void runAsClient() {
timeStampServerLast = Thread::getTimeStampMs();
ThroughputReceiver tpRcvr;
DiscoveryTimeGreeter discGreeter;
reporter = Publisher("reports");
reporter.setGreeter(&discGreeter);
Subscriber tcpSub("throughput.tcp");
tcpSub.setReceiver(&tpRcvr);
SubscriberConfigMCast mcastConfig("throughput.mcast");
mcastConfig.setMulticastIP("224.1.2.3");
mcastConfig.setMulticastPortbase(22022);
Subscriber mcastSub(&mcastConfig);
mcastSub.setReceiver(&tpRcvr);
SubscriberConfigRTP rtpConfig("throughput.rtp");
// rtpConfig.setPortbase(40042);
Subscriber rtpSub(&rtpConfig);
rtpSub.setReceiver(&tpRcvr);
node.addSubscriber(tcpSub);
node.addSubscriber(mcastSub);
node.addSubscriber(rtpSub);
node.addPublisher(reporter);
disc.add(node);
timeStampStartedPublishing = Thread::getTimeStampMs();
// do nothing here, we reply only when we received a message
while(true) {
#if 0
Thread::sleepMs(1000);
#else
// disconnect / reconnect client on key-press
getchar();
node.removeSubscriber(tcpSub);
node.removeSubscriber(mcastSub);
node.removeSubscriber(rtpSub);
node.removePublisher(reporter);
disc.remove(node);
getchar();
disc.add(node);
node.addSubscriber(tcpSub);
node.addSubscriber(mcastSub);
node.addSubscriber(rtpSub);
node.addPublisher(reporter);
#endif
}
}
void runAsServer() {
ThroughputGreeter tpGreeter;
Publisher pub;
switch (type) {
case PUB_RTP: {
PublisherConfigRTP config("throughput.rtp");
config.setTimestampIncrement(166);
pub = Publisher(&config);
pub.setGreeter(&tpGreeter);
break;
}
case PUB_MCAST: {
PublisherConfigMCast config("throughput.mcast");
config.setTimestampIncrement(166);
// config.setPortbase(42142);
pub = Publisher(&config);
pub.setGreeter(&tpGreeter);
break;
}
case PUB_TCP: {
pub = Publisher("throughput.tcp");
pub.setGreeter(&tpGreeter);
break;
}
}
node.addPublisher(pub);
disc.add(node);
timeStampStartedAt = Thread::getTimeStampMs();
if (duration > 0)
duration *= 1000; // convert to ms
pub.waitForSubscribers(waitForSubs);
// reserve 20 bytes for timestamp, sequence number and report interval
size_t dataSize = (std::max)(mtu, (size_t)20);
char* data = (char*)malloc(dataSize);
Message* msg = NULL;
if (useZeroCopy) {
msg = new Message(data, dataSize, doneCallback, (void*)NULL);
} else {
msg = new Message();
}
uint64_t lastReportAt = Thread::getTimeStampMs();
while(1) {
uint64_t now = Thread::getTimeStampMs();
if (duration > 0 && now - timeStampStartedAt > duration)
break;
// first 16 bytes are seqNr and timestamp
Message::write(&data[0], ++currSeqNr);
Message::write(&data[8], now);
Message::write(&data[16], reportInterval);
if (!useZeroCopy) {
msg->setData(data, dataSize);
}
pub.send(msg);
intervalFactor = 1000.0 / (double)reportInterval;
bytesWritten += dataSize;
bytesTotal += dataSize;
packetsWritten++;
// sleep just enough to reach the desired bps
{
RScopeLock lock(mutex);
size_t packetsPerSecond = (std::max)(bytesPerSecond / dataSize, (size_t)1);
delay = (std::max)((1000000) / (packetsPerSecond), (size_t)1);
}
// every report interval we are recalculating bandwith
if (now - lastReportAt > reportInterval) {
RScopeLock lock(mutex);
std::string scaleInfo("--");
// and recalculate bytes to send
if (reports.size() > 0) {
double decreasePressure = 0;
// print report messages
std::map<std::string, Report>::iterator repIter = reports.begin();
// bandwidth is not fixed
if (fixedBytesPerSecond == 0) {
while(repIter != reports.end()) {
const Report& report = repIter->second;
double reportPressure = 0;
// see if we need to decrease bandwidth
if (report.pktsLate > packetsWritten / 2) {
// client is lagging more than half a second, scale back somewhat
reportPressure = (std::max)(1.1, reportPressure);
}
if (report.pcntLoss > pcntLossOk) {
// we lost packages, scale back somewhat
reportPressure = (std::max)((double)report.pktsDropped / report.pktsRcvd, reportPressure);
reportPressure = (std::min)(reportPressure, 1.4);
}
if (report.pktsLate > 3 * packetsWritten) {
// queues explode! scale back alot!
