Update debug macros for streamer and video classes

src/main.cpp

@@ -38,11 +38,17 @@ using namespace std;
  * @return  None
  */
 void clean_up(pthread_t *threads, size_t sz) {
-	for (size_t i = 0; i < sz; i++)
-		pthread_cancel(threads[i]);
+	int ret_val;
+
+	for (size_t i = 0; i < sz; i++) {
+		ret_val = pthread_cancel(threads[i]);
+		if (!ret_val)
+			cout << "pthread_cancel returned " << ret_val << ", sensor port " << i << endl;
+	}
 }
 
 int main(int argc, char *argv[]) {
+	int ret_val;
 	string opt;
 	map<string, string> args;
 	pthread_t threads[SENSOR_PORTS];
@@ -72,8 +78,10 @@ int main(int argc, char *argv[]) {
 		streamers[i] = new Streamer(args, i);
 
 		pthread_attr_init(&attr);
-		if (!pthread_create(&threads[i], &attr, Streamer::pthread_f, (void *) streamers[i])) {
-			cerr << "Can not spawn streamer thread for port " << i << endl;
+		ret_val = pthread_create(&threads[i], &attr, Streamer::pthread_f, (void *) streamers[i]);
+		if (ret_val != 0) {
+			cerr << "Can not spawn streamer thread for port " << i;
+			cerr << ", pthread_create returned " << ret_val << endl;
 			clean_up(threads, SENSOR_PORTS);
 			exit(EXIT_FAILURE);
 		}

src/parameters.h

@@ -47,6 +47,7 @@ public:
 	off_t lseek(off_t offset, int whence) { return ::lseek(fd_fparmsall, offset, whence); }
 	bool daemon_enabled(void);
 	void setPValue(unsigned long *val_array, int count);
+	inline int get_port_num() const {return sensor_port;}
 protected:
 //	static Parameters *_parameters;
 

src/streamer.cpp

@@ -37,15 +37,23 @@ using namespace std;
 #define RTSP_DEBUG_2
 
 #ifdef RTSP_DEBUG
-	#define D(a) a
+	#define D(s_port, a) \
+	do { \
+		cerr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << ": sensor port: " << s_port << " "; \
+		a; \
+	} while (0)
 #else
-	#define D(a)
+	#define D(s_port, a)
 #endif
 
 #ifdef RTSP_DEBUG_2
-	#define D2(a) a
+	#define D2(s_port, a) \
+	do { \
+		cerr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << ": sensor port: " << s_port << " "; \
+		a; \
+	} while (0)
 #else
-	#define D2(a)
+	#define D2(s_port, a)
 #endif
 
 //Streamer *Streamer::_streamer = NULL;
@@ -65,12 +73,12 @@ Streamer::Streamer(const map<string, string> &_args, int port_num) {
 	session->video.fps_scale = 1;
 	audio_init();
 	video = new Video(sensor_port, params);
-	if(opt_present("f")) {
+	if (opt_present("f")) {
 		float fps = 0;
 		fps = atof(args["f"].c_str());
-		if(fps < 0.1)
+		if (fps < 0.1)
 			fps = 0;
-D(		cout << "use fps: " << fps << endl;)
+		D(sensor_port, cout << "use fps: " << fps << endl);
 		video->fps(fps);
 	}
 	rtsp_server = NULL;
@@ -79,10 +87,10 @@ D(		cout << "use fps: " << fps << endl;)
 
 void Streamer::audio_init(void) {
 	if (audio != NULL) {
-		D(cerr << "delete audio" << endl;)
+		D(sensor_port, cerr << "delete audio" << endl);
 		delete audio;
 	}
-	D(cout << "audio_enabled == " << session->process_audio << endl;)
+	D(sensor_port, cout << "audio_enabled == " << session->process_audio << endl);
 	audio = new Audio(session->process_audio, params, session->audio.sample_rate, session->audio.channels);
 	if (audio->present() && session->process_audio) {
 		session->process_audio = true;
@@ -109,7 +117,7 @@ int Streamer::f_handler(void *ptr, RTSP_Server *rtsp_server, RTSP_Server::event
 }
 
 int Streamer::update_settings(bool apply) {
-D(		cerr << "update_settings" << endl;)
+	D(sensor_port, cerr << "update_settings" << endl);
 
