mirror of
https://github.com/drasko/open-ameba.git
synced 2024-11-28 17:20:32 +00:00
587 lines
22 KiB
C
587 lines
22 KiB
C
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/*
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* V4L2 video capture example
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*/
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#include "FreeRTOS.h"
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#include "task.h"
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#include "example_uvc.h"
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#include "videodev2.h"
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#include "uvcvideo.h"
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#include "v4l2_driver.h"
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#include "mjpeg/mjpeg.h"
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#include "rtsp/rtsp_api.h"
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#include "sockets.h"
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#include "lwip/netif.h"
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#include "uvc_intf.h"
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#include "section_config.h"
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SDRAM_DATA_SECTION struct rtp_object rtp_payload[VIDEO_MAX_FRAME];
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struct rtp_payload_queue payload_queue;
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void example_uvc(void)
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{
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/*init payload queue*/
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INIT_LIST_HEAD(&payload_queue.wait_queue);
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INIT_LIST_HEAD(&payload_queue.done_queue);
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RtlMutexInit(&payload_queue.wait_mutex);
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RtlMutexInit(&payload_queue.done_mutex);
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RtlInitSema(&payload_queue.wait_sema, 0);
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RtlInitSema(&payload_queue.done_sema, 0);
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payload_queue.flush_err = 0;
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uvc_stream_init();
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}
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void uvc_entry_handle(void *param)
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{
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int i, ret, cnt;
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struct stream_context *stream_ctx = (struct stream_context *)param;
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struct uvc_buf_context buf;
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struct rtp_object *payload;
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/*initialize rtp payload*/
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for(i = 0; i < VIDEO_MAX_FRAME; i++)
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{
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if(rtp_init_payload(stream_ctx, &rtp_payload[i]) < 0)
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{
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for(; i>=0; i--)
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{
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rtp_uninit_payload(stream_ctx, &rtp_payload[i]);
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}
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goto exit;
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}
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}
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if(uvc_set_param(stream_ctx, UVC_FORMAT_MJPEG, 640, 480, 30)<0)
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goto exit;
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if(uvc_stream_on(stream_ctx)<0)
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goto exit;
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/*do buffer queue & dequeue inside the loop*/
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payload_queue.flush_err = 0;
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while(!(payload_queue.flush_err))
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{
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memset(&buf, 0, sizeof(struct uvc_buf_context));
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ret = uvc_dqbuf(stream_ctx, &buf);
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if(buf.index < 0)
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continue;//empty buffer retrieved
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if((uvc_buf_check(&buf)<0)||(ret < 0)){
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RTSP_ERROR("\n\rbuffer error!");
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ret = -ENOENT;
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goto exit;
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}
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rtp_payload[buf.index].index = buf.index;
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if(rtp_fill_payload(stream_ctx, &rtp_payload[buf.index], buf.data, buf.len) < 0)
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goto exit;
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/*add rtp_payload into payload queue*/
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RtlDownMutex(&payload_queue.wait_mutex);
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list_add_tail(&rtp_payload[buf.index].rtp_list, &payload_queue.wait_queue);
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RtlUpMutex(&payload_queue.wait_mutex);
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RtlUpSema(&payload_queue.wait_sema);
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//check if any rtp payload is queued in done_queue
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while(RtlDownSemaWithTimeout(&payload_queue.done_sema, 5)==0)
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{
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if(payload_queue.flush_err)
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goto exit;
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}
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if(!list_empty(&payload_queue.done_queue))
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{
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RtlDownMutex(&payload_queue.done_mutex);
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payload = list_first_entry(&payload_queue.done_queue, struct rtp_object, rtp_list);
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if(payload == NULL)
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{
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RtlUpMutex(&payload_queue.done_mutex);
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continue;
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}
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list_del_init(&payload->rtp_list);
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RtlUpMutex(&payload_queue.done_mutex);
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buf.index = payload->index;
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buf.data = payload->data;
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buf.len = payload->len;
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ret = uvc_qbuf(stream_ctx, &buf);
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if (ret < 0){
