nl-knd_client 0.0.0.pre.usegit

data/README.md

@@ -0,0 +1,59 @@
+# NL::KndClient
+
+Client library for interacting with the Nitrogen Logic [KND][0] (Kinematic
+Network Daemon) server, which provides zone-based data from a Kinect.
+
+There are two clients provided:
+
+- `NL::KndClient::EMKndClient` – a complex, older, but full-featured
+  asynchronous client based on EventMachine.  This is only available if the
+  EventMachine gem is already present in your application's dependencies.
+- `NL::KndClient::SimpleKndClient` – a simple, newer, quick-and-dirty
+  `Thread`-based client that is easier to use, but does not support all KND
+  features.
+
+Some data decoding functions are also provided as a C extension in
+`NL::KndClient::Kinutils`.
+
+## License
+
+NL::KndClient is ©2011-2020 Mike Bourgeous.
+
+NL::KndClient is licensed under the Affero GPL version 3 (AGPLv3).  Feel free
+to get in touch if you would like to discuss more permissive terms.
+
+
+## Installation
+
+This gem depends on the Nitrogen Logic C utility library, [nlutils][1].
+
+After installing nlutils, add this line to your application's Gemfile:
+
+```ruby
+gem 'nl-knd_client', git: 'git@github.com:nitrogenlogic/nl-knd_client.git'
+```
+
+And then execute:
+
+```bash
+$ bundle install
+```
+
+## Usage
+
+TODO: Write usage instructions here
+
+### Standalone command-line processing
+
+There is a Makefile in the `ext/` directory that will build standalone tools
+for unpacking and projecting raw depth data.
+
+```bash
+cd ext/
+make
+
+cat depth11.raw | ./unpack -i | ./overhead | convert -size 500x500 -depth 8 GRAY:- /tmp/overhead.png
+```
+
+[0]: https://github.com/nitrogenlogic/knd
+[1]: https://github.com/nitrogenlogic/nlutils

data/Rakefile

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+require "bundler/gem_tasks"
+require 'rake/extensiontask'
+
+task :default => :spec
+
+Rake::ExtensionTask.new 'kinutils' do |ext|
+  ext.name = 'kinutils'
+  ext.ext_dir = 'ext/kinutils'
+  ext.lib_dir = 'lib/nl/knd_client'
+end

data/bin/console

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+#!/usr/bin/env ruby
+
+require "bundler/setup"
+require "nl/knd_client"
+
+require "pry"
+Pry.start

data/bin/setup

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+#!/usr/bin/env bash
+set -euo pipefail
+IFS=$'\n\t'
+set -vx
+
+bundle install
+
+# Do any other automated setup that you need to do here

data/ext/Makefile

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+# This Makefile is for building standalone executables for processing raw
+# 11-bit Kinect depth data from the command line.
+#
+# Example:
+# cat depth11.raw | ./unpack -i | ./overhead | convert -size 500x500 -depth 8 GRAY:- /tmp/overhead.png
+.PHONY: clean all
+
+RUBY?=/usr/bin/env ruby
+
+CFLAGS=-Wall -Wextra -std=gnu99 -O3 -D_GNU_SOURCE
+
+all: unpack overhead side front ext overhead_grid side_grid front_grid
+
+unpack: kinutils/unpack.c unpacktest.c Makefile
+	gcc kinutils/unpack.c unpacktest.c -o unpack $(CFLAGS) -Ikinutils -lm $(EXTRACFLAGS)
+
+overhead: kinutils/unpack.c overhead.c Makefile
+	gcc kinutils/unpack.c overhead.c -o overhead $(CFLAGS) -Ikinutils -lm $(EXTRACFLAGS)
+
+side: kinutils/unpack.c side.c Makefile
+	gcc kinutils/unpack.c side.c -o side $(CFLAGS) -Ikinutils -lm $(EXTRACFLAGS)
+
+front: kinutils/unpack.c front.c Makefile
+	gcc kinutils/unpack.c front.c -o front $(CFLAGS) -Ikinutils -lm $(EXTRACFLAGS)
+
+overhead_grid: kinutils/unpack.c overhead_grid.c Makefile
+	gcc kinutils/unpack.c overhead_grid.c -o overhead_grid $(CFLAGS) -Ikinutils -lm $(EXTRACFLAGS)
+
+side_grid: kinutils/unpack.c side_grid.c Makefile
+	gcc kinutils/unpack.c side_grid.c -o side_grid $(CFLAGS) -Ikinutils -lm $(EXTRACFLAGS)
+
+front_grid: kinutils/unpack.c front_grid.c Makefile
+	gcc kinutils/unpack.c front_grid.c -o front_grid $(CFLAGS) -Ikinutils -lm $(EXTRACFLAGS)
+
+clean:
+	rm -f unpack overhead side front overhead_grid side_grid front_grid

