Server that streams RealSense point cloud data to remote clients over UDP. More...

Collaboration diagram for RealSenseServer:

Classes
class	WorkerThread
	Background thread for the server update loop. More...

Public Member Functions
	RealSenseServer (RealSenseScannerFactory *scanner_factory)
	Constructs the server with the given scanner factory.
void	checkRecieve ()
	Checks for and processes incoming commands from the client.
void	initConnections ()
	Initializes the UDP listening connection for incoming commands.
void	sendCommandData (const String &data)
	Sends a command response to the connected client.
void	sendPointData (const RasterPacketInfo &packet_info)
	Sends point cloud data to the connected client.
void	startServer ()
	Starts the server, discovers local scanners, and begins streaming.
void	stopServer ()
	Stops the server and disconnects all scanners.
bool	updateServer ()
	Runs one update cycle: collects data from scanners and sends to client.

Static Public Member Functions
static void	CreateCloudPacket (String &packet, const RasterPacketInfo &packet_info, uint04 data_offset, uint02 data_size, uint04 packet_num)
	Creates a compressed point cloud data packet.
static void	CreateCommandPacket (String &packet, const String &command, uint04 packet_num)
	Creates a command packet from a command string.
static void	CreateProbeInfoPacket (String &packet, const RasterPacketInfo &packet_info, uint04 packet_num)
	Creates a probe info packet with scanner metadata.
static uint04	ReadNetworkPacket (const String &packet, RasterPacketInfo &packet_info, uint04 offset, String &command_response)
	Reads and parses a network packet from a raw data buffer.

Public Attributes
Buffer< RealSenseScanner * >	m_connected_scanners
	List of connected local scanners.
RasterPacketInfo	m_packet_info
	Current raster packet info being transmitted.
Connection *	m_rx_connection = nullptr
	UDP connection for receiving commands.
RealSenseScannerFactory *	m_scanner_factory = nullptr
	Factory for discovering local scanners.
WorkerThread *	m_thread
	Background server thread.
Connection *	m_tx_connection = nullptr
	UDP connection for transmitting data.
String	m_tx_packet
	Reusable transmit packet buffer.
uint04	m_tx_packet_count = 0
	Transmit packet sequence counter.

Static Public Attributes
static constexpr uint04	rx_port_number = 31458
	UDP port for receiving commands.
static constexpr uint04	tx_port_number = 31459
	UDP port for transmitting data.

Detailed Description

Server that streams RealSense point cloud data to remote clients over UDP.

Manages local scanner connections, serializes point cloud and metadata into packets, and transmits them to connected clients.

Definition at line 76 of file RealSenseServer.h.

Constructor & Destructor Documentation

◆ RealSenseServer()

RealSenseServer::RealSenseServer ( RealSenseScannerFactory * scanner_factory )

inline

Constructs the server with the given scanner factory.

Parameters

[in] scanner_factory The factory for discovering local scanners.

Definition at line 300 of file RealSenseServer.h.

References m_scanner_factory, and m_thread.

Referenced by RealSenseServer::WorkerThread::WorkerThread().

Member Function Documentation

◆ CreateCloudPacket()

void RealSenseServer::CreateCloudPacket	(	String &	packet,
		const RasterPacketInfo &	packet_info,
		uint04	data_offset,
		uint02	data_size,
		uint04	packet_num )

inlinestatic

Creates a compressed point cloud data packet.

Parameters

[in]	packet	The output buffer to write the packet into.
[in]	packet_info	The packet info containing point and color data.
[in]	data_offset	The starting offset in the point data buffer.
[in]	data_size	The number of points to include.
[in]	packet_num	The packet sequence number.

Definition at line 128 of file RealSenseServer.h.

References RasterPacketInfo::active_color_data, RasterPacketInfo::active_point_data, cast(), DataPacketHeader::compressed_color_data_size, DataPacketHeader::compressed_point_data_size, DataPacketHeader::data_size, e_cloud_data, RealsensePacketHeader::packet_num, RealsensePacketHeader::packet_type, and Compressor::ZLibCompress().

Referenced by sendPointData().

◆ CreateCommandPacket()

void RealSenseServer::CreateCommandPacket	(	String &	packet,
		const String &	command,
		uint04	packet_num )

inlinestatic

Creates a command packet from a command string.

Parameters

[in]	packet	The output buffer to write the packet into.
[in]	command	The command string.
[in]	packet_num	The packet sequence number.

