SVO logging (#37)

build.gradle.kts

@@ -39,7 +39,7 @@ mainDependencies {
    api("us.ihmc:ihmc-video-codecs:2.1.6")
    api("us.ihmc:ihmc-realtime:1.7.0")
    api("us.ihmc:ihmc-java-decklink-capture:0.4.0")
-   api("us.ihmc:ihmc-pub-sub:1.1.5")
+   api("us.ihmc:ros2-library:1.1.5")
    api("us.ihmc:ihmc-pub-sub-serializers-extra:1.1.5")
    api("us.ihmc:ihmc-commons:0.34.0")
    api("us.ihmc:ihmc-graphics-description:0.26.0")
@@ -61,6 +61,10 @@ mainDependencies {
    api("org.bytedeco:openblas:$openblasVersion:linux-x86_64")
    api("org.bytedeco:openblas:$openblasVersion:linux-arm64")
    api("org.bytedeco:openblas:$openblasVersion:windows-x86_64")
+   // ZED SDK for logging remote ZED data streams
+   api("us.ihmc:zed-java-api:4.2.0_1") {
+      exclude(group = "org.bytedeco")
+   }
 
    api("org.freedesktop.gstreamer:gst1-java-core:1.4.0")
 

src/main/idl/ZEDSDK.idl

@@ -0,0 +1,10 @@
+module us{
+module ihmc{
+module robotDataLogger{
+	struct ZEDSDKAnnounce{
+		string address;
+		short port;
+	};
+};
+};
+};

src/main/java-generated/us/ihmc/robotDataLogger/ZEDSDKAnnounce.java

@@ -0,0 +1,114 @@
+package us.ihmc.robotDataLogger;
+
+import us.ihmc.communication.packets.Packet;
+import us.ihmc.euclid.interfaces.Settable;
+import us.ihmc.euclid.interfaces.EpsilonComparable;
+import java.util.function.Supplier;
+import us.ihmc.pubsub.TopicDataType;
+
+public class ZEDSDKAnnounce extends Packet<ZEDSDKAnnounce> implements Settable<ZEDSDKAnnounce>, EpsilonComparable<ZEDSDKAnnounce>
+{
+   public java.lang.StringBuilder address_;
+   public short port_;
+
+   public ZEDSDKAnnounce()
+   {
+      address_ = new java.lang.StringBuilder(255);
+   }
+
+   public ZEDSDKAnnounce(ZEDSDKAnnounce other)
+   {
+      this();
+      set(other);
+   }
+
+   public void set(ZEDSDKAnnounce other)
+   {
+      address_.setLength(0);
+      address_.append(other.address_);
+
+      port_ = other.port_;
+
+   }
+
+   public void setAddress(java.lang.String address)
+   {
+      address_.setLength(0);
+      address_.append(address);
+   }
+
+   public java.lang.String getAddressAsString()
+   {
+      return getAddress().toString();
+   }
+   public java.lang.StringBuilder getAddress()
+   {
+      return address_;
+   }
+
+   public void setPort(short port)
+   {
+      port_ = port;
+   }
+   public short getPort()
+   {
+      return port_;
+   }
+
+
+   public static Supplier<ZEDSDKAnnouncePubSubType> getPubSubType()
+   {
+      return ZEDSDKAnnouncePubSubType::new;
+   }
+
+   @Override
+   public Supplier<TopicDataType> getPubSubTypePacket()
+   {
+      return ZEDSDKAnnouncePubSubType::new;
+   }
+
+   @Override
+   public boolean epsilonEquals(ZEDSDKAnnounce other, double epsilon)
+   {
+      if(other == null) return false;
+      if(other == this) return true;
+
+      if (!us.ihmc.idl.IDLTools.epsilonEqualsStringBuilder(this.address_, other.address_, epsilon)) return false;
+
+      if (!us.ihmc.idl.IDLTools.epsilonEqualsPrimitive(this.port_, other.port_, epsilon)) return false;
+
+
+      return true;
+   }
+
+   @Override
+   public boolean equals(Object other)
+   {
+      if(other == null) return false;
+      if(other == this) return true;
+      if(!(other instanceof ZEDSDKAnnounce)) return false;
+
+      ZEDSDKAnnounce otherMyClass = (ZEDSDKAnnounce) other;
+
+      if (!us.ihmc.idl.IDLTools.equals(this.address_, otherMyClass.address_)) return false;
+
+      if(this.port_ != otherMyClass.port_) return false;
+
+
+      return true;
+   }
+
+   @Override
+   public java.lang.String toString()
+   {
+      StringBuilder builder = new StringBuilder();
+
+      builder.append("ZEDSDKAnnounce {");
+      builder.append("address=");
+      builder.append(this.address_);      builder.append(", ");
+      builder.append("port=");
+      builder.append(this.port_);
+      builder.append("}");
+      return builder.toString();
+   }
+}

