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Commit 28233c9b authored by Mikhail Karpenko's avatar Mikhail Karpenko
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Update doxygen documentation

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camogm.c
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/*!***************************************************************************
*! 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>
......@@ -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 };
......@@ -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
......@@ -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);
......@@ -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;
......@@ -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;
......@@ -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;
......@@ -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;
......@@ -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;
......@@ -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;
......@@ -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;
......@@ -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;
......@@ -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) {
......@@ -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;
......@@ -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;
......@@ -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;
......@@ -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;
......@@ -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;
......@@ -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;
......@@ -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
......@@ -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)
{
......@@ -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)
{
......@@ -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
......@@ -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;
......@@ -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;
......@@ -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)
{
......@@ -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
*/
......@@ -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
*/
......
camogm.h
View file @ 28233c9b
/** @file camogm.h
* @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/>.
*/
#ifndef _CAMOGM_H
#define _CAMOGM_H
#define CAMOGM_FRAME_NOT_READY 1 // frame pointer valid, but not yet acquired
#define CAMOGM_FRAME_INVALID 2 // invalid frame pointer
#define CAMOGM_FRAME_CHANGED 3 // frame parameters have changed
#define CAMOGM_FRAME_NEXTFILE 4 // need to switch to a new file segment
#define CAMOGM_FRAME_BROKEN 5 // frame broken (buffer overrun)
#define CAMOGM_FRAME_FILE_ERR 6 // error with file I/O
#define CAMOGM_FRAME_MALLOC 7 // can not allocate memory
#define CAMOGM_TOO_EARLY 8 // too early to start, waiting for particular timestamp
#define CAMOGM_FRAME_OTHER 9 // other errors
#include <exifa.h>
#include <c313a.h>
#include <ogg/ogg.h>
#include "ogmstreams.h"
#define CAMOGM_FRAME_NOT_READY 1 ///< frame pointer valid, but not yet acquired
#define CAMOGM_FRAME_INVALID 2 ///< invalid frame pointer
#define CAMOGM_FRAME_CHANGED 3 ///< frame parameters have changed
#define CAMOGM_FRAME_NEXTFILE 4 ///< need to switch to a new file segment
#define CAMOGM_FRAME_BROKEN 5 ///< frame broken (buffer overrun)
#define CAMOGM_FRAME_FILE_ERR 6 ///< error with file I/O
#define CAMOGM_FRAME_MALLOC 7 ///< can not allocate memory
#define CAMOGM_TOO_EARLY 8 ///< too early to start, waiting for particular timestamp
#define CAMOGM_FRAME_OTHER 9 ///< other errors
#define CAMOGM_FORMAT_NONE 0 // no video output
#define CAMOGM_FORMAT_OGM 1 // output as Ogg Media file
#define CAMOGM_FORMAT_JPEG 2 // output as individual JPEG files
#define CAMOGM_FORMAT_MOV 3 // output as Apple Quicktime
#define CAMOGM_FORMAT_NONE 0 ///< no video output
#define CAMOGM_FORMAT_OGM 1 ///< output as Ogg Media file
#define CAMOGM_FORMAT_JPEG 2 ///< output as individual JPEG files
#define CAMOGM_FORMAT_MOV 3 ///< output as Apple Quicktime
#define D(x) { if (debug_file && debug_level) { x; fflush(debug_file); } }
#define D0(x) { if (debug_file) { x; fflush(debug_file); } }
......@@ -27,55 +50,9 @@
//#define DD(x)
#define DD(x) { if (debug_file) { fprintf(debug_file, "%s:%d:", __FILE__, __LINE__); x; fflush(debug_file); } }
// HEADER_SIZE is defined to be larger than actual header (later - with EXIF) to use compile-time buffer
#define JPEG_HEADER_MAXSIZE 0x300 // will not change
//#include "camogm_exif.h"
#include <exifa.h>
#include <c313a.h>
#include <ogg/ogg.h> // has to be before ogmstreams.h
#include "ogmstreams.h" // move it to <>?
