mirror of
https://github.com/drasko/open-ameba.git
synced 2024-11-22 22:14:17 +00:00
586 lines
22 KiB
C
586 lines
22 KiB
C
|
|
/*
|
|
* V4L2 video capture example
|
|
*/
|
|
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
#include "example_uvc.h"
|
|
#include "videodev2.h"
|
|
#include "uvcvideo.h"
|
|
#include "v4l2_driver.h"
|
|
#include "mjpeg/mjpeg.h"
|
|
#include "rtsp/rtsp_api.h"
|
|
#include "sockets.h"
|
|
#include "lwip/netif.h"
|
|
|
|
#include "uvc_intf.h"
|
|
|
|
#include "section_config.h"
|
|
SDRAM_DATA_SECTION struct rtp_object rtp_payload[VIDEO_MAX_FRAME];
|
|
|
|
struct rtp_payload_queue payload_queue;
|
|
|
|
void example_uvc(void)
|
|
{
|
|
/*init payload queue*/
|
|
INIT_LIST_HEAD(&payload_queue.wait_queue);
|
|
INIT_LIST_HEAD(&payload_queue.done_queue);
|
|
RtlMutexInit(&payload_queue.wait_mutex);
|
|
RtlMutexInit(&payload_queue.done_mutex);
|
|
RtlInitSema(&payload_queue.wait_sema, 0);
|
|
RtlInitSema(&payload_queue.done_sema, 0);
|
|
payload_queue.flush_err = 0;
|
|
uvc_stream_init();
|
|
}
|
|
|
|
void uvc_entry_handle(void *param)
|
|
{
|
|
int i, ret, cnt;
|
|
struct stream_context *stream_ctx = (struct stream_context *)param;
|
|
struct uvc_buf_context buf;
|
|
struct rtp_object *payload;
|
|
|
|
/*initialize rtp payload*/
|
|
for(i = 0; i < VIDEO_MAX_FRAME; i++)
|
|
{
|
|
if(rtp_init_payload(stream_ctx, &rtp_payload[i]) < 0)
|
|
{
|
|
for(; i>=0; i--)
|
|
{
|
|
rtp_uninit_payload(stream_ctx, &rtp_payload[i]);
|
|
}
|
|
goto exit;
|
|
}
|
|
}
|
|
|
|
if(uvc_set_param(stream_ctx, UVC_FORMAT_MJPEG, 640, 480, 30)<0)
|
|
goto exit;
|
|
|
|
if(uvc_stream_on(stream_ctx)<0)
|
|
goto exit;
|
|
|
|
/*do buffer queue & dequeue inside the loop*/
|
|
payload_queue.flush_err = 0;
|
|
while(!(payload_queue.flush_err))
|
|
{
|
|
memset(&buf, 0, sizeof(struct uvc_buf_context));
|
|
ret = uvc_dqbuf(stream_ctx, &buf);
|
|
if(buf.index < 0)
|
|
continue;//empty buffer retrieved
|
|
if((uvc_buf_check(&buf)<0)||(ret < 0)){
|
|
RTSP_ERROR("\n\rbuffer error!");
|
|
ret = -ENOENT;
|
|
goto exit;
|
|
}
|
|
rtp_payload[buf.index].index = buf.index;
|
|
if(rtp_fill_payload(stream_ctx, &rtp_payload[buf.index], buf.data, buf.len) < 0)
|
|
goto exit;
|
|
|
|
/*add rtp_payload into payload queue*/
|
|
RtlDownMutex(&payload_queue.wait_mutex);
|
|
list_add_tail(&rtp_payload[buf.index].rtp_list, &payload_queue.wait_queue);
|
|
RtlUpMutex(&payload_queue.wait_mutex);
|
|
RtlUpSema(&payload_queue.wait_sema);
|
|
|
|
//check if any rtp payload is queued in done_queue
