Merge pull request IntelRealSense#29 from IntelRealSense/scpungin_LRS…

…_integration

add profile hash

third-party/live/liveMedia/MultiFramedRTPSink.cpp

@@ -53,6 +53,7 @@ MultiFramedRTPSink::MultiFramedRTPSink(UsageEnvironment& env,
 	    rtpPayloadFormatName, numChannels),
     fOutBuf(NULL), fCurFragmentationOffset(0), fPreviousFrameEndedFragmentation(False),
     fOnSendErrorFunc(NULL), fOnSendErrorData(NULL) {
+       env << "MultiFramedRTPSink constructor\n";
   setPacketSizes((RTP_PAYLOAD_PREFERRED_SIZE), (RTP_PAYLOAD_MAX_SIZE));
 }
 
@@ -156,6 +157,7 @@ void MultiFramedRTPSink::setFramePadding(unsigned numPaddingBytes) {
 Boolean MultiFramedRTPSink::continuePlaying() {
   // Send the first packet.
   // (This will also schedule any future sends.)
+  envir() << "continuePlaying\n";
   buildAndSendPacket(True);
   return True;
 }
@@ -166,6 +168,7 @@ void MultiFramedRTPSink::stopPlaying() {
   fOutBuf->resetOverflowData();
 
   // Then call the default "stopPlaying()" function:
+  envir() << "MultiFramedRTPSink ::stopPlaying\n";
   MediaSink::stopPlaying();
 }
 

third-party/live/liveMedia/RawVideoRTPSink.cpp

@@ -37,7 +37,7 @@ ::RawVideoRTPSink(UsageEnvironment& env, Groupsock* RTPgs, u_int8_t rtpPayloadFo
   : VideoRTPSink(env, RTPgs, rtpPayloadFormat, 90000, "RAW"),
     fFmtpSDPLine(NULL), fSampling(NULL), fWidth(width), fHeight(height),
     fDepth(depth), fColorimetry(NULL), fLineindex(0) {
-
+    env << "RawVideoRTPSink constructor\n";
   // Then use this 'config' string to construct our "a=fmtp:" SDP line:
   unsigned fmtpSDPLineMaxSize = 200;// 200 => more than enough space
   fFmtpSDPLine = new char[fmtpSDPLineMaxSize];

third-party/live/liveMedia/VideoRTPSink.cpp

@@ -26,6 +26,7 @@ VideoRTPSink::VideoRTPSink(UsageEnvironment& env,
 			   char const* rtpPayloadFormatName)
   : MultiFramedRTPSink(env, rtpgs, rtpPayloadType, rtpTimestampFrequency,
 		       rtpPayloadFormatName) {
+				   env << "VideoRTPSink constructor\n";
 }
 