data/ext/front.c

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+/*
+ * Experimental Kinect depth image unpacking code.
+ * (C)2011 Mike Bourgeous
+ */
+#include <stdio.h>
+#include <stdint.h>
+
+#include "unpack.h"
+
+int main()
+{
+	uint16_t in[640 * 480];
+	uint8_t out[XPIX * YPIX];
+
+	if(fread(in, 2, 640 * 480, stdin) != 640 * 480) {
+		fprintf(stderr, "Must provide %d bytes of unpacked depth data to stdin.\n", 640 * 480 * 2);
+	}
+
+	ku_init_lut();
+	plot_front(in, out);
+
+	fwrite(out, 1, sizeof(out), stdout);
+	
+	return 0;
+}
+

data/ext/front_grid.c

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+/*
+ * Code to render a basic grid for the side view, for later manipulation.
+ * The final grid will be created from this program's output using the GIMP.
+ * (C)2012 Mike Bourgeous
+ */
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "unpack.h"
+
+void draw_grid(uint8_t *grid, uint8_t color, int spacing)
+{
+	int x, y;
+
+	// Loop through x in world space, y in pixels
+	for(x = 0; x < XMAX / 2; x += spacing) {
+		for(y = 0; y < YPIX; y++) {
+			grid[XPIX / 2 + x * XPIX / XMAX + y * XPIX] = color;
+			grid[XPIX / 2 - x * XPIX / XMAX + y * XPIX] = color;
+		}
+	}
+
+	// Loop through y in world space, x in pixels
+	for(y = 0; y < YMAX / 2; y += spacing) {
+		for(x = 0; x < XPIX; x++) {
+			grid[x + YPIX / 2 * XPIX + y * YPIX / YMAX * XPIX] = color;
+			grid[x + YPIX / 2 * XPIX - y * YPIX / YMAX * XPIX] = color;
+		}
+	}
+}
+
+int main()
+{
+	uint8_t out[XPIX * YPIX];
+
+	memset(out, 0, sizeof(out));
+	draw_grid(out, 128, 500);
+	draw_grid(out, 255, 1000);
+	fwrite(out, 1, sizeof(out), stdout);
+
+	return 0;
+}

data/ext/kinutils/extconf.rb

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+require 'mkmf'
+extension_name='kinutils'
+
+raise 'libnlutils not found' unless have_library("nlutils", "nl_unescape_string")
+
+with_cflags("#{$CFLAGS} -O3 -Wall -Wextra #{ENV['EXTRACFLAGS']} -std=c99 -D_XOPEN_SOURCE=700 -D_ISOC99_SOURCE -D_GNU_SOURCE") do
+  create_makefile('nl/knd_client/kinutils')
+end

