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[Camera streamer 4/5] Bounded TCP receiver and CUDA IPC publication - #1392
Receive AVS1 over TCP, bound per-stream decode work to preserve HEVC ordering under load, and publish decoded GPU buffers through an owner-only CUDA IPC socket. Includes reconnect, backpressure, wire/configuration and IPC regression tests.
Part 4/5 of the split of #1358. Base: #1391. Review this PR against its selected base to see only this component. The original PR is retained for discussion/history; it has not been rewritten or closed.
Per maintainer approval, files missing an explicit grant now carry Apache-2.0 headers. The three Argus-derived helpers (EGLGlobal.h, EGLGlobal.cpp, and Error.h, introduced in part 2) retain BSD-3-Clause notices; the missing upstream notice in EGLGlobal.cpp has been restored. Temporary LicenseRef-NVIDIA-Internal-Review metadata has been removed. All five parts pass full pre-commit checks; the combined stack also passes 7 portable C++ tests and 47 Python tests after this licensing-only update. Merge in order, retargeting/rebasing each dependent PR as its parent lands.
Type of change
New feature
Documentation update
Testing
All 47 Python tests passed; receiver CLI help succeeded. The native decoder was built in the preceding part. No live camera streaming was exercised during the split.
SKIP=check-copyright-year pre-commit run --all-files passed on this exact part. C++ additions were checked with clang-format-14.
Checklist
I have read the contribution guidelines.
I have run the full pre-commit checks.
Documentation matches the components available in this part.
Component tests are included where applicable; the viewer has CLI validation and awaits live operator testing.
Component directories now live directly under examples/camera_streamer/, without an intermediate visualization directory. Build paths, default-profile lookup, tests and license annotations follow the flattened layout. Reconfigure native builds after updating an existing deployment.
Summary by CodeRabbit
New Features
Added a workstation receiver for camera streams, supporting HEVC and raw NV12 input, configurable stream profiles, and GPU-frame sharing with local applications.
The receiver reconnects after interruptions and can report periodic statistics and low receive frame rates.
Added version 3 of the local frame-sharing protocol, with safeguards for frame reads and stale notifications.
Documentation
Added setup and usage instructions, including profile matching, connecting to the robot, and frame-sharing requirements.
Tests
Added coverage for stream parsing, configuration, reconnect behavior, backpressure, and frame-sharing safeguards.
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Walkthrough
Adds a workstation receiver for AVS1 camera streams. It reads TCP records, decodes HEVC or processes raw NV12, and publishes configured GPU frames through a CUDA IPC publisher. The receiver supports shared camera profiles, runtime overrides, reconnect handling, per-stream monitoring, and optional processing statistics. CUDA IPC protocol v3 uses slot locks and generation checks to coordinate readers and writers. Added tests cover configuration loading, record parsing, reconnect timeouts, backpressure, and IPC behavior.
sequenceDiagram
participant AVS1Sender
participant Avs1TcpReceiver
participant CudaIpcFramePublisher
participant LocalConsumer
AVS1Sender->>Avs1TcpReceiver: Send length-prefixed AVS1 records
Avs1TcpReceiver->>Avs1TcpReceiver: Validate records and process configured streams
Avs1TcpReceiver->>CudaIpcFramePublisher: Register GPU buffers and publish frame notifications
LocalConsumer->>CudaIpcFramePublisher: Subscribe to selected streams
CudaIpcFramePublisher->>LocalConsumer: Send stream handles and frame notifications
Loading
Possibly related PRs
NVIDIA/IsaacCapture#1358: Adds the Argus-to-AVS1/TCP-to-NVDEC-to-CUDA IPC camera pipeline that this receiver continues.
NVIDIA/IsaacCapture#1389: Defines the AVS1 wire format and shared camera profiles used by this receiver.
Merge Risk: Minimal · previous review 91560
The receiver now finishes all of a stream's per-sample work before accepting more work for that stream, so a failure in one sample cannot leave a decoder or output slot in concurrent use. No remaining merge-blocking risk was found. Live GPU and camera testing was not exercised.
Pre-merge checks: 4 · 1
Failed checks: 1 warning
Check name
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Explanation
Resolution
Docstring Coverage
Docstring coverage is 6.06% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff with cyclomatic complexity of at least 2. Documentat…
Write docstrings for the functions missing them to satisfy the coverage threshold.
Passed checks: 4 passed
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Title check
The title clearly and concisely summarizes the main changes: bounded TCP reception and CUDA IPC frame publication.
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Out of Scope Changes check
Check skipped because no linked issues were found for this pull request.
Full details: Docstring Coverage
Explanation
Docstring coverage is 6.06% which is insufficient. The required threshold is 80.00%. Docstring coverage is scoped to functions touched by this diff with cyclomatic complexity of at least 2. Documentation-only edits and deletions within surviving functions are included; unchanged diff context and fully deleted functions are excluded. Analyzed 66 functions across 9 files. (1 skipped: 1 unsupported.)
