Modal Pipe Architecture (MPA)

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  Reading data from /run/mpa/vvpx4_sys_status/request
  • hedd  

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  @Chad-Sweet thank you
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  Possible throughput problem with MPA - multiple cameras ?
  mpa uvc tof • • amitga  

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  Each service is using MPA, so there are many pipes going at any given time. With two TOF, you are likely overheating the CPU Do you have airflow on the board? Are you using voxl-inspect-cpu to monitor how hot you are getting the CPU?
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  Using MPA within voxl-docker-mavsdk-cpp
  • Evan Hertafeld  

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  UVC Server - can't change the resolution
  • marian  

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  @marian Oh yes, thanks for letting us know. When you are using raw frames over USB 2.0 you have to go to a much lower frame rate or else there isn't enough bandwidth to transfer them.
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  Reading data from '/run/mpa/qvio' using python
  • Nishkala  

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  Hi @Nishkala , With the warning that I've not yet tried in python but I'm sure it will work This is the source code for our voxl-inspect-qvio tool, and from there we can see it's looking for a pipe QVIO_EXTENDED_LOCATION https://gitlab.com/voxl-public/voxl-sdk/services/voxl-qvio-server/-/blob/master/clients/voxl-inspect-qvio.c#L51 That's defined here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-qvio-server/-/blob/master/common/voxl_qvio_server.h#L64 The other place to look for defines is in libmodal-pipe: https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/blob/master/library/include This is where the inspect tool consumes data: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-qvio-server/-/blob/master/clients/voxl-inspect-qvio.c#L259 Here's where we parse and print the info: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-qvio-server/-/blob/master/clients/voxl-inspect-qvio.c#L184
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  voxl-tflite-server master build not working on apq8096
  • Philemon Benner  

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  Glad to hear someone's building our packages themselves! Yes, we're most of the way through migrating to a more platform independent build system that will let us use these packages on the qrb5165 platform as well. This is one of the things we've had to change, the next voxl system image will have a tweak allowing these packages, but if you want to install them in the meantime, you can manually add the tweak by adding the line arch arm64 7 to /etc/opkg/arch.conf on your voxl and running opkg update
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  Get camera Frame from libmodal pipe client
  • Philemon Benner  

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  https://gitlab.com/voxl-public/voxl-sdk/services/voxl-portal/-/blob/master/src/video_manager.cpp#L77 Is an example of allocating a buffer and copying the frame into it. There are some other good examples in that file as well for processing frames and converting them to various formats within the callback. Hope that helps!
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  voxl-tflite-server forward compatibility ?
  • Philemon Benner  

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  @Eric-Katzfey Ok thanks for the fast answer.
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  Build voxl-uvc-server with voxl-cross
  • Philemon Benner  

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  @Philemon-Benner Our qrb5165 based platforms put 64 bit libraries into /usr/lib. On Voxl the 64 bit libraries go into /usr/lib64. So the 64 bit support is specifically for our qrb5165 based platforms (e.g. RB5 Flight).
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  voxl-tflite-server dev branch build failing
  • Philemon Benner  

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  @Matt-Turi Thank you
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  Unstable AE Performance Outdoors
  • Michael Shomin  

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  Hey @Michael-Shomin, The non-cached files in voxl-portal for font + images were purged in these two commits: https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-portal/-/commit/d79786562275bcc11a41a1ebdf8c4c4de6ce5432 https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-portal/-/commit/96259ed613f336ea4f2ac88ecd7a79918d8494a1 These changes are in the dev release, but you can pull them into your version if doing anything custom.
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  running voxl-tflite-server dev
  • Harel Yadid  

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  Thanks for the answer! it worked great after the upgrades. what I am trying to do now is to run the deeplab dnn, but I am having some issues. I tried to run the 865 build but i couldn't run any tflite dnn. then I tried to run the 820 build which worked perfectly and than added manually the deeplab dnn. eventually i received the error: do you have any suggestions?
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  Voxl-Streamer Rtsp accept multiple connections
  • Philemon Benner  

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  @Philemon-Benner You can only connect one client at a time. But you can run multiple instances of voxl-streamer and give them different ports for clients to connect to. However, the best way to allow multiple clients is to setup a media server of some sort (eg Live555) so that you only have one stream going over the wireless link to the media server and then it can replicate it as needed over a wired network.
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  This topic is deleted!
  • Philemon Benner  

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  hires not running
  • Steve Arias  

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  'hires' was renamed to 'hires_preview' a few releases ago. Maybe you have a version mismatch or just need to update your config file?
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  Creating a new client to read from voxl-tflite-server pipe
  • Steve Arias  

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  Hi Steve, You would likely want your own separate project that uses libmodal_pipe to create the client interface. That can be a systemd service if you want it on boot. MPA encourages lots of separate microservices and projects to all be compiled and run independently to avoid monolithic programs that grow too big and become hard to maintain. Examples such as all the voxl-inspect-*** tools in voxl-mpa-tools also serve as good starting points along with the modal-hello-client example you already found. I hope this helps, James
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  voxl-dfs-server failing to run
  • Lynn Koudsi  

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  Seemed like a weird fluke... I reinstalled the system image + voxl suite this time from the install script, then removed the packages individually and reinstalled my built versions, and it worked... Thank you though! Lynn
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  Accessing h.264 stream with mpa client
  • PawelJ  

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  Thanks @Alex-Gardner that did the trick. I can get the cam-server and rtsp server running at the same time now. Is there a way to get voxl-rtsp to run at aspect ratios other than 3:4? When I try to change it I keep getting the following error / # voxl-rtsp -s 832x832 voxl-rtsp version 1.0.4 Setting resolution: 832x832 Connected Started camera 0 Created session Video track created in setGainAndExposure: Unable to get camera parameters rtsp://192.168.86.215:8900/live Camera Control FIFO starting: /dev/camera0_control Unable to connect to start session: -19 Unable to delete video track: -19 If I maintain the 3:4 AR it works as expected.