data/ext/kinutils/kinutils.c

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+/*
+ * Kinect data manipulation utilities for Ruby.
+ * (C)2011 Mike Bourgeous
+ *
+ * References:
+ * http://www.rubyinside.com/how-to-create-a-ruby-extension-in-c-in-under-5-minutes-100.html
+ * http://www.ruby-doc.org/docs/ProgrammingRuby/html/ext_ruby.html
+ */
+#include <ctype.h>
+#include <ruby.h>
+#include <ruby/encoding.h>
+#include <ruby/thread.h>
+#include <nlutils/nlutils.h>
+
+#include "unpack.h"
+
+struct plot_info {
+	const uint16_t *in;
+	uint8_t *out;
+};
+
+struct unpack_info {
+	const uint8_t *in;
+	uint16_t *out;
+	size_t len;
+};
+
+struct kvp_info {
+	VALUE hash;
+	unsigned int symbolize:1;
+};
+
+// The KinUtils Ruby module
+VALUE KinUtils = Qnil;
+static rb_encoding *utf8;
+
+void *unpack_blocking(void *data)
+{
+	struct unpack_info *info = data;
+	size_t i, o;
+
+	for(i = 0, o = 0; i < info->len; i += 11, o += 8) {
+		unpack11_to_16(info->in + i, info->out + o);
+	}
+
+	return NULL;
+}
+
+// Ruby function to unpack 11-bit depth data to 16-bit left-aligned values
+VALUE rb_unpack11_to_16(VALUE self, VALUE data)
+{
+	size_t len, newlen;
+	VALUE outbuf;
+
+	Check_Type(data, T_STRING);
+	len = RSTRING_LEN(data);
+	if(len < 11) {
+		rb_raise(rb_eArgError, "Input data must be at least 11 bytes long (got %zu).", len);
+	}
+
+	newlen = len * 16 / 11;
+	outbuf = rb_str_buf_new(newlen - 1);
+	rb_str_resize(outbuf, newlen); // Prevent GC from shrinking the buffer
+
+	rb_thread_call_without_gvl(
+			unpack_blocking,
+			&(struct unpack_info){.in = (uint8_t *)RSTRING_PTR(data), .out = (uint16_t *)RSTRING_PTR(outbuf), .len = len},
+			NULL,
+			NULL
+			);
+
+	return outbuf;
+}
+
+VALUE plot_linear_blocking(void *data)
+{
+	struct plot_info *info = data;
+	plot_linear(info->in, info->out);
+	return Qnil;
+}
+
+// Ruby function to plot perspective view of linear depth data.  Input:
+// 640x480x16bit gray depth image.  Output: 640x480 8-bit gray image.
+VALUE rb_plot_linear(VALUE self, VALUE data)
+{
+	VALUE outbuf;
+	size_t len;
+
+	// TODO: Allow reusing a previously-allocated output string
+
+	Check_Type(data, T_STRING);
+	len = RSTRING_LEN(data);
+	if(len < 640 * 480 * 2) {
+		rb_raise(rb_eArgError, "Input data must be at least 640*480*2 bytes (got %zu).", len);
+	}
+
+	// It seems rb_str_buf_new() adds a byte for terminating NUL, but
+	// rb_str_resize() does not.
+	outbuf = rb_str_buf_new(640 * 480 - 1);
+	rb_str_resize(outbuf, 640 * 480);
+
+	rb_thread_call_without_gvl(
+			plot_linear_blocking,
+			&(struct plot_info){.in = (uint16_t *)RSTRING_PTR(data), .out = (uint8_t *)RSTRING_PTR(outbuf)},
+			NULL,
+			NULL
+			);
+	return outbuf;
+}
+
+VALUE plot_overhead_blocking(void *data)
+{
+	struct plot_info *info = data;
+	plot_overhead(info->in, info->out);
+	return Qnil;
+}
+
+// Ruby function to plot overhead view of depth data.  Input: 640x480x16bit
+// gray depth image.  Output: XPIXxZPIX 8-bit gray image.
+VALUE rb_plot_overhead(VALUE self, VALUE data)
+{
+	VALUE outbuf;
+	size_t len;
+
+	// TODO: Allow reusing a previously-allocated output string
+
+	Check_Type(data, T_STRING);
+	len = RSTRING_LEN(data);
+	if(len < 640 * 480 * 2) {
+		rb_raise(rb_eArgError, "Input data must be at least 640*480*2 bytes (got %zu).", len);
+	}
+
+	// It seems rb_str_buf_new() adds a byte for terminating NUL, but
+	// rb_str_resize() does not.
+	outbuf = rb_str_buf_new(XPIX * ZPIX - 1);
+	rb_str_resize(outbuf, XPIX * ZPIX);
+
+	rb_thread_call_without_gvl(
+			plot_overhead_blocking,
+			&(struct plot_info){.in = (uint16_t *)RSTRING_PTR(data), .out = (uint8_t *)RSTRING_PTR(outbuf)},
+			NULL,
+			NULL