 	// check settings, normalize its, return 1 if was changed
 	// update settings at application if apply = 1 and parameters change isn't on-fly safe, update parameters always
@@ -130,19 +138,19 @@ D(		cerr << "update_settings" << endl;)
 	//----------------
 	// frame skip, or FPS scale
 	int frames_skip = params->getGPValue(P_STROP_FRAMES_SKIP);
-	if(frames_skip < 0 || frames_skip > 0xFFFF) {
-		if(frames_skip < 0)
+	if (frames_skip < 0 || frames_skip > 0xFFFF) {
+		if (frames_skip < 0)
 			frames_skip = 0;
-		if(frames_skip < 0xFFFF)
+		if (frames_skip < 0xFFFF)
 			frames_skip = 0xFFFF;
 		changes_array[changes_array_i + 0] = P_STROP_FRAMES_SKIP;
-		changes_array[changes_array_i + 1] = (unsigned long)frames_skip;
+		changes_array[changes_array_i + 1] = (unsigned long) frames_skip;
 		changes_array_i += 2;
 		params_update = true;
 	}
 	frames_skip += 1; // convert to fps_scale format;
-	if(frames_skip != session->video.fps_scale) {
-		if(apply)
+	if (frames_skip != session->video.fps_scale) {
+		if (apply)
 			session->video.fps_scale = frames_skip;
 //cerr << "session->video.fps_scale = " << session->video.fps_scale << endl;
 		result = true;
@@ -151,10 +159,10 @@ D(		cerr << "update_settings" << endl;)
 	// transport parameters
 	bool transport_was_changed = false;
 	bool param_multicast = params->getGPValue(P_STROP_MCAST_EN);
-	if(param_multicast || session->rtp_out.multicast) {
+	if (param_multicast || session->rtp_out.multicast) {
 		// multicast/unicast
-		if(param_multicast != session->rtp_out.multicast) {
-			if(apply)
+		if (param_multicast != session->rtp_out.multicast) {
+			if (apply)
 				session->rtp_out.multicast = param_multicast;
 			transport_was_changed = true;
 		}
@@ -162,31 +170,31 @@ D(		cerr << "update_settings" << endl;)
 		unsigned long ip = params->getGPValue(P_STROP_MCAST_IP);
 		bool ip_was_changed = false;
 		// switch custom/default IP
-		if((ip == 0) && session->rtp_out.ip_custom)
+		if ((ip == 0) && session->rtp_out.ip_custom)
 			ip_was_changed = true;
-		if((ip != 0) && !session->rtp_out.ip_custom)
+		if ((ip != 0) && !session->rtp_out.ip_custom)
 			ip_was_changed = true;
 		// change of custom IP
-		if((ip != 0) && session->rtp_out.ip_custom)
-			if(ip != session->rtp_out.ip_cached)
+		if ((ip != 0) && session->rtp_out.ip_custom)
+			if (ip != session->rtp_out.ip_cached)
 				ip_was_changed = true;
-		if(ip_was_changed) {
-			if(ip != 0) {
+		if (ip_was_changed) {
+			if (ip != 0) {
 				struct in_addr a;
 				uint32_t a_min = ntohl(inet_addr("224.0.0.0"));
 				uint32_t a_max = ntohl(inet_addr("239.255.255.255"));
-				if(a_min > a_max) {
+				if (a_min > a_max) {
 					uint32_t a = a_min;
 					a_min = a_max;
 					a_max = a;
 				}
-				if(ip < a_min)
+				if (ip < a_min)
 					ip = a_min;
-				if(ip > a_max)
+				if (ip > a_max)
 					ip = a_max;
 				a.s_addr = htonl(ip);
-D(				cerr << "multicast ip asked: " << inet_ntoa(a) << endl;)
-				if(apply) {
+				D(sensor_port, cerr << "multicast ip asked: " << inet_ntoa(a) << endl);
+				if (apply) {
 					session->rtp_out.ip_cached = ip;
 					session->rtp_out.ip_custom = true;
 					session->rtp_out.ip = inet_ntoa(a);
@@ -196,24 +204,24 @@ D(				cerr << "multicast ip asked: " << inet_ntoa(a) << endl;)
 				}
 			} else {
 				struct in_addr a = Socket::mcast_from_local();
-D(				cerr << "multicast ip generated: " << inet_ntoa(a) << endl;)
-				if(apply) {
+				D(sensor_port, cerr << "multicast ip generated: " << inet_ntoa(a) << endl);
+				if (apply) {
 					session->rtp_out.ip_custom = false;
 					session->rtp_out.ip = inet_ntoa(a);
 				}
 			}
 			transport_was_changed = true;
 		}
-D(		if(apply))
-D(			cerr << "actual multicast IP: " << session->rtp_out.ip << endl;)
+//D(		if(apply))
+		D(sensor_port, if (apply) cerr << "actual multicast IP: " << session->rtp_out.ip << endl);
 		// port
 		int port = params->getGPValue(P_STROP_MCAST_PORT);
-		if(port != session->rtp_out.port_video) {
-			if(port < 1024)
+		if (port != session->rtp_out.port_video) {
+			if (port < 1024)
 				port = 1024;
-			if(port > 65532)
+			if (port > 65532)
 				port = 65532;
-			if(apply) {
+			if (apply) {
 				session->rtp_out.port_video = port;
 				session->rtp_out.port_audio = port + 2;
 				changes_array[changes_array_i + 0] = P_STROP_MCAST_PORT;
@@ -224,12 +232,12 @@ D(			cerr << "actual multicast IP: " << session->rtp_out.ip << endl;)
 		}
 		// ttl
 		int ttl = params->getGPValue(P_STROP_MCAST_TTL);
-		if(ttl != atoi(session->rtp_out.ttl.c_str())) {
-			if(ttl < 1)
+		if (ttl != atoi(session->rtp_out.ttl.c_str())) {
+			if (ttl < 1)
 				ttl = 1;
-			if(ttl > 15)
+			if (ttl > 15)
 				ttl = 15;
-			if(apply) {
+			if (apply) {
 				char buf[8];
 				sprintf(buf, "%d", ttl);
 				session->rtp_out.ttl = buf;
@@ -240,7 +248,7 @@ D(			cerr << "actual multicast IP: " << session->rtp_out.ip << endl;)
 			transport_was_changed = true;
 		}
 	}
-	if(transport_was_changed)
+	if (transport_was_changed)
 		params_update = true;
 
 	//-----------------
@@ -250,63 +258,63 @@ D(			cerr << "actual multicast IP: " << session->rtp_out.ip << endl;)
 	bool f_audio_rate = false;
 	bool f_audio_channels = false;
 	// - enabled/disabled
-	if(params->getGPValue(P_STROP_AUDIO_EN) == 0)
+	if (params->getGPValue(P_STROP_AUDIO_EN) == 0)
 		audio_proc = false;
 	int audio_rate = params->getGPValue(P_STROP_AUDIO_RATE);
 	int audio_channels = params->getGPValue(P_STROP_AUDIO_CHANNEL);
 
