merged

CMakeLists.txt

@@ -21,6 +21,8 @@ find_package(CUDA REQUIRED)
 find_package(OpenCV REQUIRED)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DOPENCV")
 
+include_directories(/usr/include/gdal)
+
 # compile Discovery only if TensorRT is installed
 find_library(NVINFER NAMES nvinfer)
 if(NVINFER STREQUAL "NVINFER-NOTFOUND")
@@ -37,7 +39,7 @@ file(GLOB tkdnn_SRC "src/*.cpp")
 set(tkdnn_LIBS kernels ${CUDA_LIBRARIES} ${CUDA_CUBLAS_LIBRARIES} -lcudnn -lnvinfer ${OpenCV_LIBS} -lgdal)
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=c++11")
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include ${CUDA_INCLUDE_DIRS} ${OPENCV_INCLUDE_DIRS} ${NVINFER_INCLUDES})
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include ${CUDA_INCLUDE_DIRS} ${OPENCV_INCLUDE_DIRS} ${NVINFER_INCLUDES} "~/repos/cereal/include")
 add_library(tkDNN SHARED ${tkdnn_SRC})
 target_link_libraries(tkDNN ${tkdnn_LIBS})
 
@@ -94,6 +96,10 @@ target_link_libraries(test_rtinference tkDNN)
 add_executable(yolo3_demo demo/demo/demo.cpp)
 target_link_libraries(yolo3_demo tkDNN)
 
+add_executable(class_server demo/server/server_less_dummy.cpp)
+target_link_libraries(class_server pthread tkDNN )
+
+
 #install
 #if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
 #    set (CMAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/install" 

demo/demo/demo.cpp

@@ -88,7 +88,11 @@ int main(int argc, char *argv[]) {
 
         cap >> frame; 
         if(!frame.data) {
+            usleep(1000000);
+            cap.open(input);
+            printf("cap reinitialize\n");
             continue;
+
         }  
  