|
|
while(RtlDownSemaWithTimeout(&payload_queue.done_sema, 5)==0)
|
|
{
|
|
if(payload_queue.flush_err)
|
|
goto exit;
|
|
}
|
|
if(!list_empty(&payload_queue.done_queue))
|
|
{
|
|
RtlDownMutex(&payload_queue.done_mutex);
|
|
payload = list_first_entry(&payload_queue.done_queue, struct rtp_object, rtp_list);
|
|
if(payload == NULL)
|
|
{
|
|
RtlUpMutex(&payload_queue.done_mutex);
|
|
continue;
|
|
}
|
|
list_del_init(&payload->rtp_list);
|
|
RtlUpMutex(&payload_queue.done_mutex);
|
|
|
|
buf.index = payload->index;
|
|
buf.data = payload->data;
|
|
buf.len = payload->len;
|
|
|
|
ret = uvc_qbuf(stream_ctx, &buf);
|
|
if (ret < 0){
|
|
RTSP_ERROR("\n\rread_frame mmap method enqueue buffer failed");
|
|
ret = -ENOENT;
|
|
goto exit;
|
|
}
|
|
}
|
|
}
|
|
|
|
exit:
|
|
uvc_stream_off(stream_ctx);
|
|
uvc_stream_free(stream_ctx);
|
|
|
|
for(i = 0; i < VIDEO_MAX_FRAME; i++)
|
|
{
|
|
rtp_uninit_payload(stream_ctx, &rtp_payload[i]);
|
|
}
|
|
|
|
//free payload_queue memory
|
|
INIT_LIST_HEAD(&payload_queue.wait_queue);
|
|
INIT_LIST_HEAD(&payload_queue.done_queue);
|
|
RtlMutexFree(&payload_queue.wait_mutex);
|
|
RtlMutexFree(&payload_queue.done_mutex);
|
|
RtlFreeSema(&payload_queue.wait_sema);
|
|
RtlFreeSema(&payload_queue.done_sema);
|
|
|
|
printf("\n\rstream free success, delete task...");
|
|
vTaskDelete(NULL);
|
|
}
|
|
|
|
|
|
|
|
int uvc_rtp_init(struct rtsp_context *rtsp_ctx);
|
|
void uvc_rtsp_handle(void *param)
|
|
{
|
|
struct stream_context *stream_ctx = (struct stream_context *)param;
|
|
struct rtsp_context *rtsp_ctx;
|
|
u8 *request_header; //buffer to hold rtsp request
|
|
struct sockaddr_in server_addr, client_addr;
|
|
int client_socket;
|
|
socklen_t client_addr_len = sizeof(struct sockaddr_in);
|
|
|
|
fd_set read_fds;
|
|
struct timeval timeout;
|
|
int ok;
|
|
rtsp_ctx = malloc(sizeof(struct rtsp_context));
|
|
if(rtsp_ctx == NULL)
|
|
{
|
|
RTSP_ERROR("\n\rrtsp context is NULL");
|
|
goto exit;
|
|
}
|
|
request_header = malloc(512);
|
|
if(request_header == NULL)
|
|
{
|
|
RTSP_ERROR("\n\rallocate request header buffer failed");
|
|
goto exit;
|
|
}
|
|
// Delay to wait for IP by DHCP
|
|
vTaskDelay(500);
|
|
/*init rtsp context to unicast udp mode*/
|
|
if(rtsp_context_init(rtsp_ctx) < 0)
|
|
goto exit;
|
|
|
|
server_addr.sin_family = AF_INET;
|
|
server_addr.sin_addr.s_addr = *(uint32_t *)(rtsp_ctx->connect_ctx.server_ip)/*htonl(INADDR_ANY)*/;
|
|
server_addr.sin_port = htons(rtsp_ctx->connect_ctx.port);
|
|
|
|
