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rpicamera: support changing parameters without interrupting the stream (#1463)

pull/1468/head
Alessandro Ros 3 years ago committed by GitHub
parent
69c9e57983
commit
b461f15a4c
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33 changed files with 838 additions and 631 deletions
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  1. 6
      internal/conf/path.go
  2. 2
      internal/core/hls_muxer.go
  3. 6
      internal/core/hls_server.go
  4. 35
      internal/core/hls_source.go
  5. 54
      internal/core/path.go
  6. 107
      internal/core/path_manager.go
  7. 53
      internal/core/rpicamera_source.go
  8. 12
      internal/core/rtmp_conn.go
  9. 32
      internal/core/rtmp_source.go
  10. 12
      internal/core/rtsp_session.go
  11. 42
      internal/core/rtsp_source.go
  12. 128
      internal/core/source_static.go
  13. 2
      internal/core/webrtc_conn.go
  14. 2
      internal/core/webrtc_server.go
  15. 49
      internal/rpicamera/embeddedexe.go
  16. 1
      internal/rpicamera/exe/Makefile
  17. 203
      internal/rpicamera/exe/camera.cpp
  18. 3
      internal/rpicamera/exe/camera.h
  19. 4
      internal/rpicamera/exe/encoder.c
  20. 2
      internal/rpicamera/exe/encoder.h
  21. 112
      internal/rpicamera/exe/main.c
  22. 201
      internal/rpicamera/exe/parameters.c
  23. 20
      internal/rpicamera/exe/parameters.h
  24. 44
      internal/rpicamera/exe/pipe.c
  25. 12
      internal/rpicamera/exe/pipe.h
  26. 15
      internal/rpicamera/exe/sensor_mode.c
  27. 2
      internal/rpicamera/exe/sensor_mode.h
  28. 12
      internal/rpicamera/exe/window.c
  29. 2
      internal/rpicamera/exe/window.h
  30. 20
      internal/rpicamera/pipe.go
  31. 266
      internal/rpicamera/rpicamera.go
  32. 4
      internal/rpicamera/rpicamera_disabled.go
  33. 4
      rtsp-simple-server.yml

6
internal/conf/path.go
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@ -1,9 +1,9 @@ @@ -1,9 +1,9 @@
package conf
import (
"encoding/json"
"fmt"
gourl "net/url"
"reflect"
"regexp"
"strings"
"time"
@ -320,7 +320,5 @@ func (pconf *PathConf) checkAndFillMissing(conf *Conf, name string) error { @@ -320,7 +320,5 @@ func (pconf *PathConf) checkAndFillMissing(conf *Conf, name string) error {
// Equal checks whether two PathConfs are equal.
func (pconf *PathConf) Equal(other *PathConf) bool {
a, _ := json.Marshal(pconf)
b, _ := json.Marshal(other)
return string(a) == string(b)
return reflect.DeepEqual(pconf, other)
}

2
internal/core/hls_muxer.go
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@ -555,7 +555,7 @@ func (m *hlsMuxer) handleRequest(req *hlsMuxerRequest) func() *hls.MuxerFileResp @@ -555,7 +555,7 @@ func (m *hlsMuxer) handleRequest(req *hlsMuxerRequest) func() *hls.MuxerFileResp
}
func (m *hlsMuxer) authenticate(ctx *gin.Context) error {
pathConf := m.path.Conf()
pathConf := m.path.safeConf()
pathIPs := pathConf.ReadIPs
pathUser := pathConf.ReadUser
pathPass := pathConf.ReadPass

6
internal/core/hls_server.go
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@ -204,15 +204,15 @@ outer: @@ -204,15 +204,15 @@ outer:
select {
case pa := <-s.chPathSourceReady:
if s.alwaysRemux {
s.createMuxer(pa.Name(), "", nil)
s.createMuxer(pa.name, "", nil)
}
case pa := <-s.chPathSourceNotReady:
if s.alwaysRemux {
c, ok := s.muxers[pa.Name()]
c, ok := s.muxers[pa.name]
if ok {
c.close()
delete(s.muxers, pa.Name())
delete(s.muxers, pa.name)
}
}

35
internal/core/hls_source.go
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@ -7,6 +7,7 @@ import ( @@ -7,6 +7,7 @@ import (
"github.com/aler9/gortsplib/v2/pkg/format"
"github.com/aler9/gortsplib/v2/pkg/media"
"github.com/aler9/rtsp-simple-server/internal/conf"
"github.com/aler9/rtsp-simple-server/internal/formatprocessor"
"github.com/aler9/rtsp-simple-server/internal/hls"
"github.com/aler9/rtsp-simple-server/internal/logger"
@ -19,20 +20,14 @@ type hlsSourceParent interface { @@ -19,20 +20,14 @@ type hlsSourceParent interface {
}
type hlsSource struct {
ur string
fingerprint string
parent hlsSourceParent
parent hlsSourceParent
}
func newHLSSource(
ur string,
fingerprint string,
parent hlsSourceParent,
) *hlsSource {
return &hlsSource{
ur: ur,
fingerprint: fingerprint,
parent: parent,
parent: parent,
}
}
@ -41,7 +36,7 @@ func (s *hlsSource) Log(level logger.Level, format string, args ...interface{}) @@ -41,7 +36,7 @@ func (s *hlsSource) Log(level logger.Level, format string, args ...interface{})
}
// run implements sourceStaticImpl.
func (s *hlsSource) run(ctx context.Context) error {
func (s *hlsSource) run(ctx context.Context, cnf *conf.PathConf, reloadConf chan *conf.PathConf) error {
var stream *stream
defer func() {
@ -51,8 +46,8 @@ func (s *hlsSource) run(ctx context.Context) error { @@ -51,8 +46,8 @@ func (s *hlsSource) run(ctx context.Context) error {
}()
c, err := hls.NewClient(
s.ur,
s.fingerprint,
cnf.Source,
cnf.SourceFingerprint,
s,
)
if err != nil {
@ -137,14 +132,18 @@ func (s *hlsSource) run(ctx context.Context) error { @@ -137,14 +132,18 @@ func (s *hlsSource) run(ctx context.Context) error {
c.Start()
select {
case err := <-c.Wait():
return err
for {
select {
case err := <-c.Wait():
return err
case <-ctx.Done():
c.Close()
<-c.Wait()
return nil
case <-reloadConf:
case <-ctx.Done():
c.Close()
<-c.Wait()
return nil
}
}
}

54
internal/core/path.go
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@ -201,6 +201,7 @@ type path struct { @@ -201,6 +201,7 @@ type path struct {
ctx context.Context
ctxCancel func()
confMutex sync.RWMutex
source source
bytesReceived *uint64
stream *stream
@ -217,6 +218,7 @@ type path struct { @@ -217,6 +218,7 @@ type path struct {
onDemandPublisherCloseTimer *time.Timer
// in
chReloadConf chan *conf.PathConf
chSourceStaticSetReady chan pathSourceStaticSetReadyReq
chSourceStaticSetNotReady chan pathSourceStaticSetNotReadyReq
chDescribe chan pathDescribeReq
@ -227,6 +229,9 @@ type path struct { @@ -227,6 +229,9 @@ type path struct {
chReaderAdd chan pathReaderAddReq
chReaderRemove chan pathReaderRemoveReq
chAPIPathsList chan pathAPIPathsListSubReq
// out
done chan struct{}
}
func newPath(
@ -236,7 +241,7 @@ func newPath( @@ -236,7 +241,7 @@ func newPath(
writeTimeout conf.StringDuration,
readBufferCount int,
confName string,
conf *conf.PathConf,
cnf *conf.PathConf,
name string,
matches []string,
wg *sync.WaitGroup,
@ -251,7 +256,7 @@ func newPath( @@ -251,7 +256,7 @@ func newPath(
writeTimeout: writeTimeout,
readBufferCount: readBufferCount,
confName: confName,
conf: conf,
conf: cnf,
name: name,
matches: matches,
wg: wg,
@ -265,6 +270,7 @@ func newPath( @@ -265,6 +270,7 @@ func newPath(
onDemandStaticSourceCloseTimer: newEmptyTimer(),
onDemandPublisherReadyTimer: newEmptyTimer(),
onDemandPublisherCloseTimer: newEmptyTimer(),
chReloadConf: make(chan *conf.PathConf),
chSourceStaticSetReady: make(chan pathSourceStaticSetReadyReq),
chSourceStaticSetNotReady: make(chan pathSourceStaticSetNotReadyReq),
chDescribe: make(chan pathDescribeReq),
@ -275,6 +281,7 @@ func newPath( @@ -275,6 +281,7 @@ func newPath(
chReaderAdd: make(chan pathReaderAddReq),
chReaderRemove: make(chan pathReaderRemoveReq),
chAPIPathsList: make(chan pathAPIPathsListSubReq),
done: make(chan struct{}),
}
pa.log(logger.Debug, "created")
@ -289,26 +296,15 @@ func (pa *path) close() { @@ -289,26 +296,15 @@ func (pa *path) close() {
pa.ctxCancel()
}
func (pa *path) wait() {
<-pa.done
}
// Log is the main logging function.
func (pa *path) log(level logger.Level, format string, args ...interface{}) {
pa.parent.log(level, "[path "+pa.name+"] "+format, args...)
}
// ConfName returns the configuration name of this path.
func (pa *path) ConfName() string {
return pa.confName
}
// Conf returns the configuration of this path.
func (pa *path) Conf() *conf.PathConf {
return pa.conf
}
// Name returns the name of this path.
func (pa *path) Name() string {
return pa.name
}
func (pa *path) hasStaticSource() bool {
return strings.HasPrefix(pa.conf.Source, "rtsp://") ||
strings.HasPrefix(pa.conf.Source, "rtsps://") ||
@ -327,7 +323,14 @@ func (pa *path) hasOnDemandPublisher() bool { @@ -327,7 +323,14 @@ func (pa *path) hasOnDemandPublisher() bool {
return pa.conf.RunOnDemand != ""
}
func (pa *path) safeConf() *conf.PathConf {
pa.confMutex.RLock()
defer pa.confMutex.RUnlock()
return pa.conf
}
func (pa *path) run() {
defer close(pa.done)
defer pa.wg.Done()
if pa.conf.Source == "redirect" {
@ -410,6 +413,15 @@ func (pa *path) run() { @@ -410,6 +413,15 @@ func (pa *path) run() {
return fmt.Errorf("not in use")
}
case newConf := <-pa.chReloadConf:
if pa.hasStaticSource() {
go pa.source.(*sourceStatic).reloadConf(newConf)
}
pa.confMutex.Lock()
pa.conf = newConf
pa.confMutex.Unlock()
case req := <-pa.chSourceStaticSetReady:
err := pa.sourceSetReady(req.medias, req.generateRTPPackets)
if err != nil {
@ -920,6 +932,14 @@ func (pa *path) handleAPIPathsList(req pathAPIPathsListSubReq) { @@ -920,6 +932,14 @@ func (pa *path) handleAPIPathsList(req pathAPIPathsListSubReq) {
close(req.res)
}
// reloadConf is called by pathManager.
func (pa *path) reloadConf(newConf *conf.PathConf) {
select {
case pa.chReloadConf <- newConf:
case <-pa.ctx.Done():
}
}
// sourceStaticSetReady is called by sourceStatic.
func (pa *path) sourceStaticSetReady(sourceStaticCtx context.Context, req pathSourceStaticSetReadyReq) {
select {

