From 093a874641fd5c73b19373cf7cd395e354360130 Mon Sep 17 00:00:00 2001
From: Andreas Kluge Svendsrud <kluge7@users.noreply.github.com>
Date: Sat, 15 Feb 2025 21:16:20 +0100
Subject: [PATCH 01/10] feat(python_utils): Add H264Decoder class for handling
 H.264 video streams

---
 vortex_utils/python_utils.py | 106 +++++++++++++++++++++++++++++++++++
 1 file changed, 106 insertions(+)

diff --git a/vortex_utils/python_utils.py b/vortex_utils/python_utils.py
index 7dbcbeb..2d709a9 100644
--- a/vortex_utils/python_utils.py
+++ b/vortex_utils/python_utils.py
@@ -1,8 +1,13 @@
 from dataclasses import dataclass
 
+import gi
 import numpy as np
 from scipy.spatial.transform import Rotation
 
+gi.require_version('Gst', '1.0')
+gi.require_version('GstApp', '1.0')
+from gi.repository import GLib, Gst
+
 
 def ssa(angle: float) -> float:
     return (angle + np.pi) % (2 * np.pi) - np.pi
@@ -120,3 +125,104 @@ def __add__(self, other: "State") -> "State":
 
     def __sub__(self, other: "State") -> "State":
         return State(pose=self.pose - other.pose, twist=self.twist - other.twist)
+
+
+class H264Decoder:
+    """Decodes H.264 streams using GStreamer."""
+
+    _gst_initialized = False
+
+    def __init__(self):
+        """Initializes the H.264 decoder and sets up the GStreamer pipeline."""
+        # Ensure GStreamer is initialized only once
+        if not H264Decoder._gst_initialized:
+            Gst.init(None)
+            H264Decoder._gst_initialized = True
+
+        pipeline_desc = (
+            "appsrc name=mysrc is-live=true ! "  # Receive raw H.264 stream data
+            "h264parse ! "  # Parse the H.264 stream
+            "avdec_h264 ! "  # Decode H.264 frames
+            "videoconvert ! video/x-raw,format=BGR ! "  # Convert frames to BGR format
+            "appsink name=appsink"  # Sink for retrieving processed frames
+        )
+
+        self._pipeline = Gst.parse_launch(pipeline_desc)
+        self.appsrc = self._pipeline.get_by_name("mysrc")
+        self._appsink = self._pipeline.get_by_name("appsink")
+
+        self._appsink.set_property("emit-signals", True)
+        self._appsink.set_property("sync", False)
+        self._appsink.connect("new-sample", self._on_new_sample)
+
+        self._bus = self._pipeline.get_bus()
+        self._bus.add_signal_watch()
+        self._bus.connect("message", self._on_bus_message)
+
+        self._main_loop = None
+
+        self.decoded_frames = []
+
+    def start(self):
+        """Starts the GStreamer pipeline and runs the main event loop."""
+        self._pipeline.set_state(Gst.State.PLAYING)
+        self._main_loop = GLib.MainLoop()
+        try:
+            self._main_loop.run()
+        except KeyboardInterrupt:
+            pass
+        finally:
+            self.stop()
+
+    def stop(self):
+        """Stops the GStreamer pipeline and cleans up resources."""
+        if self._pipeline:
+            self._pipeline.set_state(Gst.State.NULL)
+        if self._main_loop is not None:
+            self._main_loop.quit()
+            self._main_loop = None
+
+    def push_data(self, data: bytes):
+        """Pushes H.264 encoded data into the pipeline for decoding."""
+        if not self.appsrc:
+            raise RuntimeError(
+                "The pipeline's appsrc element was not found or not initialized."
+            )
+        gst_buffer = Gst.Buffer.new_allocate(None, len(data), None)
+        gst_buffer.fill(0, data)
+        self.appsrc.emit("push-buffer", gst_buffer)
+
+    def _on_bus_message(self, bus, message):
+        """Handles messages from the GStreamer bus."""
+        msg_type = message.type
+        if msg_type == Gst.MessageType.ERROR:
+            err, debug = message.parse_error()
+            print(f"GStreamer ERROR: {err}, debug={debug}")
+            self.stop()
+        elif msg_type == Gst.MessageType.EOS:
+            print("End-Of-Stream reached.")
+            self.stop()
+
+    def _on_new_sample(self, sink):
+        """Processes a new decoded video frame from the appsink."""
+        sample = sink.emit("pull-sample")
+        if not sample:
+            return Gst.FlowReturn.ERROR
+
+        buf = sample.get_buffer()
+        caps_format = sample.get_caps().get_structure(0)
+        width = caps_format.get_value("width")
+        height = caps_format.get_value("height")
+
+        success, map_info = buf.map(Gst.MapFlags.READ)
+        if not success:
+            return Gst.FlowReturn.ERROR
+
+        frame_data = np.frombuffer(map_info.data, dtype=np.uint8)
+        channels = len(frame_data) // (width * height)  # typically 3 (BGR) or 4 (BGRA)
+        frame_data_reshaped = frame_data.reshape((height, width, channels))
+
+        self.decoded_frames.append(frame_data_reshaped.copy())
+
+        buf.unmap(map_info)
+        return Gst.FlowReturn.OK

