Messages.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2020 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------

#pragma once
#include <boost/predef/other/endian.h>

#include <map>
#include <msgpack.hpp>
#include <string>
#include <vector>

#if BOOST_ENDIAN_LITTLE_BYTE
#define ENDIANNESS_STR "<"
#elif BOOST_ENDIAN_BIG_BYTE
#define ENDIANNESS_STR ">"
#else
#error Cannot determine endianness
#endif

namespace open3d {
namespace io {
namespace rpc {
namespace messages {

template <class T>
inline std::string TypeStr() {
    return "";
}
template <>
inline std::string TypeStr<float>() {
    return ENDIANNESS_STR "f4";
}
template <>
inline std::string TypeStr<double>() {
    return ENDIANNESS_STR "f8";
}
template <>
inline std::string TypeStr<int8_t>() {
    return "|i1";
}
template <>
inline std::string TypeStr<int16_t>() {
    return ENDIANNESS_STR "i2";
}
template <>
inline std::string TypeStr<int32_t>() {
    return ENDIANNESS_STR "i4";
}
template <>
inline std::string TypeStr<int64_t>() {
    return ENDIANNESS_STR "i8";
}
template <>
inline std::string TypeStr<uint8_t>() {
    return "|u1";
}
template <>
inline std::string TypeStr<uint16_t>() {
    return ENDIANNESS_STR "u2";
}
template <>
inline std::string TypeStr<uint32_t>() {
    return ENDIANNESS_STR "u4";
}
template <>
inline std::string TypeStr<uint64_t>() {
    return ENDIANNESS_STR "u8";
}

#undef ENDIANNESS_STR

struct Array {
    static std::string MsgId() { return "array"; }

    template <class T>
    static Array FromPtr(const T* const ptr,
                         const std::vector<int64_t>& shape) {
        Array arr;
        arr.type = TypeStr<T>();
        arr.shape = shape;
        arr.data.ptr = (const char*)ptr;
        int64_t num = 1;
        for (int64_t n : shape) num *= n;
        arr.data.size = uint32_t(sizeof(T) * num);
        return arr;
    }
    std::string type;
    std::vector<int64_t> shape;
    msgpack::type::raw_ref data;

    template <class T>
    const T* Ptr() const {
        return (T*)data.ptr;
    }

    bool CheckRank(const std::vector<int>& expected_ranks,
                   std::string& errstr) const {
        for (auto rank : expected_ranks) {
            if (shape.size() == size_t(rank)) return true;
        }
        errstr += " expected rank to be in (";
        for (auto rank : expected_ranks) {
            errstr += std::to_string(rank) + ", ";
        }
        errstr += std::string(")") + " but got shape [";
        for (auto d : shape) {
            errstr += std::to_string(d) + ", ";
        }
        errstr += "]";
        return false;
    }
    bool CheckRank(const std::vector<int>& expected_ranks) const {
        std::string _;
        return CheckRank(expected_ranks, _);
    }

    bool CheckShape(const std::vector<int64_t>& expected_shape,
                    std::string& errstr) const {
        if (!CheckRank({int(expected_shape.size())}, errstr)) {
            return false;
        }

        for (size_t i = 0; i < expected_shape.size(); ++i) {
            int64_t d_expected = expected_shape[i];
            int64_t d = shape[i];
            if ((d_expected != -1 && d_expected != d) || d < 0) {
                errstr += " expected shape [";
                for (auto d : expected_shape) {
                    if (d != -1) {
                        errstr += "?, ";
                    } else {
                        errstr += std::to_string(d) + ", ";
                    }
                }
                errstr += "] but got [";
                for (auto d : shape) {
                    errstr += std::to_string(d) + ", ";
                }
                errstr += "]";
                return false;
            }
        }
        return true;
    }
    bool CheckShape(const std::vector<int64_t>& expected_shape) const {
        std::string _;
        return CheckShape(expected_shape, _);
    }

    bool CheckNonEmpty(std::string& errstr) const {
        int64_t n = 1;
        for (auto d : shape) n *= d;
        if (0 == n || shape.empty()) {
            errstr += " expected non empty array but got array with shape [";
            for (auto d : shape) {
                errstr += std::to_string(d) + ", ";
            }
            errstr += "]";
            return false;
        }
        return true;
    }
    bool CheckNonEmpty() const {
        std::string _;
        return CheckNonEmpty(_);
    }

    bool CheckType(const std::vector<std::string>& expected_types,
                   std::string& errstr) const {
        for (const auto& t : expected_types) {
            if (t == type) return true;
        }
        errstr += " expected array type to be one of (";
        for (const auto& t : expected_types) {
            errstr += t + ", ";
        }
        errstr += ") but got " + type;
        return false;
    }
    bool CheckType(const std::vector<std::string>& expected_types) const {
        std::string _;
        return CheckType(expected_types, _);
    }