107
internal/core/path_manager.go
Unescape View File

@ -10,6 +10,24 @@ import ( @@ -10,6 +10,24 @@ import (
"github.com/aler9/rtsp-simple-server/internal/logger"
)
func pathConfCanBeUpdated(oldPathConf *conf.PathConf, newPathConf *conf.PathConf) bool {
var copy conf.PathConf
cloneStruct(&copy, oldPathConf)
copy.RPICameraBrightness = newPathConf.RPICameraBrightness
copy.RPICameraContrast = newPathConf.RPICameraContrast
copy.RPICameraSaturation = newPathConf.RPICameraSaturation
copy.RPICameraSharpness = newPathConf.RPICameraSharpness
copy.RPICameraExposure = newPathConf.RPICameraExposure
copy.RPICameraAWB = newPathConf.RPICameraAWB
copy.RPICameraDenoise = newPathConf.RPICameraDenoise
copy.RPICameraMetering = newPathConf.RPICameraMetering
copy.RPICameraEV = newPathConf.RPICameraEV
copy.RPICameraFPS = newPathConf.RPICameraFPS
return newPathConf.Equal(&copy)
}
type pathManagerHLSServer interface {
pathSourceReady(*path)
pathSourceNotReady(*path)
@ -29,11 +47,12 @@ type pathManager struct { @@ -29,11 +47,12 @@ type pathManager struct {
metrics *metrics
parent pathManagerParent
ctx context.Context
ctxCancel func()
wg sync.WaitGroup
hlsServer pathManagerHLSServer
paths map[string]*path
ctx context.Context
ctxCancel func()
wg sync.WaitGroup
hlsServer pathManagerHLSServer
paths map[string]*path
pathsByConf map[string]map[*path]struct{}
// in
chConfReload chan map[string]*conf.PathConf
@ -72,6 +91,7 @@ func newPathManager( @@ -72,6 +91,7 @@ func newPathManager(
ctx: ctx,
ctxCancel: ctxCancel,
paths: make(map[string]*path),
pathsByConf: make(map[string]map[*path]struct{}),
chConfReload: make(chan map[string]*conf.PathConf),
chPathClose: make(chan *path),
chPathSourceReady: make(chan *path),
@ -118,36 +138,34 @@ func (pm *pathManager) run() { @@ -118,36 +138,34 @@ func (pm *pathManager) run() {
outer:
for {
select {
case pathConfs := <-pm.chConfReload:
// remove confs
for pathConfName := range pm.pathConfs {
if _, ok := pathConfs[pathConfName]; !ok {
delete(pm.pathConfs, pathConfName)
}
}
// update confs
for pathConfName, oldConf := range pm.pathConfs {
if !oldConf.Equal(pathConfs[pathConfName]) {
pm.pathConfs[pathConfName] = pathConfs[pathConfName]
}
}
// add confs
for pathConfName, pathConf := range pathConfs {
if _, ok := pm.pathConfs[pathConfName]; !ok {
pm.pathConfs[pathConfName] = pathConf
case newPathConfs := <-pm.chConfReload:
for confName, pathConf := range pm.pathConfs {
if newPathConf, ok := newPathConfs[confName]; ok {
// configuration has changed
if !newPathConf.Equal(pathConf) {
if pathConfCanBeUpdated(pathConf, newPathConf) { // paths associated with the configuration can be updated
for pa := range pm.pathsByConf[confName] {
go pa.reloadConf(newPathConf)
}
} else { // paths associated with the configuration must be recreated
for pa := range pm.pathsByConf[confName] {
pm.removePath(pa)
pa.close()
pa.wait() // avoid conflicts between sources
}
}
}
} else {
// configuration has been deleted, remove associated paths
for pa := range pm.pathsByConf[confName] {
pm.removePath(pa)
pa.close()
pa.wait() // avoid conflicts between sources
}
}
}
// remove paths associated with a conf which doesn't exist anymore
// or has changed
for _, pa := range pm.paths {
if pathConf, ok := pm.pathConfs[pa.ConfName()]; !ok || pathConf != pa.Conf() {
delete(pm.paths, pa.Name())
pa.close()
}
}
pm.pathConfs = newPathConfs
// add new paths
for pathConfName, pathConf := range pm.pathConfs {
@ -157,11 +175,10 @@ outer: @@ -157,11 +175,10 @@ outer:
}
case pa := <-pm.chPathClose:
if pmpa, ok := pm.paths[pa.Name()]; !ok || pmpa != pa {
if pmpa, ok := pm.paths[pa.name]; !ok || pmpa != pa {
continue
}
delete(pm.paths, pa.Name())
pa.close()
pm.removePath(pa)
case pa := <-pm.chPathSourceReady:
if pm.hlsServer != nil {
@ -278,7 +295,7 @@ func (pm *pathManager) createPath( @@ -278,7 +295,7 @@ func (pm *pathManager) createPath(
name string,
matches []string,
) {
pm.paths[name] = newPath(
pa := newPath(
pm.ctx,
pm.rtspAddress,
pm.readTimeout,
@ -291,6 +308,21 @@ func (pm *pathManager) createPath( @@ -291,6 +308,21 @@ func (pm *pathManager) createPath(
&pm.wg,
pm.externalCmdPool,
pm)
pm.paths[name] = pa
if _, ok := pm.pathsByConf[pathConfName]; !ok {
pm.pathsByConf[pathConfName] = make(map[*path]struct{})
}
pm.pathsByConf[pathConfName][pa] = struct{}{}
}
func (pm *pathManager) removePath(pa *path) {
delete(pm.pathsByConf[pa.confName], pa)
if len(pm.pathsByConf[pa.confName]) == 0 {
delete(pm.pathsByConf, pa.confName)
}
delete(pm.paths, pa.name)
}
func (pm *pathManager) findPathConf(name string) (string, *conf.PathConf, []string, error) {
@ -330,6 +362,7 @@ func (pm *pathManager) pathSourceReady(pa *path) { @@ -330,6 +362,7 @@ func (pm *pathManager) pathSourceReady(pa *path) {
select {
case pm.chPathSourceReady <- pa:
case <-pm.ctx.Done():
case <-pa.ctx.Done(): // in case pathManager is closing the path
}
}
@ -338,6 +371,7 @@ func (pm *pathManager) pathSourceNotReady(pa *path) { @@ -338,6 +371,7 @@ func (pm *pathManager) pathSourceNotReady(pa *path) {
select {
case pm.chPathSourceNotReady <- pa:
case <-pm.ctx.Done():
case <-pa.ctx.Done(): // in case pathManager is closing the path
}
}
@ -346,6 +380,7 @@ func (pm *pathManager) onPathClose(pa *path) { @@ -346,6 +380,7 @@ func (pm *pathManager) onPathClose(pa *path) {
select {
case pm.chPathClose <- pa:
case <-pm.ctx.Done():
case <-pa.ctx.Done(): // in case pathManager is closing the path
}
}

53
internal/core/rpicamera_source.go
Unescape View File

@ -7,11 +7,46 @@ import ( @@ -7,11 +7,46 @@ import (
"github.com/aler9/gortsplib/v2/pkg/format"
"github.com/aler9/gortsplib/v2/pkg/media"
"github.com/aler9/rtsp-simple-server/internal/conf"
"github.com/aler9/rtsp-simple-server/internal/formatprocessor"
"github.com/aler9/rtsp-simple-server/internal/logger"
"github.com/aler9/rtsp-simple-server/internal/rpicamera"
)
func paramsFromConf(cnf *conf.PathConf) rpicamera.Params {
return rpicamera.Params{
CameraID: cnf.RPICameraCamID,
Width: cnf.RPICameraWidth,
Height: cnf.RPICameraHeight,
HFlip: cnf.RPICameraHFlip,
VFlip: cnf.RPICameraVFlip,
Brightness: cnf.RPICameraBrightness,
Contrast: cnf.RPICameraContrast,
Saturation: cnf.RPICameraSaturation,
Sharpness: cnf.RPICameraSharpness,
Exposure: cnf.RPICameraExposure,
AWB: cnf.RPICameraAWB,
Denoise: cnf.RPICameraDenoise,
Shutter: cnf.RPICameraShutter,
Metering: cnf.RPICameraMetering,
Gain: cnf.RPICameraGain,
EV: cnf.RPICameraEV,
ROI: cnf.RPICameraROI,
TuningFile: cnf.RPICameraTuningFile,
Mode: cnf.RPICameraMode,
FPS: cnf.RPICameraFPS,
IDRPeriod: cnf.RPICameraIDRPeriod,
Bitrate: cnf.RPICameraBitrate,
Profile: cnf.RPICameraProfile,
Level: cnf.RPICameraLevel,
AfMode: cnf.RPICameraAfMode,
AfRange: cnf.RPICameraAfRange,
AfSpeed: cnf.RPICameraAfSpeed,
LensPosition: cnf.RPICameraLensPosition,
AfWindow: cnf.RPICameraAfWindow,
}
}
type rpiCameraSourceParent interface {
log(logger.Level, string, ...interface{})
sourceStaticImplSetReady(req pathSourceStaticSetReadyReq) pathSourceStaticSetReadyRes
@ -19,16 +54,13 @@ type rpiCameraSourceParent interface { @@ -19,16 +54,13 @@ type rpiCameraSourceParent interface {
}
type rpiCameraSource struct {
params rpicamera.Params
parent rpiCameraSourceParent
}
func newRPICameraSource(
params rpicamera.Params,
parent rpiCameraSourceParent,
) *rpiCameraSource {
return &rpiCameraSource{
params: params,
parent: parent,
}
}
@ -38,7 +70,7 @@ func (s *rpiCameraSource) Log(level logger.Level, format string, args ...interfa @@ -38,7 +70,7 @@ func (s *rpiCameraSource) Log(level logger.Level, format string, args ...interfa
}
// run implements sourceStaticImpl.
func (s *rpiCameraSource) run(ctx context.Context) error {
func (s *rpiCameraSource) run(ctx context.Context, cnf *conf.PathConf, reloadConf chan *conf.PathConf) error {
medi := &media.Media{
Type: media.TypeVideo,
Formats: []format.Format{&format.H264{
@ -73,7 +105,7 @@ func (s *rpiCameraSource) run(ctx context.Context) error { @@ -73,7 +105,7 @@ func (s *rpiCameraSource) run(ctx context.Context) error {
}
}
cam, err := rpicamera.New(s.params, onData)
cam, err := rpicamera.New(paramsFromConf(cnf), onData)
if err != nil {
return err
}
@ -85,8 +117,15 @@ func (s *rpiCameraSource) run(ctx context.Context) error { @@ -85,8 +117,15 @@ func (s *rpiCameraSource) run(ctx context.Context) error {
}
}()
<-ctx.Done()
return nil
for {
select {
case cnf := <-reloadConf:
cam.ReloadParams(paramsFromConf(cnf))
case <-ctx.Done():
return nil
}
}
}
// apiSourceDescribe implements sourceStaticImpl.

