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GNU AFFERO GENERAL PUBLIC LICENSE
Version 3, 19 November 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
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\ No newline at end of file
Makefile 0 → 100644
View file @ 38d28dd5
AXIS_USABLE_LIBS = UCLIBC GLIBC
AXIS_AUTO_DEPEND = yes
include $(AXIS_TOP_DIR)/tools/build/Rules.axis
INSTDIR = $(prefix)/usr/local/sbin/
OTHERDIR = $(prefix)/usr/html/
PHPDIR = $(prefix)/usr/html/
INSTMODE = 0755
INSTOTHER = 0644
INSTPHP = 0644
INSTOWNER = root
INSTGROUP = root
INCDIR = $(prefix)/include
PROGS = camogm
PHPFILES = camogmstate.php
SRCS = camogm.c camogm_ogm.c camogm_jpeg.c camogm_mov.c camogm_kml.c
OBJS = camogm.o camogm_ogm.o camogm_jpeg.o camogm_mov.o camogm_kml.o
CFLAGS += -Wall -I$(INCDIR) -I$(AXIS_KERNEL_DIR)/include
all: $(PROGS)
$(PROGS): $(OBJS)
$(CC) $(LDFLAGS) $^ $(LDLIBS) -logg -o $@
cris-strip -s $@
install: $(PROGS)
$(INSTALL) -d $(INSTDIR)
$(INSTALL) -m $(INSTMODE) -o $(INSTOWNER) -g $(INSTGROUP) $(PROGS) $(INSTDIR)
#already installed with ccam.cgi
$(INSTALL) -m $(INSTMODE) -o $(INSTOWNER) -g $(INSTGROUP) qt_source $(prefix)/etc
$(INSTALL) -m $(INSTPHP) -o $(INSTOWNER) -g $(INSTGROUP) $(PHPFILES) $(PHPDIR)
clean:
rm -rf $(PROGS) *.o *~
configsubs:
README.md 0 → 100644
View file @ 38d28dd5
#### elphel-apps-camogm
*camogm* is a program from Elphel user space applications set. It is used to write captured video/images/audio from camera memory buffer to file system using Ogg container.
camogm.c 0 → 100644
View file @ 38d28dd5
/*!***************************************************************************
*! 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)
*!
*/
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <fcntl.h>
#include <sys/uio.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/stat.h>
//#include <ctype.h>
//#include <getopt.h>
#include <time.h>
#include <string.h>
#include <netinet/in.h> /*little <-> big endian ?*/
#include <sys/mman.h> /* mmap */
#include <sys/ioctl.h>
#include <asm/elphel/c313a.h>
//#include <asm/elphel/exifa.h>
#include <asm/byteorder.h>
#include <ogg/ogg.h> // has to be before ogmstreams.h
#include "ogmstreams.h" // move it to <>?
//#include "camogm_exif.h"
#include "camogm_ogm.h"
#include "camogm_jpeg.h"
#include "camogm_mov.h"
#include "camogm_kml.h"
#include "camogm.h"
#define TRAILER_SIZE 0x02
#define MAP_OPTIONS MAP_FILE|MAP_PRIVATE
char trailer[TRAILER_SIZE] = {0xff,0xd9};
const char ExifFileName[]="/dev/exif_exif";
const char HeadFileName[]="/dev/jpeghead";
const char ctlFileName[]="/dev/frameparsall";
unsigned long * ccam_dma_buf; /* mmapped array */
int lastDaemonBit= DAEMON_BIT_CAMOGM;
struct framepars_all_t *frameParsAll;
struct framepars_t *framePars;
unsigned long *globalPars; /// parameters that are not frame-related, their changes do not initiate any actions
int buff_size;
#define DEFAULT_DURATION 60 /*!default segment duration (seconds) */
#define DEFAULT_LENGTH 100000000 /*!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) */
//!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_LENGTH 100000000 /*!default segment length (B) */
#define DEFAULT_EXIF 1 /* use Exif */
static char cmdbuf[1024];
static int cmdbufp=0; // current input pointer in the command buffer (read from pipe)
static int cmdstrt=0; // start of the next partial command
camogm_state sstate;
camogm_state * state;
int debug_level;
FILE* debug_file;
int camogm_init(void);
int camogm_start(void);
int camogm_stop(void);
int camogm_reset(void); //! reset circbuf read pointer
int camogm_debug(const char * fname);
int camogm_debug_level(int d);
void camogm_set_segment_duration(int sd);
void camogm_set_segment_length(int sl);
void camogm_set_greedy(int d);
void camogm_set_ignore_fps(int d);
void camogm_set_save_gp(int d);
void camogm_set_prefix (const char * p);
void camogm_set_exif(int d);
void camogm_set_timescale(double d); //! set timescale, default=1.0
void camogm_set_frames_skip(int d); //! set number of frames to skip, if negative - seconds between frames
void camogm_set_format(int d);
void camogm_kml_set_enable(int d);
void camogm_kml_set_horHalfFov (double dd);
void camogm_kml_set_vertHalfFov(double dd);
void camogm_kml_set_height_mode(int d);
void camogm_kml_set_height(double dd);
void camogm_kml_set_period(int d);
void camogm_kml_set_near(double dd); // distance to PhotoOverlay
int parse_cmd(FILE* npipe);
char * getLineFromPipe(FILE* npipe);
int sendImageFrame (void);
void camogm_set_start_after_timestamp(double d);
void camogm_set_max_frames(int d);
void camogm_set_frames_per_chunk(int d);
//!======================================================================================================
void put_uint16(void *buf, u_int16_t val)
{
unsigned char *tmp;
tmp = (unsigned char *) buf;
tmp[0] = val & 0xff;
tmp[1] = (val >>= 8) & 0xff;
}
void put_uint32(void *buf, u_int32_t val)
{
unsigned char *tmp;
tmp = (unsigned char *) buf;
tmp[0] = val & 0xff;
tmp[1] = (val >>= 8) & 0xff;
tmp[2] = (val >>= 8) & 0xff;
tmp[3] = (val >>= 8) & 0xff;
}
void put_uint64(void *buf, u_int64_t val)
{
unsigned char *tmp;
tmp = (unsigned char *) buf;
tmp[0] = val & 0xff;
tmp[1] = (val >>= 8) & 0xff;
tmp[2] = (val >>= 8) & 0xff;
tmp[3] = (val >>= 8) & 0xff;
tmp[4] = (val >>= 8) & 0xff;
tmp[5] = (val >>= 8) & 0xff;
tmp[6] = (val >>= 8) & 0xff;
tmp[7] = (val >>= 8) & 0xff;
}
int camogm_init(void) {
const char sserial[]="elp0";
int * ipser= (int*) sserial;
state->running=0; // mo
state->starting=0; // mo
state->vf=NULL;
camogm_set_segment_duration(DEFAULT_DURATION);
camogm_set_segment_length(DEFAULT_LENGTH);
camogm_set_greedy(DEFAULT_GREEDY);
camogm_set_ignore_fps(DEFAULT_IGNORE_FPS);
camogm_set_max_frames(DEFAULT_FRAMES);
camogm_set_frames_per_chunk(DEFAULT_FRAMES_PER_CHUNK);
camogm_set_start_after_timestamp(0.0); /// start any time
camogm_set_prefix ("\0");
camogm_set_save_gp(0);
camogm_reset(); //! sets state->buf_overruns=-1; //!first does not count
state->serialno= ipser[0];
state->last= 0;
debug_file= stderr;
camogm_debug_level(1);
strcpy(state->debug_name,"stderr");
camogm_set_timescale(1.0);
camogm_set_frames_skip(0); //! don't skip
camogm_set_format(CAMOGM_FORMAT_OGM);
state->exifSize=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(0);
state->kml_file=NULL;
camogm_kml_set_horHalfFov (20.0);
camogm_kml_set_vertHalfFov(15.0);
camogm_kml_set_height_mode(0);
camogm_kml_set_height(10.0);
camogm_kml_set_period(2); // 2 sec
camogm_kml_set_near(40.0); // 40 m (distance to PhotoOverlay)
state->kml_path[0]='\0';
return 0;
}
int camogm_debug(const char * fname) {
int none=1;
if (fname && strlen(fname) && strcmp(fname, "none") && strcmp(fname, "null") && strcmp(fname, "/dev/null")) none=0;
if (debug_file){
if (strcmp(state->debug_name, "stdout") && strcmp(state->debug_name, "stderr")) fclose (debug_file);
debug_file=NULL;
state->debug_name[0]='\0';
}
if (!none) {
if (strcmp(fname, "stdout") ==0) debug_file=stdout;
else if (strcmp(fname, "stderr") ==0) debug_file=stderr;
else debug_file=fopen(fname,"w+");
}
if (debug_file) {
strncpy(state->debug_name,fname,sizeof(state->debug_name)-1);
state->debug_name[sizeof(state->debug_name)-1]='\0';
}
return 0;
}
int camogm_debug_level(int d) {
debug_level=d;
return 0;
}
int camogm_start(void) {
int timestamp_start;
int rslt;
int next_metadata_start, next_jpeg_len, fp;
D1(fprintf (debug_file,"Starting recording\n"));
double dtime_stamp;
state->frameno=0;
state->timescale= state->set_timescale;//! current timescale, default 1
///debug
int * ifp = (int *) &(state->frame_params) ;
int * ifp_this = (int *) &(state->this_frame_params) ;
if (state->kml_enable) camogm_init_kml() ; // do nothing
if (state->format != state->set_format) {
state->format= state->set_format;
switch (state->format) {
case CAMOGM_FORMAT_NONE: rslt= 0; break;
case CAMOGM_FORMAT_OGM: rslt= camogm_init_ogm(); break;
case CAMOGM_FORMAT_JPEG: rslt= camogm_init_jpeg();break;
case CAMOGM_FORMAT_MOV: rslt= camogm_init_mov(); break;
}
state->formats |= 1 << (state->format);
//! exit on unknown formats?
