HoloLens2-Unity-ResearchModeStreamer
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cgsaxner
How can I see debug info? (I am tring UDP)
I am now trying to use UDP instead of TCP to send pics to remote python. And now I think I have aready done. But I'm worrying about how to debug. How can I see the debug infomations using OutputDebugStringW when running on Hololens2? Or if I have other efficient way to test my code?
This is my eadapted code VideoCameraStreamer.cpp, part of it is generated by ChatGpt. I hope it may works. If someone can give me some seggustions I would appreciate it:
#include "pch.h"
#define DBG_ENABLE_VERBOSE_LOGGING 0
#define DBG_ENABLE_INFO_LOGGING 1
#define DBG_ENABLE_ERROR_LOGGING 1
using namespace winrt::Windows::Foundation;
using namespace winrt::Windows::Media::Capture;
using namespace winrt::Windows::Media::Capture::Frames;
using namespace winrt::Windows::Graphics::Imaging;
using namespace winrt::Windows::Perception::Spatial;
using namespace winrt::Windows::Networking::Sockets;
using namespace winrt::Windows::Storage::Streams;
//const int VideoCameraStreamer::kImageWidth = 640;
//const wchar_t VideoCameraStreamer::kSensorName[3] = L"PV";
//const long long VideoCameraStreamer::kMinDelta = 2000000 ; // require 200 ms between frames; results in 5 fps
VideoCameraStreamer::VideoCameraStreamer(
const SpatialCoordinateSystem& coordSystem,
std::wstring portName)
{
m_worldCoordSystem = coordSystem;
m_portName = portName;
StartServer();
// m_streamingEnabled = true;
}
//IAsyncAction VideoCameraStreamer::StartServer()
//{
// try
// {
// // The ConnectionReceived event is raised when connections are received.
// m_streamSocketListener.ConnectionReceived({ this, &VideoCameraStreamer::OnConnectionReceived });
//
// // Start listening for incoming TCP connections on the specified port. You can specify any port that's not currently in use.
// // Every protocol typically has a standard port number. For example, HTTP is typically 80, FTP is 20 and 21, etc.
// // For this example, we'll choose an arbitrary port number.
// co_await m_streamSocketListener.BindServiceNameAsync(m_portName);
// //m_streamSocketListener.Control().KeepAlive(true);
//
//#if DBG_ENABLE_INFO_LOGGING
// wchar_t msgBuffer[200];
// swprintf_s(msgBuffer, L"VideoCameraStreamer::StartServer: Server is listening at %ls \n",
// m_portName.c_str());
// OutputDebugStringW(msgBuffer);
//#endif
// }
// catch (winrt::hresult_error const& ex)
// {
//#if DBG_ENABLE_ERROR_LOGGING
// SocketErrorStatus webErrorStatus{ SocketError::GetStatus(ex.to_abi()) };
// winrt::hstring message = webErrorStatus != SocketErrorStatus::Unknown ?
// winrt::to_hstring((int32_t)webErrorStatus) : winrt::to_hstring(ex.to_abi());
// OutputDebugStringW(L"VideoCameraStreamer::StartServer: Failed to open listener with ");
// OutputDebugStringW(message.c_str());
// OutputDebugStringW(L"\n");
//#endif
// }
//}
IAsyncAction VideoCameraStreamer::StartServer()
{
try
{
// The MessageReceived event is raised when a Message is received.
m_serverDatagramSocket.MessageReceived({ this, &VideoCameraStreamer::ServerDatagramSocket_MessageReceived });
// Start listening for incoming UDP connections on the specified port. You can specify any port that's not currently in use.
co_await m_serverDatagramSocket.BindServiceNameAsync(m_portName);
#if DBG_ENABLE_INFO_LOGGING
wchar_t msgBuffer[200];
swprintf_s(msgBuffer, L"VideoCameraStreamer::StartServer: Server is listening at %ls \n",
m_portName.c_str());
OutputDebugStringW(msgBuffer);
#endif
}
catch (winrt::hresult_error const& ex)
{
#if DBG_ENABLE_ERROR_LOGGING
SocketErrorStatus webErrorStatus{ SocketError::GetStatus(ex.to_abi()) };
winrt::hstring message = webErrorStatus != SocketErrorStatus::Unknown ?