    // macro for creating the serialization/deserialization code
    MSGPACK_DEFINE_MAP(type, shape, data);
};

struct MeshData {
    static std::string MsgId() { return "mesh_data"; }

    Array vertices;
    std::map<std::string, Array> vertex_attributes;

    Array faces;
    std::map<std::string, Array> face_attributes;

    Array lines;
    std::map<std::string, Array> line_attributes;

    std::map<std::string, Array> textures;

    bool CheckVertices(std::string& errstr) const {
        std::string tmp = "invalid vertices array:";
        bool status = vertices.CheckNonEmpty(tmp) &&
                      vertices.CheckShape({-1, 3}, tmp);
        if (!status) errstr += tmp;
        return status;
    }

    bool CheckFaces(std::string& errstr) const {
        if (faces.shape.empty()) return true;

        std::string tmp = "invalid faces array:";

        bool status = faces.CheckRank({1, 2}, tmp);
        if (!status) {
            errstr += tmp;
            return false;
        }

        status = faces.CheckType({TypeStr<int32_t>(), TypeStr<int64_t>()}, tmp);
        if (!status) {
            errstr += tmp;
            return false;
        }

        if (faces.CheckRank({1, 2})) {
            status = faces.CheckNonEmpty(tmp);
            if (!status) {
                errstr += tmp;
                return false;
            }
        }

        if (faces.CheckRank({2})) {
            status = faces.shape[1] > 2;
            tmp += " expected shape [?, >2] but got [" +
                   std::to_string(faces.shape[0]) + ", " +
                   std::to_string(faces.shape[1]) + "]";
            if (!status) {
                errstr += tmp;
                return false;
            }
        }
        return status;
    }

    bool CheckMessage(std::string& errstr) const {
        std::string tmp = "invalid mesh_data message:";
        bool status = CheckVertices(errstr) && CheckFaces(errstr);
        if (!status) errstr += tmp;
        return status;
    }

    MSGPACK_DEFINE_MAP(vertices,
                       vertex_attributes,
                       faces,
                       face_attributes,
                       lines,
                       line_attributes,
                       textures);
};

struct SetMeshData {
    static std::string MsgId() { return "set_mesh_data"; }

    SetMeshData() : time(0) {}

    std::string path;
    int32_t time;
    std::string layer;

    MeshData data;

    MSGPACK_DEFINE_MAP(path, time, layer, data);
};

struct GetMeshData {
    static std::string MsgId() { return "get_mesh_data"; }

    GetMeshData() : time(0) {}

    std::string path;
    int32_t time;
    std::string layer;

    MSGPACK_DEFINE_MAP(path, time, layer);
};

struct CameraData {
    static std::string MsgId() { return "camera_data"; }

    CameraData() : width(0), height(0) {}

    // extrinsic parameters defining the world to camera transform, i.e.,
    // X_cam = X_world * R + t

    std::array<double, 4> R;
    std::array<double, 3> t;

    std::string intrinsic_model;
    std::vector<double> intrinsic_parameters;

    int width;
    int height;

    std::map<std::string, Array> images;

    MSGPACK_DEFINE_MAP(
            R, t, intrinsic_model, intrinsic_parameters, width, height, images);
};

struct SetCameraData {
    static std::string MsgId() { return "set_camera_data"; }

    SetCameraData() : time(0) {}

    std::string path;
    int32_t time;
    std::string layer;

    CameraData data;

    MSGPACK_DEFINE_MAP(path, time, layer, data);
};

struct SetTime {
    static std::string MsgId() { return "set_time"; }
    SetTime() : time(0) {}
    int32_t time;

    MSGPACK_DEFINE_MAP(time);
};

struct SetActiveCamera {
    static std::string MsgId() { return "set_active_camera"; }
    std::string path;

    MSGPACK_DEFINE_MAP(path);
};

struct SetProperties {
    static std::string MsgId() { return "set_properties"; }
    std::string path;

    // application specific members go here.

    MSGPACK_DEFINE_MAP(path);
};

struct Request {
    std::string msg_id;
    MSGPACK_DEFINE_MAP(msg_id);
};

struct Reply {
    std::string msg_id;
    MSGPACK_DEFINE_MAP(msg_id);
};

struct Status {
    static std::string MsgId() { return "status"; }

    Status() : code(0) {}
    Status(int code, const std::string& str) : code(code), str(str) {}
    static Status OK() { return Status(); }
    static Status ErrorUnsupportedMsgId() {
        return Status(1, "unsupported msg_id");
    }
    static Status ErrorUnpackingFailed() {
        return Status(2, "error during unpacking");
    }
    static Status ErrorProcessingMessage() {
        return Status(3, "error while processing message");
    }

    int32_t code;
    std::string str;

    MSGPACK_DEFINE_MAP(code, str);
};

}  // namespace messages
}  // namespace rpc
}  // namespace io
}  // namespace open3d