Loading camogm.c +160 −177 Original line number Diff line number Diff line /*!*************************************************************************** *! FILE NAME : camogm.c *! DESCRIPTION: Program to write captured video (and audio) to camera file system *! using Ogg container. *! Original implementation will copy package data to a buffer to use library calls? *! Copyright (C) 2007 Elphel, Inc. *! -----------------------------------------------------------------------------** *! This program is free software: you can redistribute it and/or modify *! it under the terms of the GNU General Public License as published by *! the Free Software Foundation, either version 3 of the License, or *! (at your option) any later version. *! *! This program is distributed in the hope that it will be useful, *! but WITHOUT ANY WARRANTY; without even the implied warranty of *! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *! GNU General Public License for more details. *! *! You should have received a copy of the GNU General Public License *! along with this program. If not, see <http://www.gnu.org/licenses/>. *! -----------------------------------------------------------------------------** *! *! $Log: camogm.c,v $ *! Revision 1.13 2011/04/22 22:38:30 elphel *! added "greedy" and "ignore_fps" options *! *! Revision 1.12 2010/08/16 17:10:59 elphel *! typo *! *! Revision 1.11 2010/08/08 21:14:04 elphel *! 8.0.8.38 *! *! Revision 1.10 2010/08/07 23:38:01 elphel *! fixed skipping (sometimes) frames at start recording *! *! Revision 1.9 2010/08/03 06:19:57 elphel *! more debug for debug-level>=3 *! *! Revision 1.8 2010/08/02 01:26:42 elphel *! error tracking *! *! Revision 1.7 2010/08/01 19:30:24 elphel *! new readonly parameter FRAME_SIZE and it support in the applications *! *! Revision 1.6 2010/07/18 16:59:09 elphel *! 8.0.8.31 - added parameters to camogm (one is to start at certain absolute time, helps to synchronize multiple cameras) *! *! Revision 1.5 2010/07/04 19:06:02 elphel *! moved acknowledge earlier *! *! Revision 1.4 2010/06/22 18:27:26 elphel *! bug fix *! *! Revision 1.3 2010/06/22 16:53:30 elphel *! camogm acknowledges received command by copying G_THIS_FRAME value to G_DAEMON_ERR+3 (default number for camogm) *! *! Revision 1.2 2009/02/25 17:50:02 spectr_rain *! removed deprecated dependency *! *! Revision 1.1.1.1 2008/11/27 20:04:01 elphel *! *! *! Revision 1.6 2008/11/21 01:52:53 elphel *! updated for 8.0 *! *! Revision 1.5 2008/11/20 23:21:32 elphel *! Put FIXME notes and removed parameters that are not used anymore *! *! Revision 1.4 2008/10/29 04:18:28 elphel *! v.8.0.alpha10 made a separate structure for global parameters (not related to particular frames in a frame queue) *! *! Revision 1.3 2008/10/13 16:55:53 elphel *! removed (some) obsolete P_* parameters, renamed CIRCLSEEK to LSEEK_CIRC constants (same as other similar) *! *! Revision 1.2 2008/09/07 19:48:08 elphel *! snapshot *! *! Revision 1.9 2008/04/13 21:05:19 elphel *! Fixing KML generation *! *! Revision 1.8 2008/04/11 23:09:33 elphel *! modified to handle kml generation *! *! Revision 1.7 2008/04/07 09:13:34 elphel *! Changes related to new Exif generation/processing *! *! Revision 1.6 2008/01/14 22:59:00 elphel *! 7.1.7.4 - added timelapse mode to camogm *! *! Revision 1.5 2007/12/03 08:28:45 elphel *! Multiple changes, mostly cleanup *! *! Revision 1.4 2007/11/29 00:38:57 elphel *! fixed timescale bug *! *! Revision 1.3 2007/11/19 05:07:19 elphel *! fixed 2 typos *! *! Revision 1.2 2007/11/19 03:23:21 elphel *! 7.1.5.5 Added support for *.mov files in camogm. *! *! Revision 1.1 2007/11/16 08:49:56 elphel *! Initial release of camogm - program to record video/image to the camera hard drive (or other storage) *! /** @file camogm.c * @brief Program to write captured video (and audio) to camera file system * using Ogg container. * @copyright Copyright (C) 2016 Elphel, Inc. * * @par <b>License</b> * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * You should have received a copy of the GNU General Public License * along with this program. If not, see <http://www.gnu.org/licenses/>. */ #include <unistd.h> #include <stdio.h> #include <stdlib.h> #include <fcntl.h> Loading @@ -110,18 +24,40 @@ #include <linux/fs.h> #include <sys/mman.h> #include <sys/ioctl.h> #include <string.h> #include "camogm_ogm.h" #include "camogm_jpeg.h" #include "camogm_mov.h" #include "camogm_kml.h" #include "camogm_read.h" #include "camogm.h" /** @brief Time interval (in microseconds) for processing commands */ #define COMMAND_LOOP_DELAY 500000 //0.5sec /** @brief Default debug level */ #define DEFAULT_DEBUG_LVL 6 /** @brief JPEG trailer syze in bytes */ #define TRAILER_SIZE 0x02 #define MAP_OPTIONS MAP_FILE | MAP_PRIVATE /** @brief Default segment duration in seconds */ #define DEFAULT_DURATION 600 /** @brief Default segment length in bytes */ #define DEFAULT_LENGTH 1073741824 /** @brief Behavior for the files: 0 clean buffer, 1 - save as much as possible */ #define DEFAULT_GREEDY 0 /** @brief 0 - restartf file if fps changed, 1 - ignore variable fps (and skip less frames) */ #define DEFAULT_IGNORE_FPS 0 /** @brief Maximal number of frames in file segment (each need 4* (1 + 1/frames_per_chunk) bytes for the frame index. * This parameter is mostrly for Quicktime */ #define DEFAULT_FRAMES 16384 /** @brief Second sparse index - for Quicktime fast forward */ #define DEFAULT_FRAMES_PER_CHUNK 10 /** @brief Use Exif */ #define DEFAULT_EXIF 1 /** @brief Bit mask indicating all 4 sensor port channels are active */ #define ALL_CHN_ACTIVE 0x0f /** @brief Bit mask indicating all 4 