reportPressure = (std::max)((double)report.pktsLate / packetsWritten, reportPressure);
reportPressure = (std::min)(reportPressure, 2.0);
}
if (reportPressure > decreasePressure)
decreasePressure = reportPressure;
repIter++;
}
if (decreasePressure > 1) {
bytesPerSecond *= (1.0 / decreasePressure);
bytesPerSecond = (std::max)(bytesPerSecond, (size_t)(1024));
scaleInfo = "down " + toStr(1.0 / decreasePressure);
} else {
bytesPerSecond *= 1.2;
scaleInfo = "up 1.2";
}
std::cout << std::endl;
} else {
if (bytesWritten * intervalFactor < fixedBytesPerSecond) {
bytesPerSecond *= 1.05;
} else if (bytesWritten * intervalFactor > fixedBytesPerSecond) {
bytesPerSecond *= 0.95;
}
}
}
currReportNr++;
writeReports(scaleInfo);
bytesWritten = 0;
packetsWritten = 0;
lastReportAt = Thread::getTimeStampMs();
}
// now we sleep until we have to send another packet
Thread::sleepUs(delay);
}
pub.setGreeter(NULL);
delete(msg);
}
void runAsServer() {
ThroughputGreeter tpGreeter;
Publisher pub;
PublisherConfig* config = NULL;
switch (type) {
case PUB_RTP: {
config = new PublisherConfigRTP("throughput.rtp");
((PublisherConfigRTP*)config)->setTimestampIncrement(166);
break;
}
case PUB_MCAST: {
config = new PublisherConfigMCast("throughput.mcast");
((PublisherConfigMCast*)config)->setTimestampIncrement(166);
// config.setPortbase(42142);
break;
}
case PUB_TCP: {
config = new PublisherConfigTCP ("throughput.tcp");
break;
}
}
if (compressionType.size() != 0)
config->enableCompression(compressionType, compressionWithState, compressionLevel, compressionRefreshInterval);
pub = Publisher(config);
pub.setGreeter(&tpGreeter);
delete config;
node.addPublisher(pub);
disc.add(node);
timeStampStartedDiscovery = Thread::getTimeStampMs();
if (duration > 0)
duration *= 1000; // convert to ms
// open file with data
std::ifstream fin(streamFile, std::ios::in | std::ios::binary);
if (fin) {
// streamFile exists on filesyste,, slurp content into streamData
streamData = std::string((std::istreambuf_iterator<char>(fin) ),
(std::istreambuf_iterator<char>() ));
} else {
// stream file is no actual file, interpret as "size:compressability"
char* compArg = streamFile;
// http://stackoverflow.com/a/53878/990120
std::list<std::string> compArgs;
do {
const char *begin = compArg;
while(*compArg != ':' && *compArg)
compArg++;
compArgs.push_back(std::string(begin, compArg - begin));
} while(0 != *compArg++);
size_t streamDataSize = 0;
double compressibility = 50;
if (compArgs.size() < 1)
printUsageAndExit();
streamDataSize = displayToBytes(compArgs.front());
compArgs.pop_front();
if (!compArgs.empty()) {
compressibility = strTo<double>(compArgs.front());
if (toStr(compressibility) != compArgs.front())
printUsageAndExit();
compArgs.pop_front();
}
if (!compArgs.empty()) {
printUsageAndExit();
}
streamData.resize(streamDataSize);
RDG_genBuffer(&streamData[0], streamDataSize, 1 - (compressibility/(double)100), 0.0, 0);
}
{
// determine compressionActualRatio
Message msg(streamData.data(), streamData.size());