if(bind(rtsp_ctx->connect_ctx.socket_id, (struct sockaddr *)&server_addr, sizeof(server_addr)) < 0) {
|
|
RTSP_ERROR("\n\rCannot bind stream socket");
|
|
goto exit;
|
|
}
|
|
listen(rtsp_ctx->connect_ctx.socket_id, 1);
|
|
printf("\n\rrtsp context initialized!");
|
|
|
|
stream_ctx->protoCtx = (void *)rtsp_ctx;
|
|
rtsp_ctx->stream_ctx = (void *)stream_ctx;
|
|
|
|
/*start rtp task*/
|
|
uvc_rtp_init(rtsp_ctx);
|
|
|
|
|
|
while(stream_ctx->allowStream)
|
|
{
|
|
FD_ZERO(&read_fds);
|
|
timeout.tv_sec = 1;
|
|
timeout.tv_usec = 0;
|
|
FD_SET(rtsp_ctx->connect_ctx.socket_id, &read_fds);
|
|
if(select(1, &read_fds, NULL, NULL, &timeout))
|
|
{
|
|
client_socket = accept(rtsp_ctx->connect_ctx.socket_id,(struct sockaddr *)&client_addr, &client_addr_len);
|
|
if(client_socket < 0)
|
|
{
|
|
RTSP_ERROR("client_socket error:%d\r\n", client_socket);
|
|
close(client_socket);
|
|
continue;
|
|
}
|
|
*(rtsp_ctx->connect_ctx.remote_ip + 3) = (unsigned char) (client_addr.sin_addr.s_addr >> 24);
|
|
*(rtsp_ctx->connect_ctx.remote_ip + 2) = (unsigned char) (client_addr.sin_addr.s_addr >> 16);
|
|
*(rtsp_ctx->connect_ctx.remote_ip + 1) = (unsigned char) (client_addr.sin_addr.s_addr >> 8);
|
|
*(rtsp_ctx->connect_ctx.remote_ip) = (unsigned char) (client_addr.sin_addr.s_addr );
|
|
|
|
while(stream_ctx->allowStream)
|
|
{
|
|
|
|
|
|
read(client_socket, request_header, 512);
|
|
rtsp_readheader(request_header);
|
|
if(*request_header == 0)
|
|
{
|
|
|
|
//Do I need to send error response to client?
|
|
continue;
|
|
}
|
|
|
|
|
|
rtsp_getparam(rtsp_ctx, request_header);
|
|
switch(rtsp_ctx->rtsp_cmd)
|
|
{
|
|
|
|
case(CMD_OPTIONS):
|
|
RTSP_PRINTF("\n\rReceive options command!");
|
|
if(rtsp_ctx->state == RTSP_PLAYING)
|
|
break;
|
|
|
|
rtsp_cmd_options(rtsp_ctx);
|
|
ok = write(client_socket, rtsp_ctx->response, strlen(rtsp_ctx->response));
|
|
if (ok <= 0)
|
|
{
|
|
|
|
|
|
RTSP_ERROR("\n\rsend OPTIONS response failed!");
|
|
goto exit;
|
|
}
|
|
break;
|
|
|
|
|
|
|
|
case(CMD_DESCRIBE):
|
|
RTSP_PRINTF("\n\rReceive describe command!");
|
|
if(rtsp_ctx->state == RTSP_PLAYING)
|
|
break;
|
|
|
|
rtsp_cmd_describe(rtsp_ctx);
|
|
ok = write(client_socket, rtsp_ctx->response, strlen(rtsp_ctx->response));
|
|
if (ok <= 0)
|
|
{
|
|
|
|
|
|
RTSP_ERROR("\n\rsend DESCRIBE response failed!");
|
|
goto exit;
|
|
}
|
|
break;
|
|
|
|
|
|
|
|
case(CMD_SETUP):
|
|
RTSP_PRINTF("\n\rReceive setup command!");
|
|
if(rtsp_ctx->state == RTSP_PLAYING)
|
|
break;
|
|
|
|
//fill transport parameter
|
|
rtsp_cmd_setup(rtsp_ctx);