winrt::to_hstring((int32_t)webErrorStatus) : winrt::to_hstring(ex.to_abi());
OutputDebugStringW(L"VideoCameraStreamer::StartServer: Failed to open listener with ");
OutputDebugStringW(message.c_str());
OutputDebugStringW(L"\n");
#endif
}
}
//void VideoCameraStreamer::OnConnectionReceived(
// StreamSocketListener /* sender */,
// StreamSocketListenerConnectionReceivedEventArgs args)
//{
// try
// {
// m_streamSocket = args.Socket();
// m_writer = DataWriter(args.Socket().OutputStream());
// m_writer.UnicodeEncoding(UnicodeEncoding::Utf8);
// m_writer.ByteOrder(ByteOrder::LittleEndian);
//
// m_writeInProgress = false;
// isConnected = true;
//#if DBG_ENABLE_INFO_LOGGING
// OutputDebugStringW(L"VideoCameraStreamer::OnConnectionReceived: Received connection! \n");
//#endif
// }
// catch (winrt::hresult_error const& ex)
// {
//#if DBG_ENABLE_ERROR_LOGGING
// SocketErrorStatus webErrorStatus{ SocketError::GetStatus(ex.to_abi()) };
// winrt::hstring message = webErrorStatus != SocketErrorStatus::Unknown ?
// winrt::to_hstring((int32_t)webErrorStatus) : winrt::to_hstring(ex.to_abi());
// OutputDebugStringW(L"VideoCameraStreamer::StartServer: Failed to establish connection with ");
// OutputDebugStringW(message.c_str());
// OutputDebugStringW(L"\n");
//#endif
// }
//}
void VideoCameraStreamer::ServerDatagramSocket_MessageReceived(
winrt::Windows::Networking::Sockets::DatagramSocket sender,
winrt::Windows::Networking::Sockets::DatagramSocketMessageReceivedEventArgs args)
{
try {
IBuffer buffer = args.GetDataReader().ReadBuffer(args.GetDataReader().UnconsumedBufferLength());
std::string message{ reinterpret_cast<const char*>(buffer.data()), buffer.Length() };
#if DBG_ENABLE_INFO_LOGGING
wchar_t msgBuffer[200];
swprintf_s(msgBuffer, L"VideoCameraStreamer::ServerDatagramSocket_MessageReceived: Reveive text: %ls \n", message);
OutputDebugStringW(msgBuffer);
#endif
// send it back for test
m_serverDatagramSocket.ConnectAsync(args.RemoteAddress(), args.RemotePort());
m_writer = DataWriter{ m_serverDatagramSocket.OutputStream() };
m_writer.UnicodeEncoding(UnicodeEncoding::Utf8);
m_writer.ByteOrder(ByteOrder::LittleEndian);
m_writer.WriteString(winrt::to_hstring(message));
m_writer.StoreAsync();
m_writeInProgress = false;
isConnected = true;
#if DBG_ENABLE_INFO_LOGGING
OutputDebugStringW(L"VideoCameraStreamer::ServerDatagramSocket_MessageReceived: Send OK! \n");
#endif
}
catch (winrt::hresult_error const& ex)
{
#if DBG_ENABLE_ERROR_LOGGING
SocketErrorStatus webErrorStatus{ SocketError::GetStatus(ex.to_abi()) };
winrt::hstring message = webErrorStatus != SocketErrorStatus::Unknown ?
winrt::to_hstring((int32_t)webErrorStatus) : winrt::to_hstring(ex.to_abi());
OutputDebugStringW(L"VideoCameraStreamer::StartServer: Failed to establish connection with ");
OutputDebugStringW(message.c_str());
OutputDebugStringW(L"\n");
#endif
}
}
// send a frame
void VideoCameraStreamer::Send(
MediaFrameReference pFrame,
long long pTimestamp)
{
#if DBG_ENABLE_VERBOSE_LOGGING
OutputDebugStringW(L"VideoCameraStreamer::SendFrame: Received frame for sending!\n");
#endif
if (!m_streamSocket || !m_writer)
{
#if DBG_ENABLE_VERBOSE_LOGGING
OutputDebugStringW(
L"VideoCameraStreamer::SendFrame: No connection.\n");
#endif
return;
}
// grab the frame info
float fx = pFrame.VideoMediaFrame().CameraIntrinsics().FocalLength().x;
float fy = pFrame.VideoMediaFrame().CameraIntrinsics().FocalLength().y;
winrt::Windows::Foundation::Numerics::float4x4 PVtoWorldtransform;
auto PVtoWorld =