         // this will be resized to the net format

demo/server/server_less_dummy.cpp

@@ -0,0 +1,283 @@
+/*
+    C socket server example, handles multiple clients using threads
+*/
+
+#include <stdio.h>
+#include <string.h> //strlen
+#include <stdlib.h> //strlen
+#include <time.h>
+#include <sys/socket.h>
+#include <arpa/inet.h> //inet_addr
+#include <unistd.h>    //write
+#include <pthread.h>   //for threading , link with lpthread
+#include <semaphore.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include "serialize.hpp"
+#include <string>
+
+sem_t semaphore;
+
+struct obj_coords
+{
+    float LAT;
+    float LONG;
+    float cl;
+};
+
+int write_coords_to_file(std::string buffer, FILE *f)
+{
+
+    std::istringstream is(buffer);
+    cereal::PortableBinaryInputArchive retrieve(is);
+    Message m;
+    retrieve(m);
+
+    int cam_id = m.cam_idx;
+    unsigned long long t_stamp_ms = m.t_stamp_ms;
+    int obj_n = m.num_objects;
+
+    struct obj_coords *c = (struct obj_coords *)malloc(obj_n * sizeof(struct obj_coords));
+
+    int i;
+    for (i = 0; i < obj_n; i++)
+    {
+        c[i].LAT = m.objects.at(i).latitude;
+        c[i].LONG = m.objects.at(i).longitude;
+        c[i].cl = m.objects.at(i).category;
+        //m.objects.at(i).speed;
+        //m.objects.at(i).orientation;
+    }
+
+    char *to_print = (char *)malloc(100000);
+    memset(to_print, 0, 100000);
+
+    /*int obj_n;
+    int cam_id;
+    unsigned long long t_stamp_ms;
+    char type_of_m;
+
+    int consumed_chars = 0;
+    char *shifted_chars = (char*)malloc(4000);
+    char *to_print = (char*)malloc(100000);
+    memset(to_print,0,100000);
+
+    sscanf(buffer, "%c %lld %d %d ", &type_of_m, &t_stamp_ms, &cam_id, &obj_n);
+    sprintf(shifted_chars, "%c %lld %d %d ", type_of_m, t_stamp_ms, cam_id, obj_n);
+    consumed_chars += strlen(shifted_chars);
+    //printf("%c %lld %d %d\n", type_of_m, t_stamp_ms, cam_id, *obj_n);
+
+    struct obj_coords *c = (struct obj_coords *)malloc(obj_n * sizeof(struct obj_coords));
+
+    int i;
+    for (i = 0; i < obj_n; i++)
+    {
+        sscanf(buffer + consumed_chars, "%f %f %f ", &c[i].LAT, &c[i].LONG, &c[i].cl);
+        sprintf(shifted_chars, "%.9f %.9f %.0f ", c[i].LAT, c[i].LONG, c[i].cl);
+        consumed_chars += strlen(shifted_chars);
+        //printf("%Lf %f %f \n", c[i].LAT, c[i].LONG, c[i].cl);
+    }*/
+
+    char *command = (char *)malloc(4000);
+    for (i = 0; i < obj_n; i++)
+    {
+        sprintf(command, "%d %lld %.0f %.9f %.9f %f %f\n", cam_id, t_stamp_ms, c[i].cl, c[i].LAT, c[i].LONG, 0.0f, 0.0f);
+        strcat(to_print, command);
+    }
+
+    printf("%s", to_print);
+
+    fprintf(f, "%s", to_print);
+    free(to_print);
+    free(command);
+    free(c);
+
+    return obj_n;
+}
+
+//the thread function
+void *connection_handler(void *);
+
+int main(int argc, char *argv[])
+{
+    const int path_size = 400;
+    //const int message_size = 100000;
+    char path[path_size];
+    //int obj_n;
+    const char *basepath = "/tmp/";
+    struct stat st = {0};
+
+    sem_init(&semaphore, 0, 1);
+
+    int socket_desc, client_sock, c, *new_sock;
+    struct sockaddr_in server, client;
+
+    time_t rawtime;
+    time(&rawtime);
+    struct tm *tm_struct = localtime(&rawtime);
+    int tm_hour = tm_struct->tm_hour;
+    int tm_yday = tm_struct->tm_yday;
+
+    sprintf(path, "%s%d/", basepath, tm_yday);
+    if (stat(path, &st) == -1)
+    {
+        mkdir(path, 0700);
+    }
+    memset(path, 0, path_size);
+
+    sprintf(path, "%s%d/%d/", basepath, tm_yday, tm_hour);
+    if (stat(path, &st) == -1)
+    {
+        mkdir(path, 0700);
+    }
+    memset(path, 0, path_size);
+
+    //Create socket
+    socket_desc = socket(AF_INET, SOCK_STREAM, 0);
+    if (socket_desc == -1)
+    {
+        printf("Could not create socket");
+    }
+    puts("Socket created");
+
+    //Prepare the sockaddr_in structure
+    server.sin_family = AF_INET;
+    server.sin_addr.s_addr = INADDR_ANY;
+    server.sin_port = htons(8888);
+
+    //Bind
+    if (bind(socket_desc, (struct sockaddr *)&server, sizeof(server)) < 0)
+    {
+        //print the error message
+        perror("bind failed. Error");
+        return 1;
+    }
+    puts("bind done");
+
+    //Listen
+    listen(socket_desc, 3);
+
+    //Accept and incoming connection
+    puts("Waiting for incoming connections...");
+    c = sizeof(struct sockaddr_in);
+    while ((client_sock = accept(socket_desc, (struct sockaddr *)&client, (socklen_t *)&c)))
+    {
+        puts("Connection accepted");
+
+        pthread_t sniffer_thread;
+        new_sock = (int *)malloc(1);
+        *new_sock = client_sock;
+
+        if (pthread_create(&sniffer_thread, NULL, connection_handler, (void *)new_sock) < 0)
+        {
+            perror("could not create thread");
+            return 1;
+        }
+
+        //Now join the thread , so that we dont terminate before the thread
+        //pthread_join( sniffer_thread , NULL);
+        puts("Handler assigned");
+    }
+
+    if (client_sock < 0)
+    {
+        perror("accept failed");
+        return 1;
+    }
+
+    sem_destroy(&semaphore);
+
+    return 0;
+}
+
+/*
+ * This will handle connection for each client
+ * */
+void *connection_handler(void *socket_desc)
+{
+    time_t rawtime;
+    struct tm *tm_struct;
+    int tm_hour;
+    int tm_yday;
+    const int path_size = 400;
+    const int message_size = 100000;
+    char path[path_size];
+    int obj_n;
+    const char *basepath = "/tmp/";
+    struct stat st = {0};
+    FILE *f;
+    int mess_hour, mess_min, mess_yday;
+
+    //Get the socket descriptor
+    int sock = *(int *)socket_desc;
+    int read_size;
+    
+    void *client_message = (void*)malloc(message_size);
+
+    /* //Send some messages to the client
+    message = "Greetings! I am your connection handler\n";
+    write(sock, message, strlen(message)); */
+
+    //Receive a message from client
+    while ((read_size = recv(sock, client_message, message_size, 0)) > 0)
+    {
+
+        std::string s((char *)client_message, message_size);
+        //std::cout<<"Message received: "<<s<<std::endl;
+
+        time(&rawtime);
+        tm_struct = localtime(&rawtime);
+        mess_min = tm_struct->tm_min;
+        mess_hour = tm_struct->tm_hour;
+        mess_yday = tm_struct->tm_yday;
+        if (mess_yday != tm_yday)
+        {
+            tm_yday = mess_yday;
+            sprintf(path, "%s%d/", basepath, tm_yday);
+            if (stat(path, &st) == -1)
+            {
+                mkdir(path, 0700);
+            }
+            memset(path, 0, path_size);
+        }
+        if (mess_hour != tm_hour)
+        {
+            tm_hour = mess_hour;
+            sprintf(path, "%s%d/%d/", basepath, tm_yday, tm_hour);
+            if (stat(path, &st) == -1)
+            {
+                mkdir(path, 0700);
+            }
+            memset(path, 0, path_size);
+        }
+
+        sprintf(path, "%s%d/%d/%d.txt", basepath, tm_yday, tm_hour, mess_min);
+
+        //CRITICAL SECTION
+        sem_wait(&semaphore);
+        f = fopen(path, "a");
+        memset(path, 0, path_size);
+
+        obj_n = write_coords_to_file(s, f);
+
+        fclose(f);
+        sem_post(&semaphore);
+    }
+
+    if (read_size == 0)
+    {
+        puts("Client disconnected");
+        fflush(stdout);
+    }
+    else if (read_size == -1)
+    {
+        perror("recv failed");
+    }
+
+    //Free the socket pointer
+    free(socket_desc);
+
+    free(client_message);
+
+    return 0;
+}

