#9 Add the video feed window

cfg/video_config.json

@@ -5,7 +5,7 @@
 		{
 			"stream_ip":
 			{
-				"addr": "239.255.123.123",
+				"addr": "192.168.1.10",
 				"port": 22202
 			},
 			"command_ip":

src/basestation/CMakeLists.txt

@@ -7,9 +7,11 @@ set(MODULE_HDR
 	modules/input_config/controller_config.hpp
 	modules/input_config/controller_calibration_popup.hpp
 	modules/input_config/controller_binding_popup.hpp
+	modules/video_feed_viewer.hpp
 )
 set(MODULE_SRC
 	modules/console.cpp
+	modules/video_feed_viewer.cpp
 	modules/network_settings.cpp
 	modules/drive_stats.cpp
 	modules/statusbar.cpp
@@ -38,34 +40,51 @@ set(WIDGET_SRC
 	widgets/layouts/simple_column.cpp
 )
 
-add_executable(basestation
-	main.cpp
-	basestation.hpp
-	basestation.cpp
-	basestation_screen.hpp
-	basestation_screen.cpp
-	controls/controller_manager.hpp
-	controls/controller_manager.cpp
-	controls/controller.hpp
-	controls/controller.cpp
-	controls/lua_ctrl_lib.hpp
-	controls/lua_ctrl_lib.cpp
-	controls/drive_input.hpp
-	controls/drive_input.cpp
-	${MODULE_HDR}
-	${MODULE_SRC}
-	${WIDGET_HDR}
-	${WIDGET_SRC} 
-)
+find_package(PkgConfig)
+if (NOT PKG_CONFIG_FOUND)
+	message(STATUS "basestation: pkg-config unavailable.")
+else()
+	pkg_search_module(PKG_LIBJPEG_TURBO IMPORTED_TARGET libturbojpeg)
+
+	if (NOT PKG_LIBJPEG_TURBO_FOUND)
+		message(STATUS "basestation: libjpeg-turbo unavailable.")
+	else()
+
+		find_package(Boost COMPONENTS program_options REQUIRED)
 
-find_package(Boost COMPONENTS program_options REQUIRED)
+		add_executable(basestation
+			main.cpp
+			basestation.hpp
+			basestation.cpp
+			basestation_screen.hpp
+			basestation_screen.cpp
+			controls/controller_manager.hpp
+			controls/controller_manager.cpp
+			controls/controller.hpp
+			controls/controller.cpp
+			controls/lua_ctrl_lib.hpp
+			controls/lua_ctrl_lib.cpp
+			controls/drive_input.hpp
+			controls/drive_input.cpp
+			video_decoder/decoder.hpp
+			video_decoder/decoder.cpp
+			${MODULE_HDR}
+			${MODULE_SRC}
+			${WIDGET_HDR}
+			${WIDGET_SRC}
+		)
 
-target_include_directories(basestation PUBLIC nanogui roverlua ${CMAKE_CURRENT_SOURCE_DIR} rover_control Boost::headers)
-target_link_libraries(basestation nanogui ${NANOGUI_EXTRA_LIBS} roverlua rover_control Boost::program_options)
+		target_include_directories(basestation PUBLIC nanogui roverlua network rover_control ${CMAKE_CURRENT_SOURCE_DIR} Boost::headers)
+		target_link_libraries(basestation nanogui ${NANOGUI_EXTRA_LIBS} roverlua rover_control network PkgConfig::PKG_LIBJPEG_TURBO Boost::program_options)
 
-# NanoGUI requires C++17
-target_compile_features(basestation PUBLIC cxx_std_17)
+		# NanoGUI requires C++17
+		target_compile_features(basestation PUBLIC cxx_std_17)
 
-if (APPLE)
-	target_link_libraries(basestation "-framework OpenGL")
+		if (APPLE)
+			target_link_libraries(basestation "-framework OpenGL")
+		endif()
+
+	endif()
 endif()
+
+

src/basestation/basestation.cpp

@@ -16,6 +16,7 @@ Basestation::Basestation() : Basestation(boost::property_tree::ptree()) {}
 Basestation::Basestation(const boost::property_tree::ptree& config)
 	: m_subsystem_sender(main_thread_ctx),
 	m_subsystem_feed(main_thread_ctx),
+	video_feed_receiver(main_thread_ctx),
 	m_remote_drive(m_subsystem_sender) {
 
 	if (main_instance != nullptr) {
@@ -35,6 +36,14 @@ Basestation::Basestation(const boost::property_tree::ptree& config)
 	m_remote_drive.register_listen_handlers(m_subsystem_feed);
 	m_remote_sensors.register_listen_handlers(m_subsystem_feed);
 