12
internal/core/rtmp_conn.go
Unescape View File

@ -422,14 +422,16 @@ func (c *rtmpConn) runRead(ctx context.Context, u *url.URL) error { @@ -422,14 +422,16 @@ func (c *rtmpConn) runRead(ctx context.Context, u *url.URL) error {
defer res.stream.readerRemove(c)
c.log(logger.Info, "is reading from path '%s', %s",
path.Name(), sourceMediaInfo(medias))
path.name, sourceMediaInfo(medias))
if path.Conf().RunOnRead != "" {
pathConf := path.safeConf()
if pathConf.RunOnRead != "" {
c.log(logger.Info, "runOnRead command started")
onReadCmd := externalcmd.NewCmd(
c.externalCmdPool,
path.Conf().RunOnRead,
path.Conf().RunOnReadRestart,
pathConf.RunOnRead,
pathConf.RunOnReadRestart,
path.externalCmdEnv(),
func(co int) {
c.log(logger.Info, "runOnRead command exited with code %d", co)
@ -530,7 +532,7 @@ func (c *rtmpConn) runPublish(ctx context.Context, u *url.URL) error { @@ -530,7 +532,7 @@ func (c *rtmpConn) runPublish(ctx context.Context, u *url.URL) error {
}
c.log(logger.Info, "is publishing to path '%s', %s",
path.Name(),
path.name,
sourceMediaInfo(medias))
// disable write deadline to allow outgoing acknowledges

32
internal/core/rtmp_source.go
Unescape View File

@ -30,23 +30,17 @@ type rtmpSourceParent interface { @@ -30,23 +30,17 @@ type rtmpSourceParent interface {
}
type rtmpSource struct {
ur string
fingerprint string
readTimeout conf.StringDuration
writeTimeout conf.StringDuration
parent rtmpSourceParent
}
func newRTMPSource(
ur string,
fingerprint string,
readTimeout conf.StringDuration,
writeTimeout conf.StringDuration,
parent rtmpSourceParent,
) *rtmpSource {
return &rtmpSource{
ur: ur,
fingerprint: fingerprint,
readTimeout: readTimeout,
writeTimeout: writeTimeout,
parent: parent,
@ -58,10 +52,10 @@ func (s *rtmpSource) Log(level logger.Level, format string, args ...interface{}) @@ -58,10 +52,10 @@ func (s *rtmpSource) Log(level logger.Level, format string, args ...interface{})
}
// run implements sourceStaticImpl.
func (s *rtmpSource) run(ctx context.Context) error {
func (s *rtmpSource) run(ctx context.Context, cnf *conf.PathConf, reloadConf chan *conf.PathConf) error {
s.Log(logger.Debug, "connecting")
u, err := url.Parse(s.ur)
u, err := url.Parse(cnf.Source)
if err != nil {
return err
}
@ -86,7 +80,7 @@ func (s *rtmpSource) run(ctx context.Context) error { @@ -86,7 +80,7 @@ func (s *rtmpSource) run(ctx context.Context) error {
h := sha256.New()
h.Write(cs.PeerCertificates[0].Raw)
hstr := hex.EncodeToString(h.Sum(nil))
fingerprintLower := strings.ToLower(s.fingerprint)
fingerprintLower := strings.ToLower(cnf.SourceFingerprint)
if hstr != fingerprintLower {
return fmt.Errorf("server fingerprint do not match: expected %s, got %s",
@ -213,15 +207,19 @@ func (s *rtmpSource) run(ctx context.Context) error { @@ -213,15 +207,19 @@ func (s *rtmpSource) run(ctx context.Context) error {
}()
}()
select {
case err := <-readDone:
nconn.Close()
return err
for {
select {
case err := <-readDone:
nconn.Close()
return err
case <-reloadConf:
case <-ctx.Done():
nconn.Close()
<-readDone
return nil
case <-ctx.Done():
nconn.Close()
<-readDone
return nil
}
}
}

12
internal/core/rtsp_session.go
Unescape View File

@ -270,16 +270,18 @@ func (s *rtspSession) onPlay(ctx *gortsplib.ServerHandlerOnPlayCtx) (*base.Respo @@ -270,16 +270,18 @@ func (s *rtspSession) onPlay(ctx *gortsplib.ServerHandlerOnPlayCtx) (*base.Respo
if s.session.State() == gortsplib.ServerSessionStatePrePlay {
s.log(logger.Info, "is reading from path '%s', with %s, %s",
s.path.Name(),
s.path.name,
s.session.SetuppedTransport(),
sourceMediaInfo(s.session.SetuppedMedias()))
if s.path.Conf().RunOnRead != "" {
pathConf := s.path.safeConf()
if pathConf.RunOnRead != "" {
s.log(logger.Info, "runOnRead command started")
s.onReadCmd = externalcmd.NewCmd(
s.externalCmdPool,
s.path.Conf().RunOnRead,
s.path.Conf().RunOnReadRestart,
pathConf.RunOnRead,
pathConf.RunOnReadRestart,
s.path.externalCmdEnv(),
func(co int) {
s.log(logger.Info, "runOnRead command exited with code %d", co)
@ -311,7 +313,7 @@ func (s *rtspSession) onRecord(ctx *gortsplib.ServerHandlerOnRecordCtx) (*base.R @@ -311,7 +313,7 @@ func (s *rtspSession) onRecord(ctx *gortsplib.ServerHandlerOnRecordCtx) (*base.R
}
s.log(logger.Info, "is publishing to path '%s', with %s, %s",
s.path.Name(),
s.path.name,
s.session.SetuppedTransport(),
sourceMediaInfo(s.session.AnnouncedMedias()))

42
internal/core/rtsp_source.go
Unescape View File

@ -27,10 +27,6 @@ type rtspSourceParent interface { @@ -27,10 +27,6 @@ type rtspSourceParent interface {
}
type rtspSource struct {
ur string
proto conf.SourceProtocol
anyPortEnable bool
fingerprint string
readTimeout conf.StringDuration
writeTimeout conf.StringDuration
readBufferCount int
@ -38,20 +34,12 @@ type rtspSource struct { @@ -38,20 +34,12 @@ type rtspSource struct {
}
func newRTSPSource(
ur string,
proto conf.SourceProtocol,
anyPortEnable bool,
fingerprint string,
readTimeout conf.StringDuration,
writeTimeout conf.StringDuration,
readBufferCount int,
parent rtspSourceParent,
) *rtspSource {
return &rtspSource{
ur: ur,
proto: proto,
anyPortEnable: anyPortEnable,
fingerprint: fingerprint,
readTimeout: readTimeout,
writeTimeout: writeTimeout,
readBufferCount: readBufferCount,
@ -64,18 +52,18 @@ func (s *rtspSource) Log(level logger.Level, format string, args ...interface{}) @@ -64,18 +52,18 @@ func (s *rtspSource) Log(level logger.Level, format string, args ...interface{})
}
// run implements sourceStaticImpl.
func (s *rtspSource) run(ctx context.Context) error {
func (s *rtspSource) run(ctx context.Context, cnf *conf.PathConf, reloadConf chan *conf.PathConf) error {
s.Log(logger.Debug, "connecting")
var tlsConfig *tls.Config
if s.fingerprint != "" {
if cnf.SourceFingerprint != "" {
tlsConfig = &tls.Config{
InsecureSkipVerify: true,
VerifyConnection: func(cs tls.ConnectionState) error {
h := sha256.New()
h.Write(cs.PeerCertificates[0].Raw)
hstr := hex.EncodeToString(h.Sum(nil))
fingerprintLower := strings.ToLower(s.fingerprint)
fingerprintLower := strings.ToLower(cnf.SourceFingerprint)
if hstr != fingerprintLower {
return fmt.Errorf("server fingerprint do not match: expected %s, got %s",
@ -88,12 +76,12 @@ func (s *rtspSource) run(ctx context.Context) error { @@ -88,12 +76,12 @@ func (s *rtspSource) run(ctx context.Context) error {
}
c := &gortsplib.Client{
Transport: s.proto.Transport,
Transport: cnf.SourceProtocol.Transport,
TLSConfig: tlsConfig,
ReadTimeout: time.Duration(s.readTimeout),
WriteTimeout: time.Duration(s.writeTimeout),
ReadBufferCount: s.readBufferCount,
AnyPortEnable: s.anyPortEnable,
AnyPortEnable: cnf.SourceAnyPortEnable,
OnRequest: func(req *base.Request) {
s.Log(logger.Debug, "c->s %v", req)
},
@ -105,7 +93,7 @@ func (s *rtspSource) run(ctx context.Context) error { @@ -105,7 +93,7 @@ func (s *rtspSource) run(ctx context.Context) error {
},
}
u, err := url.Parse(s.ur)
u, err := url.Parse(cnf.Source)
if err != nil {
return err
}
@ -238,14 +226,18 @@ func (s *rtspSource) run(ctx context.Context) error { @@ -238,14 +226,18 @@ func (s *rtspSource) run(ctx context.Context) error {
}()
}()
select {
case err := <-readErr:
return err
for {
select {
case err := <-readErr:
return err
case <-reloadConf:
case <-ctx.Done():
c.Close()
<-readErr
return nil
case <-ctx.Done():
c.Close()
<-readErr
return nil
}
}
}