}
state->max_frames= state->set_max_frames;
state->frames_per_chunk= state->frames_per_chunk;
state->starting=1; //!may be already set
//! Check/set circbuf read pointer
D3(fprintf (debug_file,"1: state->cirbuf_rp=0x%x\n",state->cirbuf_rp));
if ((state->cirbuf_rp <0) || (lseek(state->fd_circ,state->cirbuf_rp,SEEK_SET) < 0) || (lseek(state->fd_circ,LSEEK_CIRC_VALID,SEEK_END) < 0 )) {
D3(fprintf (debug_file,"2: state->cirbuf_rp=0x%x\n",state->cirbuf_rp));
// state->cirbuf_rp=lseek(state->fd_circ,LSEEK_CIRC_LAST,SEEK_END);
/* In "greedy" mode try to save as many frames from the circbuf as possible */
state->cirbuf_rp=lseek(state->fd_circ, state->greedy?LSEEK_CIRC_SCND:LSEEK_CIRC_LAST,SEEK_END);
if (!state->ignore_fps) { // don't even try in ignore mode
if (((fp=lseek(state->fd_circ,LSEEK_CIRC_PREV,SEEK_END)))>=0) state->cirbuf_rp=fp; //!try to have 2 frames available for fps
}
state->buf_overruns++;
//! file pointer here should match state->rp; so no need to do lseek(state->fd_circ,state->cirbuf_rp,SEEK_SET);
state->buf_min=getGPValue(G_FREECIRCBUF);
} else {
if (state->buf_min > getGPValue(G_FREECIRCBUF)) state->buf_min=getGPValue(G_FREECIRCBUF);
}
D3(fprintf (debug_file,"3: state->cirbuf_rp=0x%x\n",state->cirbuf_rp));
D3(fprintf (debug_file,"4:lseek(state->fd_circ,LSEEK_CIRC_READY,SEEK_END)=%d\n",(int) lseek(state->fd_circ,LSEEK_CIRC_READY,SEEK_END)));
//! is this frame ready?
if (lseek(state->fd_circ,LSEEK_CIRC_READY,SEEK_END) <0) return -CAMOGM_FRAME_NOT_READY; //! frame pointer valid, but no frames yet
D3(fprintf (debug_file,"5: state->cirbuf_rp=0x%x\n",state->cirbuf_rp));
state->metadata_start=(state->cirbuf_rp)-32;
if (state->metadata_start<0) state->metadata_start+=state->circ_buff_size;
///==================================
memcpy (&(state->frame_params), (unsigned long * ) &ccam_dma_buf[state->metadata_start>>2],32);
state->jpeg_len=state->frame_params.frame_length; //! frame_params.frame_length are now the length of bitstream
if (state->frame_params.signffff !=0xffff) {
D0(fprintf(debug_file, "%s:%d: wrong signature - %d\r\n",__FILE__,__LINE__,(int) state->frame_params.signffff));
state->cirbuf_rp=-1;
D1(fprintf(debug_file, "state->cirbuf_rp=0x%x\r\n",(int) state->cirbuf_rp));
D1(fprintf(debug_file, "%08x %08x %08x %08x %08x %08x %08x %08x\r\n",ifp[0],ifp[1],ifp[2],ifp[3],ifp[4],ifp[5],ifp[6],ifp[7]));
return -CAMOGM_FRAME_BROKEN;
}
//! find location of the timestamp and copy it to the frame_params structure
///==================================
timestamp_start=(state->cirbuf_rp)+((state->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 >= state->circ_buff_size) timestamp_start-=state->circ_buff_size;
memcpy (&(state->frame_params.timestamp_sec), (unsigned long * ) &ccam_dma_buf[timestamp_start>>2],8);
/// New - see if current timestamp is later than start one, if not return "CAMOGM_TOO_EARLY" reset read pointer and buffer read pointer
if (state->start_after_timestamp > 0.0) { /// don't bother if it is 0
dtime_stamp=0.000001*state -> frame_params.timestamp_usec+state->frame_params.timestamp_sec;
if (dtime_stamp < state->start_after_timestamp) {
state->cirbuf_rp=-1;
D3(fprintf (debug_file,"Too early to start, %f < %f\n",dtime_stamp,state->start_after_timestamp));
return -CAMOGM_TOO_EARLY;
}
}
D3(fprintf (debug_file,"6: state->cirbuf_rp=0x%x\n",state->cirbuf_rp));
//! see if next frame is available
if ((lseek(state->fd_circ,LSEEK_CIRC_NEXT,SEEK_END) < 0 ) ||
//! is that next frame ready?
(((fp=lseek(state->fd_circ,LSEEK_CIRC_READY,SEEK_END))) < 0)) {
D3(fprintf (debug_file,"6a:lseek(state->fd_circ,LSEEK_CIRC_NEXT,SEEK_END)=0x%x, fp=0x%x\n", (int) lseek(state->fd_circ,LSEEK_CIRC_NEXT,SEEK_END), (int) lseek(state->fd_circ,LSEEK_CIRC_READY,SEEK_END)));
lseek(state->fd_circ,state->cirbuf_rp,SEEK_SET); //!just in case - restore pointer
return -CAMOGM_FRAME_NOT_READY; //! frame pointer valid, but no frames yet
}
next_metadata_start=fp-32;
if (next_metadata_start<0) next_metadata_start+= state->circ_buff_size;
memcpy (&(state->this_frame_params), (unsigned long * ) &ccam_dma_buf[next_metadata_start>>2],32);
next_jpeg_len=state->this_frame_params.frame_length; //! frame_params.frame_length are now the length of bitstream
if (state->this_frame_params.signffff !=0xffff) { //! should not happen ever
D0(fprintf(debug_file, "%s:%d: wrong signature - %d\r\n",__FILE__,__LINE__,(int) state->this_frame_params.signffff));
D1(fprintf(debug_file, "fp=0x%x\r\n",(int) fp));
D1(fprintf(debug_file, "%08x %08x %08x %08x %08x %08x %08x %08x\r\n",ifp_this[0],ifp_this[1],ifp_this[2],ifp_this[3],ifp_this[4],ifp_this[5],ifp_this[6],ifp_this[7]));
// int * ifp = (int *) &(state->this_frame_params) ;
// int * ifp_this = (int *) &(state->this_frame_params) ;
state->cirbuf_rp=-1;
return -CAMOGM_FRAME_BROKEN;
}
D3(fprintf (debug_file,"7: state->cirbuf_rp=0x%x\n",state->cirbuf_rp));
//! find location of the timestamp and copy it to the frame_params structure
timestamp_start=fp+((next_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 >= state->circ_buff_size) timestamp_start-=state->circ_buff_size;
memcpy (&(state->this_frame_params.timestamp_sec), (unsigned long * ) &ccam_dma_buf[timestamp_start>>2],8);
//! verify that the essential current frame params did not change, if they did - return an error (need new file header)
if (!state->ignore_fps && ((state->frame_params.width != state->this_frame_params.width) ||
(state->frame_params.height != state->this_frame_params.height))) {
//! Advance frame pointer to the next (caller should try again)
state->cirbuf_rp=fp;
return -CAMOGM_FRAME_CHANGED; // no yet checking for the FPS
}
D3(fprintf (debug_file,"8: state->cirbuf_rp=0x%x\n",state->cirbuf_rp));
//! calcualte the frame period - time difference (in microseconds)
state->frame_period=(state->this_frame_params.timestamp_usec - state->frame_params.timestamp_usec)+
1000000*(state->this_frame_params.timestamp_sec - state->frame_params.timestamp_sec);
//! correct for timelapse modes:
state->frames_skip= state->set_frames_skip;
if (state->frames_skip > 0) {
state->frames_skip_left=0;
state->frame_period *= (state->frames_skip+1);
// state->frames_skip_left= state->set_frames_skip;
} else if (state->frames_skip < 0) {
state->frame_period=-(state->frames_skip) ; //! actual frame period will fluctuate to the nearest frame acquired (free running)
state->frames_skip_left=state->frame_params.timestamp_sec;
}
D3(fprintf (debug_file,"9: state->frame_period=0x%x\n",state->frame_period));
state->time_unit= (ogg_int64_t) (((double) state-> frame_period) * ((double) 10) / ((double) state-> timescale));
state->width=state->frame_params.width;
state->height=state->frame_params.height;
//!read JPEG header - it should stay the same for the whole file (restart new file if any parameters changed)
//!rebuild JPEG header:
lseek(state->fd_head,state->cirbuf_rp+1,SEEK_END); //!+1 to avoid condition when jpeg_start==0. overloaded lseek will ignore 5 LSBs when SEEK_END
state->head_size=lseek(state->fd_head,0,SEEK_END); /// In 8.0 the header size might change for some jp4 modes
if (state->head_size>JPEG_HEADER_MAXSIZE) {
D0(fprintf (debug_file,"%s:%d: Too big JPEG header (%d > %d)",__FILE__,__LINE__,state->head_size, JPEG_HEADER_MAXSIZE ));
return -2;
}
//! and read it
lseek(state->fd_head,0,0);
read (state->fd_head,state->jpegHeader,state->head_size);
//! Restore read pointer to the original (now there may be no frame ready there yet)
lseek(state->fd_circ,state->cirbuf_rp,SEEK_SET);
//!here we are ready to initialize Ogm (or other) file
switch (state->format) {
case CAMOGM_FORMAT_NONE: rslt= 0; break;
case CAMOGM_FORMAT_OGM: rslt= camogm_start_ogm(); break;
case CAMOGM_FORMAT_JPEG: rslt= camogm_start_jpeg(); break;
case CAMOGM_FORMAT_MOV: rslt= camogm_start_mov(); break;
default: rslt=0; // do nothing
}
if (rslt) {
D0(fprintf (debug_file,"camogm_start() error, rslt=0x%x\n",rslt));
return rslt;
}
if (state->kml_enable) rslt=camogm_start_kml() ; // will turn on state->kml_used if it can
if (rslt) return rslt;
state->running=1;
state->starting=0;
D1(fprintf (debug_file,"Started OK\n"));
return 0;
}
int sendImageFrame (void) {
int rslt;
unsigned char frame_packet_type = PACKET_IS_SYNCPOINT;
int timestamp_start;
///debugging:
// int * ifp = (int *) &(state->frame_params) ;
int * ifp_this = (int *) &(state->this_frame_params) ;
int fp;
//! This is probably needed only for Quicktime (not to exceed already allocated frame index)
if (state->frameno >= (state->max_frames)) {
D3(fprintf (debug_file,"sendImageFrame:1: state->frameno(0x%x) >= state->max_frames(0x%x)\n",state->frameno,state->max_frames));
return -CAMOGM_FRAME_CHANGED;
}
//! Format changed?
