added simple http

.vscode/launch.json

@@ -46,6 +46,27 @@
 				"externalConsole": false,
 			}
 		},
+		{
+			"name": "Launch meta_download",
+			"type": "cppdbg",
+			"request": "launch",
+			"stopAtEntry": false,
+			"cwd": "${workspaceFolder}/examples/meta_download",
+			"environment": [],
+			"envFile": "${workspaceFolder}/.env",
+			"program": "${workspaceFolder}/examples/meta_download/bin/x64-Linux-debug/meta_download",
+			"args": [
+				"${config:OUSTER_HOST}",
+			],
+			"osx": {
+				"MIMode": "lldb",
+				"targetArchitecture": "arm64",
+				"externalConsole": false,
+			},
+			"linux": {
+				"externalConsole": false,
+			}
+		},
 		{
 			"name": "Launch ouster_monitor",
 			"type": "cppdbg",
@@ -107,7 +128,7 @@
 			"program": "${workspaceFolder}/tools/ouster_meta/bin/x64-Linux-debug/ouster_meta",
 			"args": [
 				"-m",
-				"${config:OUSTER_META_PATH}.new",
+				"new_meta.json",
 				"-s",
 				"${config:OUSTER_HOST}",
 			],

.vscode/settings.json

@@ -17,7 +17,13 @@
 		"mutex": "c",
 		"convert.h": "c",
 		"ouster_assert.h": "c",
-		"ouster_field.h": "c"
+		"ouster_field.h": "c",
+		"ouster_client.h": "c",
+		"ouster_http.h": "c",
+		"socket.h": "c",
+		"string.h": "c",
+		"stdio.h": "c",
+		"fcntl.h": "c"
 	},
 	"terminal.integrated.env.linux": {
 		"GTK_PATH": ""

examples/meta_download/src/meta_download.c

@@ -4,6 +4,8 @@
 #include <string.h>
 #include <unistd.h>
 
+#define BUFFER_SIZE (1024 * 1024)
+
 int main(int argc, char *argv[])
 {
 	ouster_fs_pwd();
@@ -13,18 +15,12 @@ int main(int argc, char *argv[])
 		return 0;
 	}
 
-	if (argc <= 2) {
-		printf("Missing output meta file destination\n");
-		return 0;
-	}
-
-	ouster_client_t client =
-	    {
-	        .host = argv[1]};
-
-	ouster_client_init(&client);
-	ouster_client_download_meta_file(&client, argv[2]);
-	ouster_client_fini(&client);
+	int s = ouster_sock_create_tcp(argv[1], 80);
+	ouster_vec_t v = {0};
+	ouster_vec_init(&v, 1, 1024);
+	ouster_http_request(s, argv[1], OUSTER_HTTP_GET_METADATA, &v);
+	printf("%s\n\n", (char *)v.data);
+	return 0;
 
 	return 0;
 }

http_samples/metadata.txt

@@ -0,0 +1,10 @@
+GET /api/v1/sensor/metadata HTTP/1.1
+Host: 192.168.1.137
+Accept: */*
+
+HTTP/1.1 200 OK
+content-type: application/json
+content-length: 2224
+Connection: close
+
+{"lidar_data_format": {"pixels_per_column": 16, "columns_per_packet": 16, "udp_profile_imu": "LEGACY", "pixel_shift_by_row": [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 4, 4], "udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16", "columns_per_frame": 1024, "column_window": [0, 1023]}, "calibration_status": {"reflectivity": {"valid": false, "timestamp": ""}}, "config_params": {"udp_port_imu": 7503, "sync_pulse_out_angle": 360, "udp_profile_lidar": "RNG19_RFL8_SIG16_NIR16", "sync_pulse_out_polarity": "ACTIVE_HIGH", "nmea_leap_seconds": 0, "operating_mode": "NORMAL", "sync_pulse_in_polarity": "ACTIVE_HIGH", "sync_pulse_out_frequency": 1, "nmea_ignore_valid_char": 0, "sync_pulse_out_pulse_width": 10, "nmea_in_polarity": "ACTIVE_HIGH", "udp_port_lidar": 7502, "columns_per_packet": 16, "udp_dest": "192.168.1.113", "multipurpose_io_mode": "OFF", "timestamp_mode": "TIME_FROM_INTERNAL_OSC", "nmea_baud_rate": "BAUD_9600", "azimuth_window": [0, 360000], "phase_lock_enable": false, "lidar_mode": "1024x10", "udp_profile_imu": "LEGACY", "phase_lock_offset": 0, "signal_multiplier": 1}, "beam_intrinsics": {"beam_altitude_angles": [14.412000000000001, 12.271000000000001, 10.167999999999999, 8.0760000000000005, 5.9880000000000004, 3.9129999999999998, 1.825, -0.254, -2.339, -4.4160000000000004, -6.508, -8.6080000000000005, -10.711, -12.83, -14.976000000000001, -17.18], "beam_azimuth_angles": [0.89200000000000002, 0.91900000000000004, 0.92000000000000004, 0.93600000000000005, 0.95699999999999996, 0.98099999999999998, 1.01, 1.0249999999999999, 1.0469999999999999, 1.0860000000000001, 1.1200000000000001, 1.139, 1.1930000000000001, 1.212, 1.264, 1.3280000000000001], "lidar_origin_to_beam_origin_mm": 12.163}, "sensor_info": {"build_rev": "v2.4.0", "build_date": "2022-09-21T17:47:45Z", "prod_pn": "840-101855-02", "prod_line": "OS-1-16-A2", "prod_sn": "991940000262", "image_rev": "ousteros-image-prod-aries-v2.4.0+20220921174636", "status": "RUNNING", "initialization_id": 2573177}, "lidar_intrinsics": {"lidar_to_sensor_transform": [-1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, 36.18, 0, 0, 0, 1]}, "imu_intrinsics": {"imu_to_sensor_transform": [1, 0, 0, 6.2530000000000001, 0, 1, 0, -11.775, 0, 0, 1, 7.6449999999999996, 0, 0, 0, 1]}}

