From 201c1e0af91f49ea4a2698b4729d7d81d7d2a31a Mon Sep 17 00:00:00 2001
From: Marc-Antoine Maheux <35638081+mamaheux@users.noreply.github.com>
Date: Fri, 26 Jul 2024 14:03:48 -0400
Subject: [PATCH] Add video and audio queue size parameter to RosStreamBridge.
 (#85)

* Add video and audio queue size parameter to RosStreamBridge.

* Update opentera-webrtc
---
 face_cropping/src/FaceCropper.cpp             | 28 ++-----------------
 .../opentera_webrtc_ros/RosNodeParameters.h   |  2 ++
 .../launch/ros_stream_client.launch.xml       |  6 +++-
 opentera_webrtc_ros/opentera-webrtc           |  2 +-
 opentera_webrtc_ros/src/RosNodeParameters.cpp | 12 ++++++++
 opentera_webrtc_ros/src/RosStreamBridge.cpp   | 16 +++++++----
 6 files changed, 34 insertions(+), 32 deletions(-)

diff --git a/face_cropping/src/FaceCropper.cpp b/face_cropping/src/FaceCropper.cpp
index fa5e695..ace1ec4 100644
--- a/face_cropping/src/FaceCropper.cpp
+++ b/face_cropping/src/FaceCropper.cpp
@@ -41,31 +41,9 @@ FaceCropperParameters FaceCropperParameters::fromFaceDetector(
 #ifndef NO_TORCH
     else if (
         faceDetector.type() == typeid(SmallYunet025Silu160FaceDetector) ||
-        faceDetector.type() == typeid(SmallYunet05Silu160FaceDetector))
-    {
-        parameters.detectionInterval = 2;
-        parameters.xOffsetRatio = 0.f;
-        parameters.yOffsetRatio = 0.f;
-        parameters.widthScale = 1.25f;
-        parameters.heightScale = 1.5f;
-        parameters.frameBeforeChangeTarget = 10;
-
-        parameters.rPosition = 100.0f;
-    }
-    else if (
+        faceDetector.type() == typeid(SmallYunet05Silu160FaceDetector) ||
         faceDetector.type() == typeid(SmallYunet025Silu320FaceDetector) ||
-        faceDetector.type() == typeid(SmallYunet05Silu320FaceDetector))
-    {
-        parameters.detectionInterval = 2;
-        parameters.xOffsetRatio = 0.f;
-        parameters.yOffsetRatio = 0.f;
-        parameters.widthScale = 1.5f;
-        parameters.heightScale = 1.75f;
-        parameters.frameBeforeChangeTarget = 10;
-
-        parameters.rPosition = 80.0f;
-    }
-    else if (
+        faceDetector.type() == typeid(SmallYunet05Silu320FaceDetector) ||
         faceDetector.type() == typeid(SmallYunet025Silu640FaceDetector) ||
         faceDetector.type() == typeid(SmallYunet05Silu640FaceDetector))
     {
@@ -76,7 +54,7 @@ FaceCropperParameters FaceCropperParameters::fromFaceDetector(
         parameters.heightScale = 1.75f;
         parameters.frameBeforeChangeTarget = 10;
 
-        parameters.rPosition = 60.0f;
+        parameters.rPosition = 125.0f;
     }
 #endif
     else
diff --git a/opentera_webrtc_ros/include/opentera_webrtc_ros/RosNodeParameters.h b/opentera_webrtc_ros/include/opentera_webrtc_ros/RosNodeParameters.h
index ae5fde3..b79fc11 100644
--- a/opentera_webrtc_ros/include/opentera_webrtc_ros/RosNodeParameters.h
+++ b/opentera_webrtc_ros/include/opentera_webrtc_ros/RosNodeParameters.h
@@ -18,6 +18,8 @@ namespace opentera
         RosNodeParameters(rclcpp::Node& node);
 
         bool isStandAlone() const;
+        size_t videoQueueSize() const;
+        size_t audioQueueSize() const;
 
         void loadSignalingParams(std::string& clientName, std::string& room) const;
         void loadSignalingParams(
diff --git a/opentera_webrtc_ros/launch/ros_stream_client.launch.xml b/opentera_webrtc_ros/launch/ros_stream_client.launch.xml
index 0049a88..ae40985 100644
--- a/opentera_webrtc_ros/launch/ros_stream_client.launch.xml
+++ b/opentera_webrtc_ros/launch/ros_stream_client.launch.xml
@@ -3,6 +3,8 @@
     <!-- Arguments -->
     <arg name="name" default="topic_streamer"/>
     <arg name="is_stand_alone" default="true"/>
+    <arg name="video_queue_size" default="1"/>
+    <arg name="audio_queue_size" default="1"/>
 
     <!-- Video -->
     <arg name="can_send_video_stream" default="false"/>
@@ -41,7 +43,9 @@
     <arg name="output_webrtc_audio_topic" default="webrtc_audio"/>
 
