Add build derivation

.gitignore

@@ -1,2 +1,3 @@
 .venv
-.idea
+.idea
+build

README.md

@@ -3,38 +3,44 @@
 This project is a demo for streaming video output from multiple "client" devices to one "server". This is a basic demo
 of what sauron-cv seeks to accomplish.
 
-## Installation
+## Building
 
-It is strongly recommended that you use a virtual environment. These instructions will assume you are using venv, you
-can substitute this with your preferred environment management. You will need to make sure that the `virtualenv` package
-is installed globally, either via pip or the `python3-virtualenv` package in your system package manager.
+This project uses [Meson](https://mesonbuild.com/) for build management. This project also optionally uses
+[Nix](https://nix.dev/) for system dependency management.
 
-When first cloning this repo, run the following:
+### Using Nix
 
 ```shell
-python -m venv .venv
-source .venv/bin/activate
-pip install -r requirements.txt
+nix develop
 ```
 
-This will create a virtual environment, enter that virtual environment, and install the required packages.
+### Install Dependencies
 
-If you start a new shell, you will need to re-enter the virtual environment:
+Install the following packages from your distribution package manager:
+- `meson`
+- `opencv`
+- `boost`
+
+A better procedure for this (hopefully involving Meson) will be added / documented at a later date.
+
+### Setup Meson
 
 ```shell
-source .venv/bin/activate
+meson setup build
+```
+
+*NOTE FOR JETBRAINS / CLION USERS: PLEASE SET YOUR MESON BUILD DIRECTORY TO `build` IN THE IDE SETTINGS UNDER "Build /
+Execution / Deployment" -> "Meson"*
+
+### Compiling
+
+```shell
+meson build client # for client only
+meson build server # for server only
 ```
 
 ## Running
-
-### Client
-
 ```shell
-python -m client
-```
-
-### Server
-
-```shell
-python -m server
+./build/client # for client application
+./build/server # for server application
 ```

client.cpp

@@ -0,0 +1,60 @@
+#include <opencv2/videoio.hpp>
+#include <cstring>
+#include <iostream>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <unistd.h>
+#include "transfer.h"
+#include "logging.h"
+#include <chrono>
+#include <boost/asio.hpp>
+
+using namespace std;
+using boost::asio::ip::tcp;
+
+int main() {
+    const int FRAME_DELAY_MS = 1000 / 30;
+
+    // create video capture
+    cv::VideoCapture cap = cv::VideoCapture(0);
+    try {
+        boost::asio::io_context io_context;
+        tcp::resolver resolver(io_context);
+
+        tcp::resolver::results_type endpoints =
+              resolver.resolve("127.0.0.1", "8080");
+
+        cv::Mat image = cv::Mat::zeros(cv::Size(640, 480), CV_8UC3);
+
+        info("Ready to connect.");
+        // sending connection request
+        tcp::socket socket(io_context);
+        boost::asio::connect(socket, endpoints);
+
+        info("Connected.");
+        // create buffer for serialization
+        vector<uchar> imgbuf;
+
+        while (true) {
+            auto start_time = std::chrono::high_resolution_clock::now();
+            cap.read(image);
+            trace("Sending image");
+            sendImage(socket, image, imgbuf);
+
+            auto end_time = std::chrono::high_resolution_clock::now();
+            auto elapsed_time = std::chrono::duration_cast<std::chrono::milliseconds>(end_time - start_time);
+
+            // Calculate the remaining time to sleep
+            auto sleep_duration = std::chrono::milliseconds(FRAME_DELAY_MS) - elapsed_time;
+
+            // Sleep for the remaining duration if positive
+            if (sleep_duration.count() > 0) {
+                std::this_thread::sleep_for(sleep_duration);
+            }
+        }
+    }
+    catch (std::exception& e) {
+        error(e.what());
+    }
+    return 0;
+}

