SerializerDevicePlayer.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_DEVICES_SERIALIZATION_SERIALIZER_DEVICE_PLAYER_H
#define META_OCEAN_DEVICES_SERIALIZATION_SERIALIZER_DEVICE_PLAYER_H
 
#include "ocean/devices/serialization/Serialization.h"
 
#include "ocean/base/Singleton.h"
#include "ocean/base/Thread.h"
 
#include "ocean/devices/Device.h"
#include "ocean/devices/DeviceRef.h"
#include "ocean/devices/DevicePlayer.h"
 
#include "ocean/io/serialization/InputDataSerializer.h"
#include "ocean/io/serialization/MediaSerializer.h"
 
#include "ocean/media/PixelImage.h"
 
#include <deque>
 
namespace Ocean
{
 
namespace Devices
{
 
namespace Serialization
{
 
/**
 * This class implements a player for device objects based on Ocean's DataSerializer.
 * Serialized recordings containing sensor and media information can be used for replay and debugging purposes.
 * Beware: Do not run two individual instances of the SerializerDevicePlayer at the same time.
 * @ingroup devicesserialization
 */
class OCEAN_DEVICES_SERIALIZATION_EXPORT SerializerDevicePlayer :
    public DevicePlayer,
    protected Thread
{
    protected:
 
        /**
         * This class implements a simple helper to ensure that there cannot be more than one active DevicePlayer at the same time.
         */
        class UsageManager : public Singleton<UsageManager>
        {
            friend class Singleton<UsageManager>;
 
            public:
 
                /**
                 * Informs the manager that the player will be used.
                 * @return True, if the player can be used
                 */
                bool registerUsage();
 
                /**
                 * Informs the manager that the player is not longer used.
                 */
                void unregisterUsage();
 
            protected:
 
                /**
                 * Default constructor.
                 */
                UsageManager() = default;
 
            protected:
 
                /// True, if the player is currently used.
                bool isUsed_ = false;
 
                /// The manager's lock.
                Lock lock_;
        };
 
        /**
         * Alias for DeviceRef.
         */
        using DeviceRef = Devices::DeviceRef;
 
        /**
         * Definition of a map mapping channel ids to device objects.
         */
        using ChannelDeviceMap = std::unordered_map<IO::Serialization::DataSerializer::ChannelId, DeviceRef>;
 
        /**
         * Definition of a map mapping channel ids to PixelImage objects.
         */
        using ChannelPixelImageMap = std::unordered_map<IO::Serialization::DataSerializer::ChannelId, Media::PixelImageRef>;
 
        /**
         * Definition of a function pointer for specialized sample processing functions.
         */
        using SampleProcessorFunction = void (SerializerDevicePlayer::*)(const IO::Serialization::DataSerializer::ChannelId, IO::Serialization::UniqueDataSample&&);
 
        /**
         * Definition of a map mapping sample type strings to specialized processing functions.
         */
        using SampleTypeMap = std::unordered_map<std::string, SampleProcessorFunction>;
 
        /**
         * Definition of a map mapping channel ids to specialized processing functions.
         */
        using ChannelProcessorMap = std::unordered_map<IO::Serialization::DataSerializer::ChannelId, SampleProcessorFunction>;
 
        /**
         * This class holds data associated with a frame medium channel.
         */
        class FrameMediumData
        {
            public:
 
                FrameMediumData() = default;
 
                /**
                 * Creates a new frame medium data object.
                 * @param pixelImage The pixel image to be used, must be valid
                 */
                explicit inline FrameMediumData(const Media::PixelImageRef& pixelImage);
 
                /**
                 * Updates the frame medium data with a new frame sample.
                 * @param frameSample The frame sample to update from
                 * @return True, if succeeded
                 */
                bool update(const IO::Serialization::MediaSerializer::DataSampleFrame& frameSample);
 
            public:
 
                /// The pixel image object.
                Media::PixelImageRef pixelImage_;
 
                /// The camera profile.
                SharedAnyCamera camera_;
 
                /// The transformation between device and camera.
                HomogenousMatrixD4 device_T_camera_ = HomogenousMatrixD4(false);
        };
 
        /**
         * Definition of a map mapping channel ids to FrameMediumData objects.
         */
        using ChannelFrameMediumDataMap = std::unordered_map<IO::Serialization::DataSerializer::ChannelId, FrameMediumData>;
 
        /// Definition of a pair holding a channel id and a unique data sample.
        using SamplePair = std::pair<IO::Serialization::DataSerializer::ChannelId, IO::Serialization::UniqueDataSample>;
 