sensor port channels are inactive */ #define ALL_CHN_INACTIVE 0x00 /** @brief This is a basic helper macro for processing all sensor ports at a time */ #define FOR_EACH_PORT(indtype, indvar) for (indtype indvar = 0; indvar < SENSOR_PORTS; indvar++) char trailer[TRAILER_SIZE] = { 0xff, 0xd9 }; Loading @@ -139,33 +75,25 @@ const char *ctlFileNames[] = { "/dev/frameparsall0", "/dev/frameparsall1", const char *circbufFileNames[] = {"/dev/circbuf0", "/dev/circbuf1", "/dev/circbuf2", "/dev/circbuf3" }; unsigned long * ccam_dma_buf[SENSOR_PORTS]; /* mmapped arrays */ int lastDaemonBit[SENSOR_PORTS] = {DAEMON_BIT_CAMOGM}; struct framepars_all_t *frameParsAll[SENSOR_PORTS]; struct framepars_t *framePars[SENSOR_PORTS]; unsigned long *aglobalPars[SENSOR_PORTS]; /// parameters that are not frame-related, their changes do not initiate any actions #define DEFAULT_DURATION 600 /*!default segment duration (seconds) */ #define DEFAULT_LENGTH 1073741824 /*!default segment length (B) */ #define DEFAULT_GREEDY 0 /*!behavior for the files: 0 clean buffer, 1 - save as much as possible */ #define DEFAULT_IGNORE_FPS 0 /*!0 restartf file if fps changed, 1 - ignore variable fps (and skip less frames) */ /** @brief Bit mask indicating all 4 sensor port channels are active */ #define ALL_CHN_ACTIVE 0x0f /** @brief Bit mask indicating all 4 sensor port channels are inactive */ #define ALL_CHN_INACTIVE 0x00 //!Next 2 for Quicktime (mostly) #define DEFAULT_FRAMES 16384 /* Maximal number of frames in file segment (each need 4* (1 + 1/frames_per_chunk) bytes for the frame index */ #define DEFAULT_FRAMES_PER_CHUNK 10 /*second sparse index - for Quicktime fast forward */ #define DEFAULT_EXIF 1 /* use Exif */ /** @brief Parameters that are not frame-related, their changes do not initiate any actions */ unsigned long *aglobalPars[SENSOR_PORTS]; /** @brief Global structure containing current state of the running program */ camogm_state sstate; //camogm_state * state; /** @brief Memory mapped circular buffer arrays */ unsigned long * ccam_dma_buf[SENSOR_PORTS]; /** * @enum path_type * @brief Define the path type passed to a function * @var path_type::RAW_PATH * The path specified is a path to raw device buffer and it starts with /dev * @var path_type::FILE_PATH * The path specified is a regular path */ typedef enum { RAW_PATH, FILE_PATH Loading @@ -174,10 +102,10 @@ typedef enum { int debug_level; FILE* debug_file; void camogm_init(camogm_state *state, unsigned int port, char *pipe_name); void camogm_init(camogm_state *state, char *pipe_name); int camogm_start(camogm_state *state); int camogm_stop(camogm_state *state); int camogm_reset(camogm_state *state); //! reset circbuf read pointer void camogm_reset(camogm_state *state); int camogm_debug(camogm_state *state, const char *fname); int camogm_debug_level(int d); void camogm_set_segment_duration(camogm_state *state, int sd); Loading Loading @@ -217,7 +145,6 @@ unsigned int select_port(camogm_state *states); inline void set_chn_state(camogm_state *s, unsigned int port, unsigned int new_state); inline int is_chn_active(camogm_state *s, unsigned int port); //!====================================================================================================== void put_uint16(void *buf, u_int16_t val) { unsigned char *tmp; Loading Loading @@ -257,68 +184,55 @@ void put_uint64(void *buf, u_int64_t val) } /** * @brief Initialize state for a particular sensor port. * @param[in] state pointer to #camogm_state structure for a particular sensor channel * @param[in] port sensor port number * @brief Initialize the state of the program * @param[in] state pointer to #camogm_state structure containing program state * @param[in] pipe_name pointer to command pipe name string * @return none */ void camogm_init(camogm_state *state, unsigned int port, char *pipe_name) void camogm_init(camogm_state *state, char *pipe_name) { const char sserial[] = "elp0"; int * ipser = (int*)sserial; memset(state, 0, sizeof(camogm_state)); // state->running = 0; // mo // state->starting = 0; // mo // state->vf = NULL; camogm_set_segment_duration(state, DEFAULT_DURATION); camogm_set_segment_length(state, DEFAULT_LENGTH); camogm_set_greedy(state, DEFAULT_GREEDY); camogm_set_ignore_fps(state, DEFAULT_IGNORE_FPS); camogm_set_max_frames(state, DEFAULT_FRAMES); camogm_set_frames_per_chunk(state, DEFAULT_FRAMES_PER_CHUNK); // camogm_set_start_after_timestamp(state, 0.0); // start any time // camogm_set_prefix(state, "\0", FILE_PATH); // camogm_set_save_gp(state, 0); camogm_reset(state); // sets state->buf_overruns =- 1 state->serialno = ipser[0]; // state->last = 0; debug_file = stderr; camogm_debug_level(DEFAULT_DEBUG_LVL); strcpy(state->debug_name, "stderr"); camogm_set_timescale(state, 1.0); camogm_set_frames_skip(state, 0); // don't skip camogm_set_format(state, CAMOGM_FORMAT_MOV); // FOR_EACH_PORT(int, chn) {state->exifSize[chn] = 0;} state->exif = DEFAULT_EXIF; state->frame_lengths = NULL; // state->frameno = 0; // state->formats = 0; // state->last_error_code = 0; // kml stuff // camogm_kml_set_enable(state, 0); // state->kml_file = NULL; camogm_kml_set_horHalfFov(state, 20.0); camogm_kml_set_vertHalfFov(state, 15.0); camogm_kml_set_height_mode(state, 0); camogm_kml_set_height(state, 10.0); camogm_kml_set_period(state, 2); // 2 sec camogm_kml_set_near(state, 40.0); // 40 m (distance to PhotoOverlay) // state->kml_path[0] = '\0'; state->port_num = port; state->pipe_name = pipe_name; state->rawdev.start_pos = RAWDEV_START_OFFSET; state->rawdev.end_pos = state->rawdev.start_pos; state->rawdev.curr_pos = state->rawdev.start_pos; // state->rawdev.overrun = 0; // state->rawdev_op = 0; state->active_chn = ALL_CHN_ACTIVE; } /** * @brief Set debug output file * @param[in] state a pointer to a structure containing current state * @param[in] fname file used for debug output * @return 0 if the file was opened successfully and negative error code otherwise */ int camogm_debug(camogm_state *state, const char * fname) { int none = 1; Loading @@ -341,12 +255,18 @@ int camogm_debug(camogm_state *state, const char * fname) return 0; } /** @brief Set current debug level */ int camogm_debug_level(int d) { debug_level = d; return 0; } /** * @brief Start recording for each active sensor port * @param[in] state a pointer to a structure containing current state * @return 0 if the recording finished successfully and negative error code otherwise */ int camogm_start(camogm_state *state) { int timestamp_start; Loading Loading @@ -533,6 +453,11 @@ int camogm_start(camogm_state *state) return 0; } /** * @brief Save a single image from circular buffer to a file. * @param[in] state a pointer to a structure containing current state * @return 0 if the image was successfully saved and negative error code otherwise */ int sendImageFrame(camogm_state *state) { int rslt; Loading Loading @@ -712,6 +637,12 @@ int sendImageFrame(camogm_state *state) return 0; } /** * @brief Stop current recording. If recording was not started, this function has no effect. This function * calls @e camogm_end_* for the current file format. * @param[in] state a pointer to a structure containing current state * @return 0 if the operation was stopped successfully and negative error code otherwise */ int camogm_stop(camogm_state *state) { int rslt = 0; Loading Loading @@ -745,13 +676,15 @@ int camogm_stop(camogm_state *state) return 0; } /** * @brief Free all file format handlers that were used. @e camogm_free_* for * each format used will be called. * @param[in] state a pointer to a structure containing current state * @return None */ void camogm_free(camogm_state *state) { int f; //! free all file format handlers that were used //add kml when needed for (f = 0; f < 31; f++) { for (int f = 0; f < 31; f++) { if (state->formats & ( 1 << (state->format))) { switch (f) { case CAMOGM_FORMAT_NONE: break; Loading @@ -764,43 +697,52 @@ void camogm_free(camogm_state *state) state->formats = 0; } int camogm_reset(camogm_state *state) //! reset circbuf read pointer /** * @brief Reset read pointer and overruns counter for each sensor port * @param[in] state a pointer to a structure containing current state * @return None */ void camogm_reset(camogm_state *state) { FOR_EACH_PORT(int, chn) { state->port_num = chn; state->cirbuf_rp[state->port_num] = -1; state->buf_overruns[state->port_num] = -1; //!first will not count state->cirbuf_rp[chn] = -1; state->buf_overruns[chn] = -1; // first overrun will not count } return 0; } ///kml stuff /** @brief kml parameter setter */ void camogm_kml_set_enable(camogm_state *state, int d) { state->kml_enable = d; } /** @brief kml parameter setter */ void camogm_kml_set_horHalfFov(camogm_state *state, double dd) { state->kml_horHalfFov = dd; } /** @brief kml parameter setter */ void camogm_kml_set_vertHalfFov(camogm_state *state, double dd) { state->kml_vertHalfFov = dd; } /** @brief kml parameter setter */ void camogm_kml_set_height_mode(camogm_state *state, int d) { state->kml_height_mode = d; } /** @brief kml parameter setter */ void camogm_kml_set_height(camogm_state *state, double dd) { state->kml_height = dd; } /** @brief kml parameter setter */ void camogm_kml_set_period(camogm_state *state, int d) { state->kml_period = d; state->kml_last_ts = 0; state->kml_last_uts = 0; } /** @brief kml parameter setter */ void camogm_kml_set_near(camogm_state *state, double dd) // distance to PhotoOverlay { state->kml_near = dd; Loading @@ -824,7 +766,6 @@ void camogm_set_exif(camogm_state *state, int d) state->exif = d; } void camogm_set_greedy(camogm_state *state, int d) { state->greedy = d ? 1 : 0; Loading @@ -834,6 +775,13 @@ void camogm_set_ignore_fps(camogm_state *state, int d) state->ignore_fps = d ? 1 : 0; } /** * @brief Set file name prefix or raw device file name. * @param[in] state a pointer to a structure containing current state * @param[in] p a pointer to the prefix string. The string is prepended to * the file name as is. * @param[in] type the type of prefix, can be one of #path_type */ void camogm_set_prefix(camogm_state *state, const char * p, path_type type) { if (type == FILE_PATH) { Loading @@ -858,6 +806,7 @@ void camogm_set_prefix(camogm_state *state, const char * p, path_type type) } } /** @brief Set timescale @e d */ void camogm_set_timescale(camogm_state *state, double d) //! set timescale, default=1,000,000 { state->set_timescale = d; Loading @@ -866,6 +815,7 @@ void camogm_set_timescale(camogm_state *state, double d) //! set timescale, d } } /** @brief Set the number of frames @e d to be skipped during recording. This values is common for each sensor port */ void camogm_set_frames_skip(camogm_state *state, int d) //! set frames to skip (for time lapse) { state->set_frames_skip = d; Loading @@ -875,7 +825,8 @@ void camogm_set_frames_skip(camogm_state *state, int d) //! set frames to ski } } /** @brief Set file format @e d the images will be recorded to. This function calls corresponding @e camogm_init_* * function for the format selected.