128
internal/core/source_static.go
Unescape View File

@ -8,7 +8,6 @@ import ( @@ -8,7 +8,6 @@ import (
"github.com/aler9/rtsp-simple-server/internal/conf"
"github.com/aler9/rtsp-simple-server/internal/logger"
"github.com/aler9/rtsp-simple-server/internal/rpicamera"
)
const (
@ -17,7 +16,7 @@ const ( @@ -17,7 +16,7 @@ const (
type sourceStaticImpl interface {
Log(logger.Level, string, ...interface{})
run(context.Context) error
run(context.Context, *conf.PathConf, chan *conf.PathConf) error
apiSourceDescribe() interface{}
}
@ -29,6 +28,7 @@ type sourceStaticParent interface { @@ -29,6 +28,7 @@ type sourceStaticParent interface {
// sourceStatic is a static source.
type sourceStatic struct {
conf *conf.PathConf
parent sourceStaticParent
ctx context.Context
@ -36,86 +36,53 @@ type sourceStatic struct { @@ -36,86 +36,53 @@ type sourceStatic struct {
impl sourceStaticImpl
running bool
done chan struct{}
// in
chReloadConf chan *conf.PathConf
chSourceStaticImplSetReady chan pathSourceStaticSetReadyReq
chSourceStaticImplSetNotReady chan pathSourceStaticSetNotReadyReq
// out
done chan struct{}
}
func newSourceStatic(
conf *conf.PathConf,
cnf *conf.PathConf,
readTimeout conf.StringDuration,
writeTimeout conf.StringDuration,
readBufferCount int,
parent sourceStaticParent,
) *sourceStatic {
s := &sourceStatic{
conf: cnf,
parent: parent,
chReloadConf: make(chan *conf.PathConf),
chSourceStaticImplSetReady: make(chan pathSourceStaticSetReadyReq),
chSourceStaticImplSetNotReady: make(chan pathSourceStaticSetNotReadyReq),
}
switch {
case strings.HasPrefix(conf.Source, "rtsp://") ||
strings.HasPrefix(conf.Source, "rtsps://"):
case strings.HasPrefix(cnf.Source, "rtsp://") ||
strings.HasPrefix(cnf.Source, "rtsps://"):
s.impl = newRTSPSource(
conf.Source,
conf.SourceProtocol,
conf.SourceAnyPortEnable,
conf.SourceFingerprint,
readTimeout,
writeTimeout,
readBufferCount,
s)
case strings.HasPrefix(conf.Source, "rtmp://") ||
strings.HasPrefix(conf.Source, "rtmps://"):
case strings.HasPrefix(cnf.Source, "rtmp://") ||
strings.HasPrefix(cnf.Source, "rtmps://"):
s.impl = newRTMPSource(
conf.Source,
conf.SourceFingerprint,
readTimeout,
writeTimeout,
s)
case strings.HasPrefix(conf.Source, "http://") ||
strings.HasPrefix(conf.Source, "https://"):
case strings.HasPrefix(cnf.Source, "http://") ||
strings.HasPrefix(cnf.Source, "https://"):
s.impl = newHLSSource(
conf.Source,
conf.SourceFingerprint,
s)
case conf.Source == "rpiCamera":
case cnf.Source == "rpiCamera":
s.impl = newRPICameraSource(
rpicamera.Params{
CameraID: conf.RPICameraCamID,
Width: conf.RPICameraWidth,
Height: conf.RPICameraHeight,
HFlip: conf.RPICameraHFlip,
VFlip: conf.RPICameraVFlip,
Brightness: conf.RPICameraBrightness,
Contrast: conf.RPICameraContrast,
Saturation: conf.RPICameraSaturation,
Sharpness: conf.RPICameraSharpness,
Exposure: conf.RPICameraExposure,
AWB: conf.RPICameraAWB,
Denoise: conf.RPICameraDenoise,
Shutter: conf.RPICameraShutter,
Metering: conf.RPICameraMetering,
Gain: conf.RPICameraGain,
EV: conf.RPICameraEV,
ROI: conf.RPICameraROI,
TuningFile: conf.RPICameraTuningFile,
Mode: conf.RPICameraMode,
FPS: conf.RPICameraFPS,
IDRPeriod: conf.RPICameraIDRPeriod,
Bitrate: conf.RPICameraBitrate,
Profile: conf.RPICameraProfile,
Level: conf.RPICameraLevel,
AfMode: conf.RPICameraAfMode,
AfRange: conf.RPICameraAfRange,
AfSpeed: conf.RPICameraAfSpeed,
LensPosition: conf.RPICameraLensPosition,
AfWindow: conf.RPICameraAfWindow,
},
s)
}
@ -163,33 +130,43 @@ func (s *sourceStatic) log(level logger.Level, format string, args ...interface{ @@ -163,33 +130,43 @@ func (s *sourceStatic) log(level logger.Level, format string, args ...interface{
func (s *sourceStatic) run() {
defer close(s.done)
outer:
for {
s.runInner()
var innerCtx context.Context
var innerCtxCancel func()
implErr := make(chan error)
innerReloadConf := make(chan *conf.PathConf)
select {
case <-time.After(sourceStaticRetryPause):
case <-s.ctx.Done():
break outer
}
recreate := func() {
innerCtx, innerCtxCancel = context.WithCancel(context.Background())
go func() {
implErr <- s.impl.run(innerCtx, s.conf, innerReloadConf)
}()
}
s.ctxCancel()
}
recreate()
func (s *sourceStatic) runInner() {
innerCtx, innerCtxCancel := context.WithCancel(context.Background())
implErr := make(chan error)
go func() {
implErr <- s.impl.run(innerCtx)
}()
recreating := false
recreateTimer := newEmptyTimer()
for {
select {
case err := <-implErr:
innerCtxCancel()
s.impl.Log(logger.Info, "ERR: %v", err)
return
recreating = true
recreateTimer = time.NewTimer(sourceStaticRetryPause)
case newConf := <-s.chReloadConf:
s.conf = newConf
if !recreating {
cReloadConf := innerReloadConf
cInnerCtx := innerCtx
go func() {
select {
case cReloadConf <- newConf:
case <-cInnerCtx.Done():
}
}()
}
case req := <-s.chSourceStaticImplSetReady:
s.parent.sourceStaticSetReady(s.ctx, req)
@ -197,14 +174,27 @@ func (s *sourceStatic) runInner() { @@ -197,14 +174,27 @@ func (s *sourceStatic) runInner() {
case req := <-s.chSourceStaticImplSetNotReady:
s.parent.sourceStaticSetNotReady(s.ctx, req)
case <-recreateTimer.C:
recreate()
recreating = false
case <-s.ctx.Done():
innerCtxCancel()
<-implErr
if !recreating {
innerCtxCancel()
<-implErr
}
return
}
}
}
func (s *sourceStatic) reloadConf(newConf *conf.PathConf) {
select {
case s.chReloadConf <- newConf:
case <-s.ctx.Done():
}
}
// apiSourceDescribe implements source.
func (s *sourceStatic) apiSourceDescribe() interface{} {
return s.impl.apiSourceDescribe()

2
internal/core/webrtc_conn.go
Unescape View File

@ -507,7 +507,7 @@ outer: @@ -507,7 +507,7 @@ outer:
defer res.stream.readerRemove(c)
c.log(logger.Info, "is reading from path '%s', %s",
path.Name(), sourceMediaInfo(gatherMedias(tracks)))
path.name, sourceMediaInfo(gatherMedias(tracks)))
go func() {
for {

2
internal/core/webrtc_server.go
Unescape View File

@ -421,7 +421,7 @@ func (s *webRTCServer) newConn(dir string, wsconn *websocket.ServerConn) *webRTC @@ -421,7 +421,7 @@ func (s *webRTCServer) newConn(dir string, wsconn *websocket.ServerConn) *webRTC
}
func (s *webRTCServer) authenticate(pa *path, ctx *gin.Context) error {
pathConf := pa.Conf()
pathConf := pa.safeConf()
pathIPs := pathConf.ReadIPs
pathUser := pathConf.ReadUser
pathPass := pathConf.ReadPass

49
internal/rpicamera/embeddedexe.go
Unescape View File

@ -1,49 +0,0 @@ @@ -1,49 +0,0 @@
//go:build rpicamera
// +build rpicamera
package rpicamera
import (
"os"
"os/exec"
"strconv"
"time"
)
const (
tempPathPrefix = "/dev/shm/rtspss-embeddedexe-"
)
type embeddedExe struct {
cmd *exec.Cmd
}
func newEmbeddedExe(content []byte, env []string) (*embeddedExe, error) {
tempPath := tempPathPrefix + strconv.FormatInt(time.Now().UnixNano(), 10)
err := os.WriteFile(tempPath, content, 0o755)
if err != nil {
return nil, err
}
cmd := exec.Command(tempPath)
cmd.Stdout = os.Stdout
cmd.Stderr = os.Stderr
cmd.Env = env
err = cmd.Start()
os.Remove(tempPath)
if err != nil {
return nil, err
}
return &embeddedExe{
cmd: cmd,
}, nil
}
func (e *embeddedExe) close() {
e.cmd.Process.Kill()
e.cmd.Wait()
}

1
internal/rpicamera/exe/Makefile
Unescape View File

@ -26,6 +26,7 @@ OBJS = \ @@ -26,6 +26,7 @@ OBJS = \
encoder.o \
main.o \
parameters.o \
pipe.o \
window.o \
sensor_mode.o