-	if(audio_proc != session->process_audio)
+	if (audio_proc != session->process_audio)
 		audio_was_changed = true;
-	if(audio_rate != session->audio.sample_rate)
+	if (audio_rate != session->audio.sample_rate)
 		f_audio_rate = true;
-	if(audio_channels != session->audio.channels)
+	if (audio_channels != session->audio.channels)
 		f_audio_channels = true;
-	if((audio_proc || session->process_audio) && (f_audio_rate || f_audio_channels))
+	if ((audio_proc || session->process_audio) && (f_audio_rate || f_audio_channels))
 		audio_was_changed = true;
-	if(apply) {
+	if (apply) {
 		bool audio_restarted = false;
-		if(audio_was_changed) {
+		if (audio_was_changed) {
 			session->process_audio = audio_proc;
 			session->audio.sample_rate = audio_rate;
 			session->audio.channels = audio_channels;
-D2(			cerr << "Audio was changed. Should restart it" << endl;)
+			D2(sensor_port, cerr << "Audio was changed. Should restart it" << endl);
 			audio_init();
 			audio_restarted = true;
 			// if audio enable was asked, check what soundcard really is connected
-			if(audio_proc) {
-				if(!audio->present()) {
+			if (audio_proc) {
+				if (!audio->present()) {
 					session->process_audio = false;
 					changes_array[changes_array_i + 0] = P_STROP_AUDIO_EN;
 					changes_array[changes_array_i + 1] = 0;
 					changes_array_i += 2;
 				}
 			}
-			if(f_audio_rate) {
+			if (f_audio_rate) {
 				changes_array[changes_array_i + 0] = P_STROP_AUDIO_RATE;
 				changes_array[changes_array_i + 1] = session->audio.sample_rate;
 				changes_array_i += 2;
 			}
-			if(f_audio_channels) {
+			if (f_audio_channels) {
 				changes_array[changes_array_i + 0] = P_STROP_AUDIO_CHANNEL;
 				changes_array[changes_array_i + 1] = session->audio.channels;
 				changes_array_i += 2;
 			}
 		}
 		// was started before new client - must reinit audio
-		if(!audio_restarted && session->process_audio)
+		if (!audio_restarted && session->process_audio)
 			audio_init();
 	}
 	result = result || audio_was_changed || transport_was_changed;
 
 	// apply volume if audio is enabled, and volume was changed
 
-	if(session->process_audio) {
-		if(audio->present()) {
+	if (session->process_audio) {
+		if (audio->present()) {
 			// check volume
 			long volume = audio->volume();
 			int audio_volume = params->getGPValue(P_AUDIO_CAPTURE_VOLUME);
 			// and apply it
-			if(audio_volume != volume) {
+			if (audio_volume != volume) {
 				audio->set_volume(audio_volume);
 				changes_array[changes_array_i + 0] = P_AUDIO_CAPTURE_VOLUME;
 				changes_array[changes_array_i + 1] = audio->volume();
@@ -318,7 +326,7 @@ D2(			cerr << "Audio was changed. Should restart it" << endl;)
 
 	// update array of changes
 	// set frame to update
-	if(apply || params_update) {
+	if (apply || params_update) {
 		changes_array[0] = FRAMEPARS_SETFRAME;
 		changes_array[1] = params->getGPValue(G_THIS_FRAME) + 1;
 		params->setPValue(changes_array, changes_array_i);
@@ -328,7 +336,7 @@ D2(			cerr << "Audio was changed. Should restart it" << endl;)
 //	if(apply) {
 	// here - create new function from where update all settings
 	struct video_desc_t video_desc = video->get_current_desc();
-		if(video_desc.valid) {
+	if (video_desc.valid) {
 		session->video.width = video_desc.width;
 		session->video.height = video_desc.height;
 		session->video.fps = video_desc.fps;
@@ -337,28 +345,29 @@ D2(			cerr << "Audio was changed. Should restart it" << endl;)
 	session->video.type = video->ptype();
 //	}
 
-	if(result)
+	if (result)
 		return 1;
 	return 0;
 }
 
 int Streamer::handler(RTSP_Server *rtsp_server, RTSP_Server::event event) {
 	static bool _play = false;
-D(	cerr << "event: running= " << running << " ";)
-	switch(event) {
+	D(sensor_port, cerr << "event: running= " << running << " ");
+	switch (event) {
 	case RTSP_Server::DESCRIBE: /// Update frame size, fps before starting new stream (generating SDP file)
 		update_settings(true);
 		break;
 	case RTSP_Server::PARAMS_WAS_CHANGED: /// Update frame size, fps before starting new stream (generating SDP file)
 		return (update_settings(false) || !(params->daemon_enabled()));
 	case RTSP_Server::PLAY:
-D(		cerr << "==PLAY==";)
-		if(connected_count == 0) {
+		D(sensor_port, cerr << "==PLAY==");
+		if (connected_count == 0) {
 			int ttl = -1;
-			if(session->rtp_out.multicast)
+			if (session->rtp_out.multicast)
 				ttl = atoi(session->rtp_out.ttl.c_str());
-			video->Start(session->rtp_out.ip, session->rtp_out.port_video, session->video.fps_scale, ttl);
-			if(audio != NULL)
+			video->Start(session->rtp_out.ip, session->rtp_out.port_video, session->video.fps_scale,
+					ttl);
+			if (audio != NULL)
 				audio->Start(session->rtp_out.ip, session->rtp_out.port_audio, ttl);
 		}
 		connected_count++;
@@ -366,11 +375,11 @@ D(		cerr << "==PLAY==";)
 		running = true;
 		break;
 	case RTSP_Server::PAUSE:
-D(		cerr << "PAUSE";)
+		D(sensor_port, cerr << "PAUSE");
 		connected_count--;
-		if(connected_count <= 0) {
+		if (connected_count <= 0) {
 			video->Stop();
-			if(audio != NULL)
+			if (audio != NULL)
 				audio->Stop();
 			connected_count = 0;
 			_play = false;
@@ -378,15 +387,15 @@ D(		cerr << "PAUSE";)
 		}
 		break;
 	case RTSP_Server::TEARDOWN:
-D(		cerr << "TEARDOWN";)
-		if(!running) {
-D(			cerr << " was not running";)
+		D(sensor_port, cerr << "TEARDOWN");
+		if (!running) {
+			D(sensor_port, cerr << " was not running");
 			break;
 		}
 		connected_count--;
-		if(connected_count <= 0) {
+		if (connected_count <= 0) {
 			video->Stop();
-			if(audio != NULL)
+			if (audio != NULL)
 				audio->Stop();
 			connected_count = 0;
 			_play = false;
@@ -394,35 +403,34 @@ D(			cerr << " was not running";)
 		}
 		break;
 	case RTSP_Server::RESET:
-D(		cerr << "RESET";)
-		if(!running) {
-D(			cerr << " was not running";)
+		D(sensor_port, cerr << "RESET");
+		if (!running) {
+			D(sensor_port, cerr << " was not running");
 			break;
 		}
 		video->Stop();
-		if(audio != NULL)
+		if (audio != NULL)
 			audio->Stop();
 		connected_count = 0;
 		_play = false;
 		running = false;
 		break;
-/*
+		/*
 		 case RTSP_Server::IS_DAEMON_ENABLED:
-D(		cerr << "IS_DAEMON_ENABLED video->isDaemonEnabled(-1)=" << video->isDaemonEnabled(-1) << endl;)
+		 D(		cerr << "IS_DAEMON_ENABLED video->isDaemonEnabled(-1)=" << video->isDaemonEnabled(-1) << endl;)
 		 return video->isDaemonEnabled(-1);
 		 break;
-*/
+		 */
 	default:
-D(		cerr << "unknown == " << event;)
+		D(sensor_port, cerr << "unknown == " << event);
 		break;
 	}
-D(	cerr << endl;)
+	D(sensor_port, cerr << endl);
 	return 0;
 }
 