+	video_feed_receiver.set_listen_port(22202);
+	video_feed_receiver.open();
+
+	//TODO: Add commands or GUI window to open streams. Also do not use 9 fixed like this...
+	for (int i = 0; i < 9; i++) {
+	    video_feed_receiver.open_stream(i);
+	}
+
 	Console::add_setup_routine([](Console& new_console) {
 		new_console.load_library("ctrl", lua_ctrl_lib::open);
 		new_console.load_library("bs", lua_basestation_lib::open);

src/basestation/basestation.hpp

@@ -7,11 +7,11 @@
 #include <boost/property_tree/ptree.hpp>
 
 #include <network.hpp>
-
 #include <rover_lua.hpp>
 #include <basestation_screen.hpp>
 #include <controls/controller_manager.hpp>
 #include <controls/drive_input.hpp>
+#include <stream.hpp>
 
 /*
 	Container class for the main instance of the base station
@@ -48,6 +48,9 @@ class Basestation {
 		inline net::MessageReceiver& subsystem_feed() {
 			return m_subsystem_feed;
 		}
+		inline net::StreamReceiver& video_stream_feed() {
+			return video_feed_receiver;
+		}
 		inline DriveInput& remote_drive() {
 			return m_remote_drive;
 		}
@@ -78,10 +81,15 @@ class Basestation {
 			static void open(lua_State*);
 		};
 
+		inline void set_video_callback(const std::function<void(int stream, net::Frame& frame)>& handler) {
+			video_feed_receiver.on_frame_received(handler);
+		}
+
 	private:
 		boost::asio::io_context main_thread_ctx;
 		net::MessageSender m_subsystem_sender;
 		net::MessageReceiver m_subsystem_feed;
+		net::StreamReceiver video_feed_receiver;
 		DriveInput m_remote_drive;
 		rc::Sensor m_remote_sensors;
 

src/basestation/basestation_screen.cpp

@@ -2,6 +2,7 @@
 #include <basestation.hpp>
 
 #include <modules/console.hpp>
+#include <modules/video_feed_viewer.hpp>
 #include <modules/statusbar.hpp>
 
 ScreenPositioning::ScreenPositioning(const nanogui::Vector2i& size, const nanogui::Vector2i& window_pos, int monitor, bool use_fullscreen) :
@@ -123,6 +124,10 @@ bool BasestationScreen::keyboard_event(int key, int scancode, int action, int mo
 	} else if (key == GLFW_KEY_N && action == GLFW_PRESS && (mods & GLFW_MOD_CONTROL)) {
 		Basestation::get().add_screen(new BasestationScreen());
 		handled = true;
+	} else if (key == GLFW_KEY_C && action == GLFW_PRESS) {
+		new VideoFeedViewer(this);
+		Basestation::get().set_video_callback(VideoFeedViewer::update_frame_STATIC);
+		handled = true;
 	}
 
 	return handled;

src/basestation/modules/network_settings.cpp

@@ -34,7 +34,7 @@ gui::NetworkSettings::NetworkSettings(nanogui::Screen* screen) :
 		Section: Subsystem Link settings
 	*/
 
-	form->add_group("Subsystem Update Feed");
+	form->add_group("Subsystem Update Feed (Incoming)");
 
 	auto feed_ip_entry = form->add_variable("Feed IP Address", mcast_feed_str);
 	// This terrifying regex for IP validation was provided by:
@@ -100,7 +100,7 @@ gui::NetworkSettings::NetworkSettings(nanogui::Screen* screen) :
 	feed_mcast_mode_box->callback()(subsys_feed_mcast);
 
 
-	subsys_feed_enable = Basestation::get().subsystem_feed().is_multicast();
+	subsys_feed_enable = Basestation::get().subsystem_feed().opened();
 	auto feed_enable_box = form->add_variable("Open", subsys_feed_enable);
 	feed_enable_box->set_callback([this](bool checked) {
 		try {
@@ -114,7 +114,11 @@ gui::NetworkSettings::NetworkSettings(nanogui::Screen* screen) :
 		subsys_feed_enable = Basestation::get().subsystem_feed().opened();
 	});
 
-	form->add_group("Subsystem Device Link");
+	/*
+		Section: Outgoing Subsystem Link
+	*/
+
+	form->add_group("Subsystem Device Link (Outgoing)");
 
 	auto ip_entry = form->add_variable("Device IP Address", ip_str);
 
@@ -180,10 +184,87 @@ gui::NetworkSettings::NetworkSettings(nanogui::Screen* screen) :
 	});
 
