Merge pull request #27 from robocin/add_protobuf

feat(Protobuf): creates protobuf packets, protobuf files generator and paths include in cmake, receiver code for tests,

.devcontainer/Dockerfile

@@ -15,4 +15,4 @@ RUN if [ "${REINSTALL_CMAKE_VERSION_FROM_SOURCE}" != "none" ]; then \
 
 # [Optional] Uncomment this section to install additional packages.
 RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
-    && apt-get -y install --no-install-recommends qt5-default libsfml-dev libopencv-dev freeglut3-dev
+    && apt-get -y install --no-install-recommends qt5-default libsfml-dev libopencv-dev freeglut3-dev protobuf-compiler libprotobuf-dev

.devcontainer/devcontainer.json

@@ -7,6 +7,7 @@
 	},
 
 	"runArgs": [
+		"--device=/dev:/dev/video0",
 		"-e", "DISPLAY=${env:DISPLAY}",
 		"-v", "/tmp/.X11-unix:/tmp/.X11-unix",
 		"--network=host"

.gitignore

@@ -20,6 +20,7 @@ src/Utils/dest.txt
 build/
 bin/
 *avi
+.cache/
 
 #All logging files (including rotative)
 src/Log/*

CMakeLists.txt

@@ -10,7 +10,6 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED True)
 set(EXECUTABLE_OUTPUT_PATH "${PROJECT_SOURCE_DIR}/src")
 
-
 set(SOURCES
     src/main.cpp
     src/Utils/Utils.cpp
@@ -48,6 +47,7 @@ set(SOURCES
     src/Windows/RobotWidget.cpp
     src/trackconfigdialog.cpp
     src/Network/Network.cpp
+    src/Network/visionServer/server.cpp
 )
 
 set(HEADERS
@@ -90,26 +90,39 @@ set(HEADERS
     src/trackconfigdialog.h
     src/Windows/FileConstants.h
     src/Network/Network.h
+    src/Network/visionServer/server.h
 )
 
 set(RESOURCES
     src/image.qrc
     src/iconTools/icontools.qrc
 )
 
-add_executable(VSS-VISION ${SOURCES} ${HEADERS} ${RESOURCES})
+set(PROTOS
+    src/Network/protobuf/proto/messages_robocup_ssl_detection.proto
+    src/Network/protobuf/proto/messages_robocup_ssl_geometry.proto
+    src/Network/protobuf/proto/wrapper.proto
+)
+
+find_package(Protobuf REQUIRED)
+protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${PROTOS})
 
-target_include_directories(VSS-VISION PUBLIC "${PROJECT_SOURCE_DIR}/src")
-target_include_directories(VSS-VISION PUBLIC "${PROJECT_SOURCE_DIR}/include")
+add_executable(${PROJECT_NAME} ${SOURCES} ${HEADERS} ${RESOURCES} ${PROTO_SRCS} ${PROTO_HDRS})
 
-find_package(Qt5 REQUIRED COMPONENTS Core Widgets Gui)
-target_link_libraries(VSS-VISION Qt5::Core Qt5::Widgets Qt5::Gui)
+target_include_directories(${PROJECT_NAME} PUBLIC "${PROJECT_SOURCE_DIR}/src")
+target_include_directories(${PROJECT_NAME} PUBLIC "${PROJECT_SOURCE_DIR}/include")
+target_include_directories(${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_BINARY_DIR})
+
+find_package(Qt5 REQUIRED COMPONENTS Core Widgets Gui Network)
+target_link_libraries(${PROJECT_NAME} Qt5::Core Qt5::Widgets Qt5::Gui Qt5::Network)
 
 find_package(OpenCV REQUIRED)
-target_link_libraries(VSS-VISION ${OpenCV_LIBS})
+target_link_libraries(${PROJECT_NAME} ${OpenCV_LIBS})
 
 find_package(TBB REQUIRED)
-target_link_libraries(VSS-VISION TBB::tbb)
+target_link_libraries(${PROJECT_NAME} TBB::tbb)
 
 find_package(SFML REQUIRED COMPONENTS network system)
-target_link_libraries(VSS-VISION sfml-network sfml-system)
+target_link_libraries(${PROJECT_NAME} sfml-network sfml-system)
+
+target_link_libraries(${PROJECT_NAME} ${Protobuf_LIBRARIES})

