From b1f3cf645c22fa17a18ac4cb0df95cca326bc60a Mon Sep 17 00:00:00 2001
From: Marco Kurzynski <mkurzynski@wisc.edu>
Date: Mon, 18 Jul 2022 19:26:36 +0000
Subject: [PATCH] checkpoint
---
src/client.cc | 38 ++++++++++++++++++++++++++++++++------
src/server.cc | 13 ++++++-------
src/shs.proto | 10 +++++++---
3 files changed, 45 insertions(+), 16 deletions(-)
diff --git a/src/client.cc b/src/client.cc
index e435b1c..1069850 100644
--- a/src/client.cc
+++ b/src/client.cc
@@ -39,7 +39,8 @@ using grpc::CompletionQueue;
using grpc::Status;
using shs::Image;
using shs::Node;
-using shs::Request;
+using shs::ImageRequest;
+using shs::Telemetry;
template <size_t NUM_CHANNELS> class NodeClient {
public:
@@ -50,8 +51,8 @@ public:
}
}
- void Exposure() {
- Request request;
+ void FetchImage() {
+ ImageRequest request;
request.set_milliseconds(2);
for (int i = 0; i < NUM_CHANNELS; i++) {
readers_[i] =
@@ -71,8 +72,8 @@ public:
private:
class Reader : public grpc::ClientReadReactor<Image> {
public:
- Reader(Node::Stub *stub, const Request &request, int i) : i_(i) {
- stub->async()->Exposure(&context_, &request, this);
+ Reader(Node::Stub *stub, const ImageRequest &request, int i) : i_(i) {
+ stub->async()->FetchImage(&context_, &request, this);
StartCall();
StartRead(&reply_);
}
@@ -84,6 +85,31 @@ private:
}
}
void OnDone(const Status &s) override {
+ Telemetry reply;
+ ClientContext context;
+ std::mutex mu;
+ std::condition_variable cv;
+ bool done = false;
+ Status status;
+
+ stub_->async()->FetchTelemetry(&context, &request, &reply,
+ [&mu, &cv, &done, &status](Status s) {
+ status = std::move(s);
+ std::lock_guard<std::mutex> lock(mu);
+ done = true;
+ cv.notify_one();
+ });
+ std::unique_lock<std::mutex> lock(mu);
+ cv.wait(lock, []{ return done; });
+
+ if (!status.ok()) {
+ std::cout << status.error_code() << ": " << status.error_message()
+ << std::endl;
+ return;
+ }
+
+ uint64_t unixseconds = reply.unixseconds();
+
// save picture
int status = 0;
long naxes[] = {1920, 1200};
@@ -129,7 +155,7 @@ int main(int argc, char **argv) {
grpc::InsecureChannelCredentials()),
};
NodeClient<1> Node(channels);
- Node.Exposure();
+ Node.FetchImage();
return 0;
}
diff --git a/src/server.cc b/src/server.cc
index a0770e1..5bc5035 100644
--- a/src/server.cc
+++ b/src/server.cc
@@ -22,7 +22,7 @@ using grpc::ServerWriteReactor;
using grpc::Status;
using shs::Image;
using shs::Node;
-using shs::Request;
+using shs::ImageRequest;
using shs::Image;
@@ -30,14 +30,13 @@ static AtikCamerasSDKApp app;
class NodeServiceImpl final : public Node::CallbackService {
public:
- ServerWriteReactor<Image> *Exposure(CallbackServerContext *context,
- const Request *request) override {
+ ServerWriteReactor<Image> *FetchImage(CallbackServerContext *context,
+ const ImageRequest *request) override {
class Streamer : public ServerWriteReactor<Image> {
public:
- Streamer(const Request *request) {
+ Streamer(const ImageRequest *request) {
app.Start();
- memcpy(buff, app.StartExposure(request->milliseconds()),
- 1920 * 1200 * sizeof(uint16_t));
+ buff = (uint16_t*)app.StartExposure(request->milliseconds());
NextWrite();
}
void OnDone() override {
@@ -47,7 +46,7 @@ public:
void OnWriteDone(bool) override { NextWrite(); }
private:
- uint16_t buff[1920 * 1200];
+ uint16_t* buff;
AtikCamerasSDKApp app;
Image image_;
int i_ = 0;
diff --git a/src/shs.proto b/src/shs.proto
index efbd4f0..0063bf0 100644
--- a/src/shs.proto
+++ b/src/shs.proto
@@ -17,13 +17,17 @@ syntax = "proto3";
package shs;
service Node {
- rpc Exposure (Request) returns (stream Image) {}
+ rpc FetchImage (ImageRequest) returns (Image) {}
+ rpc FetchTelemetry (google.protobuf.Empty) returns (Telemetry) {}
}
-message Request {
+message ImageRequest {
uint32 milliseconds = 1;
}
-
message Image {
bytes imagedata = 1;
}
+
+message Telemetry {
+ uint64 unixseconds = 1;
+}
--
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