include/send.h

@@ -18,6 +18,7 @@
 #include "gdal/cpl_conv.h"
 
 
+#include "serialize.hpp"
 
 struct obj_coords
 {
@@ -68,49 +69,58 @@ void fillMatrix(cv::Mat &H, float *matrix, bool show=false)
 		std::cout<<H<<"\n";
 }
 
-char *serialize_coords(struct obj_coords *c, int obj_n, int CAM_IDX)
-{
 
-    char *buffer = (char *)malloc(100000 * sizeof(char));
+void serialize_coords(struct obj_coords *c, int obj_n, int CAM_IDX, std::stringbuf* buf)
+{
+    
+    std::ostream os(buf);
+    cereal::PortableBinaryOutputArchive archive(os);
 
     struct timeval tv;
     gettimeofday(&tv, NULL);
     unsigned long long t_stamp_ms = (unsigned long long)(tv.tv_sec) * 1000 + (unsigned long long)(tv.tv_usec) / 1000;
+    
+    std::vector<Road_User> ruv;
 
-    sprintf(buffer, "m %lld %d %d ", t_stamp_ms, CAM_IDX, obj_n);
     int i;
     for (i = 0; i < obj_n; i++)
-        sprintf(buffer + strlen(buffer), "%.9f %.9f %.0f ", c[i].LAT, c[i].LONG, c[i].cl);
+    {
+        Road_User r{c[i].LAT,c[i].LONG,0,0,(int)c[i].cl};
+        ruv.push_back(r);
+    }
 
-    //printf("%s\n", buffer);
+    Message m{CAM_IDX,t_stamp_ms,ruv.size(),ruv};
+    archive(m);
 
-    return buffer;
+
+    //std::cout<<buf->str()<<std::endl;
+
+    //return buf;
 }
 
 struct obj_coords *deserialize_coords(char *buffer, int *obj_n)
 {
 
-    int cam_id;
-    unsigned long long t_stamp_ms;
-    char type_of_m;
+    std::stringbuf buf(buffer);
+    std::istream is(&buf);
+    cereal::PortableBinaryInputArchive retrieve(is);
+    Message m;
+    retrieve(m);
 