client.py

@@ -1,76 +0,0 @@
-import cv2
-import socket
-import numpy as np
-import uuid
-
-uuid = uuid.uuid4()
-
-from common import StdPacket, InterlacedPacket, DoublyInterlacedPacket
-
-UDP_IP = "127.0.0.1"
-UDP_PORT = 5005
-
-# Create a VideoCapture object
-cap = cv2.VideoCapture(0)  # 0 represents the default camera
-
-# Check if camera opened successfully
-if not cap.isOpened():
-    print("Error opening video stream or file")
-
-def send_packet(sock, packet):
-    sock.sendto(packet, (UDP_IP, UDP_PORT))
-
-sock = socket.socket(socket.AF_INET, # Internet
-                     socket.SOCK_DGRAM) # UDP
-
-def breakdown_image_norm(frame):
-    (cols, rows, colors) = frame.shape
-    # break the array down into 16x16 chunks, then transmit them as UDP packets
-    for i in range(0, cols, 16):
-        for j in range(0, rows, 16):
-            # print("Sending frame segment (%d, %d)", i, j)
-            pkt = StdPacket(uuid, j, i, frame[i:i + 16, j:j + 16])
-            send_packet(sock, pkt.to_bytestr())
-
-def breakdown_image_interlaced(frame):
-    (cols, rows, colors) = frame.shape
-    # break the array into 16x32 chunks. we'll split those further into odd and even rows
-    # and send each as UDP packets. this should make packet loss less obvious
-    for i in range(0, cols, 32):
-        for j in range(0, rows, 16):
-            # print("Sending frame segment (%d, %d)", i, j)
-            pkt = InterlacedPacket(uuid, j, i, False, frame[i:i + 32:2, j:j + 16])
-            send_packet(sock, pkt.to_bytestr())
-
-    for i in range(0, cols, 32):
-        for j in range(0, rows, 16):
-            # print("Sending frame segment (%d, %d)", i, j)
-            pkt = InterlacedPacket(uuid, j, i, True, frame[i + 1:i + 32:2, j:j + 16])
-            send_packet(sock, pkt.to_bytestr())
-
-def breakdown_image_dint(frame):
-    (cols, rows, colors) = frame.shape
-    # break the array into 16x32 chunks. we'll split those further into odd and even rows
-    # and send each as UDP packets. this should make packet loss less obvious
-    for l in range(0, 4):
-        for i in range(0, cols, 32):
-            for j in range(0, rows, 32):
-                # print("Sending frame segment (%d, %d)", i, j)
-                i_even = l % 2 == 0
-                j_even = l >= 2
-                pkt = DoublyInterlacedPacket(uuid, j, i, j_even, i_even, frame[i + i_even:i + 32:2, j + j_even:j + 32:2])
-                send_packet(sock, pkt.to_bytestr())
-
-while True:
-    # Capture frame-by-frame
-    ret, frame = cap.read()
-
-    # If frame is read correctly, ret is True
-    if not ret:
-        print("Can't receive frame (stream end?). Exiting ...")
-        break
-
-    breakdown_image_dint(frame)
-
-# Release the capture and close all windows
-cap.release()

flake.lock

@@ -0,0 +1,61 @@
+{
+  "nodes": {
+    "flake-utils": {
+      "inputs": {
+        "systems": "systems"
+      },
+      "locked": {
+        "lastModified": 1731533236,
+        "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1756386758,
+        "narHash": "sha256-1wxxznpW2CKvI9VdniaUnTT2Os6rdRJcRUf65ZK9OtE=",
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "rev": "dfb2f12e899db4876308eba6d93455ab7da304cd",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "ref": "nixos-unstable",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "root": {
+      "inputs": {
+        "flake-utils": "flake-utils",
+        "nixpkgs": "nixpkgs"
+      }
+    },
+    "systems": {
+      "locked": {
+        "lastModified": 1681028828,
+        "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
+        "owner": "nix-systems",
+        "repo": "default",
+        "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nix-systems",
+        "repo": "default",
+        "type": "github"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}

flake.nix

@@ -0,0 +1,63 @@
+{
+  description = "video-streaming-poc devShell";
+
+  inputs = {
+    nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
+    flake-utils.url = "github:numtide/flake-utils";
+  };
+
+  outputs = { self, nixpkgs, flake-utils, ... }:
+      flake-utils.lib.eachDefaultSystem (system:
+        let
+          pkgs = import nixpkgs { inherit system; };
+        in with pkgs;
+        let
+          opencv-custom = pkgs.opencv.override {
+            enableGtk3 = true;
+            #enableCuda = true;
+            enablePython = true;
+          };
+	in {
+          devShells.default = mkShell rec {
+            buildInputs = [
+              # Meson
+              meson
+              pkg-config
+              ninja
+
+              # Boost
+              boost
+
+              # OpenCV
+              opencv-custom
+            ];
+          };
+          packages.default = pkgs.stdenv.mkDerivation {
+            name = "video-streaming-poc";
+            src = ./.;
+
+            nativeBuildInputs = with pkgs; [
+              meson
+              ninja
+              pkg-config
+            ];
+
+            buildInputs = with pkgs; [
+              boost
+              opencv-custom
+            ];
+
+            buildPhase = ''
+              meson setup --wipe build
+              meson compile
+            '';
+
+            installPhase = ''
+              mkdir -p $out/bin
+              cp build/client $out/bin/
+              cp build/server $out/bin/
+            '';
+          };
+        }
+      );
+}

legacy/README.md

@@ -0,0 +1,58 @@
+# Video Streaming Proof of Concept
+
+This project is a demo for streaming video output from multiple "client" devices to one "server". This is a basic demo
+of what sauron-cv seeks to accomplish.
+
+## Installation
+
+It is strongly recommended that you use a virtual environment. These instructions will assume you are using venv, you
+can substitute this with your preferred environment management. You will need to make sure that the `virtualenv` package
+is installed globally, either via pip or the `python3-virtualenv` package in your system package manager.
+
+When first cloning this repo, run the following:
+
+```shell
+python -m venv .venv
+source .venv/bin/activate
+pip install -r requirements.txt
+```
+
+This will create a virtual environment, enter that virtual environment, and install the required packages.
+
+If you start a new shell, you will need to re-enter the virtual environment:
+
+```shell
+source .venv/bin/activate
+```
+
+## Running
+
+### Client
+
+To run the client with a localhost target:
+
+```shell
+python -m client
+```
+
+To target an external server, provide its IP address using the `-s` flag:
+
+```shell
+python -m client -s [server IP address]
+```
+
+### Server
+
+```shell
+python -m server
+```
+
+### Common Flags
+
+Make sure that these match between your client and server!!
+
+| Short | Long | Description | Default |
+|-------|---|---|---|
+| `-p`  | `--port` | The port for the client / server to communicate on. | `5005` |
+| `-W`  | `--width` | Image width in pixels. | `640` |
+| `-H` | `--height` | Image height in pixels. | `480` |