src/main/java-generated/us/ihmc/robotDataLogger/ZEDSDKAnnouncePubSubType.java

@@ -0,0 +1,154 @@
+package us.ihmc.robotDataLogger;
+
+/**
+* 
+* Topic data type of the struct "ZEDSDKAnnounce" defined in "ZEDSDK.idl". Use this class to provide the TopicDataType to a Participant. 
+*
+* This file was automatically generated from ZEDSDK.idl by us.ihmc.idl.generator.IDLGenerator. 
+* Do not update this file directly, edit ZEDSDK.idl instead.
+*
+*/
+public class ZEDSDKAnnouncePubSubType implements us.ihmc.pubsub.TopicDataType<us.ihmc.robotDataLogger.ZEDSDKAnnounce>
+{
+   public static final java.lang.String name = "us::ihmc::robotDataLogger::ZEDSDKAnnounce";
+
+   @Override
+   public final java.lang.String getDefinitionChecksum()
+   {
+   		return "9f246f58e62fc3a5fa946f596f47987112d8e383291e0da8503af3ec09242643";
+   }
+
+   @Override
+   public final java.lang.String getDefinitionVersion()
+   {
+   		return "local";
+   }
+
+   private final us.ihmc.idl.CDR serializeCDR = new us.ihmc.idl.CDR();
+   private final us.ihmc.idl.CDR deserializeCDR = new us.ihmc.idl.CDR();
+
+   @Override
+   public void serialize(us.ihmc.robotDataLogger.ZEDSDKAnnounce data, us.ihmc.pubsub.common.SerializedPayload serializedPayload) throws java.io.IOException
+   {
+      serializeCDR.serialize(serializedPayload);
+      write(data, serializeCDR);
+      serializeCDR.finishSerialize();
+   }
+
+   @Override
+   public void deserialize(us.ihmc.pubsub.common.SerializedPayload serializedPayload, us.ihmc.robotDataLogger.ZEDSDKAnnounce data) throws java.io.IOException
+   {
+      deserializeCDR.deserialize(serializedPayload);
+      read(data, deserializeCDR);
+      deserializeCDR.finishDeserialize();
+   }
+
+   public static int getMaxCdrSerializedSize()
+   {
+      return getMaxCdrSerializedSize(0);
+   }
+
+   public static int getMaxCdrSerializedSize(int current_alignment)
+   {
+      int initial_alignment = current_alignment;
+
+      current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4) + 255 + 1;
+      current_alignment += 2 + us.ihmc.idl.CDR.alignment(current_alignment, 2);
+
+
+      return current_alignment - initial_alignment;
+   }
+
+   public final static int getCdrSerializedSize(us.ihmc.robotDataLogger.ZEDSDKAnnounce data)
+   {
+      return getCdrSerializedSize(data, 0);
+   }
+
+   public final static int getCdrSerializedSize(us.ihmc.robotDataLogger.ZEDSDKAnnounce data, int current_alignment)
+   {
+      int initial_alignment = current_alignment;
+
+      current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4) + data.getAddress().length() + 1;
+
+      current_alignment += 2 + us.ihmc.idl.CDR.alignment(current_alignment, 2);
+
+
+
+      return current_alignment - initial_alignment;
+   }
+
+   public static void write(us.ihmc.robotDataLogger.ZEDSDKAnnounce data, us.ihmc.idl.CDR cdr)
+   {
+      if(data.getAddress().length() <= 255)
+      cdr.write_type_d(data.getAddress());else
+          throw new RuntimeException("address field exceeds the maximum length");
+
+      cdr.write_type_1(data.getPort());
+
+   }
+
+   public static void read(us.ihmc.robotDataLogger.ZEDSDKAnnounce data, us.ihmc.idl.CDR cdr)
+   {
+      cdr.read_type_d(data.getAddress());	
+      data.setPort(cdr.read_type_1());
+
+
+   }
+
+   @Override
+   public final void serialize(us.ihmc.robotDataLogger.ZEDSDKAnnounce data, us.ihmc.idl.InterchangeSerializer ser)
+   {
+      ser.write_type_d("address", data.getAddress());
+      ser.write_type_1("port", data.getPort());
+   }
+
+   @Override
+   public final void deserialize(us.ihmc.idl.InterchangeSerializer ser, us.ihmc.robotDataLogger.ZEDSDKAnnounce data)
+   {
+      ser.read_type_d("address", data.getAddress());
+      data.setPort(ser.read_type_1("port"));
+   }
+
+   public static void staticCopy(us.ihmc.robotDataLogger.ZEDSDKAnnounce src, us.ihmc.robotDataLogger.ZEDSDKAnnounce dest)
+   {
+      dest.set(src);
+   }
+
+   @Override
+   public us.ihmc.robotDataLogger.ZEDSDKAnnounce createData()
+   {
+      return new us.ihmc.robotDataLogger.ZEDSDKAnnounce();
+   }
+   @Override
+   public int getTypeSize()
+   {
+      return us.ihmc.idl.CDR.getTypeSize(getMaxCdrSerializedSize());
+   }
+
+   @Override
+   public java.lang.String getName()
+   {
+      return name;
+   }
+
+   public void serialize(us.ihmc.robotDataLogger.ZEDSDKAnnounce data, us.ihmc.idl.CDR cdr)
+   {
+      write(data, cdr);
+   }
+
+   public void deserialize(us.ihmc.robotDataLogger.ZEDSDKAnnounce data, us.ihmc.idl.CDR cdr)
+   {
+      read(data, cdr);
+   }
+
+   public void copy(us.ihmc.robotDataLogger.ZEDSDKAnnounce src, us.ihmc.robotDataLogger.ZEDSDKAnnounce dest)
+   {
+      staticCopy(src, dest);
+   }
+
+   @Override
+   public ZEDSDKAnnouncePubSubType newInstance()
+   {
+      return new ZEDSDKAnnouncePubSubType();
+   }
+}