OpenDaVINCI provides tools to process recordings (.rec, .rec.mem, and .h264
+files). The sources for this example are available at
+https://github.com/se-research/OpenDaVINCI/tree/master/tutorials/playcontainers
+
+In order to read ``Containers``, which hold messages that are exchanged among
+distributed software components.
+
+PlayContainers.cpp::
+
+.. code-block:: c++
+
+    #include <iostream>
+
+    #include <opendavinci/odcore/base/Lock.h>
+    #include <opendavinci/odcore/data/Container.h>
+    #include <opendavinci/odcore/io/URL.h>
+    #include <opendavinci/odtools/player/Player.h>
+
+    #include <opendavinci/odcore/wrapper/SharedMemory.h>
+    #include <opendavinci/odcore/wrapper/SharedMemoryFactory.h>
+
+    #include <opendavinci/generated/odcore/data/SharedPointCloud.h>
+
+    using namespace std;
+
+    int32_t main(int32_t argc, char **argv) {
+        if (2 != argc) {
+            cerr << "Use with: " << argv[0] << " file.rec" << endl;
+            return -1;
+        }
+        else {
+            // Setting file for playback.
+            odcore::io::URL url("file://" + string(argv[1]));
+            // Size of the memory buffer (should be large enough to hold point clouds for example).
+            const uint32_t MEMORY_SEGMENT_SIZE = 3*1024*1024;
+            // Number of memory segments.
+            const uint32_t NUMBER_OF_SEGMENTS = 3;
+            // If AUTO_REWIND is true, the file will be played endlessly.
+            const bool AUTO_REWIND = false;
+            // For sequential playback, THREADING must be set to false.
+            const bool TRHEADING = false;
+            // Construct the player.
+            odtools::player::Player player(url, AUTO_REWIND, MEMORY_SEGMENT_SIZE, NUMBER_OF_SEGMENTS, TRHEADING);
+
+            std::shared_ptr<odcore::wrapper::SharedMemory> spcSharedMemory;
+
+            while (player.hasMoreData()) {
+                // Read the next container from file.
+                odcore::data::Container c = player.getNextContainerToBeSent();
+
+                cout << "Found Container " << c.getDataType()
+                                           << ", sent " << c.getSentTimeStamp().getYYYYMMDD_HHMMSSms()
+                                           << ", received " << c.getReceivedTimeStamp().getYYYYMMDD_HHMMSSms()
+                                           << ", sample time stamp " << c.getSampleTimeStamp().getYYYYMMDD_HHMMSSms() << endl;
+
+                if (c.getDataType() == odcore::data::SharedPointCloud::ID()) {
+                    odcore::data::SharedPointCloud spc = c.getData<odcore::data::SharedPointCloud>();
+                    cout << spc.toString() << endl;
+
+                    if (spcSharedMemory.get() != NULL) {
+                        // Attach the shared point cloud to the shared memory.
+                        spcSharedMemory = odcore::wrapper::SharedMemoryFactory::attachToSharedMemory(spc.getName());
+                    }
+                    else {
+                        odcore::base::Lock l(spcSharedMemory);
+                        // TODO: Do something with the raw data in memory; cf. https://github.com/se-research/OpenDaVINCI/blob/master/odcockpit/src/plugins/environmentviewer/EnvironmentViewerGLWidget.cpp#L489-L558
+                    }
+                }
+            }
+
+        }
+    }
+
+To read ``Containers``, your application needs to include
+``<opendavinci/odtools/player/Player.h>``.
+
+``Player`` handles the processing of .rec and .rec.mem files; the former simply
+contain the dump of any ``Container`` that is received during a recording session.
+A ``Container`` is a Protobuf-encoded message prepended with the byte sequence
+0x0D 0xA4 0xXX 0xYY 0xZZ; the last three bytes encode the length of the following
+Protobuf-encoded message in little-endian encoding. The .rec.mem file contain a
+dump of shared memory area at a given point in time as described by the meta
+data structures ``SharedImage`` or ``SharedPointCloud``. These data structures
+do not contain any useful payload but describe the actual payload that is stored
+in a shared memory area.
+
+In the example code, the instance of class ``Player`` is looping once through
+all entries in a given .rec file and .rec.mem file. If the next ``Container``
+to be handled is one of the meta-data structures, the example code is testing
+for ``SharedPointCloud`` data and attaching to the shared memory area where
+the payload data is available.
+
+You can compile and link the example::
+
+   g++ -std=c++11 -I /usr/include -c PlayContainers.cpp -o PlayContainers.o
+   g++ -o playcontainers PlayContainers.o -lopendavinci -lpthread
+
+To test the program, simply run it as follows::
+
+    $ ./playcontainers MyFile.rec
+