Merge pull request #69 from FormantIO/DEV-8264

DEV-8264 - Enable realtime pointcloud and improvements to subscription
FormantIO · May 21, 2024 · dfa79e3 · dfa79e3
2 parents e3d812d + a44d270
commit dfa79e3
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Showing 5 changed files with 42 additions and 6 deletions.
diff --git a/public/config.schema.json b/public/config.schema.json
@@ -245,6 +245,12 @@
               ["visualizationType", "=", "Points of interest"]
             ]
           },
+          "pointCloudRealtimeStream": {
+            "title": "Realtime stream",
+            "type": "string",
+            "description": "Optional, will override the telemetry stream if set.",
+            "$formant.visible.when": ["visualizationType", "=", "Point cloud"]
+          },
           "telemetryLatestDataPoint": {
             "title": "Use historical data",
             "type": "boolean",

diff --git a/src/Viewer.tsx b/src/Viewer.tsx
@@ -1,7 +1,7 @@
 import { Universe } from "./layers/common/Universe";
 import { UniverseDataContext } from "./layers/common/UniverseDataContext";
 import { useCallback, useEffect, useRef, useState } from "react";
-import { Authentication, App as FormantApp } from "@formant/data-sdk";
+import { Authentication, App as FormantApp, Fleet } from "@formant/data-sdk";
 import { Viewer3DConfiguration } from "./config";
 import { definedAndNotNull, IUniverseData } from "@formant/data-sdk";
 import {
@@ -20,6 +20,7 @@ export function Viewer() {
   const [configuration, setConfiguration] = useState<
     Viewer3DConfiguration | undefined
   >();
+  const [deviceConfig, setDeviceConfig] = useState<any>();
   const [universeData] = useState<IUniverseData>(
     () => new TelemetryUniverseData()
   );
@@ -33,10 +34,13 @@ export function Viewer() {
     (async () => {
       await Authentication.waitTilAuthenticated();
       const currentConfig = await FormantApp.getCurrentModuleConfiguration();
-      if (currentConfig) {
+      const device = await Fleet.getDevice(currentDeviceId);
+      const deviceConfig = await device.getConfiguration();
+      if (currentConfig && deviceConfig) {
         const parsedConfig = JSON.parse(currentConfig) as Viewer3DConfiguration;
         if (checkConfiguration(parsedConfig)) {
           setConfiguration(parsedConfig);
+          setDeviceConfig(deviceConfig);
         }
       }
       setAuthenticated(true);
@@ -107,7 +111,7 @@ export function Viewer() {
           key={getUuidByString(JSON.stringify(config))}
           config={config}
         >
-          {buildScene(config, definedAndNotNull(currentDeviceId))}
+          {buildScene(config, definedAndNotNull(currentDeviceId), deviceConfig)}
           <group>
             <pointLight
               position={[1000, 1000, 1000]}

diff --git a/src/buildScene.tsx b/src/buildScene.tsx
@@ -2,6 +2,7 @@ import { UniverseTelemetrySource } from "@formant/data-sdk";
 
 import {
   getRealtimeJointStateDataSource,
+  getRealtimePointCloudDataSource,
   getTeletryJointStateDataSource,
   parseDataSource,
   parsePositioning,
@@ -29,7 +30,8 @@ import { definedAndNotNull } from "./common/defined";
 
 export function buildScene(
   config: Viewer3DConfiguration,
-  currentDeviceId: string
+  currentDeviceId: string,
+  deviceConfig: any
 ): React.ReactNode {
   const devices: React.ReactNode[] = [];
   let deviceLayers: React.ReactNode[] = [];
@@ -148,7 +150,16 @@ export function buildScene(
         />
       );
     } else if (layer.visualizationType === "Point cloud") {
-      const dataSource = parseDataSource(layer);
+      const rtcDataSource = layer.pointCloudRealtimeStream;
+      let dataSource;
+      if (rtcDataSource) {
+        dataSource = getRealtimePointCloudDataSource(layer);
+      } else {
+        dataSource = parseDataSource(layer);
+        const streamType = deviceConfig.telemetry.streams.find(s => s.name === layer.telemetryStreamName)?.configuration.type === "ros-localization" ? "localization" : "point cloud";
+        dataSource.streamType = streamType;
+      }
+
       const { pointCloudDecayTime, pointCloudUseColors } = layer;
       deviceLayers.push(
         <PointCloudLayer

diff --git a/src/config.ts b/src/config.ts
@@ -40,6 +40,7 @@ export type Viewer3DVisualization = {
   jointStateTelemetryStreamName?: string;
   geometryAllowTransparency?: boolean;
   realtimeJointStateStream?: string;
+  pointCloudRealtimeStream?: string;
   markerSize?: number;
   markerSizeType?: "dynamic" | "static";
   pointCloudDecayTime?: number;
@@ -110,6 +111,19 @@ export function parseDataSource(
   return undefined;
 }
 
+export function getRealtimePointCloudDataSource(
+  vizLayer: Viewer3DVisualization
+): UniverseDataSource | undefined {
+  if (vizLayer.pointCloudRealtimeStream) {
+    return DataSourceBuilder.realtime(
+      vizLayer.pointCloudRealtimeStream,
+      "point cloud"
+    );
+  }
+
+  return undefined;
+}
+
 export function getRealtimeJointStateDataSource(
   vizLayer: Viewer3DVisualization
 ): UniverseDataSource | undefined {

diff --git a/src/layers/PointCloudLayer.tsx b/src/layers/PointCloudLayer.tsx
@@ -148,7 +148,8 @@ export const PointCloudLayer = (props: IPointCloudProps) => {
     let timer: number = 0;
     let isReady = false;
     if (dataSource) {
-      const unsubscribe = universeData.subscribeToPointCloud(
+
+      const unsubscribe = (dataSource.sourceType === "realtime" ? liveUniverseData : universeData).subscribeToPointCloud(
         deviceId,
         dataSource,
         (data: IUniversePointCloud | Symbol) => {