 void Streamer::Main(void) {
-	D( cerr << "start Main for sensor port " << sensor_port << endl;)
-	string def_mcast = "232.1.1.1";
+	D(sensor_port, cerr << "start Main for sensor port " << sensor_port << endl);
 	int def_port = 20020;
 	string def_ttl = "2";
 
@@ -442,18 +450,18 @@ void Streamer::Main(void) {
 		update_settings(true);
 		/// Got here if is and was enabled (may use more actions instead of just "continue"
 		// start RTSP server
-		D2( cerr << "start server" << endl;)
+		D2(sensor_port, cerr << "start server" << endl);
 		if (rtsp_server == NULL)
 			rtsp_server = new RTSP_Server(Streamer::f_handler, (void *) this, params, session);
 		rtsp_server->main();
-		D2( cerr << "server was stopped" << endl;)
-		D2( cerr << "stop video" << endl;)
+		D2(sensor_port, cerr << "server was stopped" << endl);
+		D2(sensor_port, cerr << "stop video" << endl);
 		video->Stop();
-		D2( cerr << "stop audio" << endl;)
+		D2(sensor_port, cerr << "stop audio" << endl);
 		if (audio != NULL) {
 			audio->Stop();
 			// free audio resource - other app can use soundcard
-			D2( cerr << "delete audio" << endl;)
+			D2(sensor_port, cerr << "delete audio" << endl);
 			delete audio;
 			audio = NULL;
 		}

src/video.cpp

@@ -45,19 +45,31 @@ using namespace std;
 #define VIDEO_DEBUG_3	// for FPS monitoring
 
 #ifdef VIDEO_DEBUG
-	#define D(a) a
+	#define D(s_port, a) \
+	do { \
+		cerr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << ": sensor port: " << s_port << " "; \
+		a; \
+	} while (0)
 #else
 	#define D(a)
 #endif
 
 #ifdef VIDEO_DEBUG_2
-	#define D2(a) a
+	#define D2(s_port, a) \
+	do { \
+		cerr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << ": sensor port: " << s_port << " "; \
+		a; \
+	} while (0)
 #else
 	#define D2(a)
 #endif
 
 #ifdef VIDEO_DEBUG_3
-	#define D3(a) a
+	#define D3(s_port, a) \
+	do { \
+		cerr << __FILE__ << ": " << __FUNCTION__ << ": " << __LINE__ << ": sensor port: " << s_port << " "; \
+		a; \
+	} while (0)
 #else
 	#define D3(a)
 #endif
@@ -87,8 +99,7 @@ static const char *jhead_file_names[] = {
 Video::Video(int port, Parameters *pars) {
 	string err_msg;
 
-	D( cerr << "Video::Video() on port " << port << endl;)
-	D( cerr << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__ << endl;)
+	D(sensor_port, cerr << "Video::Video() on sensor port " << port << endl);
 	params = pars;
 	sensor_port = port;
 	stream_name = "video";
@@ -107,21 +118,16 @@ Video::Video(int port, Parameters *pars) {
 		err_msg = "can't mmap " + *circbuf_file_names[sensor_port];
 		throw runtime_error(err_msg);
 	}
-	cout << "<-- 1" << endl;
-//	buffer_ptr_s = (unsigned long *) mmap(buffer_ptr + (buffer_length >> 2), buffer_length,
-//			PROT_READ, MAP_FIXED | MAP_SHARED, fd_circbuf, 0);   /// preventing buffer rollovers
 	buffer_ptr_s = (unsigned long *) mmap(buffer_ptr + (buffer_length >> 2), 100 * 4096,
 			PROT_READ, MAP_FIXED | MAP_SHARED, fd_circbuf, 0);   /// preventing buffer rollovers
-	cout << "<-- 2" << endl;
 	if ((int) buffer_ptr_s == -1) {
 		err_msg = "can't create second mmap for " + *circbuf_file_names[sensor_port];
 		throw runtime_error(err_msg);
 	}
-	cout << "<-- 3" << endl;
 
 	/// Skip several frames if it is just booted
 	/// May get stuck here if compressor is off, it should be enabled externally
-	D( cerr << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__ << " frame=" << params->getGPValue(G_THIS_FRAME) << " buffer_length=" << buffer_length << endl;)
+	D(sensor_port, cerr << " frame=" << params->getGPValue(G_THIS_FRAME) << " buffer_length=" << buffer_length << endl);
 	while (params->getGPValue(G_THIS_FRAME) < 10) {
 		lseek(fd_circbuf, LSEEK_CIRC_TOWP, SEEK_END); /// get to the end of buffer
 		lseek(fd_circbuf, LSEEK_CIRC_WAIT, SEEK_END); /// wait frame got ready there
@@ -129,7 +135,7 @@ Video::Video(int port, Parameters *pars) {
 	/// One more wait always to make sure compressor is actually running
 	lseek(fd_circbuf, LSEEK_CIRC_WAIT, SEEK_END);
 	lseek(fd_circbuf, LSEEK_CIRC_WAIT, SEEK_END);
-	D(cerr << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__ << " frame=" << params->getGPValue(G_THIS_FRAME) << " buffer_length=" << buffer_length <<endl;)
+	D(sensor_port, cerr << " frame=" << params->getGPValue(G_THIS_FRAME) << " buffer_length=" << buffer_length <<endl);
 	fd_jpeghead = open(jhead_file_names[sensor_port], O_RDWR);
 	if (fd_jpeghead < 0) {
 		err_msg = "can't open " + *jhead_file_names[sensor_port];
@@ -147,7 +153,7 @@ Video::Video(int port, Parameters *pars) {
 
