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685 lines
21 KiB
C
685 lines
21 KiB
C
#include <linux/videodev2.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <sys/socket.h>
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#include <signal.h>
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#include <errno.h>
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#include <antd/list.h>
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#include <antd/bst.h>
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#include <antd/utils.h>
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#include <fcntl.h>
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#include <sys/mman.h>
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#include <stdio.h>
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#include <jpeglib.h>
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#include <sys/ioctl.h>
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#include <sys/timerfd.h>
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#include <time.h>
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#include <sys/time.h>
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#include "../tunnel.h"
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#define MODULE_NAME "v4l2cam"
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#define DEV_SIZE 32
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typedef struct
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{
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uint16_t width;
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uint16_t height;
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uint8_t fps;
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uint8_t jpeg_quality;
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uint8_t *raw_buffer;
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int fd;
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int timerfd;
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int raw_size;
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char dev_name[DEV_SIZE];
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uint8_t queued;
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} cam_setting_t;
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static bst_node_t *clients = NULL;
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static cam_setting_t video_setting;
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static volatile int running = 1;
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static int cam_set_format(cam_setting_t *opts)
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{
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struct v4l2_format format = {0};
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format.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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format.fmt.pix.width = (unsigned int)opts->width;
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format.fmt.pix.height = (unsigned int)opts->height;
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format.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB24;
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format.fmt.pix.field = V4L2_FIELD_ANY;
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int res = ioctl(opts->fd, VIDIOC_S_FMT, &format);
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if (res == -1)
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{
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M_ERROR(MODULE_NAME, "Could not set image format: %s", strerror(errno));
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return -1;
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}
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/*
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* set framerate
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*/
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struct v4l2_streamparm *setfps;
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setfps =
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(struct v4l2_streamparm *)calloc(1, sizeof(struct v4l2_streamparm));
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memset(setfps, 0, sizeof(struct v4l2_streamparm));
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setfps->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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setfps->parm.capture.timeperframe.numerator = 1;
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setfps->parm.capture.timeperframe.denominator = (unsigned int)opts->fps;
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res = ioctl(opts->fd, VIDIOC_S_PARM, setfps);
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if (res == -1)
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{
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M_ERROR(MODULE_NAME, "Could not set image format: %s", strerror(errno));
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return -1;
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}
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return 0;
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}
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static int cam_request_buffer(int fd, int count)
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{
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struct v4l2_requestbuffers req = {0};
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req.count = count;
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req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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req.memory = V4L2_MEMORY_MMAP;
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if (ioctl(fd, VIDIOC_REQBUFS, &req) == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to request cam buffer: %s", strerror(errno));
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return -1;
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}
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return 0;
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}
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static int cam_query_buffer(cam_setting_t *opts)
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{
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struct v4l2_buffer buf = {0};
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buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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buf.memory = V4L2_MEMORY_MMAP;
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buf.index = 0;
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int res = ioctl(opts->fd, VIDIOC_QUERYBUF, &buf);
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if (res == -1)
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{
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M_ERROR(MODULE_NAME, "Could not query buffer: %s", strerror(errno));
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return -1;
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}
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opts->raw_buffer = (u_int8_t *)mmap(NULL, buf.length, PROT_READ | PROT_WRITE, MAP_SHARED, opts->fd, buf.m.offset);
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opts->raw_size = buf.length;
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return buf.length;
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}
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static int cam_release_buffer(cam_setting_t *opts)
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{
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if (opts->raw_buffer == NULL)
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{
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return 0;
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}
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if (munmap(opts->raw_buffer, opts->raw_size) == -1)