203
internal/rpicamera/exe/camera.cpp
Unescape View File

@ -3,6 +3,7 @@ @@ -3,6 +3,7 @@
#include <cstring>
#include <sys/mman.h>
#include <iostream>
#include <mutex>
#include <libcamera/camera_manager.h>
#include <libcamera/camera.h>
@ -71,13 +72,15 @@ static PixelFormat mode_to_pixel_format(sensor_mode_t *mode) { @@ -71,13 +72,15 @@ static PixelFormat mode_to_pixel_format(sensor_mode_t *mode) {
}
struct CameraPriv {
parameters_t *params;
const parameters_t *params;
camera_frame_cb frame_cb;
std::unique_ptr<CameraManager> camera_manager;
std::shared_ptr<Camera> camera;
Stream *video_stream;
std::unique_ptr<FrameBufferAllocator> allocator;
std::vector<std::unique_ptr<Request>> requests;
std::mutex ctrls_mutex;
std::unique_ptr<ControlList> ctrls;
};
static int get_v4l2_colorspace(std::optional<ColorSpace> const &cs) {
@ -87,7 +90,7 @@ static int get_v4l2_colorspace(std::optional<ColorSpace> const &cs) { @@ -87,7 +90,7 @@ static int get_v4l2_colorspace(std::optional<ColorSpace> const &cs) {
return V4L2_COLORSPACE_SMPTE170M;
}
bool camera_create(parameters_t *params, camera_frame_cb frame_cb, camera_t **cam) {
bool camera_create(const parameters_t *params, camera_frame_cb frame_cb, camera_t **cam) {
// We make sure to set the environment variable before libcamera init
setenv("LIBCAMERA_RPI_TUNING_FILE", params->tuning_file, 1);
@ -223,6 +226,13 @@ static void on_request_complete(Request *request) { @@ -223,6 +226,13 @@ static void on_request_complete(Request *request) {
camp->frame_cb(buffer->planes()[0].fd.get(), size, ts);
request->reuse(Request::ReuseFlag::ReuseBuffers);
{
std::lock_guard<std::mutex> lock(camp->ctrls_mutex);
request->controls() = *camp->ctrls;
camp->ctrls->clear();
}
camp->camera->queueRequest(request);
}
@ -236,81 +246,126 @@ int camera_get_mode_colorspace(camera_t *cam) { @@ -236,81 +246,126 @@ int camera_get_mode_colorspace(camera_t *cam) {
return get_v4l2_colorspace(camp->video_stream->configuration().colorSpace);
}
bool camera_start(camera_t *cam) {
CameraPriv *camp = (CameraPriv *)cam;
ControlList ctrls = ControlList(controls::controls);
ctrls.set(controls::Brightness, camp->params->brightness);
ctrls.set(controls::Contrast, camp->params->contrast);
ctrls.set(controls::Saturation, camp->params->saturation);
ctrls.set(controls::Sharpness, camp->params->sharpness);
static void fill_dynamic_controls(ControlList *ctrls, const parameters_t *params) {
ctrls->set(controls::Brightness, params->brightness);
ctrls->set(controls::Contrast, params->contrast);
ctrls->set(controls::Saturation, params->saturation);
ctrls->set(controls::Sharpness, params->sharpness);
int exposure_mode;
if (strcmp(camp->params->exposure, "short") == 0) {
if (strcmp(params->exposure, "short") == 0) {
exposure_mode = controls::ExposureShort;
} else if (strcmp(camp->params->exposure, "long") == 0) {
} else if (strcmp(params->exposure, "long") == 0) {
exposure_mode = controls::ExposureLong;
} else if (strcmp(camp->params->exposure, "custom") == 0) {
} else if (strcmp(params->exposure, "custom") == 0) {
exposure_mode = controls::ExposureCustom;
} else {
exposure_mode = controls::ExposureNormal;
}
ctrls.set(controls::AeExposureMode, exposure_mode);
ctrls->set(controls::AeExposureMode, exposure_mode);
int awb_mode;
if (strcmp(camp->params->awb, "incandescent") == 0) {
if (strcmp(params->awb, "incandescent") == 0) {
awb_mode = controls::AwbIncandescent;
} else if (strcmp(camp->params->awb, "tungsten") == 0) {
} else if (strcmp(params->awb, "tungsten") == 0) {
awb_mode = controls::AwbTungsten;
} else if (strcmp(camp->params->awb, "fluorescent") == 0) {
} else if (strcmp(params->awb, "fluorescent") == 0) {
awb_mode = controls::AwbFluorescent;
} else if (strcmp(camp->params->awb, "indoor") == 0) {
} else if (strcmp(params->awb, "indoor") == 0) {
awb_mode = controls::AwbIndoor;
} else if (strcmp(camp->params->awb, "daylight") == 0) {
} else if (strcmp(params->awb, "daylight") == 0) {
awb_mode = controls::AwbDaylight;
} else if (strcmp(camp->params->awb, "cloudy") == 0) {
} else if (strcmp(params->awb, "cloudy") == 0) {
awb_mode = controls::AwbCloudy;
} else if (strcmp(camp->params->awb, "custom") == 0) {
} else if (strcmp(params->awb, "custom") == 0) {
awb_mode = controls::AwbCustom;
} else {
awb_mode = controls::AwbAuto;
}
ctrls.set(controls::AwbMode, awb_mode);
ctrls->set(controls::AwbMode, awb_mode);
int denoise_mode;
if (strcmp(camp->params->denoise, "cdn_off") == 0) {
if (strcmp(params->denoise, "cdn_off") == 0) {
denoise_mode = controls::draft::NoiseReductionModeMinimal;
} else if (strcmp(camp->params->denoise, "cdn_hq") == 0) {
} else if (strcmp(params->denoise, "cdn_hq") == 0) {
denoise_mode = controls::draft::NoiseReductionModeHighQuality;
} else if (strcmp(camp->params->denoise, "cdn_fast") == 0) {
} else if (strcmp(params->denoise, "cdn_fast") == 0) {
denoise_mode = controls::draft::NoiseReductionModeFast;
} else {
denoise_mode = controls::draft::NoiseReductionModeOff;
}
ctrls.set(controls::draft::NoiseReductionMode, denoise_mode);
if (camp->params->shutter != 0) {
ctrls.set(controls::ExposureTime, camp->params->shutter);
}
ctrls->set(controls::draft::NoiseReductionMode, denoise_mode);
int metering_mode;
if (strcmp(camp->params->metering, "spot") == 0) {
if (strcmp(params->metering, "spot") == 0) {
metering_mode = controls::MeteringSpot;
} else if (strcmp(camp->params->metering, "matrix") == 0) {
} else if (strcmp(params->metering, "matrix") == 0) {
metering_mode = controls::MeteringMatrix;
} else if (strcmp(camp->params->metering, "custom") == 0) {
} else if (strcmp(params->metering, "custom") == 0) {
metering_mode = controls::MeteringCustom;
} else {
metering_mode = controls::MeteringCentreWeighted;
}
ctrls.set(controls::AeMeteringMode, metering_mode);
ctrls->set(controls::AeMeteringMode, metering_mode);
ctrls->set(controls::ExposureValue, params->ev);
int64_t frame_time = 1000000 / params->fps;
ctrls->set(controls::FrameDurationLimits, Span<const int64_t, 2>({ frame_time, frame_time }));
}
bool camera_start(camera_t *cam) {
CameraPriv *camp = (CameraPriv *)cam;
camp->ctrls = std::make_unique<ControlList>(controls::controls);
fill_dynamic_controls(camp->ctrls.get(), camp->params);
if (camp->params->shutter != 0) {
camp->ctrls->set(controls::ExposureTime, camp->params->shutter);
}
if (camp->params->gain > 0) {
ctrls.set(controls::AnalogueGain, camp->params->gain);
camp->ctrls->set(controls::AnalogueGain, camp->params->gain);
}
ctrls.set(controls::ExposureValue, camp->params->ev);
if (camp->camera->controls().count(&controls::AfMode) > 0) {
int af_mode;
if (strcmp(camp->params->af_mode, "manual") == 0) {
af_mode = controls::AfModeManual;
} else if (strcmp(camp->params->af_mode, "continuous") == 0) {
af_mode = controls::AfModeContinuous;
} else {
af_mode = controls::AfModeAuto;
}
camp->ctrls->set(controls::AfMode, af_mode);
if (af_mode == controls::AfModeManual) {
camp->ctrls->set(controls::LensPosition, camp->params->lens_position);
}
}
if (camp->camera->controls().count(&controls::AfRange) > 0) {
int af_range;
if (strcmp(camp->params->af_range, "macro") == 0) {
af_range = controls::AfRangeMacro;
} else if (strcmp(camp->params->af_range, "full") == 0) {
af_range = controls::AfRangeFull;
} else {
af_range = controls::AfRangeNormal;
}
camp->ctrls->set(controls::AfRange, af_range);
}
if (camp->camera->controls().count(&controls::AfSpeed) > 0) {
int af_speed;
if (strcmp(camp->params->af_range, "fast") == 0) {
af_speed = controls::AfSpeedFast;
} else {
af_speed = controls::AfSpeedNormal;
}
camp->ctrls->set(controls::AfSpeed, af_speed);
}
if (camp->params->roi != NULL) {
std::optional<Rectangle> opt = camp->camera->properties().get(properties::ScalerCropMaximum);
@ -328,51 +383,9 @@ bool camera_start(camera_t *cam) { @@ -328,51 +383,9 @@ bool camera_start(camera_t *cam) {
camp->params->roi->width * sensor_area.width,
camp->params->roi->height * sensor_area.height);
crop.translateBy(sensor_area.topLeft());
ctrls.set(controls::ScalerCrop, crop);
}
int64_t frame_time = 1000000 / camp->params->fps;
ctrls.set(controls::FrameDurationLimits, Span<const int64_t, 2>({ frame_time, frame_time }));
int af_mode;
if (strcmp(camp->params->af_mode, "manual") == 0) {
af_mode = controls::AfModeManual;
} else if (strcmp(camp->params->af_mode, "auto") == 0) {
af_mode = controls::AfModeAuto;
} else if (strcmp(camp->params->af_mode, "continuous") == 0) {
af_mode = controls::AfModeContinuous;
} else {
af_mode = controls::AfModeManual;
}
ctrls.set(controls::AfMode, af_mode);
int af_range;
if (strcmp(camp->params->af_range, "normal") == 0) {
af_range = controls::AfRangeNormal;
} else if (strcmp(camp->params->af_range, "macro") == 0) {
af_range = controls::AfRangeMacro;
} else if (strcmp(camp->params->af_range, "full") == 0) {
af_range = controls::AfRangeFull;
} else {
af_range = controls::AfRangeNormal;
}
ctrls.set(controls::AfRange, af_range);
int af_speed;
if (strcmp(camp->params->af_range, "normal") == 0) {
af_speed = controls::AfSpeedNormal;
} else if (strcmp(camp->params->af_range, "fast") == 0) {
af_speed = controls::AfSpeedFast;
} else {
af_speed = controls::AfSpeedNormal;
camp->ctrls->set(controls::ScalerCrop, crop);
}
ctrls.set(controls::AfSpeed, af_speed);
// Lens Position
ctrls.set(controls::LensPosition, camp->params->lens_position);
// Af Window
if (camp->params->af_window != NULL) {
std::optional<Rectangle> opt = camp->camera->properties().get(properties::ScalerCropMaximum);
Rectangle sensor_area;
@ -385,26 +398,25 @@ bool camera_start(camera_t *cam) { @@ -385,26 +398,25 @@ bool camera_start(camera_t *cam) {
Rectangle afwindows_rectangle[1];
afwindows_rectangle[0] = Rectangle (
camp->params->af_window->x * sensor_area.width,
camp->params->af_window->y * sensor_area.height,
camp->params->af_window->width * sensor_area.width,
camp->params->af_window->height * sensor_area.height);
afwindows_rectangle[0] = Rectangle(
camp->params->af_window->x * sensor_area.width,
camp->params->af_window->y * sensor_area.height,
camp->params->af_window->width * sensor_area.width,
camp->params->af_window->height * sensor_area.height);
afwindows_rectangle[0].translateBy(sensor_area.topLeft());
//activate the AfMeteringWindows
ctrls.set(controls::AfMetering, controls::AfMeteringWindows);
//set window
ctrls.set(controls::AfWindows, afwindows_rectangle);
afwindows_rectangle[0].translateBy(sensor_area.topLeft());
camp->ctrls->set(controls::AfMetering, controls::AfMeteringWindows);
camp->ctrls->set(controls::AfWindows, afwindows_rectangle);
}
int res = camp->camera->start(&ctrls);
int res = camp->camera->start(camp->ctrls.get());
if (res != 0) {
set_error("Camera.start() failed");
return false;
}
camp->ctrls->clear();
camp->camera->requestCompleted.connect(on_request_complete);
for (std::unique_ptr<Request> &request : camp->requests) {
@ -417,3 +429,10 @@ bool camera_start(camera_t *cam) { @@ -417,3 +429,10 @@ bool camera_start(camera_t *cam) {
return true;
}
void camera_reload_params(camera_t *cam, const parameters_t *params) {
CameraPriv *camp = (CameraPriv *)cam;
std::lock_guard<std::mutex> lock(camp->ctrls_mutex);
fill_dynamic_controls(camp->ctrls.get(), params);
}