legacy/client.py

@@ -0,0 +1,129 @@
+import argparse
+
+import cv2
+import socket
+import numpy as np
+import uuid
+
+from common import StdPacket, InterlacedPacket, DoublyInterlacedPacket, TiledImagePacket
+
+
+def send_packet(sock, packet):
+    sock.sendto(packet, (UDP_IP, UDP_PORT))
+
+def breakdown_image_norm(frame, last_frame):
+    (cols, rows, colors) = frame.shape
+    # break the array down into 16x16 chunks, then transmit them as UDP packets
+    for i in range(0, cols, 16):
+        for j in range(0, rows, 16):
+            # print("Sending frame segment (%d, %d)", i, j)
+            arr = frame[i:i + 16, j:j + 16]
+            last_arr = last_frame[i:i + 16, j:j + 16]
+            # only update if image segments are different
+            if not np.allclose(arr, last_arr):
+                pkt = StdPacket(uuid, j, i, arr)
+                send_packet(sock, pkt.to_bytestr())
+
+def breakdown_image_interlaced(frame, last_frame):
+    (cols, rows, colors) = frame.shape
+    # break the array into 16x32 chunks. we'll split those further into odd and even rows
+    # and send each as UDP packets. this should make packet loss less obvious
+    for i in range(0, cols, 32):
+        for j in range(0, rows, 16):
+            # print("Sending frame segment (%d, %d)", i, j)
+            arr = frame[i:i + 32:2, j:j + 16]
+            last_arr = last_frame[i:i + 32:2, j:j + 16]
+            if not np.allclose(arr, last_arr):
+                pkt = InterlacedPacket(uuid, j, i, False, arr)
+                send_packet(sock, pkt.to_bytestr())
+
+    for i in range(0, cols, 32):
+        for j in range(0, rows, 16):
+            # print("Sending frame segment (%d, %d)", i, j)
+            arr = frame[i + 1:i + 32:2, j:j + 16]
+            last_arr = last_frame[i + 1:i + 32:2, j:j + 16]
+            # only update if image segments are different
+            if not np.allclose(arr, last_arr):
+                pkt = InterlacedPacket(uuid, j, i, True, arr)
+                send_packet(sock, pkt.to_bytestr())
+
+def breakdown_image_dint(frame, last_frame):
+    (cols, rows, colors) = frame.shape
+    # break the array into 16x32 chunks. we'll split those further into odd and even rows
+    # and send each as UDP packets. this should make packet loss less obvious
+    for l in range(0, 4):
+        for i in range(0, cols, 32):
+            for j in range(0, rows, 32):
+                # print("Sending frame segment (%d, %d)", i, j)
+                i_even = l % 2 == 0
+                j_even = l >= 2
+
+                # breakdown image
+                arr = frame[i + i_even:i + 32:2, j + j_even:j + 32:2]
+                last_arr = last_frame[i + i_even:i + 32:2, j + j_even:j + 32:2]
+                # only update if image segments are different
+                if not np.allclose(arr, last_arr):
+                    pkt = DoublyInterlacedPacket(uuid, j, i, j_even, i_even, arr)
+                    send_packet(sock, pkt.to_bytestr())
+
+def breakdown_image_tiled(frame):
+    (cols, rows, colors) = frame.shape
+    # break the array into 16x32 chunks. we'll split those further into odd and even rows
+    # and send each as UDP packets. this should make packet loss less obvious
+    xslice = cols // 16
+    yslice = rows // 16
+    for i in range(0, xslice):
+        for j in range(0, yslice):
+            # print("Sending frame segment (%d, %d)", i, j)
+            pkt = TiledImagePacket(uuid, j, i, rows, cols, frame[i:cols:xslice, j:rows:yslice])
+            send_packet(sock, pkt.to_bytestr())
+
+if __name__ == '__main__':
+    # argument parser
+    parser = argparse.ArgumentParser(description="Proof-of-concept client for sauron-cv")
+    parser.add_argument("-p", "--port", type=int, default=5005)
+    parser.add_argument("-s", "--server", type=str, default="127.0.0.1")
+    parser.add_argument("-W", "--width", type=int, default=640)
+    parser.add_argument("-H", "--height", type=int, default=480)
+    parser.add_argument("-d", "--device", type=int, default=0)
+    args = parser.parse_args()
+
+    # give this client its very own UUID
+    uuid = uuid.uuid4()
+
+    # give target IP address
+    UDP_IP = args.server
+    UDP_PORT = args.port
+    WIDTH = args.width
+    HEIGHT = args.height
+    DEVICE = args.device
+
+    # Create a VideoCapture object
+    cap = cv2.VideoCapture(DEVICE)  # 0 represents the default camera
+    cap.set(cv2.CAP_PROP_FRAME_WIDTH, WIDTH)
+    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, HEIGHT)
+
+    # Check if camera opened successfully
+    if not cap.isOpened():
+        print("Error opening video stream or file")
+
+    # create the socket
+    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+    frame = np.zeros((HEIGHT, WIDTH, 3), dtype=np.uint8)
+    last_frame = np.zeros((HEIGHT, WIDTH, 3), dtype=np.uint8)
+
+    while True:
+        last_frame = frame.copy()
+        # Capture frame-by-frame
+        ret, frame = cap.read()
+
+        # If frame is read correctly, ret is True
+        if not ret:
+            print("Can't receive frame (stream end?). Exiting ...")
+            break
+
+        breakdown_image_dint(frame, last_frame)
+
+    # Release the capture and close all windows
+    cap.release()

