Iceoryx

VisionPilot/Iceoryx/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.16)
+project(iceoryx_demo)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Find dependencies
+find_package(iceoryx_posh REQUIRED)
+find_package(iceoryx_binding_c REQUIRED)
+find_package(OpenCV REQUIRED COMPONENTS core highgui imgproc)
+find_package(CUDA REQUIRED)
+
+# Add our common libraries from the VisionPilot project
+# Adjust the relative paths if necessary
+set(COMMON_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../common)
+
+# GStreamer Engine Library
+add_library(gstreamer_engine STATIC
+    ${COMMON_DIR}/sensors/gstreamer_engine.cpp
+)
+target_include_directories(gstreamer_engine PUBLIC
+    ${COMMON_DIR}/include
+    ${OpenCV_INCLUDE_DIRS}
+)
+# GStreamer requires pkg-config to find its libraries
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0 gstreamer-app-1.0)
+target_include_directories(gstreamer_engine PUBLIC ${GSTREAMER_INCLUDE_DIRS})
+target_link_libraries(gstreamer_engine PUBLIC
+    ${GSTREAMER_LIBRARIES}
+    ${OpenCV_LIBS}
+)
+target_compile_definitions(gstreamer_engine PUBLIC LOG_TYPE=0) # Use printf for logging
+
+# AutoSpeed TensorRT Backend Library
+add_library(autospeed_backend STATIC
+    ${COMMON_DIR}/backends/autospeed/tensorrt_engine.cpp
+)
+target_include_directories(autospeed_backend PUBLIC 
+    ${COMMON_DIR}/include
+    ${CUDA_INCLUDE_DIRS}
+    /usr/include/x86_64-linux-gnu/ # For TensorRT headers
+)
+target_link_libraries(autospeed_backend PUBLIC
+    gstreamer_engine
+    ${CUDA_LIBRARIES}
+    nvinfer
+    nvonnxparser
+)
+target_compile_definitions(autospeed_backend PUBLIC LOG_TYPE=0) # Use printf for logging
+
+# Set include directory for the topic header
+include_directories(include)
+
+# Publisher Executable
+add_executable(publisher src/publisher_node.cpp)
+target_link_libraries(publisher
+    PRIVATE
+    autospeed_backend
+    gstreamer_engine
+    iceoryx_posh::iceoryx_posh
+    iceoryx_binding_c::iceoryx_binding_c
+    ${OpenCV_LIBS}
+)
+target_compile_options(publisher PRIVATE "-Wno-unused-parameter")
+
+# Subscriber Executable
+add_executable(subscriber src/subscriber_node.cpp)
+target_link_libraries(subscriber
+    PRIVATE
+    iceoryx_posh::iceoryx_posh
+    iceoryx_binding_c::iceoryx_binding_c
+    ${OpenCV_LIBS}
+)
+target_compile_options(subscriber PRIVATE "-Wno-unused-parameter")
+
+# Install executables
+install(TARGETS publisher subscriber
+    RUNTIME DESTINATION bin
+)

VisionPilot/Iceoryx/include/iceoryx_topic.hpp

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+
+#include <cstdint>
+
+// Define a POD (Plain Old Data) struct for a single detection.
+// This is necessary for sending data through Iceoryx, which works with raw memory.
+struct DetectionPOD {
+    float x1, y1, x2, y2;
+    float score;
+    int32_t class_id;
+};
+
+// The main data structure (topic) to be sent over Iceoryx.
+// This struct lives in shared memory - both publisher and subscriber work
+// directly with this memory (zero-copy IPC).
+// 
+// Publisher workflow:
+//   1. Loan this struct from Iceoryx shared memory
+//   2. Write frame data directly into frame_data[] buffer
+//   3. Run inference on cv::Mat wrapper pointing to frame_data[]
+//   4. Publish (no copy - just memory ownership transfer)
+//
+// Subscriber workflow:
+//   1. Receive reference to this struct in shared memory
+//   2. Create cv::Mat wrapper around frame_data[] (no copy)
+//   3. Process/visualize directly from shared memory
+struct FrameDetectionsTopic {
+    // Timestamps for latency measurement (e.g., from std::chrono::steady_clock)
+    uint64_t capture_timestamp_ns; // When the frame was grabbed from the source
+    uint64_t publish_timestamp_ns; // When the packet is sent by the publisher
+
+    // Frame metadata
+    uint32_t frame_width;
+    uint32_t frame_height;
+    uint32_t frame_channels;
+    uint64_t frame_data_size; // Actual size of data in the buffer
+
+    // Detection metadata
+    uint32_t num_detections;
+
+    // Fixed-size buffers for performance.
+    // Ensure these are large enough for your use case.
+    static constexpr uint32_t MAX_DETECTIONS = 100;
+    static constexpr uint64_t MAX_FRAME_SIZE = 3840 * 2160 * 3; // 4K UHD RGB (24,883,200 bytes)
+
+    DetectionPOD detections[MAX_DETECTIONS];
+    uint8_t frame_data[MAX_FRAME_SIZE];
+};

