kigo-core

README

kigo-core

Pubsub shema for communication with KiGo and KiGoUI.

Communication

Orders

Orders are messages sended to the modules to the modules. The modules should react to them.

• OrderStartUp is called after receiving the notification NotificationReady from the module and gives the module basic information about the current state of KiGo
• OrderError is called when an error occurs on the KiGo side which is caused by the module
• OrderInformation is called when an update is send which contains information about the general system
• OrderChange is called when an update is send to change the module
• OrderShutdown should free up the resources and shutdown
• OrderRender render to the location

Notifications

Notification are messages sended by the modules to KiGo.

• NotificationReady is called when the module is ready to communicate
• NotificationUpdate is called when an update is happened
• NotificationShutdown is called when the module shuts down themself

NotificationUpdate

Currently reasons for an update:

• Config is 0 - change module configuration

Inquiries

• InquiryInformation is called when an information is required, responded with OrderInformation by KiGoand KiGoUI
• InquiryRender is called to render. Send to KiGoUI, responded with OrderRender

InquiryInformations

Currently reasons for an inquiry:

• Modules is 0 - receive all modules information - provided by KiGo
• Module is 1 - receive information about the module with the given name or ID - provided by KiGo
• Screen is 2 - information about the screen - provided by KiGoUI

Changes

Changes are messages which can be sended to modules to change the internal status. They are attached to OrderChanges. They cause a change in the state of the module which causes a redraw.

Module lifecycle

Modules are in a initiating period before they send NotificationReady. They can choose a heartbeat which is smaller than 24 hours or leave it empty. If empty skip everything, we assume a module which do not draw anything to KiGoUI KiGo response with OrderStartUp. From this point on a constant heartbeat is been send to make sure the module is still alive. The heartbeat is responded by initiating communication with KiGo or KiGoUI. If the heartbeat is not responded a OrderShutdown is been called and, if the module has drawn, the widget of the module is been removed. KiGo accepts InquiryInformations and NotificationUpdate. KiGoUI accepts InquiryRender. The loop of heartbeat required the module to do anything, may it be to render something or any logic, instead of just aquiring resources.

KiGoUI

Modules on the device can communication with KiGoUI is via pubsub, this keeps the latence low. Remote devices need to communicate via REST over KiGo, which is implemented on Phase 5. KiGoUI only communicates to KiGo to refresh the heartbeat of the module. The module has the initial informations about the screen, like width, height, supported formats and max fps which it got from OrderStartUp. InquiryRender is send to KiGoUI in preparation for data transfer. The module gives information about where to draw, the refresh rate and the transfer method. KiGoUI sends a trigger to refresh the heartbeat to KiGo and creates a ringbuffer for this transmission. The OrderRender is send with the location of the ringbuffer. From this point on KiGoUI listen to the ringbuffer. The module is than sending each frame through the ringbuffer and KiGoUI renders it.

• 1 - Ask for channel and render option
• 2 - KiGoUI refreshes heartbeat
• 3 - Ringbuffer is created
• 4 - Channel and render options are sended back
• 5 - Listens to channel
• 6 - renders whatever is send

Channels

Before choosing which channels to use to transfer data ackknowledge the size and the throughput needed to be smooth.

• IPC -> For on device and high throuput module IPC is the standard.
• NATS -> Nats saves message to memory and has a default limit of 1 MB. Increasing the limit enabled it as channel in local network as long as encoding methods are used.
• REST -> For modules outside of the local network.

Methods

KiGoUI is not responsible for ensuring a minimum fps. Here are the estimated FPS per method and channel.

FullHD

Encoding Method	IPC (Shared Mem)	PubSub (NATS)	REST (HTTP/2)	Primary Bottleneck
RAW (RGBA/YUV)	~300–660 fps	~60–120 fps	~30–60 fps	Memory bandwidth
JPEG	~60 fps	~50–60 fps	~25–40 fps	JPEG VPU limit
MJPEG (intra stream)	~60 fps	~50–60 fps	~25–40 fps	JPEG encoder throughput
H.264 (AVC)	~60 fps	~60 fps	~45–60 fps	VPU pipeline
H.265 (HEVC)	~50–60 fps	~50–60 fps	~40–55 fps	HEVC complexity
VP8	~30–60 fps	~30–60 fps	~25–45 fps	CPU/VPU hybrid load
VP9	~25–50 fps	~25–50 fps	~20–40 fps	CPU-heavy entropy coding
AV1	~10–30 fps	~10–25 fps	~10–20 fps	Extremely high compute cost
MPEG-2 (legacy)	~80–120 fps	~60–100 fps	~40–80 fps	Low efficiency, older pipeline
H.264 + SVC	~40–60 fps	~40–60 fps	~30–50 fps	Layered encoding overhead

4K

Encoding Method	IPC (Shared Mem)	PubSub (NATS)	REST (HTTP/2)	Primary Bottleneck
RAW (RGBA/YUV)	~60–150 fps	~15–40 fps	~8–25 fps	Memory bandwidth explosion
JPEG	~20–30 fps	~15–25 fps	~10–20 fps	JPEG VPU limit
MJPEG	~20–30 fps	~15–25 fps	~10–20 fps	JPEG pipeline saturation
H.264 (AVC)	~25–60 fps	~25–50 fps	~20–45 fps	VPU macroblock processing
H.265 (HEVC)	~20–60 fps	~20–45 fps	~15–40 fps	HEVC entropy + motion estimation
VP8	~15–40 fps	~15–40 fps	~10–30 fps	CPU + partial hardware
VP9	~10–35 fps	~10–30 fps	~8–25 fps	High CPU load
AV1	~5–20 fps	~5–15 fps	~5–12 fps	Very high compute complexity
MPEG-2	~40–80 fps	~30–60 fps	~20–50 fps	Inefficient but lightweight
H.264 + SVC	~20–50 fps	~20–45 fps	~15–40 fps	Layered encoding overhead

Integrated:

• RAW
• JPEG

Protocol

The protocol for the data transmission is simple. Every frame send has a header before the frame data begins.