From 6678084513bf2c41d5afe0c5d5d9fe436c8abf1a Mon Sep 17 00:00:00 2001
From: Andreas Kluge Svendsrud <kluge7@users.noreply.github.com>
Date: Sat, 15 Feb 2025 21:17:06 +0100
Subject: [PATCH 02/10] test(h264-decoder): add unit test for H264Decoder

---
 tests/resources/test_video.h264 | Bin 0 -> 32920 bytes
 tests/test_utils.py             |  32 ++++++++++++++++++++++++++++++++
 2 files changed, 32 insertions(+)
 create mode 100644 tests/resources/test_video.h264

diff --git a/tests/resources/test_video.h264 b/tests/resources/test_video.h264
new file mode 100644
index 0000000000000000000000000000000000000000..a56ce6a11fb362d5ec60830b4db4d1dff200eff4
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HcmV?d00001

diff --git a/tests/test_utils.py b/tests/test_utils.py
index a1fe409..2699e4d 100644
--- a/tests/test_utils.py
+++ b/tests/test_utils.py
@@ -1,7 +1,10 @@
+import threading
+
 import numpy as np
 import pytest
 
 from vortex_utils.python_utils import (
+    H264Decoder,
     PoseData,
     State,
     TwistData,
@@ -102,3 +105,32 @@ def test_state():
     assert (state1 - state2).pose == PoseData(0.9, 1.8, 2.7, 0, 0, 0)
     assert (state1 + state2).twist == TwistData(1.1, 2.2, 3.3, 0.2, 0.4, 0.6)
     assert (state1 - state2).twist == TwistData(0.9, 1.8, 2.7, 0, 0, 0)
+
+
+def test_h264_decoder():
+    test_file = "tests/resources/test_video.h264"
+
+    decoder = H264Decoder()
+
+    decoding_thread = threading.Thread(target=decoder.start, daemon=True)
+    decoding_thread.start()
+
+    with open(test_file, "rb") as f:
+        raw_data = f.read()
+
+    chunk_size = 64
+    for i in range(0, len(raw_data), chunk_size):
+        chunk = raw_data[i : i + chunk_size]
+        decoder.push_data(chunk)
+
+    decoder.appsrc.emit("end-of-stream")
+
+    decoding_thread.join(timeout=5.0)
+
+    assert (
+        len(decoder.decoded_frames) > 0
+    ), "No frames were decoded from the H.264 stream."
+
+    frame = decoder.decoded_frames[0]
+    assert isinstance(frame, np.ndarray), "Decoded frame is not a numpy array."
+    assert frame.ndim == 3, f"Expected 3D array (H, W, Channels), got {frame.shape}"

From 61c1c0a62cb6afd22cdb1898485b8609200bd701 Mon Sep 17 00:00:00 2001
From: Andreas <asvendsr@example.com>
Date: Sun, 23 Feb 2025 20:08:17 +0100
Subject: [PATCH 03/10] docs: add prerequisites for H264Decoder

