Messages.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <array>
#include <cstring>
#include <map>
#include <msgpack.hpp>
#include <string>
#include <vector>
 
#include "open3d/core/Tensor.h"
 
namespace open3d {
namespace io {
namespace rpc {
namespace messages {
 
inline std::string EndiannessStr() {
    auto IsLittleEndian = []() -> bool {
        uint32_t a = 1;
        uint8_t b;
        // Use memcpy as a reliable way to access a single byte.
        // Other approaches, e.g. union, often rely on undefined behaviour.
        std::memcpy(&b, &a, sizeof(uint8_t));
        return b == 1;
    };
 
    return IsLittleEndian() ? "<" : ">";
}
 
template <class T>
inline std::string TypeStr() {
    return "";
}
template <>
inline std::string TypeStr<float>() {
    return EndiannessStr() + "f4";
}
template <>
inline std::string TypeStr<double>() {
    return EndiannessStr() + "f8";
}
template <>
inline std::string TypeStr<int8_t>() {
    return "|i1";
}
template <>
inline std::string TypeStr<int16_t>() {
    return EndiannessStr() + "i2";
}
template <>
inline std::string TypeStr<int32_t>() {
    return EndiannessStr() + "i4";
}
template <>
inline std::string TypeStr<int64_t>() {
    return EndiannessStr() + "i8";
}
template <>
inline std::string TypeStr<uint8_t>() {
    return "|u1";
}
template <>
inline std::string TypeStr<uint16_t>() {
    return EndiannessStr() + "u2";
}
template <>
inline std::string TypeStr<uint32_t>() {
    return EndiannessStr() + "u4";
}
template <>
inline std::string TypeStr<uint64_t>() {
    return EndiannessStr() + "u8";
}
 
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;
    }
 
    static Array FromTensor(const core::Tensor& tensor) {
        // We require the tensor to be contiguous and to use the CPU.
        auto t = tensor.To(core::Device("CPU:0")).Contiguous();
        auto a = DISPATCH_DTYPE_TO_TEMPLATE(t.GetDtype(), [&]() {
            auto arr = messages::Array::FromPtr(
                    (scalar_t*)t.GetDataPtr(),
                    static_cast<std::vector<int64_t>>(t.GetShape()));
            arr.tensor_ = t;
            return arr;
        });
        return a;
    }
 
    // Object for keeping a reference to the tensor. not meant to be serialized.
    core::Tensor tensor_;
 
    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"; }
 
    std::string o3d_type;
 
    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::string material = "";
    std::map<std::string, float> material_scalar_attributes;
    std::map<std::string, std::array<float, 4>> material_vector_attributes;
    std::map<std::string, Array> texture_maps;
 
    void SetO3DTypeToPointCloud() { o3d_type = "PointCloud"; }
    void SetO3DTypeToLineSet() { o3d_type = "LineSet"; }
    void SetO3DTypeToTriangleMesh() { o3d_type = "TriangleMesh"; }
 
    bool O3DTypeIsPointCloud() const { return o3d_type == "PointCloud"; }
    bool O3DTypeIsLineSet() const { return o3d_type == "LineSet"; }
    bool O3DTypeIsTriangleMesh() const { return o3d_type == "TriangleMesh"; }
 
    bool CheckVertices(std::string& errstr) const {
        if (vertices.shape.empty()) return true;
        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 CheckO3DType(std::string& errstr) const {
        if (o3d_type.empty() || O3DTypeIsPointCloud() || O3DTypeIsLineSet() ||
            O3DTypeIsTriangleMesh()) {
            return true;
        } else {
            errstr +=
                    " invalid o3d_type. Expected 'PointCloud', 'TriangleMesh', "
                    "or 'LineSet' but got '" +
                    o3d_type + "'.";
            return false;
        }
    }
 
    bool CheckMessage(std::string& errstr) const {
        std::string tmp = "invalid mesh_data message:";
        bool status =
                CheckO3DType(tmp) && CheckVertices(tmp) && CheckFaces(tmp);
        if (!status) errstr += tmp;
        return status;
    }
 
    MSGPACK_DEFINE_MAP(o3d_type,
                       vertices,
                       vertex_attributes,
                       faces,
                       face_attributes,
                       lines,
                       line_attributes,
                       material,
                       material_scalar_attributes,
                       material_vector_attributes,
                       texture_maps);
};
 
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