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[Camera streamer 4/5] Bounded TCP receiver and CUDA IPC publication #1392

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jsepulveda-nvidia merged 3 commits into from
Oct 30, 2026
Merged

[Camera streamer 4/5] Bounded TCP receiver and CUDA IPC publication #1392

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600c7e3
Add bounded AVS1 receiver and CUDA IPC frame publication
jsepulveda-nvidia Oct 29, 2026
423caf6
Wait for both stereo sample tasks before releasing frame ownership
jsepulveda-nvidia Oct 29, 2026
cb8c7e6
Protect IPC slot reads and synchronize sample worker GPU operations
jsepulveda-nvidia Oct 29, 2026
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22 changes: 22 additions & 0 deletions examples/camera_streamer/README.md
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Expand Up @@ -56,6 +56,22 @@ The build downloads the pinned NVIDIA Video Codec SDK. CPU-side Python tests:
uv run --project tests --extra dev python -m pytest tests/python -q
```

## Workstation receiver

Run `ip -brief -4 address` on the robot and choose the address reachable from the
workstation. From `examples/camera_streamer`, with the decoder already built:

```bash
export ROBOT_IP="<robot IPv4 address>"
uv pip install --python .venv/bin/python -r camera_receiver/requirements.txt
PROFILE=s56-stereo-2560x1984-30 # Choose your resolution
.venv/bin/python camera_receiver/camera_receiver.py \
--config "configs/${PROFILE}.yaml" --host "${ROBOT_IP:?Set ROBOT_IP first}"
```

Use the same profile on both computers. Decoded GPU frames are published through
local CUDA IPC; the receiver does not open a window. Stop it with Ctrl+C.

## Licensing

This example is Apache-2.0 licensed. Existing upstream notices and external SDK
Expand All @@ -72,3 +88,9 @@ For opt-in hardware smoke tests, install PyYAML for the Python interpreter selec
by CMake. Set `ARGUS_SENDER_HARDWARE_CONFIG` to your stereo profile; the smoke receiver
reads `network.port` from that same file (default 5000), so there is no separate
receiver-port override.

CUDA IPC protocol 3 requires consumers to hold each slot's shared file lock and
verify `slot_generation` before reading pixels, then finish GPU reads before
unlocking. The receiver holds an exclusive lock while writing. Delayed notifications
are discarded; a slow active read backpressures slot reuse rather than corrupting
pixels. Update receiver and consumer together; protocol 2 consumers are rejected.
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