 	// create thread...
 	init_pthread((void *) this);
-	D( cerr << __FILE__<< ":" << __FUNCTION__ << ":" << __LINE__ << endl;)
+	D(sensor_port, cerr << "finish constructor" << endl);
 }
 
 Video::~Video(void) {
@@ -169,8 +175,8 @@ Video::~Video(void) {
 /// Compressor should be turned on outside of the streamer
 #define TURN_COMPRESSOR_ON 0
 void Video::Start(string ip, long port, int _fps_scale, int ttl) {
-D(	cerr  << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__ << "_play=" << _play << endl;)
-	if(_play) {
+	D(sensor_port, cerr << "_play=" << _play << endl);
+	if (_play) {
 		cerr << "ERROR-->> wrong usage: Video()->Start() when already play!!!" << endl;
 		return;
 	}
@@ -188,7 +194,7 @@ D(	cerr  << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__ << "_play=" << _play
 //	f_width = width();
 //	f_height = height();
 	fps_scale = _fps_scale;
-	if(fps_scale < 1)
+	if (fps_scale < 1)
 		fps_scale = 1;
 	fps_scale_c = 0;
 	/// start compressor...NOTE: Maybe it should not?
@@ -204,7 +210,7 @@ D(	cerr  << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__ << "_play=" << _play
 }
 
 void Video::Stop(void) {
-	if(!_play)
+	if (!_play)
 		return;
 //return;
 	RTP_Stream::Stop();
@@ -226,9 +232,9 @@ bool Video::waitDaemonEnabled(int daemonBit) { // <0 - use default
 	unsigned long this_frame = params->getGPValue(G_THIS_FRAME);
 /// No semaphors, so it is possible to miss event and wait until the streamer will be re-enabled before sending message,
 /// but it seems not so terrible
-	D(cerr << " lseek(fd_circbuf" << fd_circbuf << ", LSEEK_DAEMON_CIRCBUF+lastDaemonBit, SEEK_END)... " << endl;)
+	D(sensor_port, cerr << " lseek(fd_circbuf" << sensor_port << ", LSEEK_DAEMON_CIRCBUF+lastDaemonBit, SEEK_END)... " << endl);
 	lseek(fd_circbuf, LSEEK_DAEMON_CIRCBUF + lastDaemonBit, SEEK_END); /// 
-	D(cerr << "...done" << endl;)
+	D(sensor_port, cerr << "...done" << endl);
 
 	if (this_frame == params->getGPValue(G_THIS_FRAME))
 		return true;
@@ -241,10 +247,10 @@ bool Video::waitDaemonEnabled(int daemonBit) { // <0 - use default
  * @return (after possible waiting) true if there was no waiting, false if there was waiting
  */
 bool Video::isDaemonEnabled(int daemonBit) { // <0 - use default
-	if((daemonBit >= 0) && (daemonBit < 32))
+	if ((daemonBit >= 0) && (daemonBit < 32))
 		lastDaemonBit = daemonBit;
 //	return((framePars[GLOBALPARS(G_THIS_FRAME) & PARS_FRAMES_MASK].pars[P_DAEMON_EN] & (1 << lastDaemonBit)) != 0);
-	return((params->getFrameValue(P_DAEMON_EN) & (1 << lastDaemonBit)) != 0);
+	return ((params->getFrameValue(P_DAEMON_EN) & (1 << lastDaemonBit)) != 0);
 }
 
 
@@ -260,49 +266,51 @@ long Video::getFramePars(struct interframe_params_t *frame_pars, long before, lo
 	long cur_pointer, p;
 
 	long this_pointer = 0;
-	if(ptr_before > 0) {
+	if (ptr_before > 0) {
 		/// if we need some before frame, we should set pointer to saved one (saved with before == 0)
 		this_pointer = lseek(fd_circbuf, ptr_before, SEEK_SET); /// restore the file pointer
 	}
-	if(ptr_before < 0) {
+	if (ptr_before < 0) {
 		/// otherwise, set pointer to the actual frame
 		this_pointer = lseek(fd_circbuf, LSEEK_CIRC_TOWP, SEEK_END); /// byte index in circbuf of the frame start
 	}
-	if(ptr_before == 0)
+	if (ptr_before == 0)
 		this_pointer = lseek(fd_circbuf, 0, SEEK_CUR); /// save orifinal file pointer
-	char *char_buffer_ptr = (char *)buffer_ptr;
-	if(lseek(fd_circbuf, LSEEK_CIRC_VALID, SEEK_END) < 0) { /// Invalid frame - reset to the latest acquired
+	char *char_buffer_ptr = (char *) buffer_ptr;
+	if (lseek(fd_circbuf, LSEEK_CIRC_VALID, SEEK_END) < 0) { /// Invalid frame - reset to the latest acquired
 		this_pointer = lseek(fd_circbuf, LSEEK_CIRC_LAST, SEEK_END); /// Last acquired frame (may be not yet available if none are)
 	}
 	cur_pointer = this_pointer;
-	if(before == 0)
+	if (before == 0)
 		lseek(fd_circbuf, LSEEK_CIRC_WAIT, SEEK_END);
-	while(before && (((p = lseek(fd_circbuf, LSEEK_CIRC_PREV, SEEK_END))) >= 0)) { /// try to get earlier valid frame
+	while (before && (((p = lseek(fd_circbuf, LSEEK_CIRC_PREV, SEEK_END))) >= 0)) { /// try to get earlier valid frame
 		cur_pointer = p;
 		before--;
 	}
 