-    int consumed_chars = 0;
-    char shifted_chars[100000];
-
-    sscanf(buffer, "%c %lld %d %d ", &type_of_m, &t_stamp_ms, &cam_id, obj_n);
-    sprintf(shifted_chars, "%c %lld %d %d ", type_of_m, t_stamp_ms, cam_id, *obj_n);
-    consumed_chars += strlen(shifted_chars);
-    //printf("%c %lld %d %d\n", type_of_m, t_stamp_ms, cam_id, *obj_n);
+    int cam_id = m.cam_idx;
+    unsigned long long t_stamp_ms = m.t_stamp_ms;
+    *obj_n = m.num_objects;
 
     struct obj_coords *c = (struct obj_coords *)malloc(*obj_n * sizeof(struct obj_coords));
 
     int i;
     for (i = 0; i < *obj_n; i++)
     {
-        sscanf(buffer + consumed_chars, "%f %f %f ", &c[i].LAT, &c[i].LONG, &c[i].cl);
-        sprintf(shifted_chars, "%.9f %.9f %.0f ", c[i].LAT, c[i].LONG, c[i].cl);
-        consumed_chars += strlen(shifted_chars);
-        //printf("%Lf %f %f \n", c[i].LAT, c[i].LONG, c[i].cl);
+        c[i].LAT = m.objects.at(i).latitude;
+        c[i].LONG = m.objects.at(i).longitude;
+        c[i].cl = m.objects.at(i).category;
+        //m.objects.at(i).speed;
+        //m.objects.at(i).orientation;
     }
 
     return c;
@@ -223,7 +233,11 @@ int open_socket(char *ip, int &sock, int &socket_opened)
 int send_client_dummy(struct obj_coords *coords, int n_coords, int &sock, int &socket_opened, int CAM_IDX)
 {
     /*serialize coords*/
-    char *message = serialize_coords(coords, n_coords, CAM_IDX);
+    std::stringbuf *message = new std::stringbuf();
+    serialize_coords(coords, n_coords, CAM_IDX, message);
+
+
+    std::cout<<message->str().length()<<std::endl;
 
     /*open socket if not already opened*/
     if (socket_opened == 0)
@@ -238,14 +252,17 @@ int send_client_dummy(struct obj_coords *coords, int n_coords, int &sock, int &s
         }
     }
 
+    
+
     /*send message to server*/
-    if (send(sock, message, strlen(message), 0) < 0)
+    if (send(sock, message->str().data(), message->str().length(), 0) < 0)
     {
         puts("Send failed");
         socket_opened = 0;
     }
 
-    free(message);
+    delete message;
+    //free(message);
     //close(sock);
     return 1;
 }

include/serialize.hpp

@@ -0,0 +1,38 @@
+#ifndef SERIALIZE_H
+#define SERIALIZE_H
+
+#include <cereal/archives/portable_binary.hpp>
+#include <cereal/types/vector.hpp>
+
+struct Road_User{
+    float latitude;
+    float longitude;
+    uint8_t speed;
+    uint8_t orientation;
+    uint8_t category;
+
+    template<class Archive>
+    void serialize(Archive & archive)
+    {
+        archive( latitude, longitude, speed, orientation, category ); 
+    }
+
+};
+
+struct Message{
+    uint32_t cam_idx;
+    uint64_t t_stamp_ms;
+    uint16_t num_objects;
+    std::vector<Road_User> objects;
+    
+    template<class Archive>
+    void serialize(Archive & archive)
+    {
+        archive( cam_idx, t_stamp_ms, num_objects, objects ); 
+    }
+};
+
+
+
+
+#endif

src/NetworkRT.cpp

@@ -35,7 +35,7 @@ NetworkRT::NetworkRT(Network *net, const char *name) {
     builderRT = createInferBuilder(loggerRT);
     std::cout<<"Float16 support: "<<builderRT->platformHasFastFp16()<<"\n";
     std::cout<<"Int8 support: "<<builderRT->platformHasFastInt8()<<"\n";
-    std::cout<<"DLAs: "<<builderRT->getNbDLACores()<<"\n";
+    //std::cout<<"DLAs: "<<builderRT->getNbDLACores()<<"\n";
     networkRT = builderRT->createNetwork();
 
     if(!fileExist(name)) {