        /// Definition of a queue holding sample pairs.
        using SampleQueue = std::deque<SamplePair>;
 
    public:
 
        /**
         * Creates a new device player.
         */
        SerializerDevicePlayer() = default;
 
        /**
         * Destructs the device player.
         */
        ~SerializerDevicePlayer() override;
 
        /**
         * Loads a new serialized file for replay.
         * @param filename The serialized file to be loaded
         * @return True, if succeeded
         */
        bool initialize(const std::string& filename) override;
 
        /**
         * Starts the replay.
         * The recording can be played with individual speed, e.g., real-time, slower than real-time, faster than real-time.<br>
         * Further, the player supports a stop-motion mode in which the player will play one frame by another.
         * @param speed The speed at which the recording will be played, e.g., 2 means two times faster than normal, with range (0, infinity), 0 to play the recording in a stop-motion (frame by frame) mode
         * @return True, if succeeded
         * @see duration(), playNextFrame();
         */
        bool start(const float speed = 1.0f) override;
 
        /**
         * Stops the replay.
         * @return True, if succeeded
         */
        bool stop() override;
 
        /**
         * Plays the next frame of the recording, the player must be started with stop-motion mode.
         * In case the recording holds several media objects, the first media object is used to identify the next frame.<br>
         * This function will read all samples which have been recorded before or at the same time as the next frame of the first media object.<br>
         * If the recording does not have any media object nothing happens.
         * @return The timestamp of the frame which has been played, invalid if no additional frame exists
         * @see start(), frameMediums().
         */
        Timestamp playNextFrame() override;
 
        /**
         * Returns the duration of the content when played with default speed.
         * @return The recording's default duration, in seconds, with range [0, infinity)
         */
        inline double duration() const override;
 
        /**
         * Returns all media objects which have been created based on the recording.
         * @return The media objects
         */
        inline Media::FrameMediumRefs frameMediums() override;
 
        /**
         * Returns a specific transformation which is expected to be part of the recording.
         * This function is intended as a helper function to simplify access to important transformations which otherwise would be accessed through the player's tracking devices.
         * @param name The name of the transformation, must be valid
         * @param timestamp The timestamp for which the transformation is evaluated, must be valid
         * @param matrix The resulting transformation matrix
         * @return The transformation result
         */
        TransformationResult transformation(const std::string& name, const Timestamp& timestamp, HomogenousMatrixD4& matrix) override;
 
        /**
         * Returns whether this player is currently started.
         * @return True, if so
         */
        inline bool isStarted() const override;
 
        /**
         * Returns whether this player is currently playing.
         * @return True, if so
         */
        bool isPlaying() const;
 
        /**
         * Stops playback and releases the player.
         */
        void release();
 
        /**
         * Returns whether this player holds a valid recording.
         * @return True, if so
         */
        bool isValid() const override;
 
    protected:
 
        /**
         * Initializes the device factories by registering factory functions for all supported sample types.
         * @return True, if succeeded
         */
        bool initializeDeviceFactories();
 
        /**
         * Processes a sample and forwards it to the appropriate device.
         * @param channelId The channel id of the sample
         * @param sample The sample to process, will be moved
         */
        void processSample(const IO::Serialization::DataSerializer::ChannelId channelId, IO::Serialization::UniqueDataSample&& sample);
 
        /**
         * Processes a DataSampleFrame sample.
         * @param channelId The channel id of the sample
         * @param sample The sample to process, will be moved
         */
        void processDataSampleFrame(const IO::Serialization::DataSerializer::ChannelId channelId, IO::Serialization::UniqueDataSample&& sample);
 
        /**
         * Processes a DataSampleOrientationTracker3DOF sample.
         * @param channelId The channel id of the sample
         * @param sample The sample to process, will be moved
         */
        void processDataSampleOrientationTracker3DOF(const IO::Serialization::DataSerializer::ChannelId channelId, IO::Serialization::UniqueDataSample&& sample);
 
        /**
         * Processes a DataSampleAccelerationSensor3DOF sample.
         * @param channelId The channel id of the sample
         * @param sample The sample to process, will be moved
         */
        void processDataSampleAccelerationSensor3DOF(const IO::Serialization::DataSerializer::ChannelId channelId, IO::Serialization::UniqueDataSample&& sample);
 