---
 vortex_utils/README.md | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)
 create mode 100644 vortex_utils/README.md

diff --git a/vortex_utils/README.md b/vortex_utils/README.md
new file mode 100644
index 0000000..5c1f904
--- /dev/null
+++ b/vortex_utils/README.md
@@ -0,0 +1,20 @@
+# H264Decoder
+## Prerequisites
+GStreamer
+```bash
+sudo apt install gstreamer1.0-tools gstreamer1.0-plugins-base \
+gstreamer1.0-plugins-good gstreamer1.0-plugins-bad \
+gstreamer1.0-plugins-ugly gstreamer1.0-libav python3-gi \
+python3-gst-1.0
+```
+If you experience display-related issues when launching the GUI (e.g., qt.qpa.wayland: eglSwapBuffers failed), you may need to force X11 instead of Wayland.
+```bash
+export QT_QPA_PLATFORM=xcb
+```
+PyGObject
+```bash
+sudo apt update
+sudo apt install -y libglib2.0-dev libcairo2-dev libgirepository1.0-dev \
+gir1.2-gtk-3.0 python3-dev
+```
+- pygobject, can be installed with `pip install pygobject`
\ No newline at end of file

From 3e6a5631b27b604dc2976fce6c8476107eaf58ac Mon Sep 17 00:00:00 2001
From: Andreas Kluge Svendsrud <89779148+kluge7@users.noreply.github.com>
Date: Sun, 23 Feb 2025 20:10:30 +0100
Subject: [PATCH 04/10] Update README.md