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RTSP_ERROR("\n\rread_frame mmap method enqueue buffer failed");
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ret = -ENOENT;
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goto exit;
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}
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}
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}
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exit:
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uvc_stream_off(stream_ctx);
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uvc_stream_free(stream_ctx);
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for(i = 0; i < VIDEO_MAX_FRAME; i++)
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{
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rtp_uninit_payload(stream_ctx, &rtp_payload[i]);
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}
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//free payload_queue memory
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INIT_LIST_HEAD(&payload_queue.wait_queue);
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INIT_LIST_HEAD(&payload_queue.done_queue);
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RtlMutexFree(&payload_queue.wait_mutex);
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RtlMutexFree(&payload_queue.done_mutex);
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RtlFreeSema(&payload_queue.wait_sema);
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RtlFreeSema(&payload_queue.done_sema);
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printf("\n\rstream free success, delete task...");
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vTaskDelete(NULL);
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}
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int uvc_rtp_init(struct rtsp_context *rtsp_ctx);
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void uvc_rtsp_handle(void *param)
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{
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struct stream_context *stream_ctx = (struct stream_context *)param;
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struct rtsp_context *rtsp_ctx;
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u8 *request_header; //buffer to hold rtsp request
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struct sockaddr_in server_addr, client_addr;
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int client_socket;
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socklen_t client_addr_len = sizeof(struct sockaddr_in);
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fd_set read_fds;
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struct timeval timeout;
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int ok;
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rtsp_ctx = malloc(sizeof(struct rtsp_context));
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if(rtsp_ctx == NULL)
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{
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RTSP_ERROR("\n\rrtsp context is NULL");
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goto exit;
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}
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request_header = malloc(512);
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if(request_header == NULL)
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{
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RTSP_ERROR("\n\rallocate request header buffer failed");
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goto exit;
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}
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// Delay to wait for IP by DHCP
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vTaskDelay(500);
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/*init rtsp context to unicast udp mode*/
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if(rtsp_context_init(rtsp_ctx) < 0)
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goto exit;
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server_addr.sin_family = AF_INET;
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server_addr.sin_addr.s_addr = *(uint32_t *)(rtsp_ctx->connect_ctx.server_ip)/*htonl(INADDR_ANY)*/;
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server_addr.sin_port = htons(rtsp_ctx->connect_ctx.port);
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if(bind(rtsp_ctx->connect_ctx.socket_id, (struct sockaddr *)&server_addr, sizeof(server_addr)) < 0) {
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RTSP_ERROR("\n\rCannot bind stream socket");
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goto exit;
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}
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listen(rtsp_ctx->connect_ctx.socket_id, 1);
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printf("\n\rrtsp context initialized!");
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stream_ctx->protoCtx = (void *)rtsp_ctx;
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rtsp_ctx->stream_ctx = (void *)stream_ctx;
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/*start rtp task*/
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uvc_rtp_init(rtsp_ctx);
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while(stream_ctx->allowStream)
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{
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FD_ZERO(&read_fds);
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timeout.tv_sec = 1;
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timeout.tv_usec = 0;
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FD_SET(rtsp_ctx->connect_ctx.socket_id, &read_fds);
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if(select(1, &read_fds, NULL, NULL, &timeout))
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{
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client_socket = accept(rtsp_ctx->connect_ctx.socket_id,(struct sockaddr *)&client_addr, &client_addr_len);
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if(client_socket < 0)
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{
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RTSP_ERROR("client_socket error:%d\r\n", client_socket);
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close(client_socket);
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continue;
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}
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*(rtsp_ctx->connect_ctx.remote_ip + 3) = (unsigned char) (client_addr.sin_addr.s_addr >> 24);
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*(rtsp_ctx->connect_ctx.remote_ip + 2) = (unsigned char) (client_addr.sin_addr.s_addr >> 16);
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*(rtsp_ctx->connect_ctx.remote_ip + 1) = (unsigned char) (client_addr.sin_addr.s_addr >> 8);
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*(rtsp_ctx->connect_ctx.remote_ip) = (unsigned char) (client_addr.sin_addr.s_addr );
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while(stream_ctx->allowStream)
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{
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read(client_socket, request_header, 512);
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rtsp_readheader(request_header);
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if(*request_header == 0)
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{
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//Do I need to send error response to client?