*/ void camogm_set_format(camogm_state *state, int d) { int rslt = 0; Loading @@ -895,22 +846,35 @@ void camogm_set_format(camogm_state *state, int d) state->formats |= 1 << (state->format); } } //! needed for Quicktime - maybe something else? /** @brief Set max number of frames @e d */ void camogm_set_max_frames(camogm_state *state, int d) { state->set_max_frames = d; if ((state->running == 0) && (state->starting == 0)) state->max_frames = d; } /** @brief Set the number of frames @e d recorded per chunk */ void camogm_set_frames_per_chunk(camogm_state *state, int d) { state->set_frames_per_chunk = d; if ((state->running == 0) && (state->starting == 0)) state->frames_per_chunk = d; } /** @brief Set the time stamp @e d when recording should be started */ void camogm_set_start_after_timestamp(camogm_state *state, double d) { state->start_after_timestamp = d; } /** * @brief Print current status either as plain text or in xml format * @param[in] state to a structure containing current state * @param[in] fn a pointer to a file name which will be used for output. Can be NULL or 'stdout' for * output to stdout, 'stderr' for output to stderr and a file name for output to a file * @param[in] xml flag indicating that the output should be in xml format * @return None */ void camogm_status(camogm_state *state, char * fn, int xml) { int _len = 0; Loading Loading @@ -1126,7 +1090,11 @@ void camogm_status(camogm_state *state, char * fn, int xml) FOR_EACH_PORT(int, chn) {state->buf_min[chn] = _b_free[chn];} } //! will read from pipe, return pointer to null terminated string if available, NULL otherwise /** * @brief Read from a single command from pipe * @param[in] npipe pointer to command pipe * @return Pointer to null terminated string if a command is available or NULL otherwise */ char * getLineFromPipe(FILE* npipe) { int fl; Loading Loading @@ -1162,6 +1130,13 @@ char * getLineFromPipe(FILE* npipe) } } /** * @brief Read and execute commands sent over command pipe * @param state pointer to a structure containing current state * @param npipe pointer to command pipe * @return 0 if pipe was empty, positive value corresponding to a command processed or * -1 in case of an error */ int parse_cmd(camogm_state *state, FILE* npipe) { char * cmd; Loading @@ -1170,7 +1145,6 @@ int parse_cmd(camogm_state *state, FILE* npipe) int d; double dd; // if (!((cmd=getLineFromPipe(npipe)))) return 0; //! nothing in the pipe //!skip empty commands while (((cmd = getLineFromPipe(npipe))) && !cmd[0]) ; if (!cmd) return 0; //! nothing in the pipe Loading Loading @@ -1338,7 +1312,7 @@ int parse_cmd(camogm_state *state, FILE* npipe) /** * @brief This function closes open files and deletes allocated memory. * @param[in] state pointer to #camogm_state structure for a particular sensor channel * return none * return None */ void clean_up(camogm_state *state) { Loading @@ -1358,10 +1332,10 @@ void clean_up(camogm_state *state) * @brief Main processing loop * * If recording is on, this function will check for new commands in command pipe after each frame. If recording is * turn off, it will poll command pipe each #COMMAND_LOOP_DELAYS microseconds and then sleep. * turn off, it will poll command pipe each #COMMAND_LOOP_DELAY microseconds and then sleep. * @param[in] state #camogm_state structure associated with a single port * @return normally this function loops indefinitely processing commands but will return negative exit code in case * of error and \e EXIT_SUCCESS it eventually terminates in normal way. * of error and @e EXIT_SUCCESS it eventually terminates in normal way. */ int listener_loop(camogm_state *state) { Loading Loading @@ -1490,7 +1464,7 @@ int listener_loop(camogm_state *state) } /** * @brief Return disk size in bytes * @brief Return total disk size in bytes * * This function reads disk size using ioctl call and returns it in bytes. * @param name pointer to disk name string Loading Loading @@ -1544,6 +1518,12 @@ unsigned int select_port(camogm_state *state) return chn; } /** * @brief Check if channel is enabled or disabled * @param[in] s a pointer to a structure containing current state * @param[in] port a port which should be checked * @return 0 if the channel is disabled and 1 otherwise */ inline int is_chn_active(camogm_state *s, unsigned int port) { return (s->active_chn >> port) & 0x1; Loading Loading @@ -1667,7 +1647,7 @@ int main(int argc, char *argv[]) return EXIT_SUCCESS; } camogm_init(&sstate, 0, argv[1]); camogm_init(&sstate, argv[1]); ret = open_files(&sstate); if (ret < 0) return ret; Loading Loading @@ -1696,9 +1676,10 @@ unsigned long getGPValue(unsigned int port, unsigned long GPNumber) /** * @brief Set value of the specified global (G_*) parameter * @param[in] port sensor port number * @param[in] GNumber parameter number (as defined in c313a.h) * @param[in] value value to set * @return none * @return None */ void setGValue(unsigned int port, unsigned long GNumber, unsigned long value) { Loading @@ -1708,6 +1689,7 @@ void setGValue(unsigned int port, unsigned long GNumber, unsigned long value) /** * @brief Check if this application is enabled (by appropriate bit in P_DAEMON_EN), if not - * and wait until enabled (return false when enabled) * @param[in] port sensor port number * @param[in] daemonBit bit number to accept control in P_DAEMON_EN parameter * @return (after possible waiting) true if there was no waiting, false if there was waiting */ Loading @@ -1725,6 +1707,7 @@ int waitDaemonEnabled(unsigned int port, int daemonBit) // <0 - use default /** * @brief Check if this application is enabled (by appropriate bit in P_DAEMON_EN) * @param[in] port sensor port number * @param[in] daemonBit bit number to accept control in P_DAEMON_EN parameter * @return (after possible waiting) true if there was no waiting, false if there was waiting */ Loading camogm.h +96 −118 File changed.Preview size limit exceeded, changes collapsed. Show changes Loading