---
 vortex_utils/README.md | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/vortex_utils/README.md b/vortex_utils/README.md
index 5c1f904..a75b139 100644
--- a/vortex_utils/README.md
+++ b/vortex_utils/README.md
@@ -1,6 +1,6 @@
 # H264Decoder
 ## Prerequisites
-GStreamer
+### GStreamer
 ```bash
 sudo apt install gstreamer1.0-tools gstreamer1.0-plugins-base \
 gstreamer1.0-plugins-good gstreamer1.0-plugins-bad \
@@ -11,10 +11,14 @@ If you experience display-related issues when launching the GUI (e.g., qt.qpa.wa
 ```bash
 export QT_QPA_PLATFORM=xcb
 ```
-PyGObject
+### PyGObject
+Step 1: Install System Dependencies
 ```bash
 sudo apt update
 sudo apt install -y libglib2.0-dev libcairo2-dev libgirepository1.0-dev \
 gir1.2-gtk-3.0 python3-dev
 ```
-- pygobject, can be installed with `pip install pygobject`
\ No newline at end of file
+Step 2: Install PyGObject
+```bash
+pip install pygobject
+```

From c9ae5d2fd05bac699f546461484cd8f88adbc4a8 Mon Sep 17 00:00:00 2001
From: Andreas Kluge Svendsrud <kluge7@users.noreply.github.com>
Date: Sun, 23 Feb 2025 20:55:33 +0100
Subject: [PATCH 05/10] fix(python_utils): H264Decoder now only stores last 3
 frames in buffer

---
 vortex_utils/python_utils.py | 16 ++++++++++------
 1 file changed, 10 insertions(+), 6 deletions(-)

diff --git a/vortex_utils/python_utils.py b/vortex_utils/python_utils.py
index 2d709a9..53f61ff 100644
--- a/vortex_utils/python_utils.py
+++ b/vortex_utils/python_utils.py
@@ -140,11 +140,11 @@ def __init__(self):
             H264Decoder._gst_initialized = True
 
         pipeline_desc = (
-            "appsrc name=mysrc is-live=true ! "  # Receive raw H.264 stream data
-            "h264parse ! "  # Parse the H.264 stream
-            "avdec_h264 ! "  # Decode H.264 frames
-            "videoconvert ! video/x-raw,format=BGR ! "  # Convert frames to BGR format
-            "appsink name=appsink"  # Sink for retrieving processed frames
+            "appsrc name=mysrc is-live=true ! "
+            "h264parse ! "
+            "avdec_h264 ! "
+            "videoconvert ! video/x-raw,format=BGR ! "
+            "appsink name=appsink"
         )
 
         self._pipeline = Gst.parse_launch(pipeline_desc)
@@ -162,6 +162,7 @@ def __init__(self):
         self._main_loop = None
 
         self.decoded_frames = []
+        self.max_frames = 3  # Keep only the last 3 frames here
 
     def start(self):
         """Starts the GStreamer pipeline and runs the main event loop."""
@@ -186,7 +187,7 @@ def push_data(self, data: bytes):
         """Pushes H.264 encoded data into the pipeline for decoding."""
         if not self.appsrc:
             raise RuntimeError(
-                "The pipeline's appsrc element was not found or not initialized."
+                "The pipeline's appsrc element was not found or initialized."
             )
         gst_buffer = Gst.Buffer.new_allocate(None, len(data), None)
         gst_buffer.fill(0, data)
@@ -224,5 +225,8 @@ def _on_new_sample(self, sink):
 
         self.decoded_frames.append(frame_data_reshaped.copy())
 
+        if len(self.decoded_frames) > self.max_frames:
+            self.decoded_frames.pop(0)
+
         buf.unmap(map_info)
         return Gst.FlowReturn.OK

From e7fd2a547fd483e2fd7713d886f3dcb3a56aa75b Mon Sep 17 00:00:00 2001
From: Andreas Kluge Svendsrud <kluge7@users.noreply.github.com>
Date: Tue, 25 Feb 2025 17:14:27 +0100
Subject: [PATCH 06/10] ci(industrial-ci): add script for installing
 dependencies not supported by rosdep

---
 .github/workflows/industrial-ci.yml |  1 +
 scripts/ci_install_dependencies.sh  | 29 +++++++++++++++++++++++++++++
 2 files changed, 30 insertions(+)
 create mode 100644 scripts/ci_install_dependencies.sh

diff --git a/.github/workflows/industrial-ci.yml b/.github/workflows/industrial-ci.yml
index 4b7d008..c9adce3 100644
--- a/.github/workflows/industrial-ci.yml
+++ b/.github/workflows/industrial-ci.yml
@@ -11,3 +11,4 @@ jobs:
     uses: vortexntnu/vortex-ci/.github/workflows/reusable-industrial-ci.yml@main
     with:
       ros_repo: '["main", "testing"]'
+      before_install_target_dependencies: 'scripts/ci_install_dependencies.sh'
diff --git a/scripts/ci_install_dependencies.sh b/scripts/ci_install_dependencies.sh
new file mode 100644
index 0000000..802a5a3
--- /dev/null
+++ b/scripts/ci_install_dependencies.sh
@@ -0,0 +1,29 @@
+#!/bin/bash
+
+# Script to install dependencies for H264Decoder
+# This script installs GStreamer and PyGObject dependencies required for running the tests
+
+set -e  # Exit on error
+
+### GStreamer Installation ###
+echo "Installing GStreamer and related plugins..."
+sudo apt update
+sudo apt install -y gstreamer1.0-tools gstreamer1.0-plugins-base \
+    gstreamer1.0-plugins-good gstreamer1.0-plugins-bad \