// D3(fprintf (debug_file,"sendImageFrame: format=%d, set_format=%d\n", state->format, state->set_format));
if (state->format != state->set_format) {
D3(fprintf (debug_file,"sendImageFrame:2: state->format(0x%x) != state->set_format(0x%x)\n",state->format,state->set_format));
return -CAMOGM_FRAME_CHANGED;
}
//! check if file size is exceeded (assuming fopen),-CAMOGM_FRAME_CHANGED will trigger a new segment
if ((state->vf) && (state->segment_length >=0) && (ftell(state->vf) > state->segment_length)) {
D3(fprintf (debug_file,"sendImageFrame:3: segment length exceeded\n"));
return -CAMOGM_FRAME_CHANGED;
}
//!same for open
if (((state->ivf)>=0) && (state->segment_length >=0) && (lseek(state->ivf, 0, SEEK_CUR) > state->segment_length)) {
D3(fprintf (debug_file,"sendImageFrame:4: segment length exceeded\n"));
return -CAMOGM_FRAME_CHANGED;
}
//! check the frame pointer is valid
if ((fp=lseek(state->fd_circ,state->cirbuf_rp,SEEK_SET)) <0) {
D3(fprintf (debug_file,"sendImageFrame:5: invalid frame\n"));
return -CAMOGM_FRAME_INVALID; //!it will probably be that allready
}
//! is the frame ready?
if (lseek(state->fd_circ,LSEEK_CIRC_READY,SEEK_END) <0) {
D3(fprintf (debug_file,"?6,fp=0x%x ",fp)); //frame not ready, frame pointer seems valid, but not ready
return -CAMOGM_FRAME_NOT_READY; //! frame pointer valid, but no frames yet
}
//! process skipping frames. TODO: add - skipping time between frames (or better - actual time period - use the nearest frame) instead of the frame number
if ( (state->frames_skip > 0) && (state->frames_skip_left > 0 )) { //!skipping frames, not seconds.
state->cirbuf_rp=lseek(state->fd_circ,LSEEK_CIRC_NEXT,SEEK_END);
//!optionally save it to global read pointer (i.e. for debugging with imgsrv "/pointers")
if (state->save_gp) lseek(state->fd_circ,LSEEK_CIRC_SETP,SEEK_END);
state->frames_skip_left--;
D3(fprintf (debug_file,"?7 ")); //frame not ready
return -CAMOGM_FRAME_NOT_READY; //! the required frame is not ready
}
//! Get metadata
D3(fprintf (debug_file,"_1_"));
state->metadata_start=state->cirbuf_rp-32;
if (state->metadata_start<0) state->metadata_start+=state->circ_buff_size;
memcpy (&(state->this_frame_params), (unsigned long * ) &ccam_dma_buf[state->metadata_start>>2],32);
state->jpeg_len=state->this_frame_params.frame_length; //! frame_params.frame_length are now the length of bitstream
if (state->this_frame_params.signffff !=0xffff) {
D0(fprintf(debug_file, "%s:%d: wrong signature - %d\r\n",__FILE__,__LINE__,(int) state->this_frame_params.signffff));
D1(fprintf(debug_file, "state->cirbuf_rp=0x%x\r\n",(int) state->cirbuf_rp));
D1(fprintf(debug_file, "%08x %08x %08x %08x %08x %08x %08x %08x\r\n",ifp_this[0],ifp_this[1],ifp_this[2],ifp_this[3],ifp_this[4],ifp_this[5],ifp_this[6],ifp_this[7]));
D3(fprintf (debug_file,"sendImageFrame:8: frame broken\n"));
return -CAMOGM_FRAME_BROKEN;
}
D3(fprintf (debug_file,"_2_"));
//! find location of the timestamp and copy it to the frame_params structure
timestamp_start=state->cirbuf_rp+((state->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 >= state->circ_buff_size) timestamp_start-=state->circ_buff_size;
D3(fprintf (debug_file,"_3_"));
memcpy (&(state->this_frame_params.timestamp_sec), (unsigned long * ) &ccam_dma_buf[timestamp_start>>2],8);
//! verify that the essential current frame params did not change, if they did - return an error (need new file header)
if (!state->ignore_fps && ((state->frame_params.width != state->this_frame_params.width) ||
(state->frame_params.height != state->this_frame_params.height))) {
D3(fprintf (debug_file,"sendImageFrame:9: WOI changed\n"));
return -CAMOGM_FRAME_CHANGED; //! not yet checking for the FPS
}
//! check if file duration (in seconds) exceeded ,-CAMOGM_FRAME_CHANGED will trigger a new segment
if ((state->segment_duration > 0) &&
((state->this_frame_params.timestamp_sec-state->frame_params.timestamp_sec) > state->segment_duration)) {
D3(fprintf (debug_file,"sendImageFrame:10: segment duration in seconds exceeded\n"));
return -CAMOGM_FRAME_CHANGED;
}
//! check if (in timelapse mode) it is too early for the frame to be stored
if ((state->frames_skip < 0) && (state->frames_skip_left > state->this_frame_params.timestamp_sec) ) {
state->cirbuf_rp=lseek(state->fd_circ,LSEEK_CIRC_NEXT,SEEK_END);
//!optionally save it to global read pointer (i.e. for debugging with imgsrv "/pointers")
if (state->save_gp) lseek(state->fd_circ,LSEEK_CIRC_SETP,SEEK_END);
D3(fprintf (debug_file,"sendImageFrame:11: timelapse: frame will be skipped\n"));
return -CAMOGM_FRAME_NOT_READY; //! the required frame is not ready
}
D3(fprintf (debug_file,"_4_"));
if (state->exif) {
D3(fprintf (debug_file,"_5_"));
//! update the Exif header with the current frame metadata
// updateExif(ep, state->ed, &(state->frame_params));
state->exifSize=lseek(state->fd_exif,1,SEEK_END); // at the beginning of page 1 - position == page length
// if (state->exifSize < 0) state->exifSize=0; // error from lseek;
if (state->exifSize > 0) {
//state->this_frame_params.meta_index
lseek(state->fd_exif,state->this_frame_params.meta_index,SEEK_END); //! select meta page to use (matching frame)
rslt=read (state->fd_exif, state->ed, state->exifSize);
if (rslt<0) rslt=0;
state->exifSize=rslt;
} else state->exifSize=0;
} else state->exifSize=0;
D3(fprintf (debug_file,"_6_"));
//! prepare a packet to be sent (a lst of memory chunks)
state->chunk_index=0;
state->packetchunks[state->chunk_index ].bytes=1;
state->packetchunks[state->chunk_index++].chunk=&frame_packet_type;
if (state->exif>0) {//! insert Exif
D3(fprintf (debug_file,"_7_"));
state->packetchunks[state->chunk_index ].bytes=2;
state->packetchunks[state->chunk_index++].chunk=state->jpegHeader;
state->packetchunks[state->chunk_index ].bytes=state->exifSize;
state->packetchunks[state->chunk_index++].chunk= state->ed;
state->packetchunks[state->chunk_index ].bytes=state->head_size-2;
state->packetchunks[state->chunk_index++].chunk= &(state->jpegHeader[2]);
} else {
D3(fprintf (debug_file,"_8_"));
state->packetchunks[state->chunk_index ].bytes=state->head_size;
state->packetchunks[state->chunk_index++].chunk= state->jpegHeader;
}
D3(fprintf (debug_file,"_9_"));
/*! JPEG image data may be split in two segments (rolled over buffer end) - process both variants */
if ((state->cirbuf_rp + state->jpeg_len) > state->circ_buff_size) { //! two segments
/*! copy from the beginning of the frame to the end of the buffer */
D3(fprintf (debug_file,"_10_"));
state->packetchunks[state->chunk_index ].bytes=state->circ_buff_size-state->cirbuf_rp;
state->packetchunks[state->chunk_index++].chunk= (unsigned char*) &ccam_dma_buf[state->cirbuf_rp>>2];
/*! copy from the beginning of the buffer to the end of the frame */
state->packetchunks[state->chunk_index ].bytes=state->jpeg_len - (state->circ_buff_size-state->cirbuf_rp);
state->packetchunks[state->chunk_index++].chunk= (unsigned char*) &ccam_dma_buf[0];
} else { // single segment
D3(fprintf (debug_file,"_11_"));
/*! copy from the beginning of the frame to the end of the frame (no buffer rollovers) */
state->packetchunks[state->chunk_index ].bytes=state->jpeg_len;
state->packetchunks[state->chunk_index++].chunk= (unsigned char*) &ccam_dma_buf[state->cirbuf_rp>>2];
}
D3(fprintf (debug_file,"_12_"));
state->packetchunks[state->chunk_index ].bytes=2;
state->packetchunks[state->chunk_index++].chunk= (unsigned char*) trailer;
switch (state->format) {
case CAMOGM_FORMAT_NONE: rslt=0; break;
case CAMOGM_FORMAT_OGM: rslt=camogm_frame_ogm(); break;
case CAMOGM_FORMAT_JPEG: rslt=camogm_frame_jpeg(); break;
case CAMOGM_FORMAT_MOV: rslt=camogm_frame_mov(); break;
default: rslt=0; // do nothing
}
if (rslt) {