camogm.c +160 −177 Original line number Diff line number Diff line /*!*************************************************************************** *! FILE NAME : camogm.c *! DESCRIPTION: Program to write captured video (and audio) to camera file system *! using Ogg container. *! Original implementation will copy package data to a buffer to use library calls? *! Copyright (C) 2007 Elphel, Inc. *! -----------------------------------------------------------------------------** *! This program is free software: you can redistribute it and/or modify *! it under the terms of the GNU General Public License as published by *! the Free Software Foundation, either version 3 of the License, or *! (at your option) any later version. *! *! This program is distributed in the hope that it will be useful, *! but WITHOUT ANY WARRANTY; without even the implied warranty of *! MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *! GNU General Public License for more details. *! *! You should have received a copy of the GNU General Public License *! along with this program. If not, see <http://www.gnu.org/licenses/>. *! -----------------------------------------------------------------------------** *! *! $Log: camogm.c,v $ *! Revision 1.13 2011/04/22 22:38:30 elphel *! added "greedy" and "ignore_fps" options *! *! Revision 1.12 2010/08/16 17:10:59 elphel *! typo *! *! Revision 1.11 2010/08/08 21:14:04 elphel *! 8.0.8.38 *! *! Revision 1.10 2010/08/07 23:38:01 elphel *! fixed skipping (sometimes) frames at start recording *! *! Revision 1.9 2010/08/03 06:19:57 elphel *! more debug for debug-level>=3 *! *! Revision 1.8 2010/08/02 01:26:42 elphel *! error tracking *! *! Revision 1.7 2010/08/01 19:30:24 elphel *! new readonly parameter FRAME_SIZE and it support in the applications *! *! Revision 1.6 2010/07/18 16:59:09 elphel *! 8.0.8.31 - added parameters to camogm (one is to start at certain absolute time, helps to synchronize multiple cameras) *! *! Revision 1.5 2010/07/04 19:06:02 elphel *! moved acknowledge earlier *! *! Revision 1.4 2010/06/22 18:27:26 elphel *! bug fix *! *! Revision 1.3 2010/06/22 16:53:30 elphel *! camogm acknowledges received command by copying G_THIS_FRAME value to G_DAEMON_ERR+3 (default number for camogm) *! *! Revision 1.2 2009/02/25 17:50:02 spectr_rain *! removed deprecated dependency *! *! Revision 1.1.1.1 2008/11/27 20:04:01 elphel *! *! *! Revision 1.6 2008/11/21 01:52:53 elphel *! updated for 8.0 *! *! Revision 1.5 2008/11/20 23:21:32 elphel *! Put FIXME notes and removed parameters that are not used anymore *! *! Revision 1.4 2008/10/29 04:18:28 elphel *! v.8.0.alpha10 made a separate structure for global parameters (not related to particular frames in a frame queue) *! *! Revision 1.3 2008/10/13 16:55:53 elphel *! removed (some) obsolete P_* parameters, renamed CIRCLSEEK to LSEEK_CIRC constants (same as other similar) *! *! Revision 1.2 2008/09/07 19:48:08 elphel *! snapshot *! *! Revision 1.9 2008/04/13 21:05:19 elphel *! Fixing KML generation *! *! Revision 1.8 2008/04/11 23:09:33 elphel *! modified to handle kml generation *! *! Revision 1.7 2008/04/07 09:13:34 elphel *! Changes related to new Exif generation/processing *! *! Revision 1.6 2008/01/14 22:59:00 elphel *! 7.1.7.4 - added timelapse mode to camogm *! *! Revision 1.5 2007/12/03 08:28:45 elphel *! Multiple changes, mostly cleanup *! *! Revision 1.4 2007/11/29 00:38:57 elphel *! fixed timescale bug *! *! Revision 1.3 2007/11/19 05:07:19 elphel *! fixed 2 typos *! *! Revision 1.2 2007/11/19 03:23:21 elphel *! 7.1.5.5 Added support for *.mov files in camogm. *! *! Revision 1.1 2007/11/16 08:49:56 elphel *! Initial release of camogm - program to record video/image to the camera hard drive (or other storage) *! /** @file camogm.c * @brief Program to write captured video (and audio) to camera file system * using Ogg container. * @copyright Copyright (C) 2016 Elphel, Inc. * * @par <b>License</b> * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * You should have received a copy of the GNU General Public License * along with this program. If not, see <http://www.gnu.org/licenses/>. */ #include <unistd.h> #include <stdio.h> #include <stdlib.h> #include <fcntl.h> Loading @@ -110,18 +24,40 @@ #include <linux/fs.h> #include <sys/mman.h> #include <sys/ioctl.h> #include <string.h> #include "camogm_ogm.h" #include "camogm_jpeg.h" #include "camogm_mov.h" #include "camogm_kml.h" #include "camogm_read.h" #include "camogm.h" /** @brief Time interval (in microseconds) for processing commands */ #define COMMAND_LOOP_DELAY 500000 //0.5sec /** @brief Default debug level */ #define DEFAULT_DEBUG_LVL 6 /** @brief JPEG trailer syze in bytes */ #define TRAILER_SIZE 0x02 #define MAP_OPTIONS MAP_FILE | MAP_PRIVATE /** @brief Default segment duration in seconds */ #define DEFAULT_DURATION 600 /** @brief Default segment length in bytes */ #define DEFAULT_LENGTH 1073741824 /** @brief Behavior for the files: 0 clean buffer, 1 - save as much as possible */ #define DEFAULT_GREEDY 0 /** @brief 0 - restartf file if fps changed, 1 - ignore variable fps (and skip less frames) */ #define DEFAULT_IGNORE_FPS 0 /** @brief Maximal number of frames in file segment (each need 4* (1 + 1/frames_per_chunk) bytes for the frame index. * This parameter is mostrly for Quicktime */ #define DEFAULT_FRAMES 16384 /** @brief Second sparse index - for Quicktime fast forward */ #define DEFAULT_FRAMES_PER_CHUNK 10 /** @brief Use Exif */ #define DEFAULT_EXIF 1 /** @brief Bit mask indicating all 4 sensor port channels are active */ #define ALL_CHN_ACTIVE 