legacy/common.py

@@ -3,7 +3,18 @@ from abc import ABC, abstractmethod
 import numpy as np
 from uuid import UUID
 
+# The basic structure of the packet is as follows:
+#  FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF FFFF ... FFFF
+# | uuid              |    |    |                                           |
+# |                   |    |    | image data: contains the 16x16 image slice bitpacked from a NumPy array
+# |                   |    | y: the y position of this packet in the original image
+# |                   | x: the x position of this packet in the original image
+# | uuid: matches the packet to the requesting client
+# Other packet types may change this structure. Need to standardize this somehow.
+
 class Packet(ABC):
+    """Generic structure for a video streaming packet. Contains a slice of the full image, which will be reconstructed
+    by the server."""
     size: int
     def __init__(self, uuid: UUID, x: int, y: int, array: np.ndarray):
         self.uuid = uuid
@@ -13,13 +24,16 @@ class Packet(ABC):
 
     @abstractmethod
     def to_bytestr(self) -> bytes:
+        """Convert a packet object into a bytestring."""
         pass
 
     @abstractmethod
     def apply(self, image: np.ndarray) -> np.ndarray:
+        """Apply this packet to an image."""
         pass
 
 class StdPacket(Packet):
+    """A standard packet with no interlacing. Sends a 16x16 chunk of an image."""
     size = 16 + 4 + 4 + 768
     def __init__(self, uuid: UUID, x: int, y: int, array: np.ndarray):
         super().__init__(uuid, x, y, array)
@@ -40,6 +54,7 @@ class StdPacket(Packet):
         return image
 
 def from_bytes_std(b: bytes) -> StdPacket:
+    """Convert a byte string obtained via UDP into a packet object."""
     uuid = UUID(bytes = b[0:16])
     x = int.from_bytes(b[16:20], signed = False)
     y = int.from_bytes(b[20:24], signed = False)
@@ -49,6 +64,7 @@ def from_bytes_std(b: bytes) -> StdPacket:
 
 
 class InterlacedPacket(Packet):
+    """A packet with horizontal interlacing. Sends half of a 16x32 chunk of an image, every other row"""
     size = 16 + 4 + 4 + 4 + 768
     def __init__(self, uuid: UUID, x: int, y: int, even: bool, array: np.ndarray):
         super().__init__(uuid, x, y, array)
@@ -72,6 +88,7 @@ class InterlacedPacket(Packet):
 
 
 def from_bytes_int(b: bytes) -> InterlacedPacket:
+    """Convert a byte string obtained via UDP into a packet object."""
     uuid = UUID(bytes=b[0:16])
     x = int.from_bytes(b[16:20], signed=False)
     y = int.from_bytes(b[20:24], signed=False)
@@ -81,6 +98,8 @@ def from_bytes_int(b: bytes) -> InterlacedPacket:
     return InterlacedPacket(uuid, x, y, even, array)
 
 class DoublyInterlacedPacket(Packet):
+    """A packet with horizontal interlacing. Sends one quarter of a 32x32 chunk of an image. This will alternate rows
+    and columns based on the value of even_x and even_y."""
     size = 16 + 4 + 4 + 4 + 768
     def __init__(self, uuid: UUID, x: int, y: int, even_x: bool, even_y: bool, array: np.ndarray):
         super().__init__(uuid, x, y, array)
@@ -106,6 +125,7 @@ class DoublyInterlacedPacket(Packet):
 
 
 def from_bytes_dint(b: bytes) -> DoublyInterlacedPacket:
+    """Convert a byte string obtained via UDP into a packet object."""
     uuid = UUID(bytes=b[0:16])
     x = int.from_bytes(b[16:20], signed=False)
     y = int.from_bytes(b[20:24], signed=False)
@@ -113,4 +133,39 @@ def from_bytes_dint(b: bytes) -> DoublyInterlacedPacket:
     even_y = bool.from_bytes(b[26:28])
     array = np.frombuffer(b[28:], np.uint8).reshape(16, 16, 3)
 