 	/// if 'before' is still >0 - not enough frames acquired, wait for more 
-	while(before > 0) {
+	while (before > 0) {
 		lseek(fd_circbuf, this_pointer, SEEK_SET);
 		lseek(fd_circbuf, LSEEK_CIRC_WAIT, SEEK_END);
 		this_pointer = lseek(fd_circbuf, LSEEK_CIRC_NEXT, SEEK_END);
 		before--;
 	}
 	long metadata_start = cur_pointer - 32;
-	if(metadata_start < 0)
+	if (metadata_start < 0)
 		metadata_start += buffer_length;
 	/// copy the interframe data (timestamps are not yet there)
-D(cerr  << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__ << " before=" << before << " metadata_start=" << metadata_start << endl;)
+	D(sensor_port, cerr << " before=" << before << " metadata_start=" << metadata_start << endl);
 	memcpy(frame_pars, &char_buffer_ptr[metadata_start], 32);
 	long jpeg_len = frame_pars->frame_length; //! frame_pars->frame_length is now the length of bitstream
-	if(frame_pars->signffff != 0xffff) {
-		cerr << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__ << "  Wrong signature in getFramePars() (broken frame), frame_pars->signffff="<< frame_pars->signffff << endl;
+	if (frame_pars->signffff != 0xffff) {
+		cerr << __FILE__ << ":" << __FUNCTION__ << ":" << __LINE__
+				<< "  Wrong signature in getFramePars() (broken frame), frame_pars->signffff="
+				<< frame_pars->signffff << endl;
 		int i;
-                long * dd =(long *) frame_pars;
-                cerr << hex << (metadata_start/4) << ": ";
+		long * dd = (long *) frame_pars;
+		cerr << hex << (metadata_start / 4) << ": ";
 //                for (i=0;i<8;i++) {
-                for (i=0;i<8;i++) {
+		for (i = 0; i < 8; i++) {
 			cerr << hex << dd[i] << "  ";
 		}
 		cerr << dec << endl;
@@ -312,11 +320,11 @@ D(cerr  << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__ << " before=" << befo
 	}
 	///   find location of the timestamp and copy it to the frame_pars structure
 	///==================================
-	long timestamp_start = (cur_pointer) + ((jpeg_len + CCAM_MMAP_META + 3) & (~0x1f)) + 32 - CCAM_MMAP_META_SEC; //! magic shift - should index first byte of the time stamp
-	if(timestamp_start >= buffer_length)
+	long timestamp_start = (cur_pointer) + ((jpeg_len + CCAM_MMAP_META + 3) & (~0x1f)) + 32- CCAM_MMAP_META_SEC; //! magic shift - should index first byte of the time stamp
+	if (timestamp_start >= buffer_length)
 		timestamp_start -= buffer_length;
 	memcpy(&(frame_pars->timestamp_sec), &char_buffer_ptr[timestamp_start], 8);
-	if(ptr_before == 0)
+	if (ptr_before == 0)
 		lseek(fd_circbuf, this_pointer, SEEK_SET); /// restore the file pointer
 //D(cerr  << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__ << " this_pointer=" << this_pointer << " cur_pointer=" << cur_pointer << endl;)
 	return cur_pointer;
@@ -332,23 +340,19 @@ struct video_desc_t Video::get_current_desc(bool with_fps) {
 	struct video_desc_t video_desc;
 	video_desc.valid = false;
 	long ptr = -1;
-	if((ptr = getFramePars(&frame_pars, FRAMEPARS_BEFORE, -1)) < 0) {
+	if ((ptr = getFramePars(&frame_pars, FRAMEPARS_BEFORE, -1)) < 0) {
 		return video_desc;
 	} else {
-		if(with_fps) {
-			if(getFramePars(&prev_pars,  FRAMEPARS_BEFORE + 1, ptr) < 0)
+		if (with_fps) {
+			if (getFramePars(&prev_pars, FRAMEPARS_BEFORE + 1, ptr) < 0)
 				return video_desc;
 			double fps = (frame_pars.timestamp_sec - prev_pars.timestamp_sec);
 			fps *= 1000000.0;
 			fps += frame_pars.timestamp_usec;
 			fps -= prev_pars.timestamp_usec;
-D3(			float _f = fps;)
 			fps = 1000000.0 / fps;
 			video_desc.fps = (used_fps = fps);
-D(			cerr  << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__ << " fps=" << fps << endl;)
-//			cerr  << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__ << " fps=" << video_desc.fps << endl;
-D3(if(_f == 0))
-D3(cerr << "delta == " << _f << endl << endl;)
+			D(sensor_port, cerr << " fps=" << fps << endl);
 		}
 	}
 	video_desc.valid = true;
@@ -361,7 +365,7 @@ D3(cerr << "delta == " << _f << endl << endl;)
 }
 