     <node name="$(var name)" pkg="opentera_webrtc_ros" exec="topic_streamer" respawn="true">
-        <param name="is_stand_alone" value="$(var is_stand_alone)" />
+        <param name="is_stand_alone" value="$(var is_stand_alone)"/>
+        <param name="video_queue_size" value="$(var video_queue_size)"/>
+        <param name="audio_queue_size" value="$(var audio_queue_size)"/>
 
         <param name="video_stream">
             <param name="can_send_video_stream" value="$(var can_send_video_stream)"/>          <!-- Can send video stream to the signaling server -->
diff --git a/opentera_webrtc_ros/opentera-webrtc b/opentera_webrtc_ros/opentera-webrtc
index 9a296d6..b90291b 160000
--- a/opentera_webrtc_ros/opentera-webrtc
+++ b/opentera_webrtc_ros/opentera-webrtc
@@ -1 +1 @@
-Subproject commit 9a296d626f6f9e8baa2a04963895f9794bbb9433
+Subproject commit b90291b143fb5f4a912164d98f38144017ade9f2
diff --git a/opentera_webrtc_ros/src/RosNodeParameters.cpp b/opentera_webrtc_ros/src/RosNodeParameters.cpp
index e78d3c3..74923da 100644
--- a/opentera_webrtc_ros/src/RosNodeParameters.cpp
+++ b/opentera_webrtc_ros/src/RosNodeParameters.cpp
@@ -23,6 +23,8 @@ namespace
 RosNodeParameters::RosNodeParameters(rclcpp::Node& node) : m_node{node}
 {
     m_node.declare_parameter("is_stand_alone", true);
+    m_node.declare_parameter("video_queue_size", 1);
+    m_node.declare_parameter("audio_queue_size", 1);
 
     // Signaling params
     m_node.declare_parameter("signaling.client_name", "streamer");
@@ -59,6 +61,16 @@ bool RosNodeParameters::isStandAlone() const
     return m_node.get_parameter("is_stand_alone").as_bool();
 }
 
+size_t RosNodeParameters::videoQueueSize() const
+{
+    return m_node.get_parameter("video_queue_size").as_int();
+}
+
+size_t RosNodeParameters::audioQueueSize() const
+{
+    return m_node.get_parameter("audio_queue_size").as_int();
+}
+
 /**
  * @brief Load signaling parameters from ROS parameter server
  *
diff --git a/opentera_webrtc_ros/src/RosStreamBridge.cpp b/opentera_webrtc_ros/src/RosStreamBridge.cpp
index 353d668..9abfca7 100644
--- a/opentera_webrtc_ros/src/RosStreamBridge.cpp
+++ b/opentera_webrtc_ros/src/RosStreamBridge.cpp
@@ -121,8 +121,12 @@ void RosStreamBridge::init(
 
         if (m_canReceiveAudioStream)
         {
-            m_audioPublisher = this->create_publisher<opentera_webrtc_ros_msgs::msg::PeerAudio>("webrtc_audio", 100);
-            m_mixedAudioPublisher = this->create_publisher<audio_utils_msgs::msg::AudioFrame>("audio_mixed", 100);
+            m_audioPublisher = this->create_publisher<opentera_webrtc_ros_msgs::msg::PeerAudio>(
+                "webrtc_audio",
+                m_nodeParameters.audioQueueSize());
+            m_mixedAudioPublisher = this->create_publisher<audio_utils_msgs::msg::AudioFrame>(
+                "audio_mixed",
+                m_nodeParameters.audioQueueSize());
 
             m_signalingClient->setOnAudioFrameReceived(
                 [this](auto&& PH1, auto&& PH2, auto&& PH3, auto&& PH4, auto&& PH5, auto&& PH6)
@@ -150,7 +154,9 @@ void RosStreamBridge::init(
 
         if (m_canReceiveVideoStream)
         {
-            m_imagePublisher = this->create_publisher<opentera_webrtc_ros_msgs::msg::PeerImage>("webrtc_image", 10);
+            m_imagePublisher = this->create_publisher<opentera_webrtc_ros_msgs::msg::PeerImage>(
+                "webrtc_image",
+                m_nodeParameters.videoQueueSize());
             // Video and audio frame
             m_signalingClient->setOnVideoFrameReceived(
                 [this](auto&& PH1, auto&& PH2, auto&& PH3)
@@ -210,7 +216,7 @@ void RosStreamBridge::onSignalingConnectionOpened()
         // Audio
         m_audioSubscriber = this->create_subscription<audio_utils_msgs::msg::AudioFrame>(
             "audio_in",
-            10,
+            m_nodeParameters.audioQueueSize(),
             bind_this<audio_utils_msgs::msg::AudioFrame>(this, &RosStreamBridge::audioCallback));
     }
 
@@ -219,7 +225,7 @@ void RosStreamBridge::onSignalingConnectionOpened()
         // Video
         m_imageSubscriber = this->create_subscription<sensor_msgs::msg::Image>(
             "ros_image",
-            10,
+            m_nodeParameters.videoQueueSize(),
             bind_this<sensor_msgs::msg::Image>(this, &RosStreamBridge::imageCallback));
     }
 }