VisionPilot/Iceoryx/roudi_config.toml

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+[general]
+version = 1
+
+[[segment]]
+
+[[segment.mempool]]
+size = 128
+count = 10000
+
+[[segment.mempool]]
+size = 1024
+count = 5000
+
+[[segment.mempool]]
+size = 16384
+count = 1000
+
+[[segment.mempool]]
+size = 131072
+count = 200
+
+[[segment.mempool]]
+size = 524288
+count = 50
+
+[[segment.mempool]]
+size = 1048576
+count = 30
+
+[[segment.mempool]]
+size = 4194304
+count = 10
+
+# Custom large memory pools for vision data
+[[segment.mempool]]
+size = 8388608
+count = 10
+
+# Extra-large pool for 4K video frames (32 MB chunks)
+[[segment.mempool]]
+size = 33554432
+count = 10
+

VisionPilot/Iceoryx/run_iceoryx_demo.sh

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+#!/bin/bash
+#
+# Script to build and run the full Iceoryx publisher/subscriber demo pipeline.
+#
+# It performs the following steps:
+# 1. Builds the publisher and subscriber executables using CMake.
+# 2. Starts the Iceoryx router (iox-roudi) in the background.
+# 3. Starts the subscriber application in the background.
+# 4. Starts the publisher application in the foreground.
+# 5. Cleans up all background processes on exit (e.g., via Ctrl+C).
+#
+
+# --- Configuration ---
+VIDEO_PATH="/home/pranavdoma/Downloads/autoware.privately-owned-vehicles/VisionPilot/ROS2/data/Road_Driving_Scenes_Normal.mp4"
+MODEL_PATH="/home/pranavdoma/Downloads/autoware.privately-owned-vehicles/VisionPilot/ROS2/data/models/AutoSpeed_n.onnx"
+PRECISION="fp16"
+# ---------------------
+
+# Exit immediately if a command exits with a non-zero status.
+set -e
+
+# Function to clean up background processes
+cleanup() {
+    echo -e "\n\nShutting down Iceoryx demo..."
+    # Kill all background jobs of this script
+    # The negative PID kills the entire process group
+    if [ -n "$ROUDI_PID" ]; then
+        kill $ROUDI_PID 2>/dev/null && echo "Stopped iox-roudi (PID $ROUDI_PID)."
+    fi
+    if [ -n "$SUBSCRIBER_PID" ]; then
+        kill $SUBSCRIBER_PID 2>/dev/null && echo "Stopped subscriber (PID $SUBSCRIBER_PID)."
+    fi
+    echo "Cleanup complete."
+}
+
+# Trap the EXIT signal to ensure cleanup runs, even on Ctrl+C
+trap cleanup EXIT
+
+# --- Main Script ---
+
+# Check if required files exist
+if [ ! -f "$VIDEO_PATH" ]; then
+    echo "Error: Video file not found: $VIDEO_PATH"
+    exit 1
+fi
+if [ ! -f "$MODEL_PATH" ]; then
+    echo "Error: Model file not found: $MODEL_PATH"
+    exit 1
+fi
+
+# Get the directory of this script
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+cd "$SCRIPT_DIR"
+
+# 1. Start Iceoryx Router (roudi) with custom configuration
+echo "--- Starting Iceoryx router (iox-roudi) in the background ---"
+# Check if roudi is already running to avoid errors
+if ! pgrep -x "iox-roudi" > /dev/null
+then
+    iox-roudi -c "$SCRIPT_DIR/roudi_config.toml" > /dev/null 2>&1 &
+    ROUDI_PID=$!
+    # Give roudi a moment to initialize
+    sleep 1
+    echo "iox-roudi started with PID $ROUDI_PID (using custom config for large frames)."
+else
+    echo "iox-roudi is already running."
+fi
+echo ""
+
+# 2. Start the Subscriber in the background
+echo "--- Starting subscriber in the background ---"
+./build/subscriber &
+SUBSCRIBER_PID=$!
+echo "Subscriber started with PID $SUBSCRIBER_PID."
+echo "An OpenCV window from the subscriber should appear shortly."
+echo "Subscriber metrics will be printed to this terminal."
+echo ""
+
+# 3. Start the Publisher in the foreground
+echo "--- Starting publisher in the foreground ---"
+echo "Video: $VIDEO_PATH"
+echo "Model: $MODEL_PATH"
+echo "Precision: $PRECISION"
+echo "--------------------------------------------"
+echo "Press Ctrl+C to stop the publisher and clean up all processes."
+echo ""
+
+# The script will wait here until the publisher finishes or is interrupted
+./build/publisher "$VIDEO_PATH" "$MODEL_PATH" "$PRECISION"
+
+echo "Publisher finished."