0x0f /** @brief Bit mask indicating all 4 sensor port channels are inactive */ #define ALL_CHN_INACTIVE 0x00 /** @brief This is a basic helper macro for processing all sensor ports at a time */ #define FOR_EACH_PORT(indtype, indvar) for (indtype indvar = 0; indvar < SENSOR_PORTS; indvar++) char trailer[TRAILER_SIZE] = { 0xff, 0xd9 }; Loading @@ -139,33 +75,25 @@ const char *ctlFileNames[] = { "/dev/frameparsall0", "/dev/frameparsall1", const char *circbufFileNames[] = {"/dev/circbuf0", "/dev/circbuf1", "/dev/circbuf2", "/dev/circbuf3" }; unsigned long * ccam_dma_buf[SENSOR_PORTS]; /* mmapped arrays */ int lastDaemonBit[SENSOR_PORTS] = {DAEMON_BIT_CAMOGM}; struct framepars_all_t *frameParsAll[SENSOR_PORTS]; struct framepars_t *framePars[SENSOR_PORTS]; unsigned long *aglobalPars[SENSOR_PORTS]; /// parameters that are not frame-related, their changes do not initiate any actions #define DEFAULT_DURATION 600 /*!default segment duration (seconds) */ #define DEFAULT_LENGTH 1073741824 /*!default segment length (B) */ #define DEFAULT_GREEDY 0 /*!behavior for the files: 0 clean buffer, 1 - save as much as possible */ #define DEFAULT_IGNORE_FPS 0 /*!0 restartf file if fps changed, 1 - ignore variable fps (and skip less frames) */ /** @brief Bit mask indicating all 4 sensor port channels are active */ #define ALL_CHN_ACTIVE 0x0f /** @brief Bit mask indicating all 4 sensor port channels are inactive */ #define ALL_CHN_INACTIVE 0x00 //!Next 2 for Quicktime (mostly) #define DEFAULT_FRAMES 16384 /* Maximal number of frames in file segment (each need 4* (1 + 1/frames_per_chunk) bytes for the frame index */ #define DEFAULT_FRAMES_PER_CHUNK 10 /*second sparse index - for Quicktime fast forward */ #define DEFAULT_EXIF 1 /* use Exif */ /** @brief Parameters that are not frame-related, their changes do not initiate any actions */ unsigned long *aglobalPars[SENSOR_PORTS]; /** @brief Global structure containing current state of the running program */ camogm_state sstate; //camogm_state * state; /** @brief Memory mapped circular buffer arrays */ unsigned long * ccam_dma_buf[SENSOR_PORTS]; /** * @enum path_type * @brief Define the path type passed to a function * @var path_type::RAW_PATH * The path specified is a path to raw device buffer and it starts with /dev * @var path_type::FILE_PATH * The path specified is a regular path */ typedef enum { RAW_PATH, FILE_PATH Loading @@ -174,10 +102,10 @@ typedef enum { int debug_level; FILE* debug_file; void camogm_init(camogm_state *state, unsigned int port, char *pipe_name); void camogm_init(camogm_state *state, char *pipe_name); int camogm_start(camogm_state *state); int camogm_stop(camogm_state *state); int camogm_reset(camogm_state *state); //! reset circbuf read pointer void camogm_reset(camogm_state *state); int camogm_debug(camogm_state *state, const char *fname); int camogm_debug_level(int d); void camogm_set_segment_duration(camogm_state *state, int sd); Loading Loading @@ -217,7 +145,6 @@ unsigned int select_port(camogm_state *states); inline void set_chn_state(camogm_state *s, unsigned int port, unsigned int new_state); inline int is_chn_active(camogm_state *s, unsigned int port); //!====================================================================================================== void put_uint16(void *buf, u_int16_t val) { unsigned char *tmp; Loading Loading @@ -257,68 +184,55 @@ void put_uint64(void *buf, u_int64_t val) } /** * @brief Initialize state for a particular sensor port. * @param[in] state pointer to #camogm_state structure for a particular sensor channel * @param[in] port sensor port number * @brief Initialize the state of the program * @param[in] state pointer to #camogm_state structure containing program state * @param[in] pipe_name pointer to command pipe name string * @return none */ void camogm_init(camogm_state *state, unsigned int port, char *pipe_name) void camogm_init(camogm_state *state, char *pipe_name) { const char sserial[] = "elp0"; int * ipser = (int*)sserial; memset(state, 0, sizeof(camogm_state)); // state->running = 0; // mo // state->starting = 0; // mo // state->vf = NULL; camogm_set_segment_duration(state, DEFAULT_DURATION); camogm_set_segment_length(state, DEFAULT_LENGTH); camogm_set_greedy(state, DEFAULT_GREEDY); camogm_set_ignore_fps(state, DEFAULT_IGNORE_FPS); camogm_set_max_frames(state, DEFAULT_FRAMES); camogm_set_frames_per_chunk(state, DEFAULT_FRAMES_PER_CHUNK); // camogm_set_start_after_timestamp(state, 0.0); // start any time // camogm_set_prefix(state, "\0", FILE_PATH); // camogm_set_save_gp(state, 0); camogm_reset(state); // sets state->buf_overruns =- 1 state->serialno = ipser[0]; // state->last = 0; debug_file = stderr; camogm_debug_level(DEFAULT_DEBUG_LVL); strcpy(state->debug_name, "stderr"); camogm_set_timescale(state, 1.0); camogm_set_frames_skip(state, 0); // don't skip camogm_set_format(state, CAMOGM_FORMAT_MOV); // FOR_EACH_PORT(int, chn) {state->exifSize[chn] = 0;} state->exif = DEFAULT_EXIF; state->frame_lengths = NULL; // state->frameno = 0; // state->formats = 0; // state->last_error_code = 0; // kml stuff // camogm_kml_set_enable(state, 0); // state->kml_file = NULL; camogm_kml_set_horHalfFov(state, 20.0); camogm_kml_set_vertHalfFov(state, 15.0); camogm_kml_set_height_mode(state, 0); camogm_kml_set_height(state, 10.0); camogm_kml_set_period(state, 2); // 2 sec camogm_kml_set_near(state, 40.0); // 40 m (distance to PhotoOverlay) // state->kml_path[0] = '\0'; state->port_num = port; state->pipe_name = pipe_name; state->rawdev.start_pos = RAWDEV_START_OFFSET; state->rawdev.end_pos = state->rawdev.start_pos; state->rawdev.curr_pos = state->rawdev.start_pos; // state->rawdev.overrun = 0; // state->rawdev_op = 0; state->active_chn = ALL_CHN_ACTIVE; } /** * @brief Set debug output file * @param[in] state a pointer to a structure containing current state * @param[in] fname file used for debug output * @return 0 if the file was opened successfully and negative error code otherwise */ int camogm_debug(camogm_state *state, const char * fname) { int none = 1; Loading @@ -341,12 +255,18 @@ int camogm_debug(camogm_state *state, const char * fname) return 0; } /** @brief Set current debug level */ int camogm_debug_level(int d) { debug_level = d; return 0; } /** * @brief Start recording for each active sensor port * @param[in] state a pointer to a structure containing current state * @return 0 if the recording finished successfully and negative error code otherwise */ int camogm_start(camogm_state *state) { int timestamp_start; Loading Loading @@ -533,6 +453,11 @@ int camogm_start(camogm_state *state) return 0; } /** * @brief Save a single image from circular buffer to a file. * @param[in] state a pointer to a structure containing current state * @return 0 if the image was successfully saved and negative error code otherwise */ int sendImageFrame(camogm_state *state) { int rslt; Loading Loading @@ -712,6 +637,12 @@ int sendImageFrame(camogm_state *state) return 0; } /** * @brief Stop current recording. If recording was not started, this function has no effect. This function * calls @e camogm_end_* for the current file format. * @param[in] state a pointer to a structure containing current state * @return 0 if the operation was stopped successfully and negative error code otherwise */ int camogm_stop(camogm_state *state) { int rslt = 0; Loading Loading @@ -745,13 +676,15 @@ int camogm_stop(camogm_state *state) return 0; } /** * @brief Free all file format handlers that were used. @e camogm_free_* for * each format used will be called. * @param[in] state a pointer to a structure containing current state * @return None */ void camogm_free(camogm_state *state) { int f; //! free all file format handlers that were used //add kml when needed for (f = 0; f < 31; f++) { for (int f = 0; f < 31; f++) { if (state->formats & ( 1 << (state->format))) { switch (f) { case CAMOGM_FORMAT_NONE: break; Loading @@ -764,43 +697,52 @@ void camogm_free(camogm_state *state) state->formats = 0; } int camogm_reset(camogm_state *state) //! reset circbuf read pointer /** * @brief Reset read pointer and overruns counter for each sensor port * @param[in] state a pointer to a structure containing current state * @return None */ void camogm_reset(camogm_state *state) { FOR_EACH_PORT(int, chn) { state->port_num = chn; state->cirbuf_rp[state->port_num] = -1; state->buf_overruns[state->port_num] = -1; //!first will not count state->cirbuf_rp[chn] = -1; state->buf_overruns[chn] = -1; // first overrun will not count } return 0; } ///kml stuff /** @brief kml parameter setter */ void camogm_kml_set_enable(camogm_state *state, int d) { state->kml_enable = d; } /** @brief kml parameter setter */ void camogm_kml_set_horHalfFov(camogm_state *state, double dd) { state->kml_horHalfFov = dd; } /** @brief kml parameter setter */ void camogm_kml_set_vertHalfFov(camogm_state *state, double dd) { state->kml_vertHalfFov = dd; } /** @brief kml parameter setter */ void camogm_kml_set_height_mode(camogm_state *state, int d) { state->kml_height_mode = d; } /** @brief kml parameter setter */ void camogm_kml_set_height(camogm_state *state, double dd) { state->kml_height = dd; } /** @brief kml parameter setter */ void camogm_kml_set_period(camogm_state *state, int d) { state->kml_period = d; state->kml_last_ts = 0; state->kml_last_uts = 0; } /** @brief kml parameter setter */ void camogm_kml_set_near(camogm_state *state, double dd) // distance to PhotoOverlay { state->kml_near = dd; Loading @@ -824,7 +766,6 @@ void camogm_set_exif(camogm_state *state, int d) state->exif = d; } void camogm_set_greedy(camogm_state *state, int d) { state->greedy = d ? 1 : 0; Loading @@ -834,6 +775,13 @@ void camogm_set_ignore_fps(camogm_state *state, int d) state->ignore_fps = d ? 1 : 0; } /** * @brief Set file name prefix or raw device file name. * @param[in] state a pointer to a structure containing current state * @param[in] p a pointer to the prefix string. The string is prepended to * the file name as is. * @param[in] type the type of prefix, can be one of #path_type */ void camogm_set_prefix(camogm_state *state, const char * p, path_type type) { if (type == FILE_PATH) { Loading @@ -858,6 +806,7 @@ void camogm_set_prefix(camogm_state *state, const char * p, path_type type) } } /** @brief Set timescale @e d */ void camogm_set_timescale(camogm_state *state, double d) //! set timescale, default=1,000,000 { state->set_timescale = d; Loading @@ -866,6 +815,7 @@ void camogm_set_timescale(camogm_state *state, double d) //! set timescale, d } } /** @brief Set the number of frames @e d to be skipped during recording. This values is common for each sensor port */ void camogm_set_frames_skip(camogm_state *state, int d) //! set frames to skip (for time lapse) { state->set_frames_skip = d; Loading @@ -875,7 +825,8 @@ void camogm_set_frames_skip(camogm_state *state, int d) //! set frames to ski } } /** @brief Set file format @e d the images will be recorded to. This function calls corresponding @e camogm_init_* * function for the format selected.