|
|
ok = write(client_socket, rtsp_ctx->response, strlen(rtsp_ctx->response));
|
|
if (ok <= 0)
|
|
{
|
|
|
|
|
|
RTSP_ERROR("\n\rsend SETUP response failed!");
|
|
goto exit;
|
|
}
|
|
|
|
|
|
if(rtsp_ctx->state == RTSP_INIT)
|
|
{
|
|
|
|
rtsp_ctx->state = RTSP_READY;
|
|
RTSP_PRINTF("\n\rstate changed from RTSP_INIT to RTSP_READY");
|
|
};
|
|
break;
|
|
|
|
|
|
case(CMD_TEARDOWN):
|
|
RTSP_PRINTF("\n\rReceive teardown command!");
|
|
rtsp_ctx->state = RTSP_INIT;
|
|
rtsp_cmd_teardown(rtsp_ctx);
|
|
ok = write(client_socket, rtsp_ctx->response, strlen(rtsp_ctx->response));
|
|
if (ok <= 0)
|
|
{
|
|
|
|
|
|
RTSP_ERROR("\n\rsend TEARDOWN response failed!");
|
|
goto exit;
|
|
}
|
|
|
|
|
|
|
|
|
|
RTSP_PRINTF("\n\rstreaming teardown, state changed back to RTSP_INIT");
|
|
/*have to wait until rtp server reinit*/
|
|
vTaskDelay(1000);
|
|
goto out;
|
|
break;
|
|
|
|
|
|
case(CMD_PLAY):
|
|
RTSP_PRINTF("\n\rReceive play command!");
|
|
if(rtsp_ctx->state == RTSP_PLAYING)
|
|
break;
|
|
|
|
rtsp_cmd_play(rtsp_ctx);
|
|
ok = write(client_socket, rtsp_ctx->response, strlen(rtsp_ctx->response));
|
|
if (ok <= 0)
|
|
{
|
|
|
|
|
|
RTSP_ERROR("\n\rsend PLAY response failed!");
|
|
goto exit;
|
|
}
|
|
|
|
|
|
if(rtsp_ctx->state == RTSP_READY)
|
|
{
|
|
|
|
rtsp_ctx->state = RTSP_PLAYING;
|
|
RTSP_PRINTF("\n\rstate changed from RTSP_READY to RTSP_PLAYING");
|
|
rtsp_ctx->is_rtp_start = 1;
|
|
RtlUpSema(&rtsp_ctx->start_rtp_sema);
|
|
}
|
|
break;
|
|
|
|
|
|
|
|
|
|
case(CMD_PAUSE):
|
|
RTSP_PRINTF("\n\rReceive pause command!");
|
|
rtsp_cmd_pause(rtsp_ctx);
|
|
ok = write(client_socket, rtsp_ctx->response, strlen(rtsp_ctx->response));
|
|
if (ok <= 0)
|
|
{
|
|
|
|
|
|
RTSP_ERROR("\n\rsend PAUSE response failed!");
|
|
goto exit;
|
|
}
|
|
|
|
|
|
if(rtsp_ctx->state == RTSP_PLAYING)
|
|
{
|
|
|
|
rtsp_ctx->state = RTSP_READY;
|
|
RTSP_PRINTF("\n\rstate changed from RTSP_PLAYING to RTSP_READY");
|
|
}
|
|
break;
|
|
default:
|
|
|
|
|
|
|
|
RTSP_ERROR("\n\rReceive unrecognized command!");
|
|
rtsp_cmd_error(rtsp_ctx);
|
|
ok = write(client_socket, rtsp_ctx->response, strlen(rtsp_ctx->response));
|
|
if (ok <= 0)
|
|
{
|
|
|
|
|
|
RTSP_ERROR("\n\rsend ERROR response failed!");
|
|
goto exit;
|
|
}
|
|
rtsp_ctx->state = RTSP_INIT;
|
|
}
|
|
if((rtsp_ctx->is_rtp_start == 0) && (rtsp_ctx->state == RTSP_PLAYING))
|
|
{
|
|
|
|
|
|
rtsp_ctx->state = RTSP_INIT;
|
|
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************************************************/
|