        /**
         * Processes a DataSampleGyroSensor3DOF sample.
         * @param channelId The channel id of the sample
         * @param sample The sample to process, will be moved
         */
        void processDataSampleGyroSensor3DOF(const IO::Serialization::DataSerializer::ChannelId channelId, IO::Serialization::UniqueDataSample&& sample);
 
        /**
         * Processes a DataSampleGravityTracker3DOF sample.
         * @param channelId The channel id of the sample
         * @param sample The sample to process, will be moved
         */
        void processDataSampleGravityTracker3DOF(const IO::Serialization::DataSerializer::ChannelId channelId, IO::Serialization::UniqueDataSample&& sample);
 
        /**
         * Processes a DataSamplePositionTracker3DOF sample.
         * @param channelId The channel id of the sample
         * @param sample The sample to process, will be moved
         */
        void processDataSamplePositionTracker3DOF(const IO::Serialization::DataSerializer::ChannelId channelId, IO::Serialization::UniqueDataSample&& sample);
 
        /**
         * Processes a DataSampleTracker6DOF sample.
         * @param channelId The channel id of the sample
         * @param sample The sample to process, will be moved
         */
        void processDataSampleTracker6DOF(const IO::Serialization::DataSerializer::ChannelId channelId, IO::Serialization::UniqueDataSample&& sample);
 
        /**
         * Processes a DataSampleGPSTracker sample.
         * @param channelId The channel id of the sample
         * @param sample The sample to process, will be moved
         */
        void processDataSampleGPSTracker(const IO::Serialization::DataSerializer::ChannelId channelId, IO::Serialization::UniqueDataSample&& sample);
 
        /**
         * Processes samples within the lookahead window.
         * This function processes queued samples and reads new samples from the input serializer that fall within the specified playback timestamp.
         * @param dataTimestamp The data timestamp to process samples up to
         * @param maxPlaybackTimestamp The maximum playback timestamp defining the lookahead window
         */
        void processLookaheadSamples(const IO::Serialization::DataTimestamp& dataTimestamp, const double maxPlaybackTimestamp);
 
        /**
         * Creates or retrieves a device for a specific channel.
         * @param channelId The channel id
         * @param deviceName The name of the device
         * @param deviceType The type of the device
         * @return The device reference, empty if creation failed
         */
        DeviceRef ensureDevice(const IO::Serialization::DataSerializer::ChannelId channelId, const std::string& deviceName, const Device::DeviceType& deviceType);
 
        /**
         * The thread's run function in which the samples are read.
         * @see Thread::threadRun().
         */
        void threadRun() override;
 
        /**
         * Factory function for creating SerializationOrientationTracker3DOF devices.
         * @param name The name of the new device, must be valid
         * @param deviceType The device type of the device, must be valid
         * @return The new device, nullptr if the device could not be created
         */
        static Device* createOrientationTracker3DOF(const std::string& name, const Device::DeviceType& deviceType);
 
        /**
         * Factory function for creating SerializationAccelerationSensor3DOF devices.
         * @param name The name of the new device, must be valid
         * @param deviceType The device type of the device, must be valid
         * @return The new device, nullptr if the device could not be created
         */
        static Device* createAccelerationSensor3DOF(const std::string& name, const Device::DeviceType& deviceType);
 
        /**
         * Factory function for creating SerializationGyroSensor3DOF devices.
         * @param name The name of the new device, must be valid
         * @param deviceType The device type of the device, must be valid
         * @return The new device, nullptr if the device could not be created
         */
        static Device* createGyroSensor3DOF(const std::string& name, const Device::DeviceType& deviceType);
 
        /**
         * Factory function for creating SerializationGravityTracker3DOF devices.
         * @param name The name of the new device, must be valid
         * @param deviceType The device type of the device, must be valid
         * @return The new device, nullptr if the device could not be created
         */
        static Device* createGravityTracker3DOF(const std::string& name, const Device::DeviceType& deviceType);
 
        /**
         * Factory function for creating SerializationPositionTracker3DOF devices.
         * @param name The name of the new device, must be valid
         * @param deviceType The device type of the device, must be valid
         * @return The new device, nullptr if the device could not be created
         */
        static Device* createPositionTracker3DOF(const std::string& name, const Device::DeviceType& deviceType);
 
        /**
         * Factory function for creating SerializationTracker6DOF devices.
         * @param name The name of the new device, must be valid
         * @param deviceType The device type of the device, must be valid
         * @return The new device, nullptr if the device could not be created
         */
        static Device* createTracker6DOF(const std::string& name, const Device::DeviceType& deviceType);
 
