DIPP stands for: DISCO Image Processing Pipeline.
DIPP is a modular image processing pipeline tailored to run on the DISCO-2 CubeSat.
To build DIPP, the following packages is required:
sudo apt install libcurl4-openssl-dev git build-essential libsocketcan-dev can-utils libzmq3-dev libyaml-dev pkg-config fonts-powerline python3-pip libelf-dev libbsd-dev libprotobuf-c-dev brotli libbrotli-dev
sudo pip3 install meson ninja
To write modules for the pipeline, checkout the DISCO-2 module template.
Place the compiled modules in the external_modules folder.
Configuration of pipeline stages and module parameters are to be done through a CSH extension. Specifically, parameters for specific modules are updated with the csh function ippc module [options] <module-idx> <config-file> and pipeline configuration is updated with the csh function ippc pipeline [options] <pipeline-idx> <config-file>. Checkout the csp_ippc extension for more information. All configurations are persistently stored in vmem, and do not have to be rerun on startup.
To build the project run the following commands:
meson setup . builddir
ninja -C builddir
or simply execute the script configure.
Run the dipp binary from the builddir directory using ./builddir/dipp [OPTIONS]. The dipp binary supports the following arguments:
| Flag | Default value | Description |
|---|---|---|
-i |
ZMQ |
The connection interface to utilize for the pipeline. Possible values are: - ZMQ: Run the pipeline with ZMQ (requires running ZMQ proxy). - KISS: Run the pipeline with a defined KISS device. - CAN: Run the pipeline with a defined CAN device. |
-p |
localhost |
Port or device to use for the specified connection interface. Examples are: - /dev/ttyS1 (KISS) - vcan0 (CAN) |
-a |
162 |
CSP node address for the DIPP application. |
The pipeline will act as a CSP/Param application.
The pipeline processes batched image data that is stored in shared memory. The pipeline expects to receive metadata on the image batches through a System V Message Queue (ID: 71). The image batch metadata will be included in a ImageBatch struct of the following form:
typedef struct ImageBatch {
long mtype; /* message type to read from the message queue */
int num_images; /* amount of images */
int batch_size; /* size of the image batch */
int shmid; /* id of shared memory segment with image data */
int pipeline_id; /* id of pipeline to utilize for processing */
unsigned char *data; /* address to image data (in shared memory) */
} ImageBatch;Modules will receive and return image batches of this format.
For testing purposes a camera simulating program is included in the sim folder. Compile the program with the compile script.
Now run it with ./camera <num_images> <image_name>. To enqueue an image batch of num_images images. NB: make a folder called images in sim and place a BayerGR image within it.
To activate the pipeline, utilize the pipeline_run parameter on the CSP node through CSH. Navigate to node 162 (default port), and download the list of parameters using list download. Set the pipeline_run parameter to one of the following values:
| pipeline_run value | Batch processing procedure | Description |
|---|---|---|
| 1 | PROCESS_ONE | Process a single image batch. |
| 2 | PROCESS_ALL | Process all image batches in message queue. |
| 3 | PROCESS_WAIT_ONE | Wait for image batch to arrive in message queue. Then process one image batch. |
| 4 | PROCESS_WAIT_ALL | Wait for image batches to arrive in message queue. Then continously process all arriving image batches. |
DIPP includes an integer parameter indicating the most recent cause of failure. The most resent error code can be accessed through the CSP parameter named log_status. The possible error codes, and their meaning, can be seen in the table below.
| Error Code | Description |
|---|---|
| 100 | Memory Error: Malloc |
| 101 | Memory Error: Realloc |
| 102 | Memory Error: Free |
| 200 | Message Queue Error: Not Found |
| 201 | Message Queue Error: Empty |
| 300 | Shared Memory Error: Not Found |
| 301 | Shared Memory Error: Detach |
| 302 | Shared Memory Error: Remove |
| 303 | Shared Memory Error: Attach |
| 400 | Pipe Error: Read |
| 401 | Pipe Error: Empty |
| 402 | Pipe Error: Create |
| 500 | Internal Error: PID Not Found |
| 501 | Internal Error: Shared Object Not Found |
| 502 | Internal Error: Run Not Found |
| 503 | Internal Error: Boolean Parameter Not Found |
| 504 | Internal Error: Integer Parameter Not Found |
| 505 | Internal Error: Float Parameter Not Found |
| 506 | Internal Error: String Parameter Not Found |
| 507 | Internal Error: Custom metadata Boolean Not Found |
| 508 | Internal Error: Custom metadata Integer Not Found |
| 509 | Internal Error: Custom metadata Float Not Found |
| 510 | Internal Error: Custom metadata String Not Found |
| 511 | Internal Error: Custom metadata Dublicate Key Added |
| 512 | Internal Error: Failed to pull remote parameter |
| 513 | Internal Error: Failed to push remote parameter |
| 514 | Internal Error: VMEM Not Found |
| 515 | Internal Error: VMEM Upload Failed |
| 516 | Internal Error: Brotli Decoding Failed |
| 516 | Internal Error: Timespec Clock Get Time |
| 600 | Module Exit Error: Crash |
| 601 | Module Exit Error: Normal |
| 602 | Module Exit Error: Timeout |
| 700-799 | Module Exit Error: Custom error code defined by module |
All error codes are suffixed with ID of the pipeline (1 digit ranging from 1-9) and index of the module (2 digits ranging from 1-99) if applicable. Error codes suffixed with 0's indicate failure happening outside of a module.
- 708104: Module with index 4 in pipeline 1 failed with code 8.
- 600212: Module with index 12 in pipeline 2 crashed.
- 300205: Could not get Shared Memory in module 5 in pipeline 2.
- 501000: Could not find SO file with name 'module' during preload.