Add message priorities to RemoteConnection (#1497)

* add priority argument to the sendMessage and broadcastMessage methods

* update send buffer size limits

* update priority levels

* clang-format

* switch back to logging all >=info foxglove log message as depthai INFO logs

* change websocketpp portfile data and use Luxonis's fork

* add queue size message dropping (as opposed to number of buffered bytes)

* revert PointCloudData bindings clang format

* remove unused code

* simplify code structure

* bump visualizer commit, bump ws-protocol commit

* update websocketpp commit and sha512 sum

Author: lnotspotl

3rdparty/foxglove/ws-protocol

@@ -1,2 +1,2 @@
 # "full commit hash of depthai visualizer static files"
-set(DEPTHAI_VISUALIZER_COMMIT "0.12.33")
+set(DEPTHAI_VISUALIZER_COMMIT "1.5.18")

cmake/Depthai/DepthaiVisualizerConfig.cmake

@@ -2,9 +2,9 @@
 
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
-    REPO amini-allight/websocketpp
-    REF ee8cf4257e001d939839cff5b1766a835b749cd6 # 0.8.2
-    SHA512 b8af1874655b29786e03ffd4bc91bcfdcad8a2a83cb26544269ec7f5a6464e83a36c2015a997d6128a088b92d22594ca47022cb250558f4bf97cb793e81f045d
+    REPO luxonis/websocketpp
+    REF cebc62c393f07e664121f9b801ee7e8a1b273cee
+    SHA512 ca48ebf3c7811e6194eeb97ba86b72c49d442f831549995c67edb4827b1b859c30b636ddd6478a5c9814a5438a40a59e59d3c4a76bdc9330d7cf28e3d1a5070b
     HEAD_REF develop
 )
 

cmake/ports/websocketpp/portfile.cmake

@@ -25,6 +25,14 @@ class ADatatype {
     virtual ~ADatatype();
     virtual void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const;
 
+    /**
+     * @brief Get the datatype of this specific message
+     * @return DatatypeEnum
+     */
+    virtual DatatypeEnum getDatatype() const {
+        return DatatypeEnum::ADatatype;
+    }
+
     std::shared_ptr<Memory> data;
 };
 

include/depthai/pipeline/datatype/ADatatype.hpp

@@ -17,6 +17,10 @@ class AprilTagConfig : public Buffer {
     ~AprilTagConfig() override;
     void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override;
 
+    DatatypeEnum getDatatype() const override {
+        return DatatypeEnum::AprilTagConfig;
+    }
+
     /**
      * Supported AprilTag families.
      */

include/depthai/pipeline/datatype/AprilTagConfig.hpp

@@ -71,6 +71,10 @@ class AprilTags : public Buffer {
     ~AprilTags() override;
     void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override;
 
+    DatatypeEnum getDatatype() const override {
+        return DatatypeEnum::AprilTags;
+    }
+
     std::vector<AprilTag> aprilTags;
     DEPTHAI_SERIALIZE(AprilTags, Buffer::sequenceNum, Buffer::ts, Buffer::tsDevice, aprilTags);
 };

include/depthai/pipeline/datatype/AprilTags.hpp

@@ -21,6 +21,10 @@ class BenchmarkReport : public Buffer {
     ~BenchmarkReport() override;
     void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override;
 
+    DatatypeEnum getDatatype() const override {
+        return DatatypeEnum::BenchmarkReport;
+    }
+
     DEPTHAI_SERIALIZE(BenchmarkReport, Buffer::sequenceNum, Buffer::ts, Buffer::tsDevice, fps, timeTotal, numMessagesReceived, averageLatency, latencies);
 };
 

include/depthai/pipeline/datatype/BenchmarkReport.hpp

@@ -27,6 +27,10 @@ class Buffer : public ADatatype {
     ~Buffer() override;
     void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override;
 
+    DatatypeEnum getDatatype() const override {
+        return DatatypeEnum::Buffer;
+    }
+
     /**
      * @brief Get non-owning reference to internal buffer
      * @returns Reference to internal buffer

include/depthai/pipeline/datatype/Buffer.hpp

@@ -796,6 +796,10 @@ class CameraControl : public Buffer {
     ~CameraControl() override;
     void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override;
 
+    DatatypeEnum getDatatype() const override {
+        return DatatypeEnum::CameraControl;
+    }
+
     DEPTHAI_SERIALIZE(CameraControl,
                       cmdMask,
                       autoFocusMode,

include/depthai/pipeline/datatype/CameraControl.hpp

@@ -112,7 +112,11 @@ class DynamicCalibrationControl : public Buffer {
 
     void serialize(std::vector<std::uint8_t>& metadata, DatatypeEnum& datatype) const override {
         metadata = utility::serialize(*this);
-        datatype = DatatypeEnum::DynamicCalibrationControl;
+        datatype = this->getDatatype();
+    }
+
+    DatatypeEnum getDatatype() const override {
+        return DatatypeEnum::DynamicCalibrationControl;
     }
 };