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{
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M_ERROR(MODULE_NAME, "Error munmap: %s", strerror(errno));
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return -1;
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}
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opts->raw_buffer = NULL;
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opts->raw_size = 0;
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return 0;
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}
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int cam_start_streaming(int fd)
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{
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unsigned int type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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if (ioctl(fd, VIDIOC_STREAMON, &type) == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to start VIDIOC_STREAMON: %s", strerror(errno));
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return -1;
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}
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return 0;
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}
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int cam_queue_buffer(int fd)
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{
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struct v4l2_buffer bufd = {0};
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bufd.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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bufd.memory = V4L2_MEMORY_MMAP;
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bufd.index = 0;
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if (-1 == ioctl(fd, VIDIOC_QBUF, &bufd))
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{
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M_ERROR(MODULE_NAME, "Unable to queue buffer on %d: %s", fd, strerror(errno));
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return -1;
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}
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return bufd.bytesused;
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}
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int cam_dequeue_buffer(int fd)
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{
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struct v4l2_buffer bufd = {0};
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bufd.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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bufd.memory = V4L2_MEMORY_MMAP;
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bufd.index = 0;
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if (-1 == ioctl(fd, VIDIOC_DQBUF, &bufd))
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{
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M_ERROR(MODULE_NAME, "Unable to dequeue buffer: %s", strerror(errno));
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return -1;
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}
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return bufd.bytesused;
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}
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int cam_jpeg_commpress(cam_setting_t *opts, uint8_t **out)
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{
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uint8_t *tmp = opts->raw_buffer;
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struct jpeg_compress_struct cinfo = {0};
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struct jpeg_error_mgr jerror = {0};
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cinfo.err = jpeg_std_error(&jerror);
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jerror.trace_level = 10;
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cinfo.err->trace_level = 10;
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jpeg_create_compress(&cinfo);
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unsigned long outbuffer_size = 0;
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jpeg_mem_dest(&cinfo, out, &outbuffer_size);
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cinfo.image_width = opts->width;
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cinfo.image_height = opts->height;
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cinfo.input_components = 3;
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cinfo.in_color_space = JCS_RGB;
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jpeg_set_defaults(&cinfo);
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jpeg_set_quality(&cinfo, opts->jpeg_quality, true);
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jpeg_start_compress(&cinfo, true);
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//unsigned counter = 0;
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JSAMPROW row_pointer[1];
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row_pointer[0] = NULL;
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while (cinfo.next_scanline < cinfo.image_height)
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{
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row_pointer[0] = (JSAMPROW)(&tmp[cinfo.next_scanline * opts->width * 3]);
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jpeg_write_scanlines(&cinfo, row_pointer, 1);
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}
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jpeg_finish_compress(&cinfo);
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jpeg_destroy_compress(&cinfo);
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return outbuffer_size;
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}
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int cam_grab_frame(cam_setting_t *opts)
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{
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if (cam_queue_buffer(opts->fd) == -1)
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return -1;
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//Wait for io operation
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fd_set fds;
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uint8_t *jpeg_frame = NULL;
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FD_ZERO(&fds);
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FD_SET(opts->fd, &fds);
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struct timeval tv = {0};
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tv.tv_sec = 2; //set timeout to 2 second
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int r = select(opts->fd + 1, &fds, NULL, NULL, &tv);
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if (r == -1)
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{
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M_ERROR(MODULE_NAME, "Error on Waiting for Frame: %s", strerror(errno));
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return -1;
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}
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if (r == 0)
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{
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// time out
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return -1;
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}
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size_t size = cam_jpeg_commpress(opts, &jpeg_frame);
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// send to other endpoint
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int file = open("/home/root/output.jpeg", O_RDWR | O_CREAT, 0777);
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if (file == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to open file for save: %s", strerror(errno));
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}
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else