/*
#define Exif_Photo_DateTimeOriginal 0x19003
#define Exif_GPSInfo_GPSLatitudeRef 0x20001
#define Exif_GPSInfo_GPSLatitude 0x20002
#define Exif_GPSInfo_GPSLongitudeRef 0x20003
#define Exif_GPSInfo_GPSLongitude 0x20004
#define Exif_GPSInfo_GPSAltitudeRef 0x20005
#define Exif_GPSInfo_GPSAltitude 0x20006
#define Exif_GPSInfo_GPSTimeStamp 0x20007
#define Exif_GPSInfo_GPSDateStamp 0x2001D
#define Exif_GPSInfo_CompassDirectionRef 0x20010
#define Exif_GPSInfo_CompassDirection 0x20011
#define Exif_GPSInfo_CompassPitchRef 0x20013
#define Exif_GPSInfo_CompassPitch 0x20014
#define Exif_GPSInfo_CompassRollRef 0x20015
#define Exif_GPSInfo_CompassRoll 0x20016
*/
/*
/// Exif data (variable, stored with each frame) used for KML (not only)
#define Exif_Image_ImageDescription_Index 0x00
#define Exif_Photo_DateTimeOriginal_Index 0x01
#define Exif_Photo_SubSecTimeOriginal_Index 0x02
#define Exif_GPSInfo_GPSLatitudeRef_Index 0x03
#define Exif_GPSInfo_GPSLatitude_Index 0x04
#define Exif_GPSInfo_GPSLongitudeRef_Index 0x05
#define Exif_GPSInfo_GPSLongitude_Index 0x06
#define Exif_GPSInfo_GPSAltitudeRef_Index 0x07
#define Exif_GPSInfo_GPSAltitude_Index 0x08
#define Exif_GPSInfo_GPSTimeStamp_Index 0x09
#define Exif_GPSInfo_GPSDateStamp_Index 0x0a
#define Exif_GPSInfo_CompassDirectionRef_Index 0x0b
#define Exif_GPSInfo_CompassDirection_Index 0x0c
#define Exif_GPSInfo_CompassPitchRef_Index 0x0d
#define Exif_GPSInfo_CompassPitch_Index 0x0e
#define Exif_GPSInfo_CompassRollRef_Index 0x0f
#define Exif_GPSInfo_CompassRoll_Index 0x10
#define ExifKmlNumber 0x11
*/
/** @brief HEADER_SIZE is defined to be larger than actual header (with EXIF) to use compile-time buffer */
#define JPEG_HEADER_MAXSIZE 0x300
/** @brief Offset from the beginning of raw device buffer. Must be aligned to physical sector size */
#define RAWDEV_START_OFFSET 1024
/** @brief Maximum length of file or raw device path */
......@@ -110,30 +87,34 @@ typedef struct {
uint64_t file_start;
} rawdev_buffer;
/**
* @struct camogm_state
* @brief Holds current state of the running program
*/
typedef struct {
int segment_duration;
int segment_length;
int greedy;
int ignore_fps;
int save_gp; //if non zero, current circbuf pointer will be saved to global pointer, so imgsrv can report /pointers
char path_prefix[256];
char path[ELPHEL_PATH_MAX];
int cirbuf_rp[SENSOR_PORTS]; //!-1 - invalid
int fd_circ[SENSOR_PORTS]; //! file descriptor for circbuf
int fd_head[SENSOR_PORTS]; //! file descriptor for JPEG header
int fd_fparmsall[SENSOR_PORTS]; //! file descriptor for sensor/compressor parameters
int fd_exif[SENSOR_PORTS]; //! file descriptor for Exif data
int head_size[SENSOR_PORTS]; //! JPEG header size
int save_gp; ///< if non zero, current circbuf pointer will be saved to global pointer, so imgsrv can report /pointers
char path_prefix[256]; ///< file name prefix
char path[ELPHEL_PATH_MAX]; ///< full file name
int cirbuf_rp[SENSOR_PORTS]; ///< -1 means the pointer is invalid
int fd_circ[SENSOR_PORTS]; ///< file descriptor for circbuf
int fd_head[SENSOR_PORTS]; ///< file descriptor for JPEG header
int fd_fparmsall[SENSOR_PORTS]; ///< file descriptor for sensor/compressor parameters
int fd_exif[SENSOR_PORTS]; ///< file descriptor for Exif data
int head_size[SENSOR_PORTS]; ///< JPEG header size
unsigned char jpegHeader[SENSOR_PORTS][JPEG_HEADER_MAXSIZE];
int metadata_start;
struct interframe_params_t frame_params[SENSOR_PORTS];
struct interframe_params_t this_frame_params[SENSOR_PORTS];
int jpeg_len;
int frame_period[SENSOR_PORTS]; //!in microseconds (1/10 of what is needed for the Ogm header)
int width;
int height;
int starting;
int running;
int frame_period[SENSOR_PORTS]; ///< in microseconds (1/10 of what is needed for the Ogm header)
int width; ///< image width
int height; ///< image height
int starting; ///< the program is starting
int running; ///< the program is running
int last_error_code;
ogg_stream_state os;
ogg_page og;
......@@ -142,73 +123,70 @@ typedef struct {
int serialno;
ogg_int64_t packetno;
ogg_int64_t granulepos;
FILE* vf; //! video file (ogm, fopen)
int ivf; //! video file (jpeg, mov - open)
int last; //last packet in a file
FILE* vf; ///< video file (ogm, fopen)
int ivf; ///< video file (jpeg, mov - open)
int last; ///< last packet in a file
int exif; // 1 - calculate and include Exif headers in each frame
int exifSize[SENSOR_PORTS]; //signed
int exif; ///< flag indicating that Exif headers should be calculated and included in each frame
int exifSize[SENSOR_PORTS]; ///< signed
unsigned char ed[SENSOR_PORTS][MAX_EXIF_SIZE];
int circ_buff_size[SENSOR_PORTS];
// int senspars_size;
char debug_name[256];
// FILE* debug_file;
// int set_samples_per_unit;
double timescale; //! current timescale, default 1.0
double timescale; ///< current timescale, default 1.0
double set_timescale;
double start_after_timestamp; /// delay recording start to after frame timestamp
double start_after_timestamp; ///< delay recording start to after frame timestamp
int max_frames;
int set_max_frames;
int frames_per_chunk;
int set_frames_per_chunk; // quicktime - index for fast forward?