3
internal/rpicamera/exe/camera.h
Unescape View File

@ -10,10 +10,11 @@ extern "C" { @@ -10,10 +10,11 @@ extern "C" {
#endif
const char *camera_get_error();
bool camera_create(parameters_t *params, camera_frame_cb frame_cb, camera_t **cam);
bool camera_create(const parameters_t *params, camera_frame_cb frame_cb, camera_t **cam);
int camera_get_mode_stride(camera_t *cam);
int camera_get_mode_colorspace(camera_t *cam);
bool camera_start(camera_t *cam);
void camera_reload_params(camera_t *cam, const parameters_t *params);
#ifdef __cplusplus
}

4
internal/rpicamera/exe/encoder.c
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@ -33,7 +33,7 @@ const char *encoder_get_error() { @@ -33,7 +33,7 @@ const char *encoder_get_error() {
}
typedef struct {
parameters_t *params;
const parameters_t *params;
int fd;
void **capture_buffers;
int cur_buffer;
@ -112,7 +112,7 @@ static void *output_thread(void *userdata) { @@ -112,7 +112,7 @@ static void *output_thread(void *userdata) {
return NULL;
}
bool encoder_create(parameters_t *params, int stride, int colorspace, encoder_output_cb output_cb, encoder_t **enc) {
bool encoder_create(const parameters_t *params, int stride, int colorspace, encoder_output_cb output_cb, encoder_t **enc) {
*enc = malloc(sizeof(encoder_priv_t));
encoder_priv_t *encp = (encoder_priv_t *)(*enc);

2
internal/rpicamera/exe/encoder.h
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@ -6,7 +6,7 @@ typedef void encoder_t; @@ -6,7 +6,7 @@ typedef void encoder_t;
typedef void (*encoder_output_cb)(uint64_t ts, const uint8_t *buf, uint64_t size);
const char *encoder_get_error();
bool encoder_create(parameters_t *params, int stride, int colorspace, encoder_output_cb output_cb, encoder_t **enc);
bool encoder_create(const parameters_t *params, int stride, int colorspace, encoder_output_cb output_cb, encoder_t **enc);
void encoder_encode(encoder_t *enc, int buffer_fd, size_t size, int64_t timestamp_us);
#endif

112
internal/rpicamera/exe/main.c
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@ -3,88 +3,53 @@ @@ -3,88 +3,53 @@
#include <stdarg.h>
#include <stdint.h>
#include <stdlib.h>
#include <fcntl.h>
#include <unistd.h>
#include <signal.h>
#include <string.h>
#include <pthread.h>
#include "parameters.h"
#include "pipe.h"
#include "camera.h"
#include "encoder.h"
int pipe_fd;
pthread_mutex_t pipe_mutex;
parameters_t params;
camera_t *cam;
int pipe_video_fd;
pthread_mutex_t pipe_video_mutex;
encoder_t *enc;
static void pipe_write_error(int fd, const char *format, ...) {
char buf[256];
buf[0] = 'e';
va_list args;
va_start(args, format);
vsnprintf(&buf[1], 255, format, args);
int n = strlen(buf);
write(fd, &n, 4);
write(fd, buf, n);
}
static void pipe_write_ready(int fd) {
char buf[] = {'r'};
int n = 1;
write(fd, &n, 4);
write(fd, buf, n);
}
static void pipe_write_buf(int fd, uint64_t ts, const uint8_t *buf, int n) {
char head[] = {'b'};
n += 1 + sizeof(uint64_t);
write(fd, &n, 4);
write(fd, head, 1);
write(fd, &ts, sizeof(uint64_t));
write(fd, buf, n - 1 - sizeof(uint64_t));
}
static void on_frame(int buffer_fd, uint64_t size, uint64_t timestamp) {
encoder_encode(enc, buffer_fd, size, timestamp);
}
static void on_encoder_output(uint64_t ts, const uint8_t *buf, uint64_t size) {
pthread_mutex_lock(&pipe_mutex);
pipe_write_buf(pipe_fd, ts, buf, size);
pthread_mutex_unlock(&pipe_mutex);
}
static bool init_siglistener(sigset_t *set) {
sigemptyset(set);
int res = sigaddset(set, SIGKILL);
if (res == -1) {
return false;
}
return true;
pthread_mutex_lock(&pipe_video_mutex);
pipe_write_buf(pipe_video_fd, ts, buf, size);
pthread_mutex_unlock(&pipe_video_mutex);
}
int main() {
pipe_fd = atoi(getenv("PIPE_FD"));
int pipe_conf_fd = atoi(getenv("PIPE_CONF_FD"));
pipe_video_fd = atoi(getenv("PIPE_VIDEO_FD"));
pthread_mutex_init(&pipe_mutex, NULL);
pthread_mutex_lock(&pipe_mutex);
uint8_t *buf;
uint32_t n = pipe_read(pipe_conf_fd, &buf);
bool ok = parameters_load(&params);
parameters_t params;
bool ok = parameters_unserialize(&params, &buf[1], n-1);
free(buf);
if (!ok) {
pipe_write_error(pipe_fd, "parameters_load(): %s", parameters_get_error());
pipe_write_error(pipe_video_fd, "parameters_unserialize(): %s", parameters_get_error());
return 5;
}
pthread_mutex_init(&pipe_video_mutex, NULL);
pthread_mutex_lock(&pipe_video_mutex);
camera_t *cam;
ok = camera_create(
&params,
on_frame,
&cam);
if (!ok) {
pipe_write_error(pipe_fd, "camera_create(): %s", camera_get_error());
pipe_write_error(pipe_video_fd, "camera_create(): %s", camera_get_error());
return 5;
}
@ -95,28 +60,41 @@ int main() { @@ -95,28 +60,41 @@ int main() {
on_encoder_output,
&enc);
if (!ok) {
pipe_write_error(pipe_fd, "encoder_create(): %s", encoder_get_error());
pipe_write_error(pipe_video_fd, "encoder_create(): %s", encoder_get_error());
return 5;
}
ok = camera_start(cam);
if (!ok) {
pipe_write_error(pipe_fd, "camera_start(): %s", camera_get_error());
pipe_write_error(pipe_video_fd, "camera_start(): %s", camera_get_error());
return 5;
}
sigset_t set;
ok = init_siglistener(&set);
if (!ok) {
pipe_write_error(pipe_fd, "init_siglistener() failed");
return 5;
pipe_write_ready(pipe_video_fd);
pthread_mutex_unlock(&pipe_video_mutex);
while (true) {
uint8_t *buf;
uint32_t n = pipe_read(pipe_conf_fd, &buf);
switch (buf[0]) {
case 'e':
return 0;
case 'c':
{
parameters_t params;
bool ok = parameters_unserialize(&params, &buf[1], n-1);
free(buf);
if (!ok) {
printf("skipping reloading parameters since they are invalid: %s\n", parameters_get_error());
continue;
}
camera_reload_params(cam, &params);
parameters_destroy(&params);
}
}
}
pipe_write_ready(pipe_fd);
pthread_mutex_unlock(&pipe_mutex);
int sig;
sigwait(&set, &sig);
return 0;
}