include/ouster_clib.h

@@ -398,6 +398,8 @@ typedef struct
 #include "ouster_clib/ouster_meta.h"
 #include "ouster_clib/ouster_net.h"
 #include "ouster_clib/ouster_sock.h"
+#include "ouster_clib/ouster_vec.h"
+#include "ouster_clib/ouster_http.h"
 
 #ifdef OUSTER_NO_UDPCAP
 #undef OUSTER_USE_UDPCAP

include/ouster_clib/ouster_client.h

@@ -1,5 +1,6 @@
 #ifndef OUSTER_CLIENT_H
 #define OUSTER_CLIENT_H
+#include <stdio.h>
 
 #ifdef __cplusplus
 extern "C"
@@ -23,6 +24,7 @@ typedef struct
 void ouster_client_init(ouster_client_t *client);
 void ouster_client_fini(ouster_client_t *client);
 void ouster_client_download_meta_file(ouster_client_t *client, char const *path);
+void ouster_client_write_meta_file(ouster_client_t *client, FILE * f);
 
 #ifdef __cplusplus
 }

include/ouster_clib/ouster_http.h

@@ -0,0 +1,18 @@
+#ifndef OUSTER_HTTP_H
+#define OUSTER_HTTP_H
+#include <stdio.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define OUSTER_HTTP_GET_METADATA "/api/v1/sensor/metadata"
+#define OUSTER_HTTP_GET_FIRMWARE "/api/v1/system/firmware"
+
+void ouster_http_request(int sock, char const *host, char const *path, ouster_vec_t *v);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // OUSTER_CLIENT_H

include/ouster_clib/ouster_sock.h

@@ -18,7 +18,7 @@ int ouster_sock_create_udp_lidar(int port, int rcvbuf_size);
 
 int ouster_sock_create_udp_imu(int port, int rcvbuf_size);
 
-int ouster_sock_create_tcp(char const *hint_name);
+int ouster_sock_create_tcp(char const *hint_name, int port);
 
 #ifdef __cplusplus
 }

include/ouster_clib/ouster_vec.h

@@ -0,0 +1,31 @@
+#ifndef OUSTER_VEC_H
+#define OUSTER_VEC_H
+#include <stdio.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+#define OUSTER_OFFSET(o, offset) (void*)(((uintptr_t)(o)) + ((uintptr_t)(offset)))
+
+typedef struct
+{
+	int cap;
+	int count;
+	int esize;
+	void * data;
+} ouster_vec_t;
+
+void ouster_vec_init(ouster_vec_t * v, int esize, int cap);
+
+void ouster_vec_append(ouster_vec_t * v, void const * data, int n, float factor);
+
+void test_ouster_vec();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // OUSTER_VEC_H

ouster_clib.c

@@ -827,6 +827,29 @@ void ouster_client_download_meta_file(ouster_client_t *client, char const *path)
 	fclose(f);
 }
 