D3(fprintf (debug_file,"sendImageFrame:12: camogm_frame_***() returned 0x%x\n",rslt));
return rslt;
}
if (state->kml_used) rslt=camogm_frame_kml() ; // will turn on state->kml_used if it can
if (rslt) return rslt;
D3(fprintf (debug_file,"_14_"));
//!advance frame pointer
state->frameno++;
state->cirbuf_rp=lseek(state->fd_circ,LSEEK_CIRC_NEXT,SEEK_END);
//!optionally save it to global read pointer (i.e. for debugging with imgsrv "/pointers")
if (state->save_gp) lseek(state->fd_circ,LSEEK_CIRC_SETP,SEEK_END);
D3(fprintf (debug_file,"_15_\n"));
if (state->frames_skip > 0) {
state->frames_skip_left= state->frames_skip;
} else if (state->frames_skip < 0) {
state->frames_skip_left+= -(state->frames_skip);
}
return 0;
}
int camogm_stop(void) {
int rslt=0;
if (!state->running) {
if (!state->starting) {
D2(fprintf (debug_file,"Recording was not running, nothing to stop\n"));
} else {
state->starting=0;
D1(fprintf (debug_file,"Dropping attempt to start\n"));
}
return 0;
}
D1(fprintf (debug_file,"Ending recording\n"));
if (state->kml_used) camogm_end_kml() ;
switch (state->format) {
case CAMOGM_FORMAT_NONE: rslt= 0; break;
case CAMOGM_FORMAT_OGM: rslt= camogm_end_ogm(); break;
case CAMOGM_FORMAT_JPEG: rslt= camogm_end_jpeg();break;
case CAMOGM_FORMAT_MOV: rslt= camogm_end_mov(); break;
/// default: return 0; // do nothing
}
//! now close video file (if it is open)
if (state->vf) fclose (state->vf);
state->vf=NULL;
if (rslt) return rslt;
state->last=1;
//!state->running=0 should be output after file is finished and closed
state->running=0;
state->starting=0;
return 0;
}
void camogm_free() {
int f;
//! free all file format handlers that were used
//add kml when needed
for (f=0;f<31;f++) {
if (state->formats & ( 1 << (state->format))) {
switch (f) {
case CAMOGM_FORMAT_NONE: break;
case CAMOGM_FORMAT_OGM: camogm_free_ogm(); break;
case CAMOGM_FORMAT_JPEG: camogm_free_jpeg();break;
case CAMOGM_FORMAT_MOV: camogm_free_mov(); break;
}
}
}
state->formats=0;
}
int camogm_reset(void) { //! reset circbuf read pointer
state->cirbuf_rp=-1;
state->buf_overruns=-1; //!first will not count
return 0;
}
///kml stuff
void camogm_kml_set_enable(int d) {
state->kml_enable=d;
}
void camogm_kml_set_horHalfFov (double dd) {
state->kml_horHalfFov=dd;
}
void camogm_kml_set_vertHalfFov(double dd) {
state->kml_vertHalfFov=dd;
}
void camogm_kml_set_height_mode(int d) {
state->kml_height_mode=d;
}
void camogm_kml_set_height(double dd) {
state->kml_height=dd;
}
void camogm_kml_set_period(int d) {
state->kml_period=d;
state->kml_last_ts=0;
state->kml_last_uts=0;
}
void camogm_kml_set_near(double dd) { // distance to PhotoOverlay
state->kml_near=dd;
}
void camogm_set_segment_duration(int sd) {
state->segment_duration=sd;
}
void camogm_set_segment_length(int sl) {
state->segment_length= sl;
}
void camogm_set_save_gp(int d) {
state->save_gp= d;
}
void camogm_set_exif(int d) {
state->exif= d;
}
void camogm_set_greedy(int d) {
state->greedy= d?1:0;
}
void camogm_set_ignore_fps(int d){
state->ignore_fps= d?1:0;
}
void camogm_set_prefix (const char * p) {
strncpy(state->path_prefix, p, sizeof(state->path_prefix)-1);
state->path_prefix[sizeof(state->path_prefix)-1]='\0';
}
void camogm_set_timescale(double d) { //! set timescale, default=1,000,000
state->set_timescale= d;
if ((state->running==0) && (state->starting==0)) {
state->timescale=state->set_timescale;
}
}
void camogm_set_frames_skip(int d) { //! set frames to skip (for time lapse)
state->set_frames_skip= d;
if ((state->running==0) && (state->starting==0)) {
state->frames_skip= state->set_frames_skip;
// state->frames_skip_left= state->set_frames_skip;
state->frames_skip_left= 0;
}
}
void camogm_set_format(int d) {
int rslt=0;
state->set_format= d;
if ((state->running==0) && (state->starting==0)) {
state->format= state->set_format;
switch (state->format) {
case CAMOGM_FORMAT_NONE: rslt= 0; break;
case CAMOGM_FORMAT_OGM: rslt= camogm_init_ogm(); break;
case CAMOGM_FORMAT_JPEG: rslt= camogm_init_jpeg();break;
case CAMOGM_FORMAT_MOV: rslt= camogm_init_mov(); break;
}
if (rslt) {
D0(fprintf (debug_file,"%s:%d: Error setting format to=%d\n",__FILE__,__LINE__, state->format));
}
state->formats |= 1 << (state->format);
}
}
//! needed for Quicktime - maybe something else?
void camogm_set_max_frames(int d) {
state->set_max_frames= d;
if ((state->running==0) && (state->starting==0)) state->max_frames= d;
}
void camogm_set_frames_per_chunk(int d) {
state->set_frames_per_chunk= d;
if ((state->running==0) && (state->starting==0)) state->frames_per_chunk= d;
}
void camogm_set_start_after_timestamp(double d) {
state->start_after_timestamp= d;
}
void camogm_status(char * fn, int xml) {
int _len=0;
int _dur,_udur;
//TODO:make it XML file
FILE* f;
char *_state, *_output_format, *_using_exif, *_using_global_pointer, *_compressor_state;
int _b_free, _b_used, _b_size; // , save_p;
int _frames_remain=0;
int _sec_remain=0;
int _frames_skip=0;
int _sec_skip=0;
char *_kml_enable, *_kml_used, *_kml_height_mode;
_kml_enable= state->kml_enable?"yes":"no";
_kml_used= state->kml_used?"yes":"no";
_kml_height_mode= state->kml_height_mode?"GPS altitude":"map ground level"; //! 1 - actual, 0 - ground
_b_free=getGPValue(G_FREECIRCBUF);
_b_used=getGPValue(G_CIRCBUFSIZE)-getGPValue(G_FREECIRCBUF);
_b_size=getGPValue(G_FRAME_SIZE);
if (!fn) f=stdout;
else if (strcmp(fn, "stdout")==0) f=stdout;
else if (strcmp(fn, "stderr")==0) f=stderr;
else {
if (!((f=fopen (fn,"w")))) {
D0(fprintf (debug_file,"Error opening %s\n", fn));
return;
}
}
if (state->vf) _len=ftell(state->vf); //! for ogm
else if ((state->ivf)>=0) _len=lseek(state->ivf, 0, SEEK_CUR); //!for mov
_dur= state->this_frame_params.timestamp_sec-state->frame_params.timestamp_sec;
_udur=state->this_frame_params.timestamp_usec-state->frame_params.timestamp_usec;
if (_udur<0) {
_dur-=1;
_udur+=1000000;
} else if (_udur>=1000000) {
_dur+=1;
_udur-=1000000;
}
_state= state->running? "running":(state->starting?"starting":"stopped");
_output_format= state->format?((state->format==CAMOGM_FORMAT_OGM)?"ogm":
((state->format==CAMOGM_FORMAT_JPEG)?"jpeg":
((state->format==CAMOGM_FORMAT_MOV)?"mov":
"other"))):"none";
_using_exif= state->exif?"yes":"no";
_using_global_pointer=state->save_gp?"yes":"no";
_compressor_state=(getGPValue(P_COMPRESSOR_RUN)==2)?"running":"stoppped";
if ( state->frames_skip >0 ) {
_frames_remain= state->frames_skip_left;
_frames_skip=state->frames_skip;
} else if ( state->frames_skip <0 ) {
_sec_remain= (state->frames_skip_left - state->this_frame_params.timestamp_sec);
_sec_skip=-(state->frames_skip);
}
if (xml) {
fprintf (f,"<?xml version=\"1.0\"?>\n" \
"<camogm_state>\n" \
" <state>\"%s\"</state>\n" \
" <compressor_state>\"%s\"</compressor_state>\n" \
" <file_name>\"%s\"</file_name>\n" \
" <frame_number>%d</frame_number>\n" \
" <frame_size>%d</frame_size>\n" \
" <start_after_timestamp>%f</start_after_timestamp>\n" \
" <file_duration>%d.%06d</file_duration>\n" \
" <file_length>%d</file_length>\n" \
" <frame_period>%d</frame_period>\n" \
" <frames_skip>%d</frames_skip>\n" \
" <seconds_skip>%d</seconds_skip>\n" \
" <frames_skip_left>%d</frames_skip_left>\n" \
" <seconds_skip_left>%d</seconds_skip_left>\n" \
" <frame_width>%d</frame_width>\n" \
" <frame_height>%d</frame_height>\n" \
" <format>\"%s\"</format>\n" \
" <exif>\"%s\"</exif>\n" \
" <prefix>\"%s\"</prefix>\n" \
" <max_duration>%d</max_duration>\n" \
" <max_length>%d</max_length>\n" \
" <max_frames>%d</max_frames>\n" \
" <timescale>%f</timescale>\n" \
" <frames_per_chunk>%d</frames_per_chunk>\n" \
" <last_error_code>%d</last_error_code>\n" \
" <buffer_overruns>%d</buffer_overruns>\n" \
" <buffer_minimal>%d</buffer_minimal>\n" \
" <buffer_free>%d</buffer_free>\n" \
" <buffer_used>%d</buffer_used>\n" \