201
internal/rpicamera/exe/parameters.c
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@ -20,85 +20,142 @@ const char *parameters_get_error() { @@ -20,85 +20,142 @@ const char *parameters_get_error() {
return errbuf;
}
bool parameters_load(parameters_t *params) {
params->camera_id = atoi(getenv("CAMERA_ID"));
params->width = atoi(getenv("WIDTH"));
params->height = atoi(getenv("HEIGHT"));
params->h_flip = (strcmp(getenv("H_FLIP"), "1") == 0);
params->v_flip = (strcmp(getenv("V_FLIP"), "1") == 0);
params->brightness = atof(getenv("BRIGHTNESS"));
params->contrast = atof(getenv("CONTRAST"));
params->saturation = atof(getenv("SATURATION"));
params->sharpness = atof(getenv("SHARPNESS"));
params->exposure = getenv("EXPOSURE");
params->awb = getenv("AWB");
params->denoise = getenv("DENOISE");
params->shutter = atoi(getenv("SHUTTER"));
params->metering = getenv("METERING");
params->gain = atof(getenv("GAIN"));
params->ev = atof(getenv("EV"));
if (strlen(getenv("ROI")) != 0) {
bool ok = window_load(getenv("ROI"), &params->roi);
if (!ok) {
set_error("invalid ROI");
return false;
}
} else {
params->roi = NULL;
}
params->tuning_file = getenv("TUNING_FILE");
if (strlen(getenv("MODE")) != 0) {
bool ok = sensor_mode_load(getenv("MODE"), &params->mode);
if (!ok) {
set_error("invalid sensor mode");
return false;
bool parameters_unserialize(parameters_t *params, const uint8_t *buf, size_t buf_size) {
char *tmp = malloc(buf_size + 1);
memcpy(tmp, buf, buf_size);
tmp[buf_size] = 0x00;
char *entry;
while ((entry = strsep(&tmp, " ")) != NULL) {
char *key = strsep(&entry, "=");
char *val = strsep(&entry, "=");
if (strcmp(key, "CameraID") == 0) {
params->camera_id = atoi(val);
} else if (strcmp(key, "Width") == 0) {
params->width = atoi(val);
} else if (strcmp(key, "Height") == 0) {
params->height = atoi(val);
} else if (strcmp(key, "HFlip") == 0) {
params->h_flip = (strcmp(val, "1") == 0);
} else if (strcmp(key, "VFlip") == 0) {
params->v_flip = (strcmp(val, "1") == 0);
} else if (strcmp(key, "Brightness") == 0) {
params->brightness = atof(val);
} else if (strcmp(key, "Contrast") == 0) {
params->contrast = atof(val);
} else if (strcmp(key, "Saturation") == 0) {
params->saturation = atof(val);
} else if (strcmp(key, "Sharpness") == 0) {
params->sharpness = atof(val);
} else if (strcmp(key, "Exposure") == 0) {
params->exposure = strdup(val);
} else if (strcmp(key, "AWB") == 0) {
params->awb = strdup(val);
} else if (strcmp(key, "Denoise") == 0) {
params->denoise = strdup(val);
} else if (strcmp(key, "Shutter") == 0) {
params->shutter = atoi(val);
} else if (strcmp(key, "Metering") == 0) {
params->metering = strdup(val);
} else if (strcmp(key, "Gain") == 0) {
params->gain = atof(val);
} else if (strcmp(key, "EV") == 0) {
params->ev = atof(val);
} else if (strcmp(key, "ROI") == 0) {
if (strlen(val) != 0) {
params->roi = malloc(sizeof(window_t));
bool ok = window_load(val, params->roi);
if (!ok) {
set_error("invalid ROI");
return false;
}
} else {
params->roi = NULL;
}
} else if (strcmp(key, "TuningFile") == 0) {
params->tuning_file = strdup(val);
} else if (strcmp(key, "Mode") == 0) {
if (strlen(val) != 0) {
params->mode = malloc(sizeof(sensor_mode_t));
bool ok = sensor_mode_load(val, params->mode);
if (!ok) {
set_error("invalid sensor mode");
return false;
}
} else {
params->mode = NULL;
}
} else if (strcmp(key, "FPS") == 0) {
params->fps = atoi(val);
} else if (strcmp(key, "IDRPeriod") == 0) {
params->idr_period = atoi(val);
} else if (strcmp(key, "Bitrate") == 0) {
params->bitrate = atoi(val);
} else if (strcmp(key, "Profile") == 0) {
if (strcmp(val, "baseline") == 0) {
params->profile = V4L2_MPEG_VIDEO_H264_PROFILE_BASELINE;
} else if (strcmp(val, "main") == 0) {
params->profile = V4L2_MPEG_VIDEO_H264_PROFILE_MAIN;
} else {
params->profile = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH;
}
} else if (strcmp(key, "Level") == 0) {
if (strcmp(val, "4.0") == 0) {
params->level = V4L2_MPEG_VIDEO_H264_LEVEL_4_0;
} else if (strcmp(val, "4.1") == 0) {
params->level = V4L2_MPEG_VIDEO_H264_LEVEL_4_1;
} else {
params->level = V4L2_MPEG_VIDEO_H264_LEVEL_4_2;
}
} else if (strcmp(key, "AfMode") == 0) {
params->af_mode = strdup(val);
} else if (strcmp(key, "AfRange") == 0) {
params->af_range = strdup(val);
} else if (strcmp(key, "AfSpeed") == 0) {
params->af_speed = strdup(val);
} else if (strcmp(key, "LensPosition") == 0) {
params->lens_position = atof(val);
} else if (strcmp(key, "AfWindow") == 0) {
if (strlen(val) != 0) {
params->af_window = malloc(sizeof(window_t));
bool ok = window_load(val, params->af_window);
if (!ok) {
set_error("invalid AfWindow");
return false;
}
} else {
params->af_window = NULL;
}
}
} else {
params->mode = NULL;
}
params->fps = atoi(getenv("FPS"));
params->idr_period = atoi(getenv("IDR_PERIOD"));
params->bitrate = atoi(getenv("BITRATE"));
const char *profile = getenv("PROFILE");
if (strcmp(profile, "baseline") == 0) {
params->profile = V4L2_MPEG_VIDEO_H264_PROFILE_BASELINE;
} else if (strcmp(profile, "main") == 0) {
params->profile = V4L2_MPEG_VIDEO_H264_PROFILE_MAIN;
} else {
params->profile = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH;
}
const char *level = getenv("LEVEL");
if (strcmp(level, "4.0") == 0) {
params->level = V4L2_MPEG_VIDEO_H264_LEVEL_4_0;
} else if (strcmp(level, "4.1") == 0) {
params->level = V4L2_MPEG_VIDEO_H264_LEVEL_4_1;
} else {
params->level = V4L2_MPEG_VIDEO_H264_LEVEL_4_2;
}
free(tmp);
params->buffer_count = 6;
params->capture_buffer_count = params->buffer_count * 2;
params->af_mode = getenv("AF_MODE");
params->af_range = getenv("AF_RANGE");
params->af_speed = getenv("AF_SPEED");
params->lens_position = atof(getenv("LENS_POSITION"));
return true;
}
if (strlen(getenv("AF_WINDOW")) != 0) {
bool ok = window_load(getenv("AF_WINDOW"), &params->af_window);
if (!ok) {
set_error("invalid AF_WINDOW");
return false;
}
} else {
params->af_window = NULL;
void parameters_destroy(parameters_t *params) {
free(params->exposure);
free(params->awb);
free(params->denoise);
free(params->metering);
free(params->tuning_file);
free(params->af_mode);
free(params->af_range);
free(params->af_speed);
if (params->roi != NULL) {
free(params->roi);
}
if (params->mode != NULL) {
free(params->mode);
}
if (params->af_window != NULL) {
free(params->af_window);
}
return true;
}

20
internal/rpicamera/exe/parameters.h
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@ -1,6 +1,7 @@ @@ -1,6 +1,7 @@
#ifndef __PARAMETERS_H__
#define __PARAMETERS_H__
#include <stdint.h>
#include <stdbool.h>
#include "window.h"
@ -16,24 +17,24 @@ typedef struct { @@ -16,24 +17,24 @@ typedef struct {
float contrast;
float saturation;
float sharpness;
const char *exposure;
const char *awb;
const char *denoise;
char *exposure;
char *awb;
char *denoise;
unsigned int shutter;
const char *metering;
char *metering;
float gain;
float ev;
window_t *roi;
const char *tuning_file;
char *tuning_file;
sensor_mode_t *mode;
unsigned int fps;
unsigned int idr_period;
unsigned int bitrate;
unsigned int profile;
unsigned int level;
const char *af_mode;
const char *af_range;
const char *af_speed;
char *af_mode;
char *af_range;
char *af_speed;
float lens_position;
window_t *af_window;
@ -47,7 +48,8 @@ extern "C" { @@ -47,7 +48,8 @@ extern "C" {
#endif
const char *parameters_get_error();
bool parameters_load(parameters_t *params);
bool parameters_unserialize(parameters_t *params, const uint8_t *buf, size_t buf_size);
void parameters_destroy(parameters_t *params);
#ifdef __cplusplus
}

44
internal/rpicamera/exe/pipe.c
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@ -0,0 +1,44 @@ @@ -0,0 +1,44 @@
#include <stdarg.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <unistd.h>
#include "pipe.h"
void pipe_write_error(int fd, const char *format, ...) {
char buf[256];
buf[0] = 'e';
va_list args;
va_start(args, format);
vsnprintf(&buf[1], 255, format, args);
uint32_t n = strlen(buf);
write(fd, &n, 4);
write(fd, buf, n);
}
void pipe_write_ready(int fd) {
char buf[] = {'r'};
uint32_t n = 1;
write(fd, &n, 4);
write(fd, buf, n);
}
void pipe_write_buf(int fd, uint64_t ts, const uint8_t *buf, uint32_t n) {
char head[] = {'b'};
n += 1 + sizeof(uint64_t);
write(fd, &n, 4);
write(fd, head, 1);
write(fd, &ts, sizeof(uint64_t));
write(fd, buf, n - 1 - sizeof(uint64_t));
}
uint32_t pipe_read(int fd, uint8_t **pbuf) {
uint32_t n;
read(fd, &n, 4);
*pbuf = malloc(n);
read(fd, *pbuf, n);
return n;
}

12
internal/rpicamera/exe/pipe.h
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@ -0,0 +1,12 @@ @@ -0,0 +1,12 @@
#ifndef __PIPE_H__
#define __PIPE_H__
#include <stdbool.h>
#include <stdint.h>
void pipe_write_error(int fd, const char *format, ...);
void pipe_write_ready(int fd);
void pipe_write_buf(int fd, uint64_t ts, const uint8_t *buf, uint32_t n);
uint32_t pipe_read(int fd, uint8_t **pbuf);
#endif

15
internal/rpicamera/exe/sensor_mode.c
Unescape View File

@ -4,26 +4,23 @@ @@ -4,26 +4,23 @@
#include "sensor_mode.h"
bool sensor_mode_load(const char *encoded, sensor_mode_t **mode) {
*mode = malloc(sizeof(sensor_mode_t));
bool sensor_mode_load(const char *encoded, sensor_mode_t *mode) {
char p;
int n = sscanf(encoded, "%u:%u:%u:%c", &((*mode)->width), &((*mode)->height), &((*mode)->bit_depth), &p);
int n = sscanf(encoded, "%u:%u:%u:%c", &(mode->width), &(mode->height), &(mode->bit_depth), &p);
if (n < 2) {
free(*mode);
return false;
}
if (n < 4) {
(*mode)->packed = true;
mode->packed = true;
} else if (toupper(p) == 'P') {
(*mode)->packed = true;
mode->packed = true;
} else if (toupper(p) == 'U') {
(*mode)->packed = false;
mode->packed = false;
}
if (n < 3) {
(*mode)->bit_depth = 12;
mode->bit_depth = 12;
}
return true;

2
internal/rpicamera/exe/sensor_mode.h
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@ -10,6 +10,6 @@ typedef struct { @@ -10,6 +10,6 @@ typedef struct {
bool packed;
} sensor_mode_t;
bool sensor_mode_load(const char *encoded, sensor_mode_t **mode);
bool sensor_mode_load(const char *encoded, sensor_mode_t *mode);
#endif

12
internal/rpicamera/exe/window.c
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@ -3,7 +3,7 @@ @@ -3,7 +3,7 @@
#include "window.h"
bool window_load(const char *encoded, window_t **mode) {
bool window_load(const char *encoded, window_t *window) {
float vals[4];
int i = 0;
char *token = strtok((char *)encoded, ",");
@ -21,10 +21,10 @@ bool window_load(const char *encoded, window_t **mode) { @@ -21,10 +21,10 @@ bool window_load(const char *encoded, window_t **mode) {
return false;
}
*mode = malloc(sizeof(window_t));
(*mode)->x = vals[0];
(*mode)->y = vals[1];
(*mode)->width = vals[2];
(*mode)->height = vals[3];
window->x = vals[0];
window->y = vals[1];
window->width = vals[2];
window->height = vals[3];
return true;
}

2
internal/rpicamera/exe/window.h
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@ -10,6 +10,6 @@ typedef struct { @@ -10,6 +10,6 @@ typedef struct {
float height;
} window_t;
bool window_load(const char *encoded, window_t **mode);
bool window_load(const char *encoded, window_t *window);
#endif