 void Video::fps(float fps) {
-	if(fps < 0.01)
+	if (fps < 0.01)
 		return;
 	/// currently limiting FPS only works with free running TODO: Add external trigger frequency support.
 	unsigned long write_data[6];
@@ -369,12 +373,12 @@ void Video::fps(float fps) {
 	write_data[0] = FRAMEPARS_SETFRAME;
 	write_data[1] = target_frame; /// wait then for that frame to be available on the output plus 2 frames for fps to be stable
 	write_data[2] = P_FP1000SLIM;
-	write_data[3] = (unsigned long)fps * 1000;
+	write_data[3] = (unsigned long) fps * 1000;
 	write_data[4] = P_FPSFLAGS;
 	write_data[5] = 3;
 //	long rslt = write(fd_fparmsall, write_data, sizeof(write_data));
 	int rslt = params->write(write_data, sizeof(write_data));
-	if(rslt == sizeof(write_data)) { /// written OK
+	if (rslt == sizeof(write_data)) { /// written OK
 //		lseek(fd_fparmsall, LSEEK_FRAME_WAIT_ABS + target_frame + FRAMES_SKIP_FPS, SEEK_END); /// skip frames 
 		params->lseek(LSEEK_FRAME_WAIT_ABS + target_frame + FRAMES_SKIP_FPS, SEEK_END); /// skip frames 
 	}
@@ -392,43 +396,44 @@ long Video::capture(void) {
 	int before;
 	///Make sure the streamer is not disabled through the bit in P_DAEMON_EN
 //	if((framePars[pars->getGPValue(G_THIS_FRAME) & PARS_FRAMES_MASK].pars[P_DAEMON_EN] & (1 << lastDaemonBit)) == 0) {
-	if((params->getFrameValue(P_DAEMON_EN) & (1 << lastDaemonBit)) == 0) {
+	if ((params->getFrameValue(P_DAEMON_EN) & (1 << lastDaemonBit)) == 0) {
 		return -DAEMON_DISABLED;  /// return exception (will stop the stream)
 	}
 	frameStartByteIndex = lseek(fd_circbuf, LSEEK_CIRC_TOWP, SEEK_END); /// byte index in circbuf of the frame start
 	latestAvailableFrame_ptr = frameStartByteIndex;
 	lseek(fd_circbuf, LSEEK_CIRC_WAIT, SEEK_END);
 
-	frame_ptr = (char *)((unsigned long)buffer_ptr + latestAvailableFrame_ptr);
+	frame_ptr = (char *) ((unsigned long) buffer_ptr + latestAvailableFrame_ptr);
 //fprintf(stderr, "frame_ptr == %08X; ", frame_ptr);
-	if(latestAvailableFrame_ptr < 32)
+	if (latestAvailableFrame_ptr < 32)
 		latestAvailableFrame_ptr += buffer_length;
 	latestAvailableFrame_ptr >>= 2;
 	frame_len = buffer_ptr[latestAvailableFrame_ptr - 1];
 //	read timestamp
-	char *ts_ptr = (char *)((unsigned long)frame_ptr + (long)(((frame_len + CCAM_MMAP_META + 3) & (~0x1f)) + 32 - CCAM_MMAP_META_SEC));
+	char *ts_ptr = (char *) ((unsigned long) frame_ptr + (long) (((frame_len + CCAM_MMAP_META + 3) & (~0x1f)) + 32 - CCAM_MMAP_META_SEC));
 	unsigned long t[2];
-	memcpy(&t, (void *)ts_ptr, 8);
+	memcpy(&t, (void *) ts_ptr, 8);
 	f_tv.tv_sec = t[0];
 	f_tv.tv_usec = t[1];
 	// read Q value
-	char *meta = (char *)frame_ptr;
+	char *meta = (char *) frame_ptr;
 	meta -= 32;
-	if(meta < (char *)buffer_ptr)
+	if (meta < (char *) buffer_ptr)
 		meta += buffer_length;
-	struct interframe_params_t *fp = (struct interframe_params_t *)meta;
+	struct interframe_params_t *fp = (struct interframe_params_t *) meta;
 	/// See if the frame parameters are the same as used when starting the stream,
 	/// Otherwise check  for up to G_SKIP_DIFF_FRAME older frames and return them instead,
 	/// If that number is exceeded - return exception
 	/// Each time the latest acquired frame is considered, so we do not need to save frmae poointer additionally
-	if((fp->width != used_width) || (fp->height != used_height)) {
-		for(before = 1; before <= (int)params->getGPValue(G_SKIP_DIFF_FRAME); before++) {
-			if(((frameStartByteIndex = getFramePars(&frame_pars, before))) && (frame_pars.width == used_width) && (frame_pars.height == used_height)) {
+	if ((fp->width != used_width) || (fp->height != used_height)) {
+		for (before = 1; before <= (int) params->getGPValue(G_SKIP_DIFF_FRAME); before++) {
+			if (((frameStartByteIndex = getFramePars(&frame_pars, before)))
+					&& (frame_pars.width == used_width) && (frame_pars.height == used_height)) {
 				/// substitute older frame instead of the latest one. Leave wrong timestamp?
 				/// copying code above (may need some cleanup). Maybe - just move earlier so there will be no code duplication?
 				latestAvailableFrame_ptr = frameStartByteIndex;
-				frame_ptr = (char *)((unsigned long)buffer_ptr + latestAvailableFrame_ptr);
-				if(latestAvailableFrame_ptr < 32)
+				frame_ptr = (char *) ((unsigned long) buffer_ptr + latestAvailableFrame_ptr);
+				if (latestAvailableFrame_ptr < 32)
 					latestAvailableFrame_ptr += buffer_length;
 				latestAvailableFrame_ptr >>= 2;
 				frame_len = buffer_ptr[latestAvailableFrame_ptr - 1];
@@ -443,39 +448,39 @@ long Video::capture(void) {
 //cerr << "used_width == " << used_width << "; current_width == " << frame_pars.width << endl;
 				/// update interframe data pointer
 //				char *meta = (char *)frame_ptr;
-				meta = (char *)frame_ptr;
+				meta = (char *) frame_ptr;
 				meta -= 32;
-				if(meta < (char *)buffer_ptr)
+				if (meta < (char *) buffer_ptr)
 					meta += buffer_length;
-				fp = (struct interframe_params_t *)meta;
+				fp = (struct interframe_params_t *) meta;
 				break;
 			}
 		}
-		if(before > (int) params->getGPValue(G_SKIP_DIFF_FRAME)) {
-D(cerr << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__<< " Killing stream because of frame size change " << endl;)
+		if (before > (int) params->getGPValue(G_SKIP_DIFF_FRAME)) {
+			D(sensor_port, cerr << " Killing stream because of frame size change " << endl);
 			return -SIZE_CHANGE; /// It seems that frame size is changed for good, need to restart the stream
 		}
-D(cerr << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__<< " Waiting for the original frame size to be restored , using " << before << " frames ago" << endl;)
+		D(sensor_port, cerr << " Waiting for the original frame size to be restored , using " << before << " frames ago" << endl);
 	}
 	///long Video::getFramePars(struct interframe_params_t * frame_pars, long before) {
 	///getGPValue(unsigned long GPNumber)
 	quality = fp->quality2;
-	if(qtables_include && quality != f_quality) {
-D(cerr << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__<< " Updating quality tables, new quality is " << quality << endl;)
+	if (qtables_include && quality != f_quality) {
+		D(sensor_port, cerr << " Updating quality tables, new quality is " << quality << endl);
 		lseek(fd_jpeghead, frameStartByteIndex | 2, SEEK_END); /// '||2' indicates that we need just quantization tables, not full JPEG header
-			read(fd_jpeghead, (void *)&qtable[0], 128);
+		read(fd_jpeghead, (void *) &qtable[0], 128);
 	}
 	f_quality = quality;
-/*
+	/*
 	 // check statistic
-static bool first = true;
-if(first) {
+	 static bool first = true;
+	 if(first) {
 	 struct timeval tv;
 	 gettimeofday(&tv, NULL);
 	 first = false;
 	 fprintf(stderr, "VIDEO first with time: %d:%06d at: %d:%06d\n", f_tv.tv_sec, f_tv.tv_usec, tv.tv_sec, tv.tv_usec);
-}
-*/
+	 }
+	 */
 	return frame_len;
 }
 