 VideoRTPSink::~VideoRTPSink() {

tools/rs-server/RsCamera.cpp

@@ -1,106 +1,5 @@
 #include <iostream>
-#include <mutex>
-#include <thread>
-
-#include "RsCamera.h"
-
-RsSensor::RsSensor(rs2::sensor sensor)
-{
-	//std::cerr << "RsSensor constructor" << std::endl;
-	m_sensor = sensor;
-	for (rs2::stream_profile stream_profile : m_sensor.get_stream_profiles())
-	{
-		if (stream_profile.is<rs2::video_stream_profile>())
-		{
-			m_stream_profiles.push_back(stream_profile.as<rs2::video_stream_profile>());
-		}
-	}
-}
-
-RsSensor::~RsSensor()
-{
-	//std::cerr << "RsSensor destructor" << std::endl;
-}
-
-int RsSensor::open(std::map<int, rs2::frame_queue> &stream_profiles_queues)
-{
-	std::vector<rs2::stream_profile> stream_profiles;
-	for (auto stream_profile : stream_profiles_queues)
-	{
-		//make a vector of all requested stream profiles
-		stream_profiles.push_back(m_stream_profiles[stream_profile.first]);
-	}
-	try
-	{
-		m_sensor.open(stream_profiles);
-	}
-	catch (...)
-	{
-		std::cerr << "unsupported combination of streams" << std::endl;
-		return EXIT_FAILURE;
-	}
-	return EXIT_SUCCESS;
-}
-
-int RsSensor::start(std::map<int, rs2::frame_queue> &stream_profiles_queues)
-{
-	auto callback = [&](const rs2::frame &frame) {
-		int profile_indx = getStreamProfileIndex(frame.get_profile());
-		//check if profile exists in map:
-		if (profile_indx != -1 && stream_profiles_queues.find(profile_indx) != stream_profiles_queues.end())
-		{
-			//push frame to its queue
-			stream_profiles_queues[profile_indx].enqueue(frame);
-		}
-	};
-
-	m_sensor.start(callback);
-
-	return EXIT_SUCCESS;
-}
-
-int RsSensor::getStreamProfileIndex(rs2::stream_profile profile)
-{
-	if (profile.is<rs2::video_stream_profile>())
-	{
-		rs2::video_stream_profile video_stream_profile = profile.as<rs2::video_stream_profile>();
-		return getStreamProfileIndex(video_stream_profile.stream_type(), video_stream_profile.format(), video_stream_profile.fps(), video_stream_profile.width(), video_stream_profile.height());
-	}
-	else
-	{
-		return -1; //only video_stream_profile is supported
-	}
-
-}
-int RsSensor::getStreamProfileIndex(rs2_stream type, rs2_format format, int fps, int width, int height)
-{
-	int index = 0;
-	for (rs2::video_stream_profile video_stream_profile : m_stream_profiles)
-	{
-			if (video_stream_profile.stream_type() == type &&
-				video_stream_profile.format() == format &&
-				video_stream_profile.width() == width &&
-				video_stream_profile.height() == height &&
-				video_stream_profile.fps() == fps)
-			{
-				return index;
-			}
-		index++;
-	}
-	return -1;
-}
-
-std::string RsSensor::get_sensor_name()
-{
-	if (m_sensor.supports(RS2_CAMERA_INFO_NAME))
-	{
-		return m_sensor.get_info(RS2_CAMERA_INFO_NAME);
-	}
-	else
-	{
-		return "Unknown Sensor";
-	}
-}
+#include "RsCamera.hh"
 
 RsCamera::RsCamera()
 {

tools/rs-server/RsCamera.hh

@@ -0,0 +1,20 @@
+#ifndef _RS_CAMERA_HH
+#define _RS_CAMERA_HH
+
+#include <librealsense2/rs.hpp>
+#include "RsSensor.hh"
+
+
+class RsCamera
+{
+public:
+	RsCamera();
+	~RsCamera();
+	std::vector<RsSensor> &getSensors() { return m_sensors; }
+
+private:
+	rs2::device m_dev;
+	std::vector<RsSensor> m_sensors;
+};
+
+#endif

tools/rs-server/RsMediaSubsession.cpp

@@ -19,6 +19,8 @@ along with this library; if not, write to the Free Software Foundation, Inc.,
 // on demand, from a file.
 // Implementation
 #include "RsMediaSubsession.h"
+#include "RsMediaSubsession.h"
+#include "RsRawVideoRTPSink.h"
 //#include <librealsense2/h/rs_sensor.h>
 