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continue;
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}
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rtsp_getparam(rtsp_ctx, request_header);
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switch(rtsp_ctx->rtsp_cmd)
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{
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case(CMD_OPTIONS):
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RTSP_PRINTF("\n\rReceive options command!");
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if(rtsp_ctx->state == RTSP_PLAYING)
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break;
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rtsp_cmd_options(rtsp_ctx);
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ok = write(client_socket, rtsp_ctx->response, strlen(rtsp_ctx->response));
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if (ok <= 0)
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{
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RTSP_ERROR("\n\rsend OPTIONS response failed!");
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goto exit;
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}
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break;
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case(CMD_DESCRIBE):
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RTSP_PRINTF("\n\rReceive describe command!");
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if(rtsp_ctx->state == RTSP_PLAYING)
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break;
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rtsp_cmd_describe(rtsp_ctx);
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ok = write(client_socket, rtsp_ctx->response, strlen(rtsp_ctx->response));
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if (ok <= 0)
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{
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RTSP_ERROR("\n\rsend DESCRIBE response failed!");
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goto exit;
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}
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break;
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case(CMD_SETUP):
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RTSP_PRINTF("\n\rReceive setup command!");
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if(rtsp_ctx->state == RTSP_PLAYING)
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break;
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//fill transport parameter
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rtsp_cmd_setup(rtsp_ctx);
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ok = write(client_socket, rtsp_ctx->response, strlen(rtsp_ctx->response));
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if (ok <= 0)
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{
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RTSP_ERROR("\n\rsend SETUP response failed!");
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goto exit;
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}
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if(rtsp_ctx->state == RTSP_INIT)
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{
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rtsp_ctx->state = RTSP_READY;
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RTSP_PRINTF("\n\rstate changed from RTSP_INIT to RTSP_READY");
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};
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break;
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case(CMD_TEARDOWN):
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RTSP_PRINTF("\n\rReceive teardown command!");
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rtsp_ctx->state = RTSP_INIT;
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rtsp_cmd_teardown(rtsp_ctx);
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ok = write(client_socket, rtsp_ctx->response, strlen(rtsp_ctx->response));
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if (ok <= 0)
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{
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RTSP_ERROR("\n\rsend TEARDOWN response failed!");
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goto exit;
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}
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RTSP_PRINTF("\n\rstreaming teardown, state changed back to RTSP_INIT");
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/*have to wait until rtp server reinit*/
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vTaskDelay(1000);
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goto out;
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break;
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case(CMD_PLAY):
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RTSP_PRINTF("\n\rReceive play command!");
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if(rtsp_ctx->state == RTSP_PLAYING)
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break;
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rtsp_cmd_play(rtsp_ctx);