@@ -485,32 +490,32 @@ long Video::process(void) {
 	int to_send = _plen;
 	int _qtables_len = 128 + 4;
 	long frame_len = capture();
-	if(frame_len == 0) {
+	if (frame_len == 0) {
 //D(cerr << "[";)
 //		return false;
 		return 0; /// now never here
 	} else {
-		if(frame_len < 0) {
-D(cerr << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__<< "capture returned negative" << frame_len << endl;)
+		if (frame_len < 0) {
+			D(sensor_port, cerr << "capture returned negative" << frame_len << endl);
 //			return false;
 			return frame_len; /// attention (restart) is needed
 		}
 	}
 	// check FPS decimation
 	bool to_skip = true;
-	if(fps_scale_c == 0)
+	if (fps_scale_c == 0)
 		to_skip = false;
 	fps_scale_c++;
-	if(fps_scale_c >= fps_scale)
+	if (fps_scale_c >= fps_scale)
 		fps_scale_c = 0;
 //cerr << "fps_scale == " << fps_scale << "; fps_scale_c == " << fps_scale_c << "; to_skip == " << to_skip << endl;
-	if(to_skip)
+	if (to_skip)
 		return 1;
 
 	int to_send_len = frame_len;
 	unsigned char h[20 + 4];
 	int packet_len = 0;
-	unsigned char *data = (unsigned char *)frame_ptr;
+	unsigned char *data = (unsigned char *) frame_ptr;
 
 	uint64_t t = f_tv.tv_sec;
 	t *= 90000;
@@ -519,22 +524,22 @@ D(cerr << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__<< "capture returned ne
 	double f = f_tv.tv_usec;
 	f /= 1000000.0;
 	f *= 90000.0;
-	timestamp += (uint32_t)f;
+	timestamp += (uint32_t) f;
 	uint32_t ts;
 	ts = timestamp;
 	ts = htonl(ts);
 
 	long offset = 0;
 	void *v_ptr[4];
-	int v_len[4] = {0, 0, 0, 0};
+	int v_len[4] = { 0, 0, 0, 0 };
 	bool first = true;
-	while(to_send_len && _play) {
+	while (to_send_len && _play) {
 		unsigned long pnum = htons(packet_num);
 		bool last = false;
 		to_send = _plen;
-		if(qtables_include && first)
+		if (qtables_include && first)
 			to_send = _plen - _qtables_len;
-		if(to_send_len <= to_send) {
+		if (to_send_len <= to_send) {
 			packet_len = to_send_len;
 			to_send_len = 0;
 			last = true;
@@ -544,41 +549,41 @@ D(cerr << __FILE__<< ":"<< __FUNCTION__ << ":" <<__LINE__<< "capture returned ne
 		}
 		// make RTP packet
 		h[0] = 0x80;
-		if(!last)
+		if (!last)
 			h[1] = _ptype;
 		else
 			h[1] = 0x80 + _ptype;
-		memcpy((void *)&h[2], (void *)&pnum, 2);
-		memcpy((void *)&h[4], (void *)&ts, 4);
-		memcpy((void *)&h[8], (void *)&SSRC, 4);
+		memcpy((void *) &h[2], (void *) &pnum, 2);
+		memcpy((void *) &h[4], (void *) &ts, 4);
+		memcpy((void *) &h[8], (void *) &SSRC, 4);
 		// make MJPEG header
 		unsigned long off = htonl(offset);
-		memcpy((void *)&h[12], (void *)&off, 4);
+		memcpy((void *) &h[12], (void *) &off, 4);
 		h[12] = 0x00;
 		h[16] = 0x01;
 		unsigned int q = f_quality;
-		if(qtables_include)
+		if (qtables_include)
 			q += 128;
-		h[17] = (unsigned char)(q & 0xFF);
-		if(f_width <= 2040)
+		h[17] = (unsigned char) (q & 0xFF);
+		if (f_width <= 2040)
 			h[18] = (f_width / 8) & 0xFF;
 		else
 			h[18] = 0;
-		if(f_height <= 2040)
+		if (f_height <= 2040)
 			h[19] = (f_height / 8) & 0xFF;
 		else
 			h[19] = 0;
 		h[20] = 0;
 		h[21] = 0;
 		unsigned short l = htons(128);
-		memcpy((void *)&h[22], (void *)&l, 2);
+		memcpy((void *) &h[22], (void *) &l, 2);
 		// update RTCP statistic
 		rtp_packets++;
 		rtp_octets += packet_len + 8; // data + MJPEG header
 		// send vector
-		if(first) {
+		if (first) {
 			v_ptr[0] = h;
-			if(qtables_include) {
+			if (qtables_include) {
 				v_len[0] = 24;
 				v_ptr[1] = qtable;
 				v_len[1] = 128;