-    return DoublyInterlacedPacket(uuid, x, y, even_x, even_y, array)
+    return DoublyInterlacedPacket(uuid, x, y, even_x, even_y, array)
+
+class TiledImagePacket(Packet):
+    """Distributed selection from image."""
+    size = 16 + 4 + 4 + 768
+
+    def __init__(self, uuid: UUID, x: int, y: int, width: int, height: int, array: np.ndarray):
+        super().__init__(uuid, x, y, array)
+        self.width = width
+        self.height = height
+        self.xslice = width // 16
+        self.yslice = height // 16
+
+    def to_bytestr(self) -> bytes:
+        bytestr = b""
+        bytestr += self.uuid.bytes
+        bytestr += self.x.to_bytes(length=4, signed=False)
+        bytestr += self.y.to_bytes(length=4, signed=False)
+        bytestr += self.array.tobytes()
+        return bytestr
+
+    def apply(self, image: np.ndarray) -> np.ndarray:
+        x = self.x
+        y = self.y
+        arr = self.array
+        image[y:self.height:self.yslice, x:self.width:self.xslice] = arr
+        return image
+
+def from_bytes_tiled(b: bytes) -> TiledImagePacket:
+    """Convert a byte string obtained via UDP into a packet object."""
+    uuid = UUID(bytes = b[0:16])
+    x = int.from_bytes(b[16:20], signed = False)
+    y = int.from_bytes(b[20:24], signed = False)
+    array = np.frombuffer(b[24:], np.uint8).reshape(16, 16, 3)
+
+    return TiledImagePacket(uuid, x, y, 640, 480, array)

legacy/requirements.txt

@@ -0,0 +1,4 @@
+opencv-python
+numpy
+rich
+asyncudp

legacy/server.py

@@ -0,0 +1,112 @@
+from typing import Dict
+
+import cv2
+import socket
+import numpy as np
+from datetime import datetime
+import asyncio
+import asyncudp
+import argparse
+from rich.console import Console
+
+from common import Packet, DoublyInterlacedPacket, from_bytes_dint
+
+class Client:
+    """Class for tracking client state, including current frame data and time since last update."""
+    def __init__(self):
+        self.last_updated = datetime.now()
+        self.frame = np.ndarray((HEIGHT, WIDTH, 3), dtype=np.uint8)
+
+    def update(self, pkt: Packet):
+        """Apply a packet to the client frame. Update last client update to current time."""
+        self.frame = pkt.apply(self.frame)
+
+        self.last_updated = datetime.now()
+
+    def latency(self) -> float:
+        """Return the time since the last client update."""
+        return (datetime.now() - self.last_updated).total_seconds()
+
+    def read(self) -> np.ndarray:
+        """Return the current frame."""
+        return self.frame
+
+
+# Dictionary of client states stored by UUID
+frames: Dict[str, Client] = {}
+
+async def show_frames():
+    """Asynchronous coroutine to display frames in OpenCV debug windows."""
+    while True:
+        # drop clients that have not sent packets for > 5 seconds
+        for id in list(frames.keys()):
+            if frames[id].latency() >= 5:
+                console.log(f"Client likely lost connection, dropping [bold red]{id}[/bold red]")
+                cv2.destroyWindow(id)
+                frames.pop(id)
+            else:
+                # show the latest available frame
+                cv2.imshow(id, frames[id].read())
+
+        cv2.waitKey(1)
+        # this is necessary to allow asyncio to swap between reading packets and rendering frames
+        await asyncio.sleep(0.05)
+
+async def listen(ip: str, port: int):
+    """Asynchronous coroutine to listen for / read client connections."""
+    sock = await asyncudp.create_socket(local_addr=(ip, port))
+
+    console.log("Ready to accept connections.", style="bold green")
+
+    while True:
+        # receive packets
+        data, addr = await sock.recvfrom()
+
+        if data:
+            # convert the byte string into a packet object
+            pkt = from_bytes_dint(data)
+
+            uuid = str(pkt.uuid)
+
+            # if this is a new client, give it a new image
+            if uuid not in frames.keys():
+                console.log(f"New client acquired, naming [bold cyan]{uuid}[bold cyan]")
+                frames[uuid] = Client()
+
+            frames[uuid].update(pkt)
+
+
+if __name__ == "__main__":
+    # argument parser
+    parser = argparse.ArgumentParser(description="Proof-of-concept server for sauron-cv")
+    parser.add_argument("-p", "--port", type=int, default=5005)
+    parser.add_argument("-l", "--listen", type=str, default="0.0.0.0")
+    parser.add_argument("-W", "--width", type=int, default=640)
+    parser.add_argument("-H", "--height", type=int, default=480)
+    args = parser.parse_args()
+
+    # console
+    console = Console()
+
+    # assign constants based on argument parser
+    UDP_IP = args.listen
+    UDP_PORT = args.port
+
+    HEIGHT = args.height
+    WIDTH = args.width
+
+    # create the async event loop
+    loop = asyncio.new_event_loop()
+    asyncio.set_event_loop(loop)
+
+    # create async tasks for reading network packets, displaying windows
+    loop.create_task(listen(UDP_IP, UDP_PORT))
+    loop.create_task(show_frames())
+    try:
+        loop.run_forever()
+    finally:
+        loop.run_until_complete(loop.shutdown_asyncgens())
+        loop.close()
+
+        # Release the capture and close all windows
+        cv2.destroyAllWindows()