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{
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if (write(file, jpeg_frame, size) == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to write frame to file: %s", strerror(errno));
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}
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close(file);
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M_LOG(MODULE_NAME, "written %d bytes to file", (int)size);
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}
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free(jpeg_frame);
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//size is obtained from the query_buffer function
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return cam_dequeue_buffer(opts->fd);
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}
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static void send_data(bst_node_t *node, void **argv, int argc)
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{
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(void)argc;
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tunnel_msg_t *msg = (tunnel_msg_t *)argv[0];
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int *fd = (int *)argv[1];
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msg->header.client_id = node->key;
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if (msg_write(*fd, msg) == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to write data message to client %d", node->key);
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}
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}
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static int cam_send_frame_client(cam_setting_t *opts, int sock, bst_node_t *client)
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{
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if (opts->queued == 0)
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{
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return 0;
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}
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tunnel_msg_t msg;
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uint8_t *jpeg_frame = NULL;
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if (clients)
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{
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size_t size = cam_jpeg_commpress(opts, &jpeg_frame);
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// send to other endpoint
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//size is obtained from the query_buffer function
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msg.header.type = CHANNEL_DATA;
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msg.header.size = size;
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msg.data = (uint8_t *)jpeg_frame;
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void *args[2];
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args[0] = (void *)&msg;
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args[1] = (void *)&sock;
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bst_for_each(clients, send_data, args, 2);
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free(jpeg_frame);
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}
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if (cam_dequeue_buffer(opts->fd) == -1)
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{
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return -1;
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}
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opts->queued = 0;
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return 0;
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}
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static int cam_stop_streaming(int fd)
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{
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int type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
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if (ioctl(fd, VIDIOC_STREAMON, &type) == -1)
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{
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M_ERROR(MODULE_NAME, "Error on VIDIOC_STREAMOFF: %s", strerror(errno));
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return -1;
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}
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return 0;
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}
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static int cam_cleanup(cam_setting_t *opts, int close_fd)
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{
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if (video_setting.queued == 1)
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{
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if (cam_dequeue_buffer(video_setting.fd) == -1)
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{
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return -1;
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}
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else
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{
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video_setting.queued = 0;
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}
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}
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if (cam_stop_streaming(opts->fd) == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to stop streaming");
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return -1;
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}
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if (cam_release_buffer(opts) == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to release previously mapped buffer");
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return -1;
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}
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if (close_fd && opts->fd > 0)
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{
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(void)close(opts->fd);
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}
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if (close_fd && opts->timerfd > 0)
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{
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(void)close(opts->timerfd);
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}
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return 0;
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}
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static int cam_init_timer(cam_setting_t* opts)
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{
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long period = 0;
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if(opts->timerfd != -1)
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{
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(void) close(opts->timerfd);
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}
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opts->timerfd = timerfd_create(CLOCK_MONOTONIC, TFD_CLOEXEC);
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if (opts->timerfd == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to create timerfd: %s", strerror(errno));
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return -1;
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}
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else
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{
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period = (long) (1e9 / opts->fps);
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M_LOG(MODULE_NAME, "Frame period set to %lu", period);
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struct itimerspec ch_period =
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{