 	/*
-		(TODO) Section: Video Link settings
-
-		(This section is a placeholder)
+		Section: Video Link settings	
 	*/
+	form->add_group("Video Stream Feed (Incoming)");
+
+	auto stream_ip_entry = form->add_variable("Feed IP Address", video_stream_ip_str);
+	// This terrifying regex for IP validation was provided by:
+	// https://stackoverflow.com/a/36760050
+	stream_ip_entry->set_format("^((25[0-5]|(2[0-4]|1\\d|[1-9]|)\\d)(\\.(?!$)|$)){4}$");
+	stream_ip_entry->set_value(Basestation::get().video_stream_feed().listen_endpoint().address().to_string());
+	stream_ip_entry->set_fixed_width(text_entry_width);
+	stream_ip_entry->set_callback([this](const std::string& str) {
+		auto& feed = Basestation::get().video_stream_feed();
+		if (str.size() != 0) {
+			try {
+				auto ep = feed.listen_endpoint();
+				ep.address(boost::asio::ip::address_v4::from_string(str));
+				feed.set_listen_endpoint(ep);
+				return true;
+			} catch (const std::exception& err) {
+				open_error_popup(err);
+			}
+		}
+		video_stream_ip_str = feed.listen_endpoint().address().to_string();
+		return false;
+	});
+
+	video_stream_port = Basestation::get().video_stream_feed().listen_endpoint().port();
+
+	auto stream_port_entry = form->add_variable("Feed Port", video_stream_port);
+	// Regex: https://3widgets.com/, range: 0 - 65535
+	stream_port_entry->set_format("(\\d|[1-9]\\d{1,3}|[1-5]\\d{4}|6[0-4]\\d{3}|65[0-4]\\d{2}|655[0-2]\\d|6553[0-5])");
+	stream_port_entry->set_fixed_width(text_entry_width);
+	stream_port_entry->set_callback([this](int set_port) {
+		auto& feed = Basestation::get().video_stream_feed();
+		try {
+			if (set_port >= 0 && set_port <= std::numeric_limits<uint16_t>().max()) {
+				auto ep = feed.listen_endpoint();
+				ep.port(set_port);
+				feed.set_listen_endpoint(ep);
+				return true;
+			}
+		} catch (const std::exception& e) {
+			open_error_popup(e);
+		}
+		video_stream_port = feed.listen_endpoint().port();
+		return false;
+	});
+
+	video_stream_multicast = Basestation::get().video_stream_feed().is_multicast();
+	auto stream_mcast_mode_box = form->add_variable("Multicast", video_stream_multicast);
+	stream_mcast_mode_box->set_callback([this, stream_ip_entry](bool checked) {
+		auto& feed = Basestation::get().video_stream_feed();
+		try {
+			stream_ip_entry->set_editable(checked);
+			if (checked) {
+				stream_ip_entry->set_value(feed.listen_endpoint().address().to_string());
+			} else {
+				stream_ip_entry->set_value("");
+			}
+			feed.set_multicast(checked);
+		} catch (const std::exception& err) {
+			open_error_popup(err);
+		}
+		video_stream_multicast = feed.is_multicast();
+	});
+	stream_mcast_mode_box->callback()(video_stream_multicast);
+
+
+	video_stream_enable = Basestation::get().video_stream_feed().opened();
+	auto stream_enable_box = form->add_variable("Open", video_stream_enable);
+	stream_enable_box->set_callback([this](bool checked) {
+		try {
+			if (checked)
+				Basestation::get().video_stream_feed().open();
+			else
+				Basestation::get().video_stream_feed().close();
+		} catch (const std::exception& err) {
+			open_error_popup(err);
+		}
+		video_stream_enable = Basestation::get().video_stream_feed().opened();
+	});
 
 	set_position(15);
 	set_visible(true);

src/basestation/modules/network_settings.hpp

@@ -14,12 +14,16 @@ class NetworkSettings : public gui::Window {
 		// Most of these variables are for the form helper widgets but aren't really needed
 		std::string ip_str;
 		std::string mcast_feed_str;
+		std::string video_stream_ip_str;
 		int mcast_feed_port;
 		int port;
+		int video_stream_port;
 		int interval;
 		bool enable;
 		bool subsys_feed_enable;
 		bool subsys_feed_mcast;
+		bool video_stream_enable;
+		bool video_stream_multicast;
 
 		int text_entry_width = 150;
 

src/basestation/modules/statusbar.cpp

@@ -11,6 +11,7 @@
 #include <modules/electrical_info.hpp>
 #include <modules/drive_stats.hpp>
 #include <modules/input_config/controller_config.hpp>
+#include <modules/video_feed_viewer.hpp>
 
 gui::Statusbar::Statusbar(nanogui::Widget* parent) : gui::Toolbar(parent) {
 	{
@@ -20,6 +21,12 @@ gui::Statusbar::Statusbar(nanogui::Widget* parent) : gui::Toolbar(parent) {
 			auto wnd = new ControllerConfig(screen(), Basestation::get().controller_manager());
 			wnd->center();
 		});
+		auto video_player_button = new nanogui::ToolButton(left_tray(), FA_VIDEO);
+		video_player_button->set_flags(nanogui::Button::NormalButton);
+		video_player_button->set_callback([this] {
+			auto wnd = new VideoFeedViewer(screen());
+			wnd->center();
+		});
 	}
 	{
 		auto drive_button = new nanogui::ToolButton(right_tray(), FA_COGS);