+			);
+	return outbuf;
+}
+
+VALUE plot_side_blocking(void *data)
+{
+	struct plot_info *info = data;
+	plot_side(info->in, info->out);
+	return Qnil;
+}
+
+// Ruby function to plot side view of depth data.  Input: 640x480x16bit
+// gray depth image.  Output: ZPIXxYPIX 8-bit gray image.
+VALUE rb_plot_side(VALUE self, VALUE data)
+{
+	VALUE outbuf;
+	size_t len;
+
+	// TODO: Allow reusing a previously-allocated output string
+
+	Check_Type(data, T_STRING);
+	len = RSTRING_LEN(data);
+	if(len < 640 * 480 * 2) {
+		rb_raise(rb_eArgError, "Input data must be at least 640*480*2 bytes (got %zu).", len);
+	}
+
+	// It seems rb_str_buf_new() adds a byte for terminating NUL, but
+	// rb_str_resize() does not.
+	outbuf = rb_str_buf_new(ZPIX * YPIX - 1);
+	rb_str_resize(outbuf, ZPIX * YPIX);
+
+	rb_thread_call_without_gvl(
+			plot_side_blocking,
+			&(struct plot_info){.in = (uint16_t *)RSTRING_PTR(data), .out = (uint8_t *)RSTRING_PTR(outbuf)},
+			NULL,
+			NULL
+			);
+
+	return outbuf;
+}
+
+VALUE plot_front_blocking(void *data)
+{
+	struct plot_info *info = data;
+	plot_front(info->in, info->out);
+	return Qnil;
+}
+
+// Ruby function to plot front view of depth data.  Input: 640x480x16bit
+// gray depth image.  Output: XPIXxYPIX 8-bit gray image.
+VALUE rb_plot_front(VALUE self, VALUE data)
+{
+	VALUE outbuf;
+	size_t len;
+
+	// TODO: Allow reusing a previously-allocated output string
+
+	Check_Type(data, T_STRING);
+	len = RSTRING_LEN(data);
+	if(len < 640 * 480 * 2) {
+		rb_raise(rb_eArgError, "Input data must be at least 640*480*2 bytes (got %zu).", len);
+	}
+
+	// It seems rb_str_buf_new() adds a byte for terminating NUL, but
+	// rb_str_resize() does not.
+	outbuf = rb_str_buf_new(XPIX * YPIX - 1);
+	rb_str_resize(outbuf, XPIX * YPIX);
+
+	rb_thread_call_without_gvl(
+			plot_front_blocking,
+			&(struct plot_info){.in = (uint16_t *)RSTRING_PTR(data), .out = (uint8_t *)RSTRING_PTR(outbuf)},
+			NULL,
+			NULL
+			);
+
+	return outbuf;
+}
+
+// Unescapes a copy of the given string
+// TODO: merge with rb_unescape_modify
+VALUE rb_unescape(int argc, VALUE *args, VALUE self)
+{
+	int dequote = 0;
+	int include_zero = 0;
+	VALUE str;
+	long len;
+	int ret;
+
+	if(argc > 2) {
+		rb_raise(rb_eArgError, "Only 0 to 2 parameters supported.");
+	}
+	if(argc >= 1) {
+		Check_Type(args[0], T_FIXNUM);
+		dequote = FIX2INT(args[0]);
+		if(dequote < 0 || dequote > 2) {
+			rb_raise(rb_eArgError, "First parameter (dequote) must be one of the ESCAPE_* constants.");
+		}
+	}
+	if(argc == 2) {
+		if(args[1] == Qtrue) {
+			include_zero = 1;
+		} else if(args[1] == Qfalse) {
+			include_zero = 0;
+		} else {
+			rb_raise(rb_eArgError, "Second parameter (include_zero) must be true or false.");
+		}
+	}
+
+	str = rb_str_dup(self);
+	if(!rb_enc_asciicompat(rb_enc_get(self))) {
+		str = rb_str_export_to_enc(str, utf8);
+	}
+
+	len = RSTRING_LEN(str);
+	ret = nl_unescape_string(RSTRING_PTR(str), include_zero, dequote);
+	if(ret == -1) {
+		rb_raise(rb_eRuntimeError, "Error unescaping string.");
+	}
+
+	rb_str_resize(str, len - ret);
+
+	return str;
+}
+
+// Unescapes the given string in place
+VALUE rb_unescape_modify(int argc, VALUE *args, VALUE self)
+{
+	int dequote = 0;
+	int include_zero = 0;
+	long len;
+	int ret;
+
+	if(argc > 2) {
+		rb_raise(rb_eArgError, "Only 0 to 2 parameters supported.");
+	}
+	if(argc >= 1) {
+		Check_Type(args[0], T_FIXNUM);
+		dequote = FIX2INT(args[0]);
+		if(dequote < 0 || dequote > 2) {
+			rb_raise(rb_eArgError, "First parameter (dequote) must be one of the ESCAPE_* constants.");
+		}
+	}
+	if(argc == 2) {
+		if(args[1] == Qtrue) {
+			include_zero = 1;