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.it_interval = {.tv_sec = 0, .tv_nsec = period},
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.it_value = {.tv_sec = 0, .tv_nsec = period}, /* first wake-up = interval */
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};
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if (timerfd_settime(opts->timerfd, 0 /* no flags */, &ch_period, NULL) == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to set framerate period: %s", strerror(errno));
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(void)close(opts->timerfd);
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opts->timerfd = -1;
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return -1;
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}
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}
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return 0;
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}
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static int cam_apply_setting(cam_setting_t *opts)
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{
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if (opts->raw_buffer != NULL)
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{
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if (cam_cleanup(opts, 1) == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to cleanup setting");
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return -1;
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}
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}
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opts->fd = open(opts->dev_name, O_RDWR);
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if (opts->fd == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to open device: %s", video_setting.dev_name);
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return -1;
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}
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if (cam_set_format(opts) == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to set format");
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return -1;
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}
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// 2 request buffer
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if (cam_request_buffer(opts->fd, 1) == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to request buffer");
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return -1;
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}
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// 3 query buffer
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int buffer_size = cam_query_buffer(opts);
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if (buffer_size == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to query buffer");
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return -1;
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}
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(void) cam_init_timer(opts);
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return 0;
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}
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static void int_handler(int dummy)
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{
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(void)dummy;
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running = 0;
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}
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static void unsubscribe(bst_node_t *node, void **args, int argc)
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{
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(void)argc;
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tunnel_msg_t msg;
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int *ufd = (int *)args[0];
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msg.header.type = CHANNEL_UNSUBSCRIBE;
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msg.header.client_id = node->key;
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msg.header.size = 0;
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if (msg_write(*ufd, &msg) == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to request unsubscribe to client %d", node->key);
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}
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}
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int main(const int argc, const char **argv)
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{
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int sock, maxfd = -1;
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char buff[BUFFLEN + 1];
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tunnel_msg_t msg;
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int status;
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fd_set fd_in;
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uint64_t expirations_count;
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uint16_t net16;
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void *fargv[2];
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unsigned int offset = 0;
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if (argc != 4)
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{
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printf("Usage: %s path/to/hotline/socket channel_name video_dev\n", argv[0]);
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return -1;
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}
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signal(SIGPIPE, SIG_IGN);
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signal(SIGABRT, SIG_IGN);
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signal(SIGINT, int_handler);
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strncpy(video_setting.dev_name, argv[3], DEV_SIZE - 1);
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// default setting
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video_setting.width = 640;
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video_setting.height = 480;
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video_setting.fps = 5;
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video_setting.jpeg_quality = 60;
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video_setting.raw_buffer = NULL;
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video_setting.queued = 0;
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// apply the default setting
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if (cam_apply_setting(&video_setting) == -1)
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{
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exit(1);
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}
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sock = open_socket((char *)argv[1]);
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if (sock == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to open the hotline: %s", argv[1]);
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cam_cleanup(&video_setting, 1);
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return -1;
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}
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// create a video channel on the tunnel
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msg.header.type = CHANNEL_OPEN;
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msg.header.channel_id = 0;
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msg.header.client_id = 0;
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M_LOG(MODULE_NAME, "Request to open the channel %s", argv[2]);
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(void)strncpy(buff, argv[2], MAX_CHANNEL_NAME);
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msg.header.size = strlen(buff);