size_t compressMaxPayload = msg.getCompressBounds("lz4", NULL, Message::Compression::PAYLOAD);
char* compressPayloadData = (char*)malloc(compressMaxPayload);
size_t compressActualPayload = msg.compress("lz4", NULL, compressPayloadData, compressMaxPayload, Message::Compression::PAYLOAD);
compressionActualRatio = 100 * ((double)compressActualPayload / streamData.size());
}
pub.waitForSubscribers(waitForSubs);
timeStampStartedPublishing = Thread::getTimeStampMs();
uint64_t lastReportAt = Thread::getTimeStampMs();
size_t streamDataOffset = 0;
while(1) {
// fill data from stream data
Message* msg = new Message((char*)malloc(mtu), mtu);
size_t msgDataOffset = 0;
while(true) {
size_t toRead = (mtu - msgDataOffset <= streamData.size() - streamDataOffset ? mtu - msgDataOffset : streamData.size() - streamDataOffset);
memcpy(&msg->data()[msgDataOffset], &streamData[streamDataOffset], toRead);
msgDataOffset += toRead;
streamDataOffset += toRead;
// UM_LOG_WARN("%d: %d / %d", streamData.size(), msgDataOffset, streamDataOffset);
if (msgDataOffset == mtu)
break;
if (streamData.size() == streamDataOffset)
streamDataOffset = 0;
}
// UM_LOG_WARN("%d: %s", msg->size(), md5(msg->data(), msg->size()).c_str());
uint64_t now = Thread::getTimeStampMs();
if (duration > 0 && now - timeStampStartedPublishing > duration)
break;
// first 16 bytes are seqNr and timestamp
Message::write(&msg->data()[0], ++currSeqNr);
Message::write(&msg->data()[8], now);
Message::write(&msg->data()[16], reportInterval);
// msg->putMeta("md5", md5(msg->data(), msg->size()));
intervalFactor = 1000.0 / (double)reportInterval;
bytesWritten += msg->size();
bytesTotal += msg->size();
packetsWritten++;
// sleep just enough to reach the desired bps
{
RScopeLock lock(mutex);
size_t packetsPerSecond = (std::max)(bytesPerSecond / msg->size(), (size_t)1);
delay = (std::max)((1000000) / (packetsPerSecond), (size_t)1);
}
// sending with compression will alter msg->size(); not anymore ...
pub.send(msg);
// every report interval we are recalculating bandwith
if (now - lastReportAt > reportInterval) {
RScopeLock lock(mutex);
std::string scaleInfo("--");
// and recalculate bytes to send
if (reports.size() > 0) {
double decreasePressure = 0;
// print report messages
std::map<std::string, Report>::iterator repIter = reports.begin();
// bandwidth is fixed
if (fixedBytesPerSecond == 0) {
while(repIter != reports.end()) {
const Report& report = repIter->second;
double reportPressure = 0;
// see if we need to decrease bandwidth
if (report.pktsLate > packetsWritten / 2) {
// client is lagging more than half a second, scale back somewhat
reportPressure = (std::max)(1.1, reportPressure);
}
if (report.pcntLoss > pcntLossOk) {
// we lost packages, scale back somewhat
reportPressure = (std::max)((double)report.pktsDropped / report.pktsRcvd, reportPressure);
reportPressure = (std::min)(reportPressure, 1.4);
}
if (report.pktsLate > 3 * packetsWritten) {
// queues explode! scale back alot!