+		} else if(args[1] == Qfalse) {
+			include_zero = 0;
+		} else {
+			rb_raise(rb_eArgError, "Second parameter (include_zero) must be true or false.");
+		}
+	}
+
+	rb_check_frozen(self);
+
+	if(!rb_enc_asciicompat(rb_enc_get(self))) {
+		rb_raise(rb_eRuntimeError, "This method only works with ASCII-compatible encodings.");
+	}
+
+	len = RSTRING_LEN(self);
+	ret = nl_unescape_string(RSTRING_PTR(self), include_zero, dequote);
+	if(ret == -1) {
+		rb_raise(rb_eRuntimeError, "Error unescaping string.");
+	}
+
+	rb_str_resize(self, len - ret);
+
+	return self;
+}
+
+// Parsing callback for rb_kvp
+static void kvp_hashcb(void *data, char *key, char *strvalue, struct nl_variant value)
+{
+	struct kvp_info *info = data;
+	VALUE rbkey;
+
+	if (info->symbolize) {
+		rbkey = ID2SYM(rb_intern(key));
+	} else {
+		rbkey = rb_str_new2(key);
+	}
+
+	switch(value.type) {
+		case INTEGER:
+			rb_hash_aset(info->hash, rbkey, INT2NUM(value.value.integer));
+			break;
+
+		case FLOAT:
+			rb_hash_aset(info->hash, rbkey, rb_float_new(value.value.floating));
+			break;
+
+		case STRING:
+			rb_hash_aset(info->hash, rbkey, rb_str_new2(value.value.string));
+			break;
+
+		default:
+			rb_hash_aset(info->hash, rbkey, rb_str_new2(strvalue));
+			break;
+	}
+}
+
+// Parses a key-value pair string into a hash.  The :symbolize_keys option may
+// be specified to use symbols instead of strings for the hash keys.
+VALUE rb_kvp(int argc, VALUE *argv, VALUE self)
+{
+	VALUE hash = rb_hash_new();
+
+	if (argc < 0 || argc > 1 || (argc == 1 && !RB_TYPE_P(argv[0], T_HASH))) {
+		rb_raise(rb_eArgError, "Call with no parameters, or with an options Hash.");
+	}
+
+	VALUE symbolize = Qnil;
+
+	if (argc == 1) {
+		symbolize = rb_hash_lookup(argv[0], ID2SYM(rb_intern("symbolize_keys")));
+	}
+
+	struct kvp_info info = {
+		.hash = hash,
+		.symbolize = RB_TEST(symbolize),
+	};
+
+	nl_parse_kvp(RSTRING_PTR(self), nl_kvp_wrapper, &(struct nl_kvp_wrap){kvp_hashcb, &info});
+
+	return hash;
+}
+
+
+void Init_kinutils()
+{
+	ku_init_lut();
+
+	VALUE nl = rb_define_module("NL");
+	VALUE knd_client = rb_define_module_under(nl, "KndClient");
+
+	KinUtils = rb_define_module_under(knd_client, "Kinutils");
+
+	utf8 = rb_enc_find("UTF-8");
+	if(!utf8) {
+		rb_raise(rb_eException, "No UTF-8 encoding.");
+	}
+
+	// FIXME: don't define global constants, put them in a namespace
+
+	rb_define_global_const("KNC_XPIX", INT2FIX(XPIX));
+	rb_define_global_const("KNC_YPIX", INT2FIX(YPIX));
+	rb_define_global_const("KNC_ZPIX", INT2FIX(ZPIX));
+	rb_define_global_const("KNC_PXZMAX", INT2FIX(PXZMAX));
+	rb_define_global_const("KNC_XMAX", INT2FIX(XMAX));
+	rb_define_global_const("KNC_YMAX", INT2FIX(YMAX));
+	rb_define_global_const("KNC_ZMAX", INT2FIX(ZMAX));
+
+	rb_define_global_const("ESCAPE_NO_DEQUOTE", INT2FIX(ESCAPE_NO_DEQUOTE));
+	rb_define_global_const("ESCAPE_DEQUOTE", INT2FIX(ESCAPE_DEQUOTE));
+	rb_define_global_const("ESCAPE_IF_QUOTED", INT2FIX(ESCAPE_IF_QUOTED));
+
+	rb_define_module_function(KinUtils, "unpack11_to_16", rb_unpack11_to_16, 1);
+	rb_define_module_function(KinUtils, "plot_linear", rb_plot_linear, 1);
+	rb_define_module_function(KinUtils, "plot_overhead", rb_plot_overhead, 1);
+	rb_define_module_function(KinUtils, "plot_side", rb_plot_side, 1);
+	rb_define_module_function(KinUtils, "plot_front", rb_plot_front, 1);
+
+	// TODO: Move to a different extension
+	rb_define_method(rb_cString, "kin_unescape", rb_unescape, -1);
+	rb_define_method(rb_cString, "kin_unescape!", rb_unescape_modify, -1);
+
+	rb_define_method(rb_cString, "kin_kvp", rb_kvp, -1);
+
+	// TODO: Add xworld,yworld,lut,reverse_lut,unpack_to_world/unpack_to_8 functions
+}