logging.h

@@ -0,0 +1,170 @@
+#ifndef LOGGING_H
+#define LOGGING_H
+
+#include <iostream>
+#include <iomanip>
+#include <chrono>
+#include <ctime>
+
+// Logging levels
+#define LOG_ERROR 0
+#define LOG_WARN 1
+#define LOG_INFO 2
+#define LOG_DEBUG 3
+#define LOG_TRACE 4
+
+// Set logging arguments
+// TODO: set these by compiler arguments or env vars or something
+#define LOGGING LOG_DEBUG // logging level
+#define LOGGING_COLOR true // enable color
+#define LOGGING_TIMESTAMP true // enable timestamp
+#define LOGGING_TIMESTAMP_FMT "%Y-%m-%dT%H:%M:%S%z" // timestamp format (local time)
+#define LOGGING_POSITION false // display position (only works on C++20 or newer)
+
+// Color codes
+#define ANSI_RESET   "\033[0m"
+#define ANSI_BLACK   "\033[30m"      /* Black */
+#define ANSI_RED     "\033[31m"      /* Red */
+#define ANSI_GREEN   "\033[32m"      /* Green */
+#define ANSI_YELLOW  "\033[33m"      /* Yellow */
+#define ANSI_BLUE    "\033[34m"      /* Blue */
+#define ANSI_MAGENTA "\033[35m"      /* Magenta */
+#define ANSI_CYAN    "\033[36m"      /* Cyan */
+#define ANSI_WHITE   "\033[37m"      /* White */
+#define ANSI_BOLD    "\033[1m"       /* Bold */
+
+template <typename... Args>
+void print(Args... args) {
+  (std::cout << ... << args) << "\n";
+}
+
+inline void printTimestamp() {
+  #if LOGGING_TIMESTAMP
+    auto now = std::chrono::system_clock::now();
+    auto time_c = std::chrono::system_clock::to_time_t(now);
+    std::tm time_tm;
+    localtime_r(&time_c, &time_tm);
+    std::cout << std::put_time(&time_tm, LOGGING_TIMESTAMP_FMT) << ": ";
+  #endif
+}
+
+// if we're on C++20 or later, then use the source_location header and add source location to logs
+#if __cplusplus >= 202002L && LOGGING_POSITION
+#include <source_location>
+
+inline void printPosition(std::source_location& location) {
+  std::cout << location.file_name() << ":" << location.function_name() << ":" << ANSI_CYAN << location.line() << ANSI_RESET <<  ": ";
+}
+
+inline void printHeader(std::string name, std::string color, std::source_location& location) {
+  #if LOGGING_COLOR
+    std::cout << ANSI_BOLD << color << "[" << name << "] " << ANSI_RESET;
+    printTimestamp();
+    printPosition(location);
+  #else
+    printHeader(name);
+  #endif
+}
+
+inline void printHeader(std::string name, std::source_location& location) {
+  std::cout << "[" << name << "] ";
+  printTimestamp();
+  printPosition(location);
+}
+
+template <typename... Args, typename Sl = std::source_location>
+void trace(Args... args, Sl location = std::source_location::current()) {
+  #if LOGGING >= LOG_TRACE
+    printHeader("TRACE", ANSI_CYAN, location);
+    print(args...);
+  #endif
+}
+
+template <typename... Args, typename Sl = std::source_location>
+void debug(Args... args, Sl location = std::source_location::current()) {
+  #if LOGGING >= LOG_DEBUG
+    printHeader("DEBUG", ANSI_MAGENTA, location);
+    print(args...);
+  #endif
+}
+
+template <typename... Args, typename Sl = std::source_location>
+void info(Args... args, Sl location = std::source_location::current()) {
+  #if LOGGING >= LOG_INFO
+    printHeader("INFO", ANSI_GREEN, location);
+    print(args...);
+  #endif
+}
+
+template <typename... Args, typename Sl = std::source_location>
+void warn(Args... args, Sl location = std::source_location::current()) {
+  #if LOGGING >= LOG_WARN
+    printHeader("WARN", ANSI_YELLOW, location);
+    print(args...);
+  #endif
+}
+
+template <typename... Args, typename Sl = std::source_location>
+void error(Args... args, Sl location = std::source_location::current()) {
+  #if LOGGING >= LOG_ERROR
+    printHeader("ERROR", ANSI_RED, location);
+    print(args...);
+  #endif
+}
+#else
+inline void printHeader(std::string name, std::string color) {
+  #if LOGGING_COLOR
+    std::cout << ANSI_BOLD << color << "[" << name << "] " << ANSI_RESET;
+    printTimestamp();
+  #else
+    printHeader(name);
+  #endif
+}
+
+inline void printHeader(std::string name) {
+  std::cout << "[" << name << "] ";
+  printTimestamp();
+}
+
+template <typename... Args>
+void trace(Args... args) {
+  #if LOGGING >= LOG_TRACE
+    printHeader("TRACE", ANSI_CYAN);
+    print(args...);
+  #endif
+}
+
+template <typename... Args>
+void debug(Args... args) {
+  #if LOGGING >= LOG_DEBUG
+    printHeader("DEBUG", ANSI_MAGENTA);
+    print(args...);
+  #endif
+}
+
+template <typename... Args>
+void info(Args... args) {
+  #if LOGGING >= LOG_INFO
+    printHeader("INFO", ANSI_GREEN);
+    print(args...);
+  #endif
+}
+
+template <typename... Args>
+void warn(Args... args) {
+  #if LOGGING >= LOG_WARN
+    printHeader("WARN", ANSI_YELLOW);
+    print(args...);
+  #endif
+}
+
+template <typename... Args>
+void error(Args... args) {
+  #if LOGGING >= LOG_ERROR
+    printHeader("ERROR", ANSI_RED);
+    print(args...);
+  #endif
+}
+#endif
+
+#endif //LOGGING_H