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ok = write(client_socket, rtsp_ctx->response, strlen(rtsp_ctx->response));
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if (ok <= 0)
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{
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RTSP_ERROR("\n\rsend PLAY response failed!");
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goto exit;
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}
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if(rtsp_ctx->state == RTSP_READY)
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{
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rtsp_ctx->state = RTSP_PLAYING;
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RTSP_PRINTF("\n\rstate changed from RTSP_READY to RTSP_PLAYING");
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rtsp_ctx->is_rtp_start = 1;
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RtlUpSema(&rtsp_ctx->start_rtp_sema);
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}
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break;
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case(CMD_PAUSE):
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RTSP_PRINTF("\n\rReceive pause command!");
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rtsp_cmd_pause(rtsp_ctx);
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ok = write(client_socket, rtsp_ctx->response, strlen(rtsp_ctx->response));
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if (ok <= 0)
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{
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RTSP_ERROR("\n\rsend PAUSE response failed!");
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goto exit;
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}
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if(rtsp_ctx->state == RTSP_PLAYING)
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{
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rtsp_ctx->state = RTSP_READY;
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RTSP_PRINTF("\n\rstate changed from RTSP_PLAYING to RTSP_READY");
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}
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break;
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default:
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RTSP_ERROR("\n\rReceive unrecognized command!");
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rtsp_cmd_error(rtsp_ctx);
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ok = write(client_socket, rtsp_ctx->response, strlen(rtsp_ctx->response));
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if (ok <= 0)
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{
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RTSP_ERROR("\n\rsend ERROR response failed!");
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goto exit;
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}
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rtsp_ctx->state = RTSP_INIT;
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}
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if((rtsp_ctx->is_rtp_start == 0) && (rtsp_ctx->state == RTSP_PLAYING))
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{
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rtsp_ctx->state = RTSP_INIT;
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|
|
RtlUpSema(&rtsp_ctx->start_rtp_sema);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
}
|
||
|
|
out:
|
||
|
|
rtsp_ctx->state = RTSP_INIT;
|
||
|
|
close(client_socket);
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
exit:
|
||
|
|
if((rtsp_ctx->is_rtp_start) == 1){
|
||
|
|
RtlUpSema(&rtsp_ctx->start_rtp_sema);
|
||
|
|
}
|
||
|
|
printf("\n\rrtsp -> Available heap 0x%x\n", xPortGetFreeHeapSize());
|
||
|
|
close(client_socket);
|
||
|
|
close(rtsp_ctx->connect_ctx.socket_id);
|
||
|
|
if(request_header != NULL)
|
||
|
|
free(request_header);
|
||
|
|
/*wait until rtp task being destroyed*/
|
||
|
|
while((rtsp_ctx->is_rtp_start))
|
||
|
|
{
|
||
|
|
vTaskDelay(100);
|
||
|
|
}
|
||
|
|
rtsp_context_free(rtsp_ctx);
|
||
|
|
if(rtsp_ctx != NULL)
|
||
|
|
free(rtsp_ctx);
|
||
|
|
RTSP_ERROR("\n\rkill rtsp server thread!");
|
||
|
|
//printf("Available heap 0x%x\n", xPortGetFreeHeapSize());
|
||
|
|
//thread must be killed after server socket is terminated
|
||
|
|
vTaskDelete(NULL);
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void uvc_rtp_udp_init(struct stream_context *stream_ctx)
|
||
|
|
{
|
||
|
|
|
||
|
|
struct rtsp_context *rtsp_ctx = (struct rtsp_context *)stream_ctx->protoCtx;
|
||
|
|
struct uvc_buf_context buf;
|
||
|
|
struct rtp_object *payload;
|
||
|
|
struct sockaddr_in rtp_addr;
|
||
|
|
int rtp_socket;
|
||
|
|
int i, ret;
|
||
|
|
socklen_t addrlen = sizeof(struct sockaddr_in);
|
||
|
|
int rtp_port;
|
||
|
|
/* varibles for recording statistic use*/
|
||
|
|
unsigned int cnt, total, total_time, time1, time2, time3;
|
||
|
|
cnt = total = total_time = time1 = time2 = time3 = 0;
|
||
|
|
/*init rtp socket*/
|
||
|
|
rtp_socket = socket(AF_INET, SOCK_DGRAM, 0);
|
||
|
|
rtp_port = rtsp_ctx->transport.serverport_min;
|
||
|
|
memset(&rtp_addr, 0, addrlen);
|
||
|
|
rtp_addr.sin_family = AF_INET;
|
||
|