+    gstreamer1.0-plugins-ugly gstreamer1.0-libav python3-gi \
+    python3-gst-1.0
+
+echo "GStreamer installation completed."
+
+echo "If you experience display-related issues with the GUI, try running:"
+echo "export QT_QPA_PLATFORM=xcb"
+
+### PyGObject Installation ###
+echo "Installing PyGObject dependencies..."
+sudo apt install -y libglib2.0-dev libcairo2-dev libgirepository1.0-dev \
+    gir1.2-gtk-3.0 python3-dev
+
+echo "Installing PyGObject via pip..."
+pip install pygobject
+
+echo "Installation of all dependencies completed successfully."

From 76ac83e9e7d811f5c62902eed0f21cd25920a3a5 Mon Sep 17 00:00:00 2001
From: Andreas Kluge Svendsrud <kluge7@users.noreply.github.com>
Date: Tue, 25 Feb 2025 17:26:18 +0100
Subject: [PATCH 07/10] fix(scripts): ensure latest Meson version for PyCairo
 installation in ci_install_dependencies

---
 scripts/ci_install_dependencies.sh | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)
 mode change 100644 => 100755 scripts/ci_install_dependencies.sh

diff --git a/scripts/ci_install_dependencies.sh b/scripts/ci_install_dependencies.sh
old mode 100644
new mode 100755
index 802a5a3..d18c96f
--- a/scripts/ci_install_dependencies.sh
+++ b/scripts/ci_install_dependencies.sh
@@ -21,9 +21,13 @@ echo "export QT_QPA_PLATFORM=xcb"
 ### PyGObject Installation ###
 echo "Installing PyGObject dependencies..."
 sudo apt install -y libglib2.0-dev libcairo2-dev libgirepository1.0-dev \
-    gir1.2-gtk-3.0 python3-dev
+    gir1.2-gtk-3.0 python3-dev ninja-build
+
+echo "Ensuring latest Meson version is installed..."
+pip install --upgrade meson
 
 echo "Installing PyGObject via pip..."
-pip install pygobject
+pip install pycairo --no-cache-dir
+pip install pygobject --no-cache-dir
 
 echo "Installation of all dependencies completed successfully."

From 4e3a96c179ea6ed86378052a4e142405caf46f3a Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Tue, 25 Feb 2025 16:31:54 +0000
Subject: [PATCH 08/10] [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
---
 tests/test_utils.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/tests/test_utils.py b/tests/test_utils.py
index 2699e4d..b6a7829 100644
--- a/tests/test_utils.py
+++ b/tests/test_utils.py
@@ -127,9 +127,9 @@ def test_h264_decoder():
 
     decoding_thread.join(timeout=5.0)
 
-    assert (
-        len(decoder.decoded_frames) > 0
-    ), "No frames were decoded from the H.264 stream."
+    assert len(decoder.decoded_frames) > 0, (
+        "No frames were decoded from the H.264 stream."
+    )
 
     frame = decoder.decoded_frames[0]
     assert isinstance(frame, np.ndarray), "Decoded frame is not a numpy array."

From b5c72e33cd95e3b2f597997911cd4067bd348dd9 Mon Sep 17 00:00:00 2001
From: Andreas Kluge Svendsrud <kluge7@users.noreply.github.com>
Date: Tue, 25 Feb 2025 17:36:02 +0100
Subject: [PATCH 09/10] feat(code-coverage): add ci_install_dependencies script
 to this workflow

---
 .github/workflows/code-coverage.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/code-coverage.yml b/.github/workflows/code-coverage.yml
index 889e97c..f685149 100644
--- a/.github/workflows/code-coverage.yml
+++ b/.github/workflows/code-coverage.yml
@@ -10,5 +10,7 @@ on:
 jobs:
   call_reusable_workflow:
     uses: vortexntnu/vortex-ci/.github/workflows/reusable-code-coverage.yml@main
+    with:
+      before_install_target_dependencies: 'scripts/ci_install_dependencies.sh'
     secrets:
       CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}

From 737b4b488a961839a73e0518fa28c5ba54ad6743 Mon Sep 17 00:00:00 2001
From: Andreas Kluge Svendsrud <kluge7@users.noreply.github.com>
Date: Tue, 25 Feb 2025 18:06:29 +0100
Subject: [PATCH 10/10] docs(H264Decoder): update install guide

---
 vortex_utils/README.md | 24 +-----------------------
 1 file changed, 1 insertion(+), 23 deletions(-)

diff --git a/vortex_utils/README.md b/vortex_utils/README.md
index a75b139..4b1cd50 100644
--- a/vortex_utils/README.md
+++ b/vortex_utils/README.md
@@ -1,24 +1,2 @@
 # H264Decoder
-## Prerequisites
-### GStreamer
-```bash
-sudo apt install gstreamer1.0-tools gstreamer1.0-plugins-base \
-gstreamer1.0-plugins-good gstreamer1.0-plugins-bad \
-gstreamer1.0-plugins-ugly gstreamer1.0-libav python3-gi \
-python3-gst-1.0
-```
-If you experience display-related issues when launching the GUI (e.g., qt.qpa.wayland: eglSwapBuffers failed), you may need to force X11 instead of Wayland.
-```bash
-export QT_QPA_PLATFORM=xcb
-```
-### PyGObject
-Step 1: Install System Dependencies
-```bash
-sudo apt update
-sudo apt install -y libglib2.0-dev libcairo2-dev libgirepository1.0-dev \
-gir1.2-gtk-3.0 python3-dev
-```
-Step 2: Install PyGObject
-```bash
-pip install pygobject
-```
+Install the dependencies by running the following script: [ci_install_dependencies.sh](/scripts/ci_install_dependencies.sh)