" <circbuf_rp>%d</circbuf_rp>\n" \
" <debug_output>\"%s\"</debug_output>\n" \
" <debug_level>%d</debug_level>\n" \
" <use_global_rp>\"%s\"</use_global_rp>\n" \
" <kml_enable>\"%s\"</kml_enable>\n" \
" <kml_used>\"%s\"</kml_used>\n" \
" <kml_path>\"%s\"</kml_path>\n" \
" <kml_horHalfFov>\"%f\"</kml_horHalfFov>\n" \
" <kml_vertHalfFov>\"%f\"</kml_vertHalfFov>\n" \
" <kml_near>\"%f\"</kml_near>\n" \
" <kml_height_mode>\"%s\"</kml_height_mode>\n" \
" <kml_height>\"%f\"</kml_height>\n" \
" <kml_period>%d</kml_period>\n" \
" <kml_last_ts>%d.%06d</kml_last_ts>\n" \
" <greedy>\"%s\"</greedy>\n" \
" <ignore_fps>\"%s\"</ignore_fps>\n" \
"</camogm_state>\n",
_state,_compressor_state,state->path,state->frameno,_b_size,state->start_after_timestamp,_dur,_udur,_len,state->frame_period, \
_frames_skip,_sec_skip,_frames_remain, _sec_remain, \
state->width,state->height,_output_format,_using_exif, \
state->path_prefix, state->segment_duration, state->segment_length, state->max_frames, state->timescale, \
state->frames_per_chunk, state->last_error_code, state->buf_overruns, state->buf_min, _b_free, _b_used, state->cirbuf_rp, \
state->debug_name, debug_level, _using_global_pointer, \
_kml_enable,_kml_used,state->kml_path,state->kml_horHalfFov,state->kml_vertHalfFov,state->kml_near,\
_kml_height_mode,state->kml_height,state->kml_period,state->kml_last_ts,state->kml_last_uts,\
state->greedy?"yes":"no",state->ignore_fps?"yes":"no");
} else {
fprintf (f,"state %s\n", _state);
fprintf (f,"compressor state %s\n", _compressor_state);
fprintf (f,"file %s\n", state->path);
fprintf (f,"frame %d\n", state->frameno);
fprintf (f,"frame size %d\n", _b_size);
fprintf (f,"start_after_timestamp %f\n", state->start_after_timestamp);
fprintf (f,"file duration %d.%06d sec\n",_dur,_udur);
fprintf (f,"file length %d B\n", _len);
fprintf (f,"frame period %d (0x%x)\n", state->frame_period,state->frame_period);
if ( _frames_skip >0 ) fprintf (f,"frames to skip %d (left %d)\n",_frames_skip, _frames_remain);
if ( _sec_skip <0 ) fprintf (f,"timelapse period %d sec (remaining %d sec)\n", _sec_skip, _sec_remain);
fprintf (f,"width %d (0x%x)\n", state->width,state->width);
fprintf (f,"height %d (0x%x)\n", state->height,state->height);
fprintf (f,"\n");
fprintf (f,"output format %s\n", _output_format);
fprintf (f,"using exif %s\n", _using_exif);
fprintf (f,"path prefix: %s\n", state->path_prefix);
fprintf (f,"max file duration: %d sec\n", state->segment_duration);
fprintf (f,"max file length: %d B\n", state->segment_length);
fprintf (f,"max frames %d\n", state->max_frames);
fprintf (f,"timescale %f\n", state->timescale);
fprintf (f,"frames per chunk %d\n", state->frames_per_chunk);
fprintf (f,"greedy %s\n", state->greedy?"yes":"no");
fprintf (f,"ignore fps %s\n", state->ignore_fps?"yes":"no");
fprintf (f,"\n");
fprintf (f,"buffer overruns %d\n", state->last_error_code);
fprintf (f,"buffer overruns %d\n", state->buf_overruns);
fprintf (f,"buffer minimal %d\n", state->buf_min);
fprintf (f,"buffer free %d\n", _b_free);
fprintf (f,"buffer used %d\n", _b_used);
fprintf (f,"circbuf_rp %d (0x%x)\n", state->cirbuf_rp,state->cirbuf_rp);
fprintf (f,"\n");
fprintf (f,"debug output to %s\n", state->debug_name);
fprintf (f,"debug level %d\n", debug_level);
fprintf (f,"use global pointer %s\n", _using_global_pointer);
fprintf (f,"\n\n");
fprintf (f,"kml_enable %s\n", _kml_enable);
fprintf (f,"kml_used %s\n", _kml_used);
fprintf (f,"kml_path %s\n", state->kml_path);
fprintf (f,"kml_horHalfFov %f degrees\n",state->kml_horHalfFov);
fprintf (f,"kml_vertHalfFov %f degrees\n",state->kml_vertHalfFov);
fprintf (f,"kml_near %f m\n", state->kml_near);
fprintf (f,"kml height mode %s\n", _kml_height_mode);
fprintf (f,"kml_height (extra) %f m\n", state->kml_height);
fprintf (f,"kml_period %d\n", state->kml_period);
fprintf (f,"kml_last_ts %d.%06d\n", state->kml_last_ts,state->kml_last_uts);
fprintf (f,"\n\n");
}
if ((f!=stdout) && (f!=stderr)) fclose (f);
if (state->buf_overruns>=0) state->buf_overruns=0; //! resets overruns after reading status , so "overruns" means since last reading status
state->last_error_code=0; //! Reset error
state->buf_min=_b_free;
}
//! will read from pipe, return pointer to null terminated string if available, NULL otherwise
char * getLineFromPipe(FILE* npipe) {
int fl;
char * nlp;
//!remove used string if any
if (cmdstrt > 0) {
//!moving overlapping strings
memmove(cmdbuf, &cmdbuf[cmdstrt], sizeof(cmdbuf)- cmdstrt);
cmdbufp-=cmdstrt;
cmdstrt=0;
}
//! is there any complete string in a buffer?
if (!cmdbufp) cmdbuf[cmdbufp]=0; //!null-terminate first access (probably not needed for the static buffer
// nlp= strchr(cmdbuf,'\n');
nlp= strpbrk(cmdbuf,";\n");
if (!nlp) { //!no complete string, try to read more
fl=fread(&cmdbuf[cmdbufp], 1,sizeof(cmdbuf)-cmdbufp-1,npipe);
cmdbuf[cmdbufp+fl]=0;
//! is there any complete string in a buffer after reading?
// nlp= strchr(&cmdbuf[cmdbufp],'\n'); //! there were no new lines before cmdbufp
nlp= strpbrk(&cmdbuf[cmdbufp],";\n"); //! there were no new lines before cmdbufp
cmdbufp+=fl; //!advance pointer after pipe read
}
if (nlp) {
//printf ("++nlp=%d\n", (int) (nlp-cmdbuf));
nlp[0]=0;
cmdstrt=nlp-cmdbuf+1;
//printf ("++cmdstrt=%d\n", cmdstrt);
//printf ("cmdbuf[0]=%d, cmdbuf[1]=%d, cmdbuf[2]=%d, cmdbuf[3]=%d, \n",cmdbuf[0],cmdbuf[1],cmdbuf[2],cmdbuf[3]);
for (fl=0; cmdbuf[fl] && strchr(" \t",cmdbuf[fl]); fl++);
//printf ("++fl=%d\n", fl);
return &cmdbuf[fl];
} else {
//printf ("notready: cmdbufp=%d, cmdstrt=%d\n",cmdbufp, cmdstrt);
return NULL;
}
}
// command[= \t]*args[ \t]*
int parse_cmd(FILE* npipe) {
char * cmd;
char * args;
char * argse;
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
D2(fprintf (debug_file,"Got command: '%s'\n", cmd));
/// Acknowledge received command by copying frame number to per-daemon parameter
GLOBALPARS(G_DAEMON_ERR+lastDaemonBit)=GLOBALPARS(G_THIS_FRAME);
// printf ("cmd[0]=%d:%s\n",(int) cmd[0],cmd);
args=strpbrk(cmd,"= \t");
//! is it just a single word command or does it have parameters?
if (args) {
args[0]=0;
args++;
while (strchr("= \t",args[0])) args++;
if (args[0]) {
//! ltrim (args)
for (argse=strchr(args,'\0')-1; strchr("= \t",argse[0]);argse--) argse[0]='\0';
}
if (!args[0]) args=NULL;
}
//! now cmd is trimmed, arg is NULL or a pointer to trimmed command arguments
if (strcmp(cmd, "start")==0) {
camogm_start();
return 1;
} else if (strcmp(cmd, "reset")==0) { //! will reset pointer to the last acquired frame (if any)
camogm_reset();
return 2;
} else if (strcmp(cmd, "stop")==0) {
camogm_stop();
return 3;
} else if (strcmp(cmd, "exit")==0) {
camogm_stop();
camogm_free();
exit (0);
} else if (strcmp(cmd, "duration")==0) {
if (!(args) || (((d= strtol(args, NULL, 10)))<=0)) d=DEFAULT_DURATION;
camogm_set_segment_duration(d);
return 4;
} else if (strcmp(cmd, "length")==0) {
if (!(args) || (((d= strtol(args, NULL, 10)))<=0)) d=DEFAULT_LENGTH;
camogm_set_segment_length(d);
return 5;
} else if (strcmp(cmd, "prefix")==0) {
if (args) camogm_set_prefix (args);
return 6;
} else if (strcmp(cmd, "status")==0) {
camogm_status(args, 0);
return 7;
} else if (strcmp(cmd, "xstatus")==0) {
camogm_status(args, 1);
return 7;
} else if (strcmp(cmd, "save_gp")==0) {
if ((args) && (((d= strtol(args, NULL, 10)))>=0)) camogm_set_save_gp(d);
return 8;
} else if (strcmp(cmd, "exif")==0) {
if ((args) && (((d= strtol(args, NULL, 10)))>=0)) camogm_set_exif(d);
return 8;
} else if (strcmp(cmd, "debug")==0) {
camogm_debug(args);
return 9;
} else if (strcmp(cmd, "timescale")==0) {
dd= strtod(args,NULL);
camogm_set_timescale(dd?dd:1.0);
return 10;
//!TODO: fix period calculation/check for frame skipping (just disable in frame skip mode?)