meson.build

@@ -0,0 +1,37 @@
+#=======================================================================================================================
+#  PROJECT SETTINGS
+#=======================================================================================================================
+project('video-streaming-poc', 'cpp', version : '0.0.1-SNAPSHOT',
+        default_options : ['c_std=c17', 'cpp_std=c++20'])
+
+#=======================================================================================================================
+#  DEPENDENCIES
+#=======================================================================================================================
+# opencv dependency
+opencv = dependency('opencv4', version : '>=4.0.0')
+opencv_incl_dir = opencv.get_variable(cmake : 'OpenCV_INCLUDE_DIRECTORIES', pkgconfig : 'includedir')
+include = include_directories(opencv_incl_dir)
+# boost dependency
+boost = dependency('boost')
+
+#=======================================================================================================================
+#  SOURCE FILES
+#=======================================================================================================================
+# common files between client / server
+common = ['transfer.h', 'logging.h']
+# client-only files
+client = common + ['client.cpp']
+# server-only files
+server = common + ['server.cpp']
+
+#=======================================================================================================================
+#  BUILD TARGETS
+#=======================================================================================================================
+# client executable
+client_exe = executable('client', client,
+                        dependencies : [opencv, boost],
+                        include_directories : include)
+# server executable
+server_exe = executable('server', server,
+                        dependencies : [opencv, boost],
+                        include_directories : include)

requirements.txt

@@ -1,2 +0,0 @@
-opencv-python
-numpy

server.cpp

@@ -0,0 +1,56 @@
+#include <opencv2/highgui.hpp>
+#include <opencv2/core/mat.hpp>
+#include <opencv2/imgproc.hpp>
+#include <cstring>
+#include <iostream>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <unistd.h>
+#include "transfer.h"
+#include "logging.h"
+#include <boost/asio.hpp>
+
+using namespace std;
+using boost::asio::ip::tcp;
+
+int main() {
+    try {
+        boost::asio::io_context io_context;
+        // creating socket
+
+        tcp::acceptor acceptor(io_context, tcp::endpoint(tcp::v4(), 8080));
+
+        tcp::socket socket(io_context);
+
+        info("Ready to accept connections.");
+
+        // accepting connection request
+        acceptor.accept(socket);
+        info("Client connected.");
+
+        // TODO: handle multiple images
+        cv::Mat image = cv::Mat::zeros(cv::Size(640, 480), CV_8UC3);
+
+        bool running = true;
+        // TODO: make this asynchronous. probably do that in tandem with setting up networking
+        while (running) {
+            // receive data
+            vector<uchar> buffer;
+            trace("Receiving image");
+            int latency = recvImage(socket, buffer);
+
+            trace("Applying new data to image");
+            applyImage(image, &buffer);
+
+            cv::putText(image, to_string(latency), cv::Point(0, 480), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(255, 0, 0), 1, cv::LINE_AA);
+
+            trace("Displaying image");
+            imshow("image", image);
+            running = cv::waitKey(30) != 27;
+        }
+    }
+    catch (std::exception& e) {
+        error(e.what());
+    }
+    return 0;
+}

server.py

@@ -1,91 +0,0 @@
-from typing import Dict
-
-import cv2
-import socket
-import numpy as np
-from datetime import datetime
-import asyncio
-
-from common import DoublyInterlacedPacket, from_bytes_dint
-
-# bind any IP address
-UDP_IP = ""
-UDP_PORT = 5005
-
-HEIGHT = 480
-WIDTH = 640
-
-class Client:
-    def __init__(self):
-        self.last_updated = datetime.now()
-        self.frame = np.ndarray((HEIGHT, WIDTH, 3), dtype=np.uint8)
-
-    def update(self, pkt: DoublyInterlacedPacket):
-        self.frame = pkt.apply(self.frame)
-
-        self.last_updated = datetime.now()
-
-    def latency(self) -> float:
-        return (datetime.now() - self.last_updated).total_seconds()
-
-    def read(self) -> np.ndarray:
-        return self.frame
-
-
-frames: Dict[str, Client] = {}
-
-async def read_packet():
-    while True:
-        for i in range(0, 1200):
-        # break the array down into 16-bit chunks, then transmit them as UDP packets
-            try:
-                data, addr = sock.recvfrom(DoublyInterlacedPacket.size)  # buffer size is 768 bytes
-                # print("received packet from", addr)
-                if data:
-                    pkt = from_bytes_dint(data)
-
-                    uuid = str(pkt.uuid)
-
-                    if uuid not in frames.keys():
-                        print("New client acquired, naming %s", uuid)
-                        frames[uuid] = Client()
-
-                    frames[uuid].update(pkt)
-
-            except BlockingIOError:
-                pass
-
-        await asyncio.sleep(0.001)
-
-async def show_frames():
-    while True:
-        # Display the resulting frame
-        for id in list(frames.keys()):
-            if frames[id].latency() >= 5:
-                print("Client likely lost connection, dropping %s", id)
-                cv2.destroyWindow(id)
-                frames.pop(id)
-            else:
-                cv2.imshow(id, frames[id].read())
-
-        cv2.waitKey(1)
-        await asyncio.sleep(0.01)
-
-if __name__ == "__main__":
-    sock = socket.socket(socket.AF_INET,  # Internet
-                         socket.SOCK_DGRAM)  # UDP
-    sock.setblocking(False)
-    sock.bind((UDP_IP, UDP_PORT))
-
-    loop = asyncio.new_event_loop()
-    asyncio.set_event_loop(loop)
-    loop.create_task(read_packet())
-    loop.create_task(show_frames())
-    try:
-        loop.run_forever()
-    finally:
-        loop.run_until_complete(loop.shutdown_asyncgens())
-        loop.close()
-
-        # Release the capture and close all windows
-        cv2.destroyAllWindows()