Resolution
Write docstrings for the functions missing them to satisfy the coverage threshold.
Finishing Touches: 💡 1
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Actionable comments posted: 1
🪄 Fix comments: Fix CodeRabbit comments on this PR
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Inline comments:
Review comments at @examples/camera_streamer/camera_receiver/camera_receiver.py:
- Around line 785-792: Update the future-handling logic in _process_stream to
wait for every submitted sample task to finish before collecting results or
returning. Preserve the existing behavior of returning when any sample fails or
returns false, while ensuring no later task remains active after _process_stream
exits.
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The latest revision addresses the existing stereo task ownership finding. All 54 portable tests pass; two additional data-validity issues remain below. Validation included CPU reproductions and simulated asynchronous streams; live GPU/camera testing was unavailable, and updated CI is pending.
cuda_ipc.py:233 — Queued notifications can reference overwritten frames. The receiver reuses ring slots while notifications remain queued. A delayed broadcaster or slow consumer can therefore receive old sequence/timestamp metadata for newer pixels. With the supported three-slot ring, a reproduction delivered sequence 1 after its slot contained frame 7. slot_generation exists only in the notification, so consumers cannot validate current contents. Add synchronized slot ownership or generation validation that protects consumer reads, and discard stale notifications.
🚫 BLOCKER
camera_receiver.py:802 — Raw-frame publication synchronizes the wrong thread’s stream. Raw conversion/rotation kernels launch on sample workers, but this synchronization runs on the coordinator. With CUPY_CUDA_PER_THREAD_DEFAULT_STREAM=1, CuPy uses separate streams per thread, so completing the Python futures does not ensure those kernels have finished. Consumers can read incomplete output. Synchronize inside each sample worker, or return CUDA events and wait for them before publication.
💡 SUGGESTION
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🧹 NIT
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Actionables (copy-paste-ready for implementation agents)
Validate these suggestions in context before applying them. Skip anything already addressed, incorrect, or not worth the churn.
examples/camera_streamer/camera_receiver/cuda_ipc.py:233 — Prevent slot reuse from invalidating queued notifications or consumer reads; add a regression covering broadcaster delay beyond one ring wrap.
examples/camera_streamer/camera_receiver/camera_receiver.py:802 — Wait for each sample worker’s CUDA operations before publishing; verify raw rotation/conversion with per-thread default streams enabled.
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IPC slot ownership: protocol 3 uses shared/exclusive slot guards and generation validation. Stale queued notifications are discarded; consumers must hold read locks until GPU reads complete. Tests cover delayed broadcast beyond multiple ring wraps, protected reads, and shutdown interruption. The matching viewer support remains in dependent [Camera streamer 5/5] CUDA IPC viewer and GMSL operator runbook #1393.
Raw GPU publication: synchronization now happens inside each sample worker before releasing slot ownership, including exception paths. Regression tests simulate per-thread streams across NV12/RGBA output and both rotations.
Rebased #1392 onto main after #1391 merged, preserving the camera-streamer files byte-for-byte. Validation: 84 portable tests plus 10 subtests passed, and all pre-commit hooks passed. No new live-camera test was performed in this pass.
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Description
Receive AVS1 over TCP, bound per-stream decode work to preserve HEVC ordering under load, and publish decoded GPU buffers through an owner-only CUDA IPC socket. Includes reconnect, backpressure, wire/configuration and IPC regression tests.
Part 4/5 of the split of #1358. Base: #1391. Review this PR against its selected base to see only this component. The original PR is retained for discussion/history; it has not been rewritten or closed.
Per maintainer approval, files missing an explicit grant now carry Apache-2.0 headers. The three Argus-derived helpers (
EGLGlobal.h,EGLGlobal.cpp, andError.h, introduced in part 2) retain BSD-3-Clause notices; the missing upstream notice inEGLGlobal.cpphas been restored. TemporaryLicenseRef-NVIDIA-Internal-Reviewmetadata has been removed. All five parts pass full pre-commit checks; the combined stack also passes 7 portable C++ tests and 47 Python tests after this licensing-only update. Merge in order, retargeting/rebasing each dependent PR as its parent lands.Type of change
Testing
All 47 Python tests passed; receiver CLI help succeeded. The native decoder was built in the preceding part. No live camera streaming was exercised during the split.
SKIP=check-copyright-year pre-commit run --all-filespassed on this exact part. C++ additions were checked with clang-format-14.Checklist
Review stack
Component layout
Component directories now live directly under
examples/camera_streamer/, without an intermediate visualization directory. Build paths, default-profile lookup, tests and license annotations follow the flattened layout. Reconfigure native builds after updating an existing deployment.Summary by CodeRabbit