//!TODO: add time period (system clock), not just frame skipping
} else if (strcmp(cmd, "frameskip")==0) {
d= strtol(args, NULL, 10);
camogm_set_frames_skip(d);
return 11;
} else if (strcmp(cmd, "timelapse")==0) { //! period (in seconds) between stored frames
d= strtol(args, NULL, 10);
camogm_set_frames_skip(-d);
return 11;
} else if (strcmp(cmd, "format")==0) {
if (args) {
if (strcmp(args, "none")==0) camogm_set_format(0);
else if ((strcmp(args, "ogm" )==0) || (strcmp(args, "ogg")==0)) camogm_set_format(CAMOGM_FORMAT_OGM);
else if ((strcmp(args, "jpeg")==0) || (strcmp(args, "jpg")==0)) camogm_set_format(CAMOGM_FORMAT_JPEG);
else if (strcmp(args, "mov" )==0) camogm_set_format(CAMOGM_FORMAT_MOV);
}
return 12;
} else if (strcmp(cmd, "debuglev")==0) {
d= strtol(args, NULL, 10);
camogm_debug_level(d?d:0);
return 13;
} else if (strcmp(cmd, "kml")==0) {
if ((args) && (((d= strtol(args, NULL, 10)))>=0)) camogm_kml_set_enable(d);
return 14;
} else if (strcmp(cmd, "kml_hhf")==0) {
dd= strtod(args,NULL);
camogm_kml_set_horHalfFov(dd);
return 15;
} else if (strcmp(cmd, "kml_vhf")==0) {
dd= strtod(args,NULL);
camogm_kml_set_vertHalfFov(dd);
return 16;
} else if (strcmp(cmd, "kml_near")==0) {
dd= strtod(args,NULL);
camogm_kml_set_near(dd);
return 17;
} else if (strcmp(cmd, "kml_alt")==0) {
if (args) {
if (strcmp(args, "gps" )==0) camogm_kml_set_height_mode(1);
else if (strcmp(args, "ground")==0) camogm_kml_set_height_mode(0);
}
return 18;
} else if (strcmp(cmd, "kml_height")==0) {
dd= strtod(args,NULL);
camogm_kml_set_height(dd);
return 19;
} else if (strcmp(cmd, "kml_period")==0) {
d= strtol(args, NULL, 10);
camogm_kml_set_period(d?d:1);
return 20;
} else if (strcmp(cmd, "frames_per_chunk")==0) {
d= strtol(args, NULL, 10);
camogm_set_frames_per_chunk(d);
return 21;
} else if (strcmp(cmd, "max_frames")==0) {
d= strtol(args, NULL, 10);
camogm_set_max_frames(d);
return 22;
} else if (strcmp(cmd, "start_after_timestamp")==0) {
dd= strtod(args,NULL);
camogm_set_start_after_timestamp(dd);
return 23;
} else if (strcmp(cmd, "greedy")==0) {
dd= strtod(args,NULL);
camogm_set_greedy(dd);
return 24;
} else if (strcmp(cmd, "ignore_fps")==0) {
dd= strtod(args,NULL);
camogm_set_ignore_fps(dd);
return 25;
}
return -1;
}
int main(int argc, char *argv[])
{
const char circbufFileName[]="/dev/circbuf";
// int fd_circ;
FILE * cmd_file;
const char usage[]= "This program allows recording of the video/images acquired by Elphel camera to the storage media.\n" \
"It is designed to run in the background and accept commands through a named pipe.\n\n" \
"Usage:\n\n" \
"%s <named_pipe_name>\n\n" \
"i.e.:\n\n" \
"%s /var/state/camogm_cmd\n\n" \
"When the program is runninig you may send commands by writing strings to the command file\n" \
"(/var/state/camogm_cmd in the example above). The complete list of available commands is available\n" \
"on Elphel Wiki (http://wiki.elphel.com/index.php?title=Camogm), here is the example of usage\n" \
"from the shell prompt in the camera:\n\n" \
"echo \"status; exif=1; format=jpeg;status=/var/tmp/camogm.status\" > /var/state/camogm_cmd\n\n" \
"That will print status information on the standard output (may not be visible if the program was not\n" \
"started from the same session), set exif mode on (each frame will have the full Exif header including\n" \
"a precise time stamp), set output format to a series of individual JPEG files, and then send status\n" \
"information to a file /var/tmp/camogm.status in the camera file system.\n\n" \
"This program does not control the process of acquisition of the video/images to the camera internal\n" \
"buffer, it only retrieves that data from the buffer (waiting when needed), packages it to selected\n" \
"format and stores the result files.\n\n";
int go=1;
int cmd;
int i,rslt;
int fp0,fp1; // debugging
state= &sstate; //extern
//! no command line options processing yet
if ((argc < 2) || (argv[1][1]=='-')) {
printf (usage,argv[0],argv[0]);
return 0;
}
camogm_init();
//! open Exif header file
state->fd_exif = open(ExifFileName, O_RDONLY);
if (state->fd_exif<0) { // check control OK
D0(fprintf (debug_file,"Error opening %s\n", ExifFileName));
return -1;
}
//! open JPEG header file
state->fd_head = open(HeadFileName, O_RDWR);
if (state->fd_head<0) { // check control OK
D0(fprintf (debug_file,"Error opening %s\n", HeadFileName));
return -1;
}
state->head_size=lseek(state->fd_head,0,SEEK_END);
if (state->head_size>JPEG_HEADER_MAXSIZE) {
D0(fprintf (debug_file,"%s:%d: Too big JPEG header (%d > %d)",__FILE__,__LINE__,state->head_size, JPEG_HEADER_MAXSIZE ));
return -2;
}
//! open circbuf and mmap it (once at startup)
state->fd_circ = open(circbufFileName, O_RDWR);
if (state->fd_circ<0) { // check control OK
D0(fprintf (debug_file,"Error opening %s\n", circbufFileName));
return -2;
}
/*! find total buffer length (it is in defines, actually in c313a.h */
state->circ_buff_size=lseek(state->fd_circ,0,SEEK_END);
ccam_dma_buf = (unsigned long *) mmap(0, state->circ_buff_size, PROT_READ, MAP_SHARED, state->fd_circ, 0);
if((int)ccam_dma_buf == -1) {
D0(fprintf (debug_file,"Error in mmap of %s\n",circbufFileName));
// close (fd_head);
close(state->fd_circ);
return -3;
}
//! Now open/mmap file to read sensor/compressor parameters (currently - just free memory in circbuf and compressor state)
//! open circbuf and mmap it (once at startup)
state->fd_fparmsall = open(ctlFileName, O_RDWR);
if (state->fd_fparmsall<0) { // check control OK
D0(fprintf (debug_file,"%s:%d:%s: Error opening %s\n",__FILE__,__LINE__,__FUNCTION__, ctlFileName));
return -2;
}
//! now try to mmap
/// frameParsAll = (struct framepars_all_t *) mmap(0, sizeof (struct framepars_all_t) , PROT_READ, MAP_SHARED, state->fd_fparmsall, 0);
/// PROT_WRITE - only to write acknowledge
frameParsAll = (struct framepars_all_t *) mmap(0, sizeof (struct framepars_all_t) , PROT_READ | PROT_WRITE, MAP_SHARED, state->fd_fparmsall, 0);
if((int)frameParsAll == -1) {
D0(fprintf(debug_file,"%s:%d:%s: Error in mmap in %s\n",__FILE__,__LINE__,__FUNCTION__,ctlFileName));
close(state->fd_fparmsall);
close(state->fd_circ);
return -3;
}
framePars=frameParsAll->framePars;
globalPars=frameParsAll->globalPars;
//!create a named pipe
//!always delete the pipe if it existed, start a fresh one
i=unlink (argv[1]);
if (i) {
D1(fprintf (debug_file,"Unlink %s returned %d, errno=%d \n", argv[1], i, errno));
}
i=mkfifo(argv[1], 0777); //EEXIST
//! now should not exist
if (i) {
if (errno==EEXIST) {
D1(fprintf (debug_file,"Named pipe %s already exists, will use it.\n", argv[1]));
} else {
D0(fprintf (debug_file,"Can not create a named pipe %s, errno=%d \n", argv[1], errno));
return -4;
}
}
//!now open the pipe - will block until something will be written (or just open for writing
//!Reads themselves will not block
if (!((cmd_file=fopen(argv[1],"r")))) {
D0(fprintf (debug_file,"Can not open command file %s\n",argv[1]));
return -5;
}
// D1(fprintf (debug_file,"Pipe %s open for reading\n",argv[1]));
D0(fprintf (debug_file,"Pipe %s open for reading\n",argv[1])); // to make sure something is sent out
//! Here is a main loop. If recording is on, it will check for commands after each frame, if it is off - poll with fixed usleep
#define COMMAND_LOOP_DELAY 500000 //0.5sec
while (go) {
// D3(fprintf (debug_file,"%s:%d: format=%d, set_format=%d\n",__FILE__,__LINE__, state->format, state->set_format));
//! look at command queue first
cmd=parse_cmd(cmd_file);
if (cmd) {
if (cmd<0) D0(fprintf (debug_file,"Unrecognized command\n"));
/// Acknowledge received command by copying frame number to per-daemon parameter
// GLOBALPARS(G_DAEMON_ERR+lastDaemonBit)=GLOBALPARS(G_THIS_FRAME);
} else if (state->running) { //!no commands in queue, started
// D3(fprintf (debug_file,"%s:%d: format=%d, set_format=%d\n",__FILE__,__LINE__, state->format, state->set_format));
switch ((rslt=-sendImageFrame ())) {
case 0:
/*
D3(fprintf (debug_file,"%s:line %d - sendImageFrame() returned %d\n" \
"state->cirbuf_rp= 0x%x\n",__FILE__,__LINE__,rslt,state->cirbuf_rp));
*/
break; //! frame sent OK, nothing to do (TODO: check file length/duration)
case CAMOGM_FRAME_NOT_READY: //! just wait for the frame to appear at the current pointer
//! we'll wait for a frame, not to waste resources. But if the compressor is stopped this program will not respond to any commands
//! TODO - add another wait with (short) timeout?
// D3(fprintf (debug_file,"%s:line %d - sendImageFrame() returned -%d\n",__FILE__,__LINE__,rslt));
/*
D3(fprintf (debug_file,"%s:line %d - sendImageFrame() returned -%d\n" \
"state->cirbuf_rp= 0x%x\n",__FILE__,__LINE__,rslt,state->cirbuf_rp));
*/
// lseek(state->fd_circ,LSEEK_CIRC_WAIT,SEEK_END);
fp0=lseek(state->fd_circ,0,SEEK_CUR);
if (fp0<0) {
D0(fprintf (debug_file,"%s:line %d got broken frame (%d) before waiting for ready\n",__FILE__,__LINE__,fp0));
rslt=CAMOGM_FRAME_BROKEN;
} else {
fp1=lseek(state->fd_circ,LSEEK_CIRC_WAIT,SEEK_END);
if (fp1<0) {
D0(fprintf (debug_file,"%s:line %d got broken frame (%d) while waiting for ready. Before that fp0=0x%x\n",__FILE__,__LINE__,fp1,fp0));
rslt=CAMOGM_FRAME_BROKEN;
} else {
break;
}
}
// break;
case CAMOGM_FRAME_CHANGED: //! frame parameters have changed
case CAMOGM_FRAME_NEXTFILE: //! next file needed (need to switch to a new file (time/size exceeded limit)
case CAMOGM_FRAME_INVALID: //! invalid frame pointer
case CAMOGM_FRAME_BROKEN: //! frame broken (buffer overrun)
//! restart the file
// D3(fprintf (debug_file,"%s:line %d - sendImageFrame() returned -%d\n",__FILE__,__LINE__,rslt));
camogm_stop();
camogm_start();
break;
case CAMOGM_FRAME_FILE_ERR: //! error with file I/O
case CAMOGM_FRAME_OTHER: //! other errors
D0(fprintf (debug_file,"%s:line %d - error=%d\n",__FILE__,__LINE__,rslt));
break;
default:
D0(fprintf (debug_file,"%s:line %d - should not get here (rslt=%d)\n",__FILE__,__LINE__,rslt));
exit (-1);
} //switch
if ((rslt!=0) && (rslt!=CAMOGM_FRAME_NOT_READY) && (rslt!=CAMOGM_FRAME_CHANGED)) state->last_error_code=rslt;
} else if (state->starting) { //!no commands in queue,starting (but not started yet)
// D3(fprintf (debug_file,"%s:%d: format=%d, set_format=%d\n",__FILE__,__LINE__, state->format, state->set_format));
//!retry starting
switch ((rslt=-camogm_start())) {
case 0: break; //! file started OK, nothing to do
case CAMOGM_TOO_EARLY:
lseek(state->fd_circ,LSEEK_CIRC_TOWP,SEEK_END); /// set pointer to the frame to wait for
lseek(state->fd_circ,LSEEK_CIRC_WAIT,SEEK_END); /// It already passed CAMOGM_FRAME_NOT_READY, so compressor may be running already
break; /// no need to wait extra
case CAMOGM_FRAME_NOT_READY: //! just wait for the frame to appear at the current pointer
//! we'll wait for a frame, not to waste resources. But if the compressor is stopped this program will not respond to any commands
//! TODO - add another wait with (short) timeout?