transfer.h

@@ -0,0 +1,108 @@
+#ifndef TRANSFER_H
+#define TRANSFER_H
+
+#include <chrono>
+#include <opencv2/core/mat.hpp>
+#include <opencv2/imgcodecs.hpp>
+#include <sys/socket.h>
+#include "logging.h"
+#include <vector>
+#include <boost/asio.hpp>
+
+using namespace std;
+using boost::asio::ip::tcp;
+
+struct imageHeader {
+    size_t size;
+    chrono::milliseconds timestamp;
+};
+
+chrono::milliseconds getMillis() {
+    // Get current time
+    const auto now = chrono::system_clock::now();
+
+    // Get time since epoch in milliseconds
+    const chrono::duration ms = chrono::duration_cast<chrono::milliseconds>(now.time_since_epoch());
+
+    return chrono::milliseconds(ms.count());
+}
+
+inline void serializeImage(const cv::Mat& image, std::vector<uchar>& buffer) {
+    cv::imencode(".jpg", image, buffer);
+}
+
+void sendImage(tcp::socket& socket, const cv::Mat& image, std::vector<uchar>& buffer) {
+    boost::system::error_code e;
+
+    serializeImage(image, buffer);
+    size_t totalSent = 0;
+
+    // first send the size of the serialized image
+    const size_t size = buffer.size();
+    const chrono::milliseconds timestamp = getMillis();
+    imageHeader header;
+    header.size = size;
+    header.timestamp = timestamp;
+    trace("Buffer size: ", size);
+    if (const ssize_t sent = boost::asio::write(socket, boost::asio::buffer(&header, sizeof(header)), e); sent == -1) {
+        throw boost::system::system_error(e);
+    }
+
+    // then start sending the serialized image
+    while (totalSent < size) {
+        const ssize_t sent = boost::asio::write(socket, boost::asio::buffer(buffer), e);
+        if (sent == -1) {
+            throw boost::system::system_error(e);
+        }
+        totalSent += sent;
+        debug("Packet sent (", sent, " bytes, total ", totalSent, " / ", size, " bytes)");
+    }
+}
+
+int recvImage(tcp::socket& socket, std::vector<uchar>& buffer) {
+    boost::system::error_code e;
+
+    // first receive the size of the image
+    imageHeader header;
+
+    size_t len = 0;
+    while (len < sizeof(imageHeader)) {
+        len += socket.read_some(boost::asio::buffer(&header, sizeof(header)), e);
+        if (e.failed()) {
+            throw boost::system::system_error(e);
+        }
+    }
+
+    size_t dataSize = header.size;
+    chrono::milliseconds sentTime = header.timestamp;
+
+    trace("Buffer size: ", dataSize);
+
+    // resize the buffer to fit the whole image
+    buffer.resize(dataSize);
+
+    // start receiving the image until the whole thing arrives
+    size_t totalReceived = 0;
+    while (totalReceived < dataSize) {
+        size_t bytesReceived = boost::asio::read(socket, boost::asio::buffer(buffer), e);
+        if (e == boost::asio::error::eof) // Connection closed cleanly by peer.
+            throw boost::system::system_error(e);
+        else if (e)
+            throw boost::system::system_error(e);
+        totalReceived += bytesReceived;
+        debug("Packet received (", bytesReceived, " bytes, total ", totalReceived, " / ", dataSize, " bytes)");
+    }
+    chrono::milliseconds currentTime = getMillis();
+
+    chrono::milliseconds diff = currentTime - sentTime;
+    debug("Packet latency: ", diff.count(), "ms");
+
+    return diff.count();
+}
+
+bool applyImage(cv::Mat& image, std::vector<uchar> *src) {
+    // decode the image into an OpenCV Mat
+    cv::imdecode(*src, cv::IMREAD_UNCHANGED, &image);
+    return true;
+}
+#endif //TRANSFER_H