20
internal/rpicamera/pipe.go
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@ -4,7 +4,6 @@ @@ -4,7 +4,6 @@
package rpicamera
import (
"encoding/binary"
"syscall"
)
@ -51,14 +50,14 @@ func (p *pipe) close() { @@ -51,14 +50,14 @@ func (p *pipe) close() {
}
func (p *pipe) read() ([]byte, error) {
sizebuf := make([]byte, 4)
err := syscallReadAll(p.readFD, sizebuf)
buf := make([]byte, 4)
err := syscallReadAll(p.readFD, buf)
if err != nil {
return nil, err
}
size := int(binary.LittleEndian.Uint32(sizebuf))
buf := make([]byte, size)
le := int(buf[3])<<24 | int(buf[2])<<16 | int(buf[1])<<8 | int(buf[0])
buf = make([]byte, le)
err = syscallReadAll(p.readFD, buf)
if err != nil {
@ -67,3 +66,14 @@ func (p *pipe) read() ([]byte, error) { @@ -67,3 +66,14 @@ func (p *pipe) read() ([]byte, error) {
return buf, nil
}
func (p *pipe) write(byts []byte) error {
le := len(byts)
_, err := syscall.Write(p.writeFD, []byte{byte(le), byte(le >> 8), byte(le >> 16), byte(le >> 24)})
if err != nil {
return err
}
_, err = syscall.Write(p.writeFD, byts)
return err
}

266
internal/rpicamera/rpicamera.go
Unescape View File

@ -8,6 +8,7 @@ import ( @@ -8,6 +8,7 @@ import (
"fmt"
"os"
"os/exec"
"reflect"
"runtime"
"strconv"
"strings"
@ -16,16 +17,13 @@ import ( @@ -16,16 +17,13 @@ import (
"github.com/aler9/gortsplib/v2/pkg/codecs/h264"
)
const (
tempPathPrefix = "/dev/shm/rtspss-embeddedexe-"
)
//go:embed exe/exe
var exeContent []byte
func bool2env(v bool) string {
if v {
return "1"
}
return "0"
}
func getKernelArch() (string, error) {
cmd := exec.Command("uname", "-m")
@ -89,11 +87,77 @@ func setupSymlinks() error { @@ -89,11 +87,77 @@ func setupSymlinks() error {
return setupSymlink("libcamera-base")
}
func removeSymlinks() {
os.Remove("/dev/shm/libcamera-base.so.x.x.x")
os.Remove("/dev/shm/libcamera.so.x.x.x")
}
func startEmbeddedExe(content []byte, env []string) (*exec.Cmd, error) {
tempPath := tempPathPrefix + strconv.FormatInt(time.Now().UnixNano(), 10)
err := os.WriteFile(tempPath, content, 0o755)
if err != nil {
return nil, err
}
cmd := exec.Command(tempPath)
cmd.Stdout = os.Stdout
cmd.Stderr = os.Stderr
cmd.Env = env
err = cmd.Start()
os.Remove(tempPath)
if err != nil {
return nil, err
}
return cmd, nil
}
func serializeParams(p Params) []byte {
rv := reflect.ValueOf(p)
rt := rv.Type()
nf := rv.NumField()
ret := make([]string, nf)
for i := 0; i < nf; i++ {
entry := rt.Field(i).Name + "="
f := rv.Field(i)
switch f.Kind() {
case reflect.Int:
entry += strconv.FormatInt(f.Int(), 10)
case reflect.Float64:
entry += strconv.FormatFloat(f.Float(), 'f', -1, 64)
case reflect.String:
entry += f.String()
case reflect.Bool:
if f.Bool() {
entry += "1"
} else {
entry += "0"
}
default:
panic("unhandled type")
}
ret[i] = entry
}
return []byte(strings.Join(ret, " "))
}
type RPICamera struct {
onData func(time.Duration, [][]byte)
exe *embeddedExe
pipe *pipe
cmd *exec.Cmd
pipeConf *pipe
pipeVideo *pipe
waitDone chan error
readerDone chan error
@ -113,132 +177,124 @@ func New( @@ -113,132 +177,124 @@ func New(
return nil, err
}
pipe, err := newPipe()
c := &RPICamera{
onData: onData,
}
c.pipeConf, err = newPipe()
if err != nil {
return nil, err
}
c.pipeVideo, err = newPipe()
if err != nil {
c.pipeConf.close()
return nil, err
}
env := []string{
"LD_LIBRARY_PATH=/dev/shm",
"PIPE_FD=" + strconv.FormatInt(int64(pipe.writeFD), 10),
"CAMERA_ID=" + strconv.FormatInt(int64(params.CameraID), 10),
"WIDTH=" + strconv.FormatInt(int64(params.Width), 10),
"HEIGHT=" + strconv.FormatInt(int64(params.Height), 10),
"H_FLIP=" + bool2env(params.HFlip),
"V_FLIP=" + bool2env(params.VFlip),
"BRIGHTNESS=" + strconv.FormatFloat(params.Brightness, 'f', -1, 64),
"CONTRAST=" + strconv.FormatFloat(params.Contrast, 'f', -1, 64),
"SATURATION=" + strconv.FormatFloat(params.Saturation, 'f', -1, 64),
"SHARPNESS=" + strconv.FormatFloat(params.Sharpness, 'f', -1, 64),
"EXPOSURE=" + params.Exposure,
"AWB=" + params.AWB,
"DENOISE=" + params.Denoise,
"SHUTTER=" + strconv.FormatInt(int64(params.Shutter), 10),
"METERING=" + params.Metering,
"GAIN=" + strconv.FormatFloat(params.Gain, 'f', -1, 64),
"EV=" + strconv.FormatFloat(params.EV, 'f', -1, 64),
"ROI=" + params.ROI,
"TUNING_FILE=" + params.TuningFile,
"MODE=" + params.Mode,
"FPS=" + strconv.FormatInt(int64(params.FPS), 10),
"IDR_PERIOD=" + strconv.FormatInt(int64(params.IDRPeriod), 10),
"BITRATE=" + strconv.FormatInt(int64(params.Bitrate), 10),
"PROFILE=" + params.Profile,
"LEVEL=" + params.Level,
"AF_MODE=" + params.AfMode,
"AF_RANGE=" + params.AfRange,
"AF_SPEED=" + params.AfSpeed,
"LENS_POSITION=" + strconv.FormatFloat(params.LensPosition, 'f', -1, 64),
"AF_WINDOW=" + params.AfWindow,
}
exe, err := newEmbeddedExe(exeContent, env)
"PIPE_CONF_FD=" + strconv.FormatInt(int64(c.pipeConf.readFD), 10),
"PIPE_VIDEO_FD=" + strconv.FormatInt(int64(c.pipeVideo.writeFD), 10),
}
c.cmd, err = startEmbeddedExe(exeContent, env)
if err != nil {
pipe.close()
removeSymlinks()
c.pipeConf.close()
c.pipeVideo.close()
return nil, err
}
waitDone := make(chan error)
removeSymlinks()
c.pipeConf.write(append([]byte{'c'}, serializeParams(params)...))
c.waitDone = make(chan error)
go func() {
waitDone <- exe.cmd.Wait()
c.waitDone <- c.cmd.Wait()
}()
readerDone := make(chan error)
c.readerDone = make(chan error)
go func() {
readerDone <- func() error {
buf, err := pipe.read()
if err != nil {
return err
}
switch buf[0] {
case 'e':
return fmt.Errorf(string(buf[1:]))
case 'r':
return nil
default:
return fmt.Errorf("unexpected output from pipe (%c)", buf[0])
}
}()
c.readerDone <- c.readReady()
}()
select {
case <-waitDone:
exe.close()
pipe.close()
<-readerDone
case <-c.waitDone:
c.pipeConf.close()
c.pipeVideo.close()
<-c.readerDone
return nil, fmt.Errorf("process exited unexpectedly")
case err := <-readerDone:
case err := <-c.readerDone:
if err != nil {
exe.close()
<-waitDone
pipe.close()
c.pipeConf.write([]byte{'e'})
<-c.waitDone
c.pipeConf.close()
c.pipeVideo.close()
return nil, err
}
}
readerDone = make(chan error)
c.readerDone = make(chan error)
go func() {
readerDone <- func() error {
for {
buf, err := pipe.read()
if err != nil {
return err
}
if buf[0] != 'b' {
return fmt.Errorf("unexpected output from pipe (%c)", buf[0])
}
tmp := uint64(buf[8])<<56 | uint64(buf[7])<<48 | uint64(buf[6])<<40 | uint64(buf[5])<<32 |
uint64(buf[4])<<24 | uint64(buf[3])<<16 | uint64(buf[2])<<8 | uint64(buf[1])
dts := time.Duration(tmp) * time.Microsecond
nalus, err := h264.AnnexBUnmarshal(buf[9:])
if err != nil {
return err
}
onData(dts, nalus)
}
}()
c.readerDone <- c.readData()
}()
return &RPICamera{
onData: onData,
exe: exe,
pipe: pipe,
waitDone: waitDone,
readerDone: readerDone,
}, nil
return c, nil
}
func (c *RPICamera) Close() {
c.exe.close()
c.pipeConf.write([]byte{'e'})
<-c.waitDone
c.pipe.close()
c.pipeConf.close()
c.pipeVideo.close()
<-c.readerDone
}
func (c *RPICamera) ReloadParams(params Params) {
c.pipeConf.write(append([]byte{'c'}, serializeParams(params)...))
}
func (c *RPICamera) readReady() error {
buf, err := c.pipeVideo.read()
if err != nil {
return err
}
switch buf[0] {
case 'e':
return fmt.Errorf(string(buf[1:]))
case 'r':
return nil
default:
return fmt.Errorf("unexpected output from video pipe: '0x%.2x'", buf[0])
}
}
func (c *RPICamera) readData() error {
for {
buf, err := c.pipeVideo.read()
if err != nil {
return err
}
if buf[0] != 'b' {
return fmt.Errorf("unexpected output from pipe (%c)", buf[0])
}
tmp := uint64(buf[8])<<56 | uint64(buf[7])<<48 | uint64(buf[6])<<40 | uint64(buf[5])<<32 |
uint64(buf[4])<<24 | uint64(buf[3])<<16 | uint64(buf[2])<<8 | uint64(buf[1])
dts := time.Duration(tmp) * time.Microsecond
nalus, err := h264.AnnexBUnmarshal(buf[9:])
if err != nil {
return err
}
c.onData(dts, nalus)
}
}

4
internal/rpicamera/rpicamera_disabled.go
Unescape View File

@ -23,3 +23,7 @@ func New( @@ -23,3 +23,7 @@ func New(
// Close closes a RPICamera.
func (c *RPICamera) Close() {
}
// ReloadParams reloads the camera parameters.
func (c *RPICamera) ReloadParams(params Params) {
}

4
rtsp-simple-server.yml
Unescape View File

@ -328,8 +328,8 @@ paths: @@ -328,8 +328,8 @@ paths:
# H264 level
rpiCameraLevel: '4.1'
# Autofocus mode
# values: manual, auto, continuous
rpiCameraAfMode: continuous
# values: auto, manual, continuous
rpiCameraAfMode: auto
# Autofocus range
# values: normal, macro, full
rpiCameraAfRange: normal

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