*/ void camogm_set_format(camogm_state *state, int d) { int rslt = 0; Loading @@ -895,22 +846,35 @@ void camogm_set_format(camogm_state *state, int d) state->formats |= 1 << (state->format); } } //! needed for Quicktime - maybe something else? /** @brief Set max number of frames @e d */ void camogm_set_max_frames(camogm_state *state, int d) { state->set_max_frames = d; if ((state->running == 0) && (state->starting == 0)) state->max_frames = d; } /** @brief Set the number of frames @e d recorded per chunk */ void camogm_set_frames_per_chunk(camogm_state *state, int d) { state->set_frames_per_chunk = d; if ((state->running == 0) && (state->starting == 0)) state->frames_per_chunk = d; } /** @brief Set the time stamp @e d when recording should be started */ void camogm_set_start_after_timestamp(camogm_state *state, double d) { state->start_after_timestamp = d; } /** * @brief Print current status either as plain text or in xml format * @param[in] state to a structure containing current state * @param[in] fn a pointer to a file name which will be used for output. Can be NULL or 'stdout' for * output to stdout, 'stderr' for output to stderr and a file name for output to a file * @param[in] xml flag indicating that the output should be in xml format * @return None */ void camogm_status(camogm_state *state, char * fn, int xml) { int _len = 0; Loading Loading @@ -1126,7 +1090,11 @@ void camogm_status(camogm_state *state, char * fn, int xml) FOR_EACH_PORT(int, chn) {state->buf_min[chn] = _b_free[chn];} } //! will read from pipe, return pointer to null terminated string if available, NULL otherwise /** * @brief Read from a single command from pipe * @param[in] npipe pointer to command pipe * @return Pointer to null terminated string if a command is available or NULL otherwise */ char * getLineFromPipe(FILE* npipe) { int fl; Loading Loading @@ -1162,6 +1130,13 @@ char * getLineFromPipe(FILE* npipe) } } /** * @brief Read and execute commands sent over command pipe * @param state pointer to a structure containing current state * @param npipe pointer to command pipe * @return 0 if pipe was empty, positive value corresponding to a command processed or * -1 in case of an error */ int parse_cmd(camogm_state *state, FILE* npipe) { char * cmd; Loading @@ -1170,7 +1145,6 @@ int parse_cmd(camogm_state *state, FILE* npipe) int d; double dd; // if (!((cmd=getLineFromPipe(npipe)))) return 0; //! nothing in the pipe //!skip empty commands while (((cmd = getLineFromPipe(npipe))) && !cmd[0]) ; if (!cmd) return 0; //! nothing in the pipe Loading Loading @@ -1338,7 +1312,7 @@ int parse_cmd(camogm_state *state, FILE* npipe) /** * @brief This function closes open files and deletes allocated memory. * @param[in] state pointer to #camogm_state structure for a particular sensor channel * return none * return None */ void clean_up(camogm_state *state) { Loading @@ -1358,10 +1332,10 @@ void clean_up(camogm_state *state) * @brief Main processing loop * * If recording is on, this function will check for new commands in command pipe after each frame. If recording is * turn off, it will poll command pipe each #COMMAND_LOOP_DELAYS microseconds and then sleep. * turn off, it will poll command pipe each #COMMAND_LOOP_DELAY microseconds and then sleep. * @param[in] state #camogm_state structure associated with a single port * @return normally this function loops indefinitely processing commands but will return negative exit code in case * of error and \e EXIT_SUCCESS it eventually terminates in normal way. * of error and @e EXIT_SUCCESS it eventually terminates in normal way. */ int listener_loop(camogm_state *state) { Loading Loading @@ -1490,7 +1464,7 @@ int listener_loop(camogm_state *state) } /** * @brief Return disk size in bytes * @brief Return total disk size in bytes * * This function reads disk size using ioctl call and returns it in bytes. * @param name pointer to disk name string Loading Loading @@ -1544,6 +1518,12 @@ unsigned int select_port(camogm_state *state) return chn; } /** * @brief Check if channel is enabled or disabled * @param[in] s a pointer to a structure containing current state * @param[in] port a port which should be checked * @return 0 if the channel is disabled and 1 otherwise */ inline int is_chn_active(camogm_state *s, unsigned int port) { return (s->active_chn >> port) & 0x1; Loading Loading @@ -1667,7 +1647,7 @@ int main(int argc, char *argv[]) return EXIT_SUCCESS; } camogm_init(&sstate, 0, argv[1]); camogm_init(&sstate, argv[1]); ret = open_files(&sstate); if (ret < 0) return ret; Loading Loading @@ -1696,9 +1676,10 @@ unsigned long getGPValue(unsigned int port, unsigned long GPNumber) /** * @brief Set value of the specified global (G_*) parameter * @param[in] port sensor port number * @param[in] GNumber parameter number (as defined in c313a.h) * @param[in] value value to set * @return none * @return None */ void setGValue(unsigned int port, unsigned long GNumber, unsigned long value) { Loading @@ -1708,6 +1689,7 @@ void setGValue(unsigned int port, unsigned long GNumber, unsigned long value) /** * @brief Check if this application is enabled (by appropriate bit in P_DAEMON_EN), if not - * and wait until enabled (return false when enabled) * @param[in] port sensor port number * @param[in] daemonBit bit number to accept control in P_DAEMON_EN parameter * @return (after possible waiting) true if there was no waiting, false if there was waiting */ Loading @@ -1725,6 +1707,7 @@ int waitDaemonEnabled(unsigned int port, int daemonBit) // <0 - use default /** * @brief Check if this application is enabled (by appropriate bit in P_DAEMON_EN) * @param[in] port sensor port number * @param[in] daemonBit bit number to accept control in P_DAEMON_EN parameter * @return (after possible waiting) true if there was no waiting, false if there was waiting */ Loading