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msg.data = (uint8_t *)buff;
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if (msg_write(sock, &msg) == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to write message to hotline");
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cam_cleanup(&video_setting, 1);
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(void)close(sock);
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exit(1);
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}
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M_LOG(MODULE_NAME, "Wait for comfirm creation of %s", argv[2]);
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// now wait for message
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if (msg_read(sock, &msg) == -1)
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{
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M_ERROR(MODULE_NAME, "Unable to read message from hotline");
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cam_cleanup(&video_setting, 1);
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(void)close(sock);
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return -1;
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}
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if (msg.header.type == CHANNEL_OK)
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{
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M_LOG(MODULE_NAME, "Channel created: %s", argv[2]);
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if (msg.data)
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free(msg.data);
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}
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else
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{
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M_ERROR(MODULE_NAME, "Channel is not created: %s. Tunnel service responds with msg of type %d", argv[2], msg.header.type);
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if (msg.data)
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free(msg.data);
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running = 0;
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}
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// start streaming
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if (cam_start_streaming(video_setting.fd) == -1)
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{
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running = 0;
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}
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while (running)
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{
|
|
FD_ZERO(&fd_in);
|
|
FD_SET(sock, &fd_in);
|
|
FD_SET(video_setting.fd, &fd_in);
|
|
maxfd = sock > video_setting.fd ? sock : video_setting.fd;
|
|
|
|
if (clients != NULL && video_setting.queued == 0)
|
|
{
|
|
if (cam_queue_buffer(video_setting.fd) == -1)
|
|
{
|
|
running = 0;
|
|
}
|
|
else
|
|
{
|
|
video_setting.queued = 1;
|
|
}
|
|
}
|
|
if(clients == NULL && video_setting.timerfd != -1)
|
|
{
|
|
(void) close(video_setting.timerfd);
|
|
video_setting.timerfd = -1;
|
|
}
|
|
|
|
status = select(maxfd + 1, &fd_in, NULL, NULL, NULL);
|
|
switch (status)
|
|
{
|
|
case -1:
|
|
M_LOG(MODULE_NAME, "Error %d on select()\n", errno);
|
|
running = 0;
|
|
break;
|
|
case 0:
|
|
break;
|
|
default:
|
|
if (FD_ISSET(sock, &fd_in))
|
|
{
|
|
if (msg_read(sock, &msg) == -1)
|
|
{
|
|
M_ERROR(MODULE_NAME, "Unable to read message from channel. quit");
|
|
running = 0;
|
|
}
|
|
else
|
|
{
|
|
switch (msg.header.type)
|
|
{
|
|
case CHANNEL_SUBSCRIBE:
|
|
M_LOG(MODULE_NAME, "Client %d subscribes to the chanel", msg.header.client_id);
|
|
if(clients == NULL)
|
|
{
|
|
(void) cam_init_timer(&video_setting);
|
|
}
|
|
clients = bst_insert(clients, msg.header.client_id, NULL);
|
|
// send back the ctl message
|
|
msg.header.type = CHANNEL_CTRL;
|
|
msg.header.size = 6;
|
|
msg.data = (uint8_t *)buff;
|
|
net16 = htons(video_setting.width);
|
|
(void)memcpy(buff, &net16, sizeof(video_setting.width));
|
|
net16 = htons(video_setting.height);
|
|
(void)memcpy(buff + sizeof(video_setting.height), &net16, sizeof(video_setting.height));
|
|
buff[sizeof(video_setting.width) + sizeof(video_setting.height)] = video_setting.fps;
|
|
buff[sizeof(video_setting.width) + sizeof(video_setting.height) + 1] = video_setting.jpeg_quality;
|
|
if (msg_write(sock, &msg) == -1)
|
|
{
|
|
running = 0;
|
|
}
|
|
break;
|
|
|
|
case CHANNEL_UNSUBSCRIBE:
|
|
M_LOG(MODULE_NAME, "Client %d unsubscribes to the chanel", msg.header.client_id);
|
|
clients = bst_delete(clients, msg.header.client_id);
|
|
break;
|
|
case CHANNEL_CTRL:
|
|
// apply setting here
|
|
// [w_16,h_16,fps_8,q_8]
|
|
if (msg.header.size == 6)
|
|
{
|
|
offset = 0;
|
|
(void)memcpy(&video_setting.width, msg.data, 2);
|
|
video_setting.width = ntohs(video_setting.width);
|
|
offset += 2;
|
|
(void)memcpy(&video_setting.height, msg.data + offset, 2);
|
|
video_setting.height = ntohs(video_setting.height);
|
|
offset += 2;
|
|
(void)memcpy(&video_setting.fps, msg.data + offset, 1);
|
|
offset++;
|
|
(void)memcpy(&video_setting.jpeg_quality, msg.data + offset, 1);
|
|
M_LOG(MODULE_NAME, "Client request width: %d, height: %d, FPS: %d, JPEG quality: %d",
|
|
video_setting.width,
|
|
video_setting.height,
|
|
video_setting.fps,
|
|
video_setting.jpeg_quality);
|
|
if (cam_apply_setting(&video_setting) == -1)
|
|
{
|
|
M_ERROR(MODULE_NAME, "Unable to apply video setting");
|
|
cam_cleanup(&video_setting, 0);
|
|
running = 0;
|
|
}
|
|
else
|
|
{
|
|
// restart the streaming
|
|
if (cam_start_streaming(video_setting.fd) == -1)
|
|
{
|
|
running = 0;
|
|
}
|
|
else
|
|
{
|
|
// send back the ctl message
|
|
msg.header.type = CHANNEL_CTRL;
|
|
msg.header.size = 6;
|
|
msg.data = (uint8_t *)buff;
|
|
net16 = htons(video_setting.width);
|
|
(void)memcpy(buff, &net16, sizeof(video_setting.width));
|
|
net16 = htons(video_setting.height);
|
|
(void)memcpy(buff + sizeof(video_setting.height), &net16, sizeof(video_setting.height));
|
|
buff[sizeof(video_setting.width) + sizeof(video_setting.height)] = video_setting.fps;
|
|
buff[sizeof(video_setting.width) + sizeof(video_setting.height) + 1] = video_setting.jpeg_quality;
|
|
fargv[0] = (void *)&msg;
|
|
fargv[1] = (void *)&sock;
|
|
bst_for_each(clients, send_data, fargv, 2);
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
M_ERROR(MODULE_NAME, "Invalid control message size: %d from client %d, expected 8", msg.header.size, msg.header.client_id);
|
|
}
|
|
break;
|
|
|
|
default:
|
|
M_LOG(MODULE_NAME, "Client %d send message of type %d",
|
|
msg.header.client_id, msg.header.type);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
else if (FD_ISSET(video_setting.fd, &fd_in) && clients != NULL)
|
|
{
|
|
if (cam_send_frame_client(&video_setting, sock, clients) == -1)
|
|
{
|
|
running = 0;
|
|
}
|
|
else
|
|
{
|
|
// check timeout
|
|
if(video_setting.timerfd > 0)
|
|
{
|
|
if(read(video_setting.timerfd, &expirations_count, sizeof(expirations_count)) != (int)sizeof(expirations_count))
|
|
{
|
|
M_ERROR(MODULE_NAME, "Unable to read timer: %s", strerror(errno));
|
|
}
|
|
else if (expirations_count > 1u)
|
|
{
|
|
M_ERROR(MODULE_NAME, "LOOP OVERFLOW COUNT: %lu", (long unsigned int)expirations_count);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// sleep to save CPU 100 ms
|
|
usleep(100000);
|
|
}
|
|
}
|
|
}
|
|
|
|
(void)cam_cleanup(&video_setting, 1);
|
|
// unsubscribe all client
|
|
fargv[0] = (void *)&sock;
|
|
bst_for_each(clients, unsubscribe, fargv, 1);
|
|
// close the channel
|
|
M_LOG(MODULE_NAME, "Close the channel %s (%d)", argv[2], sock);
|
|
msg.header.type = CHANNEL_CLOSE;
|
|
msg.header.size = 0;
|
|
msg.data = NULL;
|
|
if (msg_write(sock, &msg) == -1)
|
|
{
|
|
M_ERROR(MODULE_NAME, "Unable to request channel close");
|
|
}
|
|
// close all opened terminal
|
|
|
|
(void)msg_read(sock, &msg);
|
|
(void)close(sock);
|
|
}
|