reportPressure = (std::max)((double)report.pktsLate / packetsWritten, reportPressure);
reportPressure = (std::min)(reportPressure, 2.0);
}
if (reportPressure > decreasePressure)
decreasePressure = reportPressure;
repIter++;
}
if (decreasePressure > 1) {
bytesPerSecond *= (1.0 / decreasePressure);
bytesPerSecond = (std::max)(bytesPerSecond, (size_t)(1024));
scaleInfo = "down " + toStr(1.0 / decreasePressure);
} else {
bytesPerSecond *= 1.3;
scaleInfo = "up 1.3";
}
std::cout << std::endl;
} else if (fixedBytesPerSecond == (size_t)-1) {
// do nothing
} else {
if (bytesWritten * intervalFactor < fixedBytesPerSecond) {
bytesPerSecond *= 1.05;
} else if (bytesWritten * intervalFactor > fixedBytesPerSecond) {
bytesPerSecond *= 0.95;
}
}
}
currReportNr++;
writeReports(scaleInfo);
bytesWritten = 0;
packetsWritten = 0;
lastReportAt = Thread::getTimeStampMs();
}
delete(msg);
// now we sleep until we have to send another packet
if (delay > 50 && fixedBytesPerSecond != (size_t) - 1)
Thread::sleepUs(delay);
}
pub.setGreeter(NULL);
}
int main(int argc, char** argv) {
uint16_t modulo = 1;
Freenect::Freenect freenect;
FreenectBridge* device;
Discovery disc;
Node node;
Publisher pubDepthTCP;
Publisher pubDepthRTP;
Publisher pubVideoTCP;
Publisher pubVideoRTP;
printf("umundo-kinect-pub version " UMUNDO_VERSION " (" CMAKE_BUILD_TYPE " build)\n");
int option;
while ((option = getopt(argc, argv, "m:")) != -1) {
switch(option) {
case 'm':
modulo = atoi(optarg);
break;
default:
printUsageAndExit();
break;
}
}
std::cout << "Sending every " << modulo << ". frame..." << std::endl << std::flush;
{
PublisherConfigRTP pubConfigRTP("kinect.depth.rtp");
pubConfigRTP.setTimestampIncrement(1);
pubDepthRTP = Publisher(&pubConfigRTP);
PublisherConfigTCP pubConfigTCP("kinect.depth.tcp");
pubConfigTCP.enableCompression();
pubDepthTCP = Publisher(&pubConfigTCP);
}
{
PublisherConfigRTP pubConfigRTP("kinect.video.rtp");
pubConfigRTP.setTimestampIncrement(1);
pubVideoRTP = Publisher(&pubConfigRTP);
PublisherConfigTCP pubConfigTCP("kinect.video.tcp");
pubConfigTCP.enableCompression();
pubVideoTCP = Publisher(&pubConfigTCP);
}
disc = Discovery(Discovery::MDNS);
disc.add(node);
node.addPublisher(pubDepthRTP);
node.addPublisher(pubDepthTCP);
node.addPublisher(pubVideoRTP);
node.addPublisher(pubVideoTCP);
// try to instantiate freenect device
while(true) {
try {
// constructor is somewhat fragile
device = &freenect.createDevice<FreenectBridge>(0);
device->pubDepthRTP = pubDepthRTP;
device->pubDepthTCP = pubDepthTCP;
device->pubVideoRTP = pubVideoRTP;
device->pubVideoTCP = pubVideoTCP;
device->setModulo(modulo);
// this is actually the default
device->setVideoFormat(FREENECT_VIDEO_BAYER, FREENECT_RESOLUTION_MEDIUM);
while(true) {
try {
device->startVideo(); // not blocking on recent versions only?
while(true)
Thread::sleepMs(2000);
} catch(std::runtime_error e) {
std::cout << "An exception occured while trying to start video: " << e.what() << " - retrying after 5s" << std::endl;
Thread::sleepMs(5000);
}
}
} catch(std::runtime_error e) {
std::cout << "An exception occured: " << e.what() << " - retrying" << std::endl;
Thread::sleepMs(5000);
}
}
return 0;
}