Dockerfile

@@ -11,13 +11,15 @@ RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
     libsfml-dev \
     libopencv-dev \
     freeglut3-dev \
+    protobuf-compiler \
+    libprotobuf-dev \ 
     cmake
 
 COPY . /opt/vss-vision
 
 WORKDIR /opt/vss-vision/build
 
-RUN cmake clean .. && make -j4
+RUN cmake clean .. -Wno-dev && make -j4
 
 WORKDIR /opt/vss-vision/src
 

InstallDependencies

@@ -14,4 +14,8 @@ sudo apt install libopencv-dev -y
 sudo apt install freeglut3-dev -y
 
 # Install QT5
-sudo apt install qt5-default -y
+sudo apt install qt5-default -y
+
+# Intall Protobuf
+sudo apt install libprotobuf -y
+sudo apt install protobuf-compiler -y

README.md

@@ -12,6 +12,7 @@ Qt5
 OpenCV
 SFML
 TBB
+Protobuf
 ```
 ## Running with docker
 1. Build the vss-vision image using the shell script

client/python/receiver.py

@@ -0,0 +1,57 @@
+import socket
+import struct
+from time import time
+import wrapper_pb2 as wr
+
+class FiraClient:
+
+    def __init__(self, 
+            vision_ip="224.5.23.2",
+            vision_port=10015):
+        """
+        Init SSLClient object.
+        Extended description of function.
+        Parameters
+        ----------
+        vision_ip : str
+            Multicast Vision IP in format '255.255.255.255'. 
+        vision_port : int
+            Vision Port up to 1024. 
+        """
+
+        self.vision_ip = vision_ip
+        self.vision_port = vision_port
+
+        self.vision_sock = socket.socket(
+            socket.AF_INET, socket.SOCK_DGRAM)
+        self.vision_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+        self.vision_sock.setsockopt(socket.IPPROTO_IP, 
+                        socket.IP_MULTICAST_TTL, 128)
+        self.vision_sock.setsockopt(socket.IPPROTO_IP, 
+                        socket.IP_MULTICAST_LOOP, 1)
+        self.vision_sock.bind((self.vision_ip, self.vision_port))
+
+        # self.vision_sock.setblocking(True)
+        self.frame = None
+        self.det_frame = None
+
+    def receive_frame(self):
+        """Receive package and decode."""
+        data = None
+        while True:
+            try:
+                data, _ = self.vision_sock.recvfrom(1024)
+            except Exception as e:
+                print(e)
+            if data != None:
+                break
+
+        if data != None:
+            decoded_data = wr.SSL_WrapperPacket().FromString(data)
+        print(decoded_data)
+        # return self.frame, self.det_frame
+
+a = FiraClient()
+while(1):
+    a.receive_frame()
+

docker_run

@@ -15,13 +15,6 @@ then
 else
 	echo "setting camera /dev/video$1"
 	# Camera id argument supplied
-	docker run \
-	--rm \
-	--device=/dev/video$1:/dev/video0 \ # Mount camera device
-	-v vss-vision-config:/opt/vss-vision/src/Config \
-	-v /tmp/.X11-unix:/tmp/.X11-unix \
-	-e DISPLAY=$DISPLAY \
-	--network=host \
-	vss-vision
+	docker run --rm --device=/dev/video$1:/dev/video0 -v vss-vision-config:/opt/vss-vision/src/Config -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY --network=host vss-vision
 fi
 xhost -