Artur Mukhamadiev
b8d8272f76
- Add scheduled OpenWiki regeneration and pull-request workflow - Refresh generated wiki metadata, navigation, and source documentation - Add Doxygen configuration and ignore generated documentation output - Publish OpenWiki guidance for Codex and Claude agents TG-3 #ready-for-test
86 lines
5.0 KiB
Markdown
86 lines
5.0 KiB
Markdown
---
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type: Quickstart
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title: Cloud Point RPC Quickstart
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description: Entry point for the CloudPointRPC code wiki. Covers what the project is, repository layout, build/run instructions, and links to all major documentation sections.
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tags: [quickstart, overview, navigation]
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---
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# Cloud Point RPC — Quickstart
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## What is this?
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Cloud Point RPC is a **C++23 JSON-RPC 2.0** server and client implementation designed to bridge a C++ backend with a **Unity Scene** over TCP. Unity serves stereo camera data (`get-stereo-calibration`, `get-image-pair`) over the embedded RPC server; the C++ `CloudPointClient` fetches calibration once on `connect()`, then on each `compute_cloud()` call retrieves a synchronised image pair, runs stereo rectification + SGBM disparity + `cv::reprojectImageTo3D`, and returns a filtered `PointCloud`. A C API (`server_api.h`) allows Unity to embed the server, register custom RPC handlers, and manage the server lifecycle from native code.
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The server side with C-API is fully implemented. The C++ stereo point-cloud client (`CloudPointClient`, `StereoRectifier`, `PointCloudBuilder`) is implemented. The remaining item is the Unity-side C# implementation; see [docs/unity-integration.md](../docs/unity-integration.md).
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## Repository layout
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| Path | Purpose |
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|---|---|
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| `include/cloud_point_rpc/` | C++ public headers: TCP server/client, RPC server/client, config, serialization, service, coder |
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| `include/server_api.h` | C API for embedding the server in Unity/native consumers |
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| `include/test_api.h` | C API for test-driven method registration and scheduled calls |
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| `include/export.h` | Cross-platform shared-library export macros (`CRPC_EXPORT`) |
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| `src/` | Implementation files and executable entrypoints |
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| `tests/` | GTest/GMock unit and integration tests (single `unit_tests` executable) |
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| `rpc/` | Git submodule — [json-rpc-cxx](https://github.com/jsonrpcx/json-rpc-cxx) providing `jsonrpccxx` headers |
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| `subprojects/` | Meson wrap dependencies (asio, nlohmann_json, glog, yaml-cpp, base64, gtest) |
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| `include/cloud_point/` | OpenCV compute library headers: `StereoRectifier`, `PointCloudBuilder`, `CloudPointClient` |
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| `src/cloud_point/` | OpenCV compute library implementation (optional, requires opencv4) |
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| `docs/` | PlantUML communication model diagram and Unity integration design spec |
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| `config.yml` | Sample server configuration (IP and port) |
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| `Dockerfile` | Container image for the CLI client |
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| `.gitea/workflows/test.yaml` | CI pipeline (build + test on push to master) |
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| `.github/workflows/openwiki-update.yml` | Scheduled GitHub Actions workflow that refreshes OpenWiki docs daily and opens a PR |
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| `Doxyfile` | Doxygen config — generates HTML/LaTeX API docs from `openwiki/`, `docs/`, `include/`, `src/`, `README.md`, `API.md` (output in `html/` and `latex/`, git-ignored) |
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## Build and run
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```bash
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git submodule init && git submodule update
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meson setup build
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meson compile -C build
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```
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Start the test server (uses mock camera data from `config.yml`):
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```bash
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./build/src/cloud_point_rpc_server config.yaml
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```
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Run the interactive CLI client:
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```bash
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./build/src/cloud_point_rpc_cli config.yaml
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```
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CLI menu options (options 4 and 5 are hidden when built without opencv4):
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| Option | Action |
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|--------|--------|
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| 4 | Compute point cloud — prints point count and bounding box |
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| 5 | Compute point cloud and save to `output.ply` |
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Run all tests:
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```bash
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meson test -C build -v
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```
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For Windows build instructions and Docker usage, see [Build & Testing](build-and-testing.md).
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## Documentation sections
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- [Architecture](architecture.md) — Layered design, TCP framing, threading model, communication flow
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- [RPC Protocol](rpc-protocol.md) — JSON-RPC 2.0 methods, request/response format, error codes, Base64 encoding
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- [C API](c-api.md) — C interface for Unity integration, `rpc_string` memory management, test API
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- [Build & Testing](build-and-testing.md) — Meson build system, dependencies, config, Docker, CI, test suite overview
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## Key concepts
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- **Namespace**: All C++ code lives in `score` (renamed from `cloud_point_rpc` early in development).
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- **Wire framing**: Every TCP message is prefixed with an 8-byte little-endian `uint64_t` payload size, then the JSON-RPC payload follows. See [Architecture → Wire framing](architecture.md#wire-framing).
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- **Two server entrypoints**: `server_main.cpp` is a standalone executable with mock data; `server_api.cpp` provides the embeddable C API that Unity uses to start the server and register callbacks.
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- **Base64**: Image pixel payloads (`get-image-pair`) are Base64-encoded for ASCII-safe transport over JSON. Calibration arrays are plain JSON doubles — not Base64. Encoding on the Unity side; decoding in `Base64RPCCoder` on the client side per API.md.
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- **Persistent connections**: `TcpServer::handle_client` loops per connection — multiple RPC round-trips share one TCP connection without reconnecting.
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- **std::expected**: The `cloud_point` compute library uses `std::expected<PointCloud, Error>` (C++23) as its return type. Callers check `has_value()` before accessing the result. |