int set_frames_per_chunk; ///< quicktime - index for fast forward?
int frameno;
int *frame_lengths;
off_t frame_data_start; //! Quicktime (and else?) - frame data start (0xff 0xd8...)
off_t frame_data_start; ///< Quicktime (and else?) - frame data start (0xff 0xd8...)
ogg_int64_t time_unit;
int formats; //! bitmask of used (initialized) formats
int format; //! output file format
int set_format; //! output format to set (will be updated after stop)
int formats; ///< bitmask of used (initialized) formats
int format; ///< output file format
int set_format; ///< output format to set (will be updated after stop)
elph_packet_chunk packetchunks[7];
int chunk_index;
int buf_overruns[SENSOR_PORTS];
int buf_min[SENSOR_PORTS];
int set_frames_skip; //! will be copied to frames_skip if stopped or at start
int frames_skip; //! number of frames to skip after the one recorded (for time lapse)
//! if negetive - -(interval between frames in seconds)
int frames_skip_left[SENSOR_PORTS]; //! number of frames left to skip before the next one to be processed
//! if (frames_skip <0) - next timestamp to save an image
//kml stuff
int kml_enable; //! enable KML file generation
int kml_used; //! KML file generation used (change only when stopped)
char kml_path[300]; //! full path for KML file (if any)
FILE* kml_file; //! stream to write kml file
double kml_horHalfFov; //! half horizontal Fov (degrees)
double kml_vertHalfFov; //! half vertical Fov (degrees)
double kml_near; //! Use in KML "near" parameter (<=0 - don't use it)
int kml_height_mode; //! 1 - actual, 0 - ground
double kml_height; //! extra height to add
int kml_period; //! generate PhotoOverlay for each kml_period seconds;
int kml_last_ts; //! last generated kml file timestamp
int kml_last_uts; //! last generated kml file timestamp, microseconds
struct exif_dir_table_t kml_exif[ExifKmlNumber]; //! store locations of the fields needed for KML generations in the Exif block
int set_frames_skip; ///< will be copied to frames_skip if stopped or at start
int frames_skip; ///< number of frames to skip after the one recorded (for time lapse)
///< if negative - -(interval between frames in seconds)
int frames_skip_left[SENSOR_PORTS]; ///< number of frames left to skip before the next one to be processed
///< if (frames_skip <0) - next timestamp to save an image
// kml stuff
int kml_enable; ///< enable KML file generation
int kml_used; ///< KML file generation used (change only when stopped)
char kml_path[300]; ///< full path for KML file (if any)
FILE* kml_file; ///< stream to write kml file
double kml_horHalfFov; ///< half horizontal Fov (degrees)
double kml_vertHalfFov; ///< half vertical Fov (degrees)
double kml_near; ///< Use in KML "near" parameter (<=0 - don't use it)
int kml_height_mode; ///< 1 - actual, 0 - ground
double kml_height; ///< extra height to add
int kml_period; ///< generate PhotoOverlay for each kml_period seconds;
int kml_last_ts; ///< last generated kml file timestamp
int kml_last_uts; ///< last generated kml file timestamp, microseconds
struct exif_dir_table_t kml_exif[ExifKmlNumber]; ///< store locations of the fields needed for KML generations in the Exif block
unsigned int port_num; // sensor port we are currently working with
char *pipe_name; // command pipe name
int rawdev_op; // flag indicating writing to raw device
rawdev_buffer rawdev; // contains pointers to raw device buffer
unsigned int active_chn; // bitmask of active sensor ports
unsigned int port_num; ///< sensor port we are currently working with
char *pipe_name; ///< command pipe name
int rawdev_op; ///< flag indicating writing to raw device
rawdev_buffer rawdev; ///< contains pointers to raw device buffer
unsigned int active_chn; ///< bitmask of active sensor ports
} camogm_state;
extern int debug_level;
extern FILE* debug_file;
//extern camogm_state * state;
void put_uint16(void *buf, u_int16_t val);
void put_uint32(void *buf, u_int32_t val);
void put_uint64(void *buf, u_int64_t val);
unsigned long getGPValue(unsigned int port, unsigned long GPNumber);
//void setGValue(unsigned long GNumber, unsigned long value);
//int waitDaemonEnabled(int daemonBit); // <0 - use default
//int isDaemonEnabled(int daemonBit); // <0 - use default
void setGValue(unsigned int port, unsigned long GNumber, unsigned long value);
int waitDaemonEnabled(unsigned int port, int daemonBit);
int isDaemonEnabled(unsigned int port, int daemonBit);
#endif /* _CAMOGM_H */
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