 #define CAPACITY 100
@@ -70,30 +72,30 @@ ::createNewRTPSink(Groupsock* rtpGroupsock,
   case  RS2_FORMAT_RGB8: 
   {
       pixelSize = 3;
-      return  RawVideoRTPSink::createNew(envir(), rtpGroupsock, rtpPayloadTypeIfDynamic, videoStreamProfile.height(), videoStreamProfile.width(), 8, "RGB");         
+      return  RsRawVideoRTPSink::createNew(envir(), rtpGroupsock, rtpPayloadTypeIfDynamic, videoStreamProfile.height(), videoStreamProfile.width(), 8, "RGB");         
   }           
   case  RS2_FORMAT_BGR8: 
   {
     pixelSize = 3;
-    return RawVideoRTPSink::createNew(envir(), rtpGroupsock, rtpPayloadTypeIfDynamic, videoStreamProfile.height(), videoStreamProfile.width(), 8, "BGR");          
+    return RsRawVideoRTPSink::createNew(envir(), rtpGroupsock, rtpPayloadTypeIfDynamic, videoStreamProfile.height(), videoStreamProfile.width(), 8, "BGR");          
   }
   case  RS2_FORMAT_RGBA8:  
   {
     pixelSize = 3;
-    return RawVideoRTPSink::createNew(envir(), rtpGroupsock, rtpPayloadTypeIfDynamic, videoStreamProfile.height(), videoStreamProfile.width(), 8, "RGBA");       
+    return RsRawVideoRTPSink::createNew(envir(), rtpGroupsock, rtpPayloadTypeIfDynamic, videoStreamProfile.height(), videoStreamProfile.width(), 8, "RGBA");       
   }         
   case  RS2_FORMAT_BGRA8: 
   {
     pixelSize = 3;
-    return RawVideoRTPSink::createNew(envir(), rtpGroupsock, rtpPayloadTypeIfDynamic, videoStreamProfile.height(), videoStreamProfile.width(), 8, "BGRA");        
+    return RsRawVideoRTPSink::createNew(envir(), rtpGroupsock, rtpPayloadTypeIfDynamic, videoStreamProfile.height(), videoStreamProfile.width(), 8, "BGRA");        
   }       
   case  RS2_FORMAT_Z16:   
   case  RS2_FORMAT_Y16:             
   case  RS2_FORMAT_RAW16:          
   case  RS2_FORMAT_YUYV:  
   {
       pixelSize = 2;
-      return RawVideoRTPSink::createNew(envir(), rtpGroupsock, rtpPayloadTypeIfDynamic, videoStreamProfile.height(), videoStreamProfile.width(), 8, "YCbCr-4:2:2");         
+      return RsRawVideoRTPSink::createNew(envir(), rtpGroupsock, rtpPayloadTypeIfDynamic, videoStreamProfile.height(), videoStreamProfile.width(), 8, "YCbCr-4:2:2");         
   }
   default:
      pixelSize = 0;

tools/rs-server/RsRTSPServer.cpp

@@ -56,12 +56,12 @@ RsRTSPServer::RsRTSPClientConnection
 ::RsRTSPClientConnection(RTSPServer& ourServer, int clientSocket, struct sockaddr_in clientAddr)
   :RTSPClientConnection(ourServer, clientSocket, clientAddr)
   {
-    //envir() << "RsRTSPClientConnection  constructor" << this <<"\n";
+    envir() << "RsRTSPClientConnection  constructor" << this <<"\n";
   }
 
 RsRTSPServer::RsRTSPClientConnection::~RsRTSPClientConnection()
 {
-  //envir() << "RsRTSPClientConnection  destructor" << this <<"\n";
+  envir() << "RsRTSPClientConnection  destructor" << this <<"\n";
 }
 
 
@@ -147,11 +147,10 @@ int RsRTSPServer::RsRTSPClientSession::openRsCamera()
     {
       if (fStreamStates[i].subsession != NULL) 
       {
-          int profile_indx = ((RsServerMediaSession*)fOurServerMediaSession)->getRsSensor().getStreamProfileIndex(((RsMediaSubsession*)(fStreamStates[i].subsession))->get_stream_profile());
-
-          streamProfiles[profile_indx] = ((RsMediaSubsession*)(fStreamStates[i].subsession))->get_frame_queue();
+          long long int profile_key = ((RsServerMediaSession*)fOurServerMediaSession)->getRsSensor().getStreamProfileKey(((RsMediaSubsession*)(fStreamStates[i].subsession))->get_stream_profile());
+          streamProfiles[profile_key] = ((RsMediaSubsession*)(fStreamStates[i].subsession))->get_frame_queue();
           rs2::frame f;
-          while (streamProfiles[profile_indx].poll_for_frame(&f));
+          while (streamProfiles[profile_key].poll_for_frame(&f));
       }  
     }
     ((RsServerMediaSession*)fOurServerMediaSession)->openRsCamera(streamProfiles);//TODO:: to check if this is indeed RsServerMediaSession
@@ -164,9 +163,9 @@ int RsRTSPServer::RsRTSPClientSession::closeRsCamera()
     {
       if (fStreamStates[i].subsession != NULL) 
       {
-          int profile_indx = ((RsServerMediaSession*)fOurServerMediaSession)->getRsSensor().getStreamProfileIndex(((RsMediaSubsession*)(fStreamStates[i].subsession))->get_stream_profile());
+          long long int profile_key = ((RsServerMediaSession*)fOurServerMediaSession)->getRsSensor().getStreamProfileKey(((RsMediaSubsession*)(fStreamStates[i].subsession))->get_stream_profile());
           rs2::frame f;
-          while (streamProfiles[profile_indx].poll_for_frame(&f));
+          while (streamProfiles[profile_key].poll_for_frame(&f));
       }  
     }
 }

tools/rs-server/RsRTSPServer.hh

@@ -25,7 +25,7 @@ along with this library; if not, write to the Free Software Foundation, Inc.,
 #include "RsRTSPServer.hh"
 #endif
 