// lseek(state->fd_circ,LSEEK_CIRC_WAIT,SEEK_END);
case CAMOGM_FRAME_CHANGED: //! frame parameters have changed
case CAMOGM_FRAME_NEXTFILE:
case CAMOGM_FRAME_INVALID: //! invalid frame pointer
case CAMOGM_FRAME_BROKEN: //! frame broken (buffer overrun)
// D3(fprintf (debug_file,"%s:line %d - camogm_start() returned -%d, state->cirbuf_rp= 0x%x\n", __FILE__,__LINE__,rslt,state->cirbuf_rp));
usleep( COMMAND_LOOP_DELAY) ; //! it should be not too long so empty buffer will not be overrun
break;
case CAMOGM_FRAME_FILE_ERR: //! error with file I/O
case CAMOGM_FRAME_OTHER: //! other errors
D0(fprintf (debug_file,"%s:line %d - error=%d\n",__FILE__,__LINE__,rslt));
break;
default:
D0(fprintf (debug_file,"%s:line %d - should not get here (rslt=%d)\n",__FILE__,__LINE__,rslt));
exit (-1);
} //switch
if ((rslt!=0) && (rslt!=CAMOGM_TOO_EARLY) && (rslt!=CAMOGM_FRAME_NOT_READY) && (rslt!=CAMOGM_FRAME_CHANGED) ) state->last_error_code=rslt;
} else { //! not running, not starting
usleep( COMMAND_LOOP_DELAY) ; //! make it longer but interruptible by signals?
}
}
return 0;
}
/**
* @brief Read either G_* parameter (these are 'regular' values defined by number) or P_* parameter
* (it can be read for up to 6 frames ahead, but current interface only allows to read last/current value)
* @param GPNumber parameter number (as defined in c313a.h), G_* parameters have numbers above FRAMEPAR_GLOBALS, P_* - below)
* @return parameter value
*/
unsigned long getGPValue(unsigned long GPNumber) {
return (GPNumber>=FRAMEPAR_GLOBALS)?
GLOBALPARS(GPNumber):
framePars[GLOBALPARS(G_THIS_FRAME) & PARS_FRAMES_MASK].pars[GPNumber];
}
/**
* @brief Set value of the specified global (G_*) parameter
* @param GNumber - parameter number (as defined in c313a.h)
* @param value - value to set
*/
void setGValue(unsigned long GNumber, unsigned long value) {
GLOBALPARS(GNumber)=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 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
*/
int waitDaemonEnabled(int daemonBit) { // <0 - use default
if ((daemonBit>=0) && (daemonBit<32)) lastDaemonBit=daemonBit;
unsigned long this_frame=this_frame=GLOBALPARS(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
lseek(state->fd_circ, LSEEK_DAEMON_CIRCBUF+lastDaemonBit, SEEK_END); ///
if (this_frame==GLOBALPARS(G_THIS_FRAME)) return 1;
return 0;
}
/**
* @brief check if this application is enabled (by appropriate bit in P_DAEMON_EN)
* @param 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
*/
int isDaemonEnabled(int daemonBit) { // <0 - use default
if ((daemonBit>=0) && (daemonBit<32)) lastDaemonBit=daemonBit;
return ((framePars[GLOBALPARS(G_THIS_FRAME) & PARS_FRAMES_MASK].pars[P_DAEMON_EN] & (1 <<lastDaemonBit))!=0);
}
camogm.h 0 → 100644
View file @ 38d28dd5
#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 D(x) {if (debug_file && debug_level){x;fflush(debug_file);}}
#define D0(x) {if (debug_file){x;fflush(debug_file);}}
#define D1(x) {if (debug_file && (debug_level > 0)){x;fflush(debug_file);}}
#define D2(x) {if (debug_file && (debug_level > 1)){x;fflush(debug_file);}}
#define D3(x) {if (debug_file && (debug_level > 2)){x;fflush(debug_file);}}
#define D4(x) {if (debug_file && (debug_level > 3)){x;fflush(debug_file);}}
#define D5(x) {if (debug_file && (debug_level > 4)){x;fflush(debug_file);}}
#define D6(x) {if (debug_file && (debug_level > 5)){x;fflush(debug_file);}}
//#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 <asm/elphel/exifa.h>
/*
#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
*/
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[300];
int cirbuf_rp; //!-1 - invalid
int fd_circ; //! file descriptor for circbuf
int fd_head; //! file descriptor for JPEG header
// int fd_sens; //! file descriptor for sensor/compressor parameters
int fd_fparmsall; //! file descriptor for sensor/compressor parameters
int fd_exif; //! file descriptor for Exif data
int head_size; //! JPEG header size
char jpegHeader [JPEG_HEADER_MAXSIZE];
int metadata_start;
struct interframe_params_t frame_params;
struct interframe_params_t this_frame_params;
int jpeg_len;
int frame_period ; //!in microseconds (1/10 of what is needed for the Ogm header)
int width;
int height;
int starting;
int running;
int last_error_code;
ogg_stream_state os;
ogg_page og;
ogg_packet op;
elph_ogg_packet eop;
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
int exif; // 1 - calculate and include Exif headers in each frame
// exif_pointers_t ep;
// int exifValid;
int exifSize; //signed
unsigned char ed[MAX_EXIF_SIZE];
int circ_buff_size;
int senspars_size;
char debug_name[256];
// FILE* debug_file;
int set_samples_per_unit;
double timescale; //! current timescale, default 1.0
double set_timescale;
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 frameno;
int* frame_lengths;
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)
elph_packet_chunk packetchunks[7];
int chunk_index;
int buf_overruns;
int buf_min;
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; //! 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
} 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 long GPNumber);
void setGValue(unsigned long GNumber, unsigned long value);
int waitDaemonEnabled(int daemonBit); // <0 - use default
int isDaemonEnabled(int daemonBit); // <0 - use default
camogm_jpeg.c 0 → 100644
View file @ 38d28dd5
/*!***************************************************************************
*! FILE NAME : camogm_jpeg.c
*! DESCRIPTION: Provides writing to series of individual JPEG files for camogm
*! 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_jpeg.c,v $
*! Revision 1.2 2009/02/25 17:50:51 spectr_rain
*! removed deprecated dependency
*!
*! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
*!
*!
*! Revision 1.3 2008/04/11 23:09:33 elphel
*! modified to handle kml generation
*!
*! 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 08:49:57 elphel
*! Initial release of camogm - program to record video/image to the camera hard drive (or other storage)
*!
*/
//!Not all are needed, just copied from the camogm.c
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <fcntl.h>
#include <sys/uio.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/stat.h>
//#include <ctype.h>
//#include <getopt.h>
#include <time.h>
#include <string.h>
#include <netinet/in.h> /*little <-> big endian ?*/
#include <sys/mman.h> /* mmap */
#include <sys/ioctl.h>
#include <asm/elphel/c313a.h>
#include <asm/byteorder.h>
#include <ogg/ogg.h> // has to be before ogmstreams.h
#include "ogmstreams.h" // move it to <>?
#include "camogm_jpeg.h"
#include "camogm.h"
//! may add something - called first time format is changed to this one (only once) recording is stopped
int camogm_init_jpeg(void) {
return 0;
}
void camogm_free_jpeg(void) {
}
int camogm_start_jpeg(void) {
//!TODO: make directory if it does not exist (find the last "/" in the state->path
char * slash;
int rslt;
strcpy (state->path,state->path_prefix); //!make state->path a directory name (will be replaced when the frames will be written)
slash=strrchr(state->path,'/');
D2(fprintf (debug_file, "camogm_start_jpeg\n"));
if (slash) {
D3(fprintf (debug_file, "Full path %s\n", state->path));
slash[0]='\0'; //! truncate path to the directory name
D3(fprintf (debug_file, "directory path %s\n", state->path));
rslt=mkdir(state->path, 0777);
D3(fprintf (debug_file, "mkdir (%s, 0777) returned %d, errno=%d\n", state->path, rslt, errno));
if ((rslt<0) && (errno != EEXIST)) { // already exists is OK
D0(fprintf (debug_file, "Error creating directory %s, errno=%d\n", state->path, errno));
return -CAMOGM_FRAME_FILE_ERR;
}
}
return 0;
}
int camogm_frame_jpeg(void){
int i,j;
// int fd;
ssize_t iovlen,l;
struct iovec chunks_iovec[7];
l=0;
for (i=0; i< (state->chunk_index)-1; i++) {
chunks_iovec[i].iov_base=state->packetchunks[i+1].chunk;
chunks_iovec[i].iov_len= state->packetchunks[i+1].bytes;
l+=chunks_iovec[i].iov_len;
}
sprintf(state->path,"%s%010ld_%06ld.jpeg",state->path_prefix,state->this_frame_params.timestamp_sec,state->this_frame_params.timestamp_usec);
// if ((devfd = open("/dev/fpgaio", O_RDWR))<0) {printf("error opening /dev/fpgaio\r\n"); return -1;}
//_1__12_Error opening /tmp/z/video1195147018_273452.jpeg for writing
if (((state->ivf=open(state->path,O_RDWR | O_CREAT, 0777)))<0){
D0(fprintf (debug_file, "Error opening %s for writing, returned %d, errno=%d\n", state->path,state->ivf,errno));
return -CAMOGM_FRAME_FILE_ERR;
}
iovlen=writev(state->ivf,chunks_iovec, (state->chunk_index)-1);
if (iovlen < l) {
j=errno;
D0(fprintf(debug_file,"writev error %d (returned %d, expected %d)\n",j,iovlen,l));
close (state->ivf);
return -CAMOGM_FRAME_FILE_ERR;
}
close (state->ivf);
return 0;
}
int camogm_end_jpeg(void){
return 0;
}
camogm_jpeg.h 0 → 100644
View file @ 38d28dd5
int camogm_init_jpeg(void);
int camogm_start_jpeg(void);
int camogm_frame_jpeg(void);
int camogm_end_jpeg(void);
void camogm_free_jpeg(void);
camogm_kml.c 0 → 100644
View file @ 38d28dd5
/*!***************************************************************************
*! FILE NAME : camogm_kml.c
*! DESCRIPTION: Provides writing to series of individual JPEG files for camogm
*! 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_kml.c,v $
*! Revision 1.3 2011/01/03 22:00:29 elphel
*! fixed tilt generation
*!