pFrame.CoordinateSystem().TryGetTransformTo(m_worldCoordSystem);
if (PVtoWorld)
{
PVtoWorldtransform = PVtoWorld.Value();
}
else
{
#if DBG_ENABLE_VERBOSE_LOGGING
OutputDebugStringW(L"Streamer::SendFrame: Could not locate frame.\n");
#endif
return;
}
// grab the frame data
SoftwareBitmap softwareBitmap = SoftwareBitmap::Convert(
pFrame.VideoMediaFrame().SoftwareBitmap(), BitmapPixelFormat::Bgra8);
int imageWidth = softwareBitmap.PixelWidth();
int imageHeight = softwareBitmap.PixelHeight();
int pixelStride = 4;
int scaleFactor = 1;
int rowStride = imageWidth * pixelStride;
// Get bitmap buffer object of the frame
BitmapBuffer bitmapBuffer = softwareBitmap.LockBuffer(BitmapBufferAccessMode::Read);
// Get raw pointer to the buffer object
uint32_t pixelBufferDataLength = 0;
uint8_t* pixelBufferData;
auto spMemoryBufferByteAccess{ bitmapBuffer.CreateReference()
.as<::Windows::Foundation::IMemoryBufferByteAccess>() };
try
{
spMemoryBufferByteAccess->
GetBuffer(&pixelBufferData, &pixelBufferDataLength);
}
catch (winrt::hresult_error const& ex)
{
#if DBG_ENABLE_ERROR_LOGGING
winrt::hresult hr = ex.code(); // HRESULT_FROM_WIN32
winrt::hstring message = ex.message();
OutputDebugStringW(L"VideoCameraStreamer::SendFrame: Failed to get buffer with ");
OutputDebugStringW(message.c_str());
OutputDebugStringW(L"\n");
#endif
}
std::vector<uint8_t> imageBufferAsVector;
for (int row = 0; row < imageHeight; row += scaleFactor)
{
for (int col = 0; col < rowStride; col += scaleFactor * pixelStride)
{
for (int j = 0; j < pixelStride - 1; j++)
{
imageBufferAsVector.emplace_back(
pixelBufferData[row * rowStride + col + j]);
}
}
}
if (m_writeInProgress)
{
#if DBG_ENABLE_VERBOSE_LOGGING
OutputDebugStringW(
L"VideoCameraStreamer::SendFrame: Write in progress.\n");
#endif
return;
}
m_writeInProgress = true;
try
{
// Write header
m_writer.WriteUInt64(pTimestamp);
m_writer.WriteInt32(imageWidth);
m_writer.WriteInt32(imageHeight);
m_writer.WriteInt32(pixelStride - 1);
m_writer.WriteInt32(imageWidth * (pixelStride - 1)); // adapted row stride
m_writer.WriteSingle(fx);
m_writer.WriteSingle(fy);
WriteMatrix4x4(PVtoWorldtransform);
m_writer.WriteBytes(imageBufferAsVector);
m_writer.StoreAsync();
}
catch (winrt::hresult_error const& ex)
{
SocketErrorStatus webErrorStatus{ SocketError::GetStatus(ex.to_abi()) };
if (webErrorStatus == SocketErrorStatus::ConnectionResetByPeer)
{
// the client disconnected!
m_writer == nullptr;
m_streamSocket == nullptr;
m_serverDatagramSocket == nullptr;
m_writeInProgress = false;
}
#if DBG_ENABLE_ERROR_LOGGING
winrt::hstring message = ex.message();
OutputDebugStringW(L"VideoCameraStreamer::SendFrame: Sending failed with ");
OutputDebugStringW(message.c_str());
OutputDebugStringW(L"\n");
#endif // DBG_ENABLE_ERROR_LOGGING
}
m_writeInProgress = false;
#if DBG_ENABLE_VERBOSE_LOGGING
OutputDebugStringW(
L"VideoCameraStreamer::SendFrame: Frame sent!\n");
#endif
}
void VideoCameraStreamer::WriteMatrix4x4(
_In_ winrt::Windows::Foundation::Numerics::float4x4 matrix)
{
m_writer.WriteSingle(matrix.m11);
m_writer.WriteSingle(matrix.m12);
m_writer.WriteSingle(matrix.m13);
m_writer.WriteSingle(matrix.m14);
m_writer.WriteSingle(matrix.m21);
m_writer.WriteSingle(matrix.m22);
m_writer.WriteSingle(matrix.m23);
m_writer.WriteSingle(matrix.m24);
m_writer.WriteSingle(matrix.m31);
m_writer.WriteSingle(matrix.m32);
m_writer.WriteSingle(matrix.m33);
m_writer.WriteSingle(matrix.m34);
m_writer.WriteSingle(matrix.m41);
m_writer.WriteSingle(matrix.m42);
m_writer.WriteSingle(matrix.m43);
m_writer.WriteSingle(matrix.m44);
}