-#include "RsCamera.h"
+#include "RsCamera.hh"
 #include <librealsense2/rs.hpp>
 
 class RsRTSPServer: public RTSPServer {
@@ -72,7 +72,7 @@ public:
   protected:
     //RsRTSPServer& fOurRsRTSPServer; // same as ::fOurServer
   private:
-    std::map<int, rs2::frame_queue> streamProfiles;
+    std::unordered_map<long long int, rs2::frame_queue> streamProfiles;
   };
 
 protected: // redefined virtual functions
@@ -86,7 +86,7 @@ protected:
   virtual ClientSession* createNewClientSession(u_int32_t sessionId);
 
 private:
-  int openRsCamera(RsSensor sensor,std::map<int, rs2::frame_queue>& streamProfiles);
+  int openRsCamera(RsSensor sensor,std::unordered_map<long long int, rs2::frame_queue>& streamProfiles);
 
 private:
   friend class RsRTSPClientConnection;

tools/rs-server/RsRawVideoRTPSink.cpp

@@ -0,0 +1,44 @@
+
+
+#include "RsRawVideoRTPSink.h"
+
+RsRawVideoRTPSink*
+  RsRawVideoRTPSink::createNew(UsageEnvironment& env, Groupsock* RTPgs, u_int8_t rtpPayloadFormat,
+        // The following headers provide the 'configuration' information, for the SDP description:
+        unsigned height, unsigned width, unsigned depth,
+        char const* sampling, char const* colorimetry)
+        {
+            return new RsRawVideoRTPSink(env, RTPgs, rtpPayloadFormat,
+                 height, width, depth, sampling);
+
+        }
+
+
+
+/*RawVideoRTPSink* RawVideoRTPSink
+::createNew(UsageEnvironment& env, Groupsock* RTPgs, u_int8_t rtpPayloadFormat,
+        unsigned height, unsigned width, unsigned depth,
+        char const* sampling, char const* colorimetry) {
+  return new RawVideoRTPSink(env, RTPgs,
+                             rtpPayloadFormat,
+                             height, width, depth,
+                             sampling, colorimetry);
+}*/
+
+RsRawVideoRTPSink
+::RsRawVideoRTPSink(UsageEnvironment& env, Groupsock* RTPgs, u_int8_t rtpPayloadFormat,
+                  unsigned height, unsigned width, unsigned depth,
+                  char const* sampling, char const* colorimetry)
+  : RawVideoRTPSink(env, RTPgs, rtpPayloadFormat,
+                 height, width, depth, sampling, colorimetry) {
+    env << "RawVideoRTPSink constructor\n";
+
+}
+
+void RsRawVideoRTPSink::stopPlaying()
+{
+    //fCurFragmentationOffset = 0;
+    RawVideoRTPSink::stopPlaying();
+
+
+}

tools/rs-server/RsRawVideoRTPSink.h

@@ -0,0 +1,29 @@
+#ifndef _RS_RAW_VIDEO_RTP_SINK_HH
+#define _RS_RAW_VIDEO_RTP_SINK_HH
+
+#include "RawVideoRTPSink.hh"
+
+
+class RsRawVideoRTPSink: public RawVideoRTPSink {
+public:
+  static RsRawVideoRTPSink*
+  createNew(UsageEnvironment& env, Groupsock* RTPgs, u_int8_t rtpPayloadFormat,
+        // The following headers provide the 'configuration' information, for the SDP description:
+        unsigned height, unsigned width, unsigned depth,
+        char const* sampling, char const* colorimetry = "BT709-2" );
+
+protected:
+  RsRawVideoRTPSink(UsageEnvironment& env, Groupsock* RTPgs,
+                  u_int8_t rtpPayloadFormat,
+                  unsigned height, unsigned width, unsigned depth,
+                  char const* sampling, char const* colorimetry= "BT709-2" );
+
+
+
+protected: // redefined virtual functions:
+  virtual void stopPlaying();
+
+};
+
+
+#endif //_RS_RAW_VIDEO_RTP_SINK_HH