|
rtp_addr.sin_addr.s_addr = *(uint32_t *)(rtsp_ctx->connect_ctx.server_ip);
|
||
|
|
rtp_addr.sin_port = htons((u16)rtp_port);
|
||
|
|
if (bind(rtp_socket,(struct sockaddr *)&rtp_addr, addrlen)<0) {
|
||
|
|
RTSP_ERROR("bind failed\r\n");
|
||
|
|
goto exit;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
restart:
|
||
|
|
while((stream_ctx->isProcess)&&(rtsp_ctx->state == RTSP_PLAYING))
|
||
|
|
{
|
||
|
|
if(RtlDownSemaWithTimeout(&payload_queue.wait_sema, 5)==0)
|
||
|
|
continue;
|
||
|
|
time1 = time3;
|
||
|
|
time2 = xTaskGetTickCount();
|
||
|
|
/*send rtp payload*/
|
||
|
|
if(!list_empty(&payload_queue.wait_queue))
|
||
|
|
{
|
||
|
|
RtlDownMutex(&payload_queue.wait_mutex);
|
||
|
|
payload = list_first_entry(&payload_queue.wait_queue, struct rtp_object, rtp_list);
|
||
|
|
if(payload == NULL)
|
||
|
|
{
|
||
|
|
RtlUpMutex(&payload_queue.wait_mutex);
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
list_del_init(&payload->rtp_list);
|
||
|
|
RtlUpMutex(&payload_queue.wait_mutex);
|
||
|
|
|
||
|
|
if(rtsp_ctx->state == RTSP_PLAYING)
|
||
|
|
{
|
||
|
|
|
||
|
|
payload->connect_ctx.socket_id = rtp_socket;
|
||
|
|
payload->connect_ctx.port = (u16)rtsp_ctx->transport.clientport_min;
|
||
|
|
payload->connect_ctx.server_ip = rtsp_ctx->connect_ctx.server_ip;
|
||
|
|
payload->connect_ctx.remote_ip = rtsp_ctx->connect_ctx.remote_ip;
|
||
|
|
|
||
|
|
ret = rtp_udp_send(stream_ctx, payload);
|
||
|
|
}
|
||
|
|
|
||
|
|
//dequeue the this buffer from payload_queue
|
||
|
|
RtlDownMutex(&payload_queue.done_mutex);
|
||
|
|
list_add_tail(&payload->rtp_list, &payload_queue.done_queue);
|
||
|
|
RtlUpMutex(&payload_queue.done_mutex);
|
||
|
|
RtlUpSema(&payload_queue.done_sema);
|
||
|
|
|
||
|
|
time3 = xTaskGetTickCount();
|
||
|
|
cnt ++;
|
||
|
|
total += payload->len;
|
||
|
|
total_time += (time3-time1);
|
||
|
|
if(cnt == 100)
|
||
|
|
{
|
||
|
|
/* print statistics info */
|
||
|
|
/*1.average frame size(kB) T:2.time waited for next frame sending start(ms)-3.udp sending time(ms) 4.frame rate(fps)*/
|
||
|
|
printf("\n\r%dkB T:%d-%d %dfps", (total/102400), (time2 - time1), (time3 - time2), (100000/total_time));
|
||
|
|
cnt = 0;
|
||
|
|
total = 0;
|
||
|
|
total_time = 0;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
mdelay(1000);
|
||
|
|
if(rtsp_ctx->state == RTSP_READY)
|
||
|
|
{
|
||
|
|
goto restart;
|
||
|
|
}
|
||
|
|
|
||
|
|
exit:
|
||
|
|
close(rtp_socket);
|
||
|
|
}
|
||
|
|
|
||
|
|
void uvc_rtp_tcp_init(struct stream_context *stream_ctx)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
void uvc_rtp_multi_init(struct stream_context *stream_ctx)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
void uvc_rtp_handle(void *param)
|
||
|
|
{
|
||
|
|
struct stream_context *stream_ctx = (struct stream_context *)param;
|
||
|
|
struct rtsp_context *rtsp_ctx = (struct rtsp_context *)stream_ctx->protoCtx;
|
||
|
|
|
||
|
|
/*go down when rtsp state change to playing*/
|
||
|
|
while(1)
|
||
|
|
{
|
||
|
|
RtlDownSema(&rtsp_ctx->start_rtp_sema);
|
||
|
|
/*check rtp cast mode*/
|
||
|
|
if(rtsp_ctx->state == RTSP_PLAYING)
|
||
|
|
{
|
||
|
|
printf("\n\rrtp start...");
|
||
|
|
switch(rtsp_ctx->transport.castMode)
|
||
|
|
{
|
||
|
|
case(UNICAST_UDP_MODE):
|
||
|
|
uvc_rtp_udp_init(stream_ctx);
|
||
|
|
break;
|
||
|
|
case(MULTICAST_MODE):
|
||
|
|
uvc_rtp_tcp_init(stream_ctx);
|
||
|
|
break;
|
||
|
|
case(UNICAST_TCP_MODE):
|
||
|
|
uvc_rtp_multi_init(stream_ctx);
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
RTSP_ERROR("\r\n unknown streaming mode! Go back to RTSP_INIT state\n");
|
||
|
|
rtsp_ctx->is_rtp_start = 0;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}else{
|
||
|
|
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
printf("\n\rrtp stop...");
|
||
|
|
}
|
||
|
|
rtsp_ctx->is_rtp_start = 0;
|
||
|
|
RTSP_ERROR("\n\rkill rtp server thread!");
|
||
|
|
//printf("Available heap 0x%x\n", xPortGetFreeHeapSize());
|
||
|
|
vTaskDelete(NULL);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
int uvc_rtp_init(struct rtsp_context *rtsp_ctx)
|
||
|
|
{
|
||
|
|
struct stream_context *stream_ctx = (struct stream_context *)rtsp_ctx->stream_ctx;
|
||
|
|
|
||
|
|
if(xTaskCreate(uvc_rtp_handle, ((const signed char*)"uvc_rtp_handle"), 2048, (void *)stream_ctx, tskIDLE_PRIORITY + 2, NULL) != pdPASS) {
|
||
|
|
RTSP_ERROR("\r\n uvc_rtp_handle: Create Task Error\n");
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
void uvc_task_init(void * param)
|
||
|
|
{
|
||
|
|
|
||
|
|
/*entry to start uvc streaming -- dequeue uvc buffer*/
|
||
|
|
if(xTaskCreate(uvc_entry_handle, ((const signed char*)"uvc_entry_handle"), 1024, param, tskIDLE_PRIORITY + 2, NULL) != pdPASS) {
|
||
|
|
UVC_ERROR("\r\n uvc_entry_handle: Create Task Error\n");
|
||
|
|
}
|
||
|
|
|
||
|
|
/*entry to start rtsp server*/
|
||
|
|
#if UVC_RTSP_EN
|
||
|
|
if(xTaskCreate(uvc_rtsp_handle, ((const signed char*)"uvc_rtsp_handle"), 4096, param, tskIDLE_PRIORITY + 2, NULL) != pdPASS) {
|
||
|
|
RTSP_ERROR("\r\n uvc_rtsp_handle: Create Task Error\n");
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/************************************************************end of rtsp/rtp with motion-jpeg************************************************/
|