        /**
         * Factory function for creating SerializationGPSTracker devices.
         * @param name The name of the new device, must be valid
         * @param deviceType The device type of the device, must be valid
         * @return The new device, nullptr if the device could not be created
         */
        static Device* createGPSTracker(const std::string& name, const Device::DeviceType& deviceType);
 
        /**
         * Factory function for creating SampleFrame objects.
         * @param sampleType The sample type
         * @return The new sample object
         */
        static IO::Serialization::UniqueDataSample createDataSampleFrame(const std::string& sampleType);
 
        /**
         * Factory function for creating DataSampleOrientationTracker3DOF objects.
         * @param sampleType The sample type
         * @return The new sample object
         */
        static IO::Serialization::UniqueDataSample createDataSampleOrientationTracker3DOF(const std::string& sampleType);
 
        /**
         * Factory function for creating DataSampleAccelerationSensor3DOF objects.
         * @param sampleType The sample type
         * @return The new sample object
         */
        static IO::Serialization::UniqueDataSample createDataSampleAccelerationSensor3DOF(const std::string& sampleType);
 
        /**
         * Factory function for creating DataSampleGyroSensor3DOF objects.
         * @param sampleType The sample type
         * @return The new sample object
         */
        static IO::Serialization::UniqueDataSample createDataSampleGyroSensor3DOF(const std::string& sampleType);
 
        /**
         * Factory function for creating DataSampleGravityTracker3DOF objects.
         * @param sampleType The sample type
         * @return The new sample object
         */
        static IO::Serialization::UniqueDataSample createDataSampleGravityTracker3DOF(const std::string& sampleType);
 
        /**
         * Factory function for creating DataSamplePositionTracker3DOF objects.
         * @param sampleType The sample type
         * @return The new sample object
         */
        static IO::Serialization::UniqueDataSample createDataSamplePositionTracker3DOF(const std::string& sampleType);
 
        /**
         * Factory function for creating DataSampleTracker6DOF objects.
         * @param sampleType The sample type
         * @return The new sample object
         */
        static IO::Serialization::UniqueDataSample createDataSampleTracker6DOF(const std::string& sampleType);
 
        /**
         * Factory function for creating DataSampleGPSTracker objects.
         * @param sampleType The sample type
         * @return The new sample object
         */
        static IO::Serialization::UniqueDataSample createDataSampleGPSTracker(const std::string& sampleType);
 
    protected:
 
        /// The input data serializer for reading the content.
        std::unique_ptr<IO::Serialization::FileInputDataSerializer> inputSerializer_;
 
        /// The id of the channel which is the first channel with media content.
        IO::Serialization::DataSerializer::ChannelId firstMediaFrameChannelId_ = IO::Serialization::DataSerializer::invalidChannelId();
 
        /// The map associating channel ids with device objects.
        ChannelDeviceMap channelDeviceMap_;
 
        /// The map associating channel ids with FrameMediumData objects.
        ChannelFrameMediumDataMap channelFrameMediumDataMap_;
 
        /// The FrameMedium objects receiving image content from the recording.
        Media::FrameMediumRefs frameMediums_;
 
        /// The map associating channel ids with specialized processing functions.
        ChannelProcessorMap channelProcessorMap_;
 
        /// True, if the player is started.
        std::atomic_bool isStarted_ = false;
 
        /// The speed at which the recording will be played, with range (0, infinity), 0 to play the recording with stop-motion.
        float speed_ = 1.0f;
 
        /// Map associating sample type strings with specialized processing functions.
        SampleTypeMap sampleTypeMap_;
 
        /// The sample queue holding pending samples for the stop-motion mode.
        SampleQueue stopMotionSampleQueue_;
};
 
inline SerializerDevicePlayer::FrameMediumData::FrameMediumData(const Media::PixelImageRef& pixelImage) :
    pixelImage_(pixelImage)
{
    ocean_assert(pixelImage_);
}
 
inline double SerializerDevicePlayer::duration() const
{
    ocean_assert(false && "This function is not supported");
    return -1.0;
}
 
inline Media::FrameMediumRefs SerializerDevicePlayer::frameMediums()
{
    const ScopedLock scopedLock(lock_);
 
    return frameMediums_;
}
 
inline bool SerializerDevicePlayer::isStarted() const
{
    const ScopedLock scopedLock(lock_);
 
    return isStarted_;
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_SERIALIZATION_SERIALIZER_DEVICE_PLAYER_H