Definition at line 86 of file RealSenseServer.h.

References cast(), e_probe_info_packet, CommandPacket::packet_info, RealsensePacketHeader::packet_num, and RealsensePacketHeader::packet_type.

Referenced by sendCommandData().

◆ CreateProbeInfoPacket()

void RealSenseServer::CreateProbeInfoPacket	(	String &	packet,
		const RasterPacketInfo &	packet_info,
		uint04	packet_num )

inlinestatic

Creates a probe info packet with scanner metadata.

Parameters

[in]	packet	The output buffer to write the packet into.
[in]	packet_info	The scanner metadata to encode.
[in]	packet_num	The packet sequence number.

Definition at line 105 of file RealSenseServer.h.

References cast(), e_probe_info_packet, InfoPacketHeader::frame_time, RasterPacketInfo::frame_time, InfoPacketHeader::gyro_status, RasterPacketInfo::gyro_status, RasterPacketInfo::mat, InfoPacketHeader::matrix, RealsensePacketHeader::packet_num, RealsensePacketHeader::packet_type, InfoPacketHeader::scanner_id, and RasterPacketInfo::scanner_id.

Referenced by sendPointData().

◆ ReadNetworkPacket()

uint04 RealSenseServer::ReadNetworkPacket	(	const String &	packet,
		RasterPacketInfo &	packet_info,
		uint04	offset,
		String &	command_response )

inlinestatic

Reads and parses a network packet from a raw data buffer.

Parameters

[in]	packet	The raw data buffer.
[in]	packet_info	The packet info to populate with parsed data.
[in]	offset	The byte offset to start reading from.
[in]	command_response	Output for any command response string.

Returns: The new offset after reading, or Invalid to signal a new frame.

Definition at line 164 of file RealSenseServer.h.

References RasterPacketInfo::active_color_data, RasterPacketInfo::active_point_data, Buffer< t_type, t_memory_manager >::addSpace(), RealsensePacketHeader::check_sum, DataPacketHeader::compressed_color_data_size, DataPacketHeader::compressed_point_data_size, DataPacketHeader::data_size, e_cloud_data, e_command_packet, e_probe_info_packet, InfoPacketHeader::frame_time, RasterPacketInfo::frame_time, getMax(), InfoPacketHeader::gyro_status, RasterPacketInfo::gyro_status, RealsensePacketChecksum::index_value, String::indexOf(), IsInvalid(), RasterPacketInfo::mat, InfoPacketHeader::matrix, CommandPacket::packet_info, RasterPacketInfo::packet_num, RealsensePacketHeader::packet_num, RealsensePacketHeader::packet_type, InfoPacketHeader::scanner_id, RasterPacketInfo::scanner_id, and Compressor::ZLibDecompress().

◆ sendCommandData()

void RealSenseServer::sendCommandData ( const String & data )

inline

Sends a command response to the connected client.

Parameters

[in] data The command string to send.

Definition at line 326 of file RealSenseServer.h.

References CreateCommandPacket(), m_tx_connection, m_tx_packet, and m_tx_packet_count.

Referenced by checkRecieve().

◆ sendPointData()

void RealSenseServer::sendPointData ( const RasterPacketInfo & packet_info )

inline

Sends point cloud data to the connected client.

Parameters

[in] packet_info The raster packet info containing point and color data.

Definition at line 308 of file RealSenseServer.h.

References RasterPacketInfo::active_color_data, cast(), CreateCloudPacket(), CreateProbeInfoPacket(), getMin(), m_tx_connection, m_tx_packet, and m_tx_packet_count.

Referenced by updateServer().

◆ updateServer()

bool RealSenseServer::updateServer ( )

inline

Runs one update cycle: collects data from scanners and sends to client.

Returns: True if any data was sent.

Definition at line 392 of file RealSenseServer.h.

References checkRecieve(), initConnections(), QTTools::log(), m_connected_scanners, m_packet_info, m_rx_connection, m_tx_connection, and sendPointData().

The documentation for this class was generated from the following file:

RealSenseInterface/Headers/RealSenseServer.h

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RealSenseServer()

Member Function Documentation

◆ CreateCloudPacket()

◆ CreateCommandPacket()

◆ CreateProbeInfoPacket()

◆ ReadNetworkPacket()

◆ sendCommandData()

◆ sendPointData()

◆ updateServer()