+void ouster_client_write_meta_file(ouster_client_t *client, FILE * f)
+{
+	ouster_assert_notnull(client);
+	req_get(client, URLAPI_METADATA);
+	fwrite(client->buf.data, client->buf.size, 1, f);
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 #endif
 #include <string.h>
 
@@ -1072,6 +1095,52 @@ char *ouster_fs_readfile(char const *path)
 	}
 	return NULL;
 }
+
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#define HTTP_EOL "\r\n\r\n"
+
+void ouster_http_request(int sock, char const *host, char const *path, ouster_vec_t *v)
+{
+	ouster_assert_notnull(host);
+	ouster_assert_notnull(path);
+	ouster_assert_notnull(v);
+	ouster_assert(v->esize == 1, "");
+	{
+		char buf[1024] = {0};
+		int n = snprintf(buf, sizeof(buf), "GET %s HTTP/1.1\r\nHost: %s\r\nAccept: */*" HTTP_EOL, path, host);
+		ouster_log("REQ START:\n%s\nREQ END\n", buf);
+		write(sock, buf, n);
+	}
+
+	while (1) {
+		char buf[1024] = {0};
+		ssize_t n = recv(sock, buf, sizeof(buf), 0);
+		if (n <= 0) {
+			break;
+		}
+		ouster_vec_append(v, buf, n, 1.5f);
+	}
+	{
+		char *e = OUSTER_OFFSET(v->data, v->esize * v->count);
+		e[0] = '\0';
+	}
+
+	char *json = strstr(v->data, HTTP_EOL);
+	if (json) {
+		json += strlen(HTTP_EOL);
+		size_t n = strlen(json);
+		memcpy(v->data, json, n);
+		v->count = n;
+		char *e = OUSTER_OFFSET(v->data, v->esize * v->count);
+		e[0] = '\0';
+	}
+}
 #include <string.h>
 
 void ouster_lidar_header_get1(char const *buf, void *dst, int type)
@@ -2252,14 +2321,15 @@ int ouster_sock_create_udp_imu(int port, int rcvbuf_size)
 	return ouster_net_create(&desc);
 }
 
-int ouster_sock_create_tcp(char const *hint_name)
+int ouster_sock_create_tcp(char const *hint_name, int port)
 {
 	ouster_assert_notnull(hint_name);
 
 	ouster_net_sock_desc_t desc = {0};
 	desc.flags = OUSTER_NET_FLAGS_TCP | OUSTER_NET_FLAGS_CONNECT;
 	desc.hint_name = hint_name;
-	desc.hint_service = "7501";
+	desc.hint_service = NULL;
+	desc.port = port;
 	desc.rcvtimeout_sec = 10;
 	return ouster_net_create(&desc);
 }
@@ -2362,3 +2432,51 @@ int ouster_udpcap_sock_to_file(ouster_udpcap_t *cap, int sock, FILE *f)
 
 	return OUSTER_UDPCAP_OK;
 }
+#include <string.h>
+
+
+
+void ouster_vec_init(ouster_vec_t * v, int esize, int cap)
+{
+	ouster_assert_notnull(v);
+	ouster_assert(cap >= 0, "");
+	ouster_assert(esize >= 0, "");
+	v->data = malloc(cap * esize);
+	ouster_assert_notnull(v->data);
+	v->cap = cap;
+	v->esize = esize;
+}
+
+void ouster_vec_append(ouster_vec_t * v, void const * data, int n, float factor)
+{
+	ouster_assert_notnull(v);
+	ouster_assert(factor >= 1.0f, "");
+	int count = v->count + n;
+	if (count > v->cap) {
+		int cap = (float)count * factor;
+		v->data = realloc(v->data, cap);
+		ouster_assert_notnull(v->data);
+		v->cap = cap + 1;
+	}
+	int offset = v->esize * v->count;
+	memcpy(OUSTER_OFFSET(v->data, offset), data, n);
+	v->count = count;
+}
+
+
+
+void test_ouster_vec()
+{
+	char const * d1 = "Hello";
+	char const * d2 = " ";
+	char const * d3 = "world!";
+	ouster_vec_t v;
+	ouster_vec_init(&v, 1, 2);
+	ouster_vec_append(&v, d1, strlen(d1), 1.5f);
+	ouster_vec_append(&v, d2, strlen(d2), 1.5f);
+	ouster_vec_append(&v, d3, strlen(d3), 1.5f);
+
+	char const * str = v.data;
+	int diff = strcmp("Hello world!", str);
+	ouster_assert(diff == 0, "");
+}