*! 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 1.2 2008/04/13 21:05:20 elphel
*! Fixing KML generation
*!
*! Revision 1.1 2008/04/11 23:06:52 elphel
*! files to handle KML generation
*!
*!
*/
//!Not all are needed, just copied from the camogm.c
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <fcntl.h>
#include <sys/uio.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/stat.h>
//#include <ctype.h>
//#include <getopt.h>
#include <time.h>
#include <string.h>
#include <netinet/in.h> /*little <-> big endian ?*/
#include <sys/mman.h> /* mmap */
#include <sys/ioctl.h>
#include <asm/elphel/c313a.h>
#include <asm/byteorder.h>
#include <ogg/ogg.h> // has to be before ogmstreams.h
#include "ogmstreams.h" // move it to <>?
#include "camogm_kml.h"
#include "camogm.h"
const char ExifDirFileName[]="/dev/exif_metadir";
//! may add something - called first time format is changed to this one (only once) recording is stopped
int camogm_init_kml(void) {
return 0;
}
void camogm_free_kml(void) {
}
/*
int camogm_start_mov(void) {
//! allocate memory for the frame index table
if (!((state->frame_lengths=malloc(4*state->max_frames)))) return -CAMOGM_FRAME_MALLOC ;
//! open file for writing
sprintf(state->path,"%s%010ld_%06ld.mov",state->path_prefix,state->frame_params.timestamp_sec,state->frame_params.timestamp_usec);
if (((state->ivf=open(state->path,O_RDWR | O_CREAT, 0777)))<0){
D0(fprintf (debug_file, "Error opening %s for writing, returned %d, errno=%d\n", state->path,state->ivf,errno));
return -CAMOGM_FRAME_FILE_ERR;
}
//!skip header (plus extra)
//! Quicktime (and else?) - frame data start (0xff 0xd8...)
state->frame_data_start=QUICKTIME_MIN_HEADER+16+ 4*(state->max_frames)+ ( 4*(state->max_frames))/(state->frames_per_chunk); // 8 bytes for "skip" tag
lseek(state->ivf, state->frame_data_start, SEEK_SET);
return 0;
}
*/
int camogm_start_kml(void) {
// struct exif_dir_table_t kml_exif[ExifKmlNumber] ; //! store locations of the fields needed for KML generations in the Exif block
///exif_metadir
/// state->kml_exif[i]
/// Re-read directory table and rebuild state->kml_exif when starting each file
struct exif_dir_table_t dir_table_entry;
int fd_ExifDir;
int indx;
for (indx=0;indx<ExifKmlNumber;indx++) state->kml_exif[indx].ltag=0;
//! open Exif header directory file
fd_ExifDir=open(ExifDirFileName,O_RDONLY);
if (fd_ExifDir<0) { // check control OK
D0(fprintf (debug_file,"Error opening %s\n", ExifDirFileName));
return -CAMOGM_FRAME_FILE_ERR;
}
while (read(fd_ExifDir, &dir_table_entry, sizeof(dir_table_entry))>0) {
switch (dir_table_entry.ltag) {
case Exif_Photo_DateTimeOriginal: indx= Exif_Photo_DateTimeOriginal_Index; break;
case Exif_GPSInfo_GPSLatitudeRef: indx= Exif_GPSInfo_GPSLatitudeRef_Index; break;
case Exif_GPSInfo_GPSLatitude: indx= Exif_GPSInfo_GPSLatitude_Index ; break;
case Exif_GPSInfo_GPSLongitudeRef: indx= Exif_GPSInfo_GPSLongitudeRef_Index ; break;
case Exif_GPSInfo_GPSLongitude: indx= Exif_GPSInfo_GPSLongitude_Index; break;
case Exif_GPSInfo_GPSAltitudeRef: indx= Exif_GPSInfo_GPSAltitudeRef_Index; break;
case Exif_GPSInfo_GPSAltitude: indx= Exif_GPSInfo_GPSAltitude_Index; break;
case Exif_GPSInfo_GPSTimeStamp: indx= Exif_GPSInfo_GPSTimeStamp_Index; break;
case Exif_GPSInfo_GPSDateStamp: indx= Exif_GPSInfo_GPSDateStamp_Index; break;
case Exif_GPSInfo_CompassDirectionRef: indx= Exif_GPSInfo_CompassDirectionRef_Index; break;
case Exif_GPSInfo_CompassDirection: indx= Exif_GPSInfo_CompassDirection_Index; break;
case Exif_GPSInfo_CompassPitchRef: indx= Exif_GPSInfo_CompassPitchRef_Index; break;
case Exif_GPSInfo_CompassPitch: indx= Exif_GPSInfo_CompassPitch_Index; break;
case Exif_GPSInfo_CompassRollRef: indx= Exif_GPSInfo_CompassRollRef_Index; break;
case Exif_GPSInfo_CompassRoll: indx= Exif_GPSInfo_CompassRoll_Index; break;
default: indx=-1;
}
if (indx>=0) {
memcpy(&(state->kml_exif[indx]),&dir_table_entry,sizeof(dir_table_entry));
D2(fprintf(debug_file,"indx=%02d, ltag=0x%05x, len=0x%03x, src=0x%03x, dst=0x%03x\n",indx, \
(int) dir_table_entry.ltag, \
(int) dir_table_entry.len, \
(int) dir_table_entry.src, \
(int) dir_table_entry.dst));
}
}
close (fd_ExifDir);
sprintf(state->kml_path,"%s%010ld_%06ld.kml",state->path_prefix,state->this_frame_params.timestamp_sec,state->this_frame_params.timestamp_usec);
if (!((state->kml_file=fopen(state->kml_path,"w+"))) ){
D0(fprintf (debug_file, "Error opening %s for writing\n", state->kml_path));
return -CAMOGM_FRAME_FILE_ERR;
}
/// write start of the KML file
fprintf (state->kml_file,"<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n" \
"<kml xmlns=\"http://earth.google.com/kml/2.2\">\n");
fprintf (state->kml_file,"<Document>\n");
state->kml_used= 1;
return 0;
}
int camogm_frame_kml(void){
char JPEGFileName[300];
char * filename;
int fd_JPEG;
int i,j;
ssize_t iovlen,l;
struct iovec chunks_iovec[7];
char datestr[11];
double longitude=0.0, latitude=0.0, altitude=0.0, heading=0.0, tilt=0.0, roll=0.0, pitch=0.0;
int hours=0, minutes=0;
double seconds=0.0;
int * ip;
if (state->kml_file) { // probably not needed
i=state->this_frame_params.timestamp_sec - (state->kml_last_ts + state->kml_period);
if ((i>1) || ((i==0) && ( state->this_frame_params.timestamp_usec > state->kml_last_uts ))) {
// if (state->this_frame_params.timestamp_sec > (state->kml_last_ts + state->kml_period)) { // this way it is safe to put kml_period=1000, then kml_period=1
state->kml_last_ts=state->this_frame_params.timestamp_sec;
state->kml_last_uts=state->this_frame_params.timestamp_usec;
if (state->format==CAMOGM_FORMAT_JPEG) {
strcpy (JPEGFileName, state->path);
} else {
sprintf(JPEGFileName,"%s%010ld_%06ld.jpeg",state->path_prefix,state->this_frame_params.timestamp_sec,state->this_frame_params.timestamp_usec);
if (((fd_JPEG=open(JPEGFileName,O_RDWR | O_CREAT, 0777)))>=0){
l=0;
for (i=0; i< (state->chunk_index)-1; i++) {
chunks_iovec[i].iov_base=state->packetchunks[i+1].chunk;
chunks_iovec[i].iov_len= state->packetchunks[i+1].bytes;
l+=chunks_iovec[i].iov_len;
}
iovlen=writev(fd_JPEG,chunks_iovec, (state->chunk_index)-1);
if (iovlen < l) {
j=errno;
D0(fprintf(debug_file,"writev error %d (returned %d, expected %d)\n",j,iovlen,l));
close (fd_JPEG);
return -CAMOGM_FRAME_FILE_ERR;
}
close (fd_JPEG);
} else {
D0(fprintf (debug_file, "Error opening %s for writing, returned %d, errno=%d\n", JPEGFileName,fd_JPEG,errno));
return -CAMOGM_FRAME_FILE_ERR;
}
}
/// now we have JPEGFileName written. find realtive (to KML) location:
filename=strrchr(JPEGFileName, '/');
filename[0]='\0';
filename++;
///generating KML itself
/// Using GPS time - in the same structure
if (state->kml_exif[Exif_GPSInfo_GPSDateStamp_Index].ltag==Exif_GPSInfo_GPSDateStamp) { // Exif_GPSInfo_GPSDateStamp is present in template
memcpy(datestr, &(state->ed[state->kml_exif[Exif_GPSInfo_GPSDateStamp_Index].dst]) ,10);
datestr[4]='-';datestr[7]='-';datestr[10]='\0';
}
if (state->kml_exif[Exif_GPSInfo_GPSTimeStamp_Index].ltag==Exif_GPSInfo_GPSTimeStamp) { // Exif_GPSInfo_GPSTimeStamp is present in template
ip= (int *) &(state->ed[state->kml_exif[Exif_GPSInfo_GPSTimeStamp_Index].dst]);
hours= __cpu_to_be32( ip[0]);
minutes= __cpu_to_be32( ip[2]);
seconds= (1.0*(__cpu_to_be32( ip[4])+1))/__cpu_to_be32( ip[5]); /// GPS likes ".999", let's inc by one - anyway will round that out
D2(fprintf (debug_file,"(when) 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x\n",ip[0],ip[1],ip[2],ip[3],ip[4],ip[5]));
D2(fprintf (debug_file,"(when) 0x%x 0x%x 0x%x 0x%x 0x%x 0x%x\n",__cpu_to_be32(ip[0]), \
__cpu_to_be32(ip[1]), \
__cpu_to_be32(ip[2]), \
__cpu_to_be32(ip[3]), \
__cpu_to_be32(ip[4]), \
__cpu_to_be32(ip[5])));
}
D1(fprintf (debug_file,"when=%sT%02d:%02d:%05.2fZ\n",datestr, hours, minutes, seconds));
/// knowing format provided from GPS - degrees and minuts only, no seconds:
if (state->kml_exif[Exif_GPSInfo_GPSLongitude_Index].ltag==Exif_GPSInfo_GPSLongitude) { // Exif_GPSInfo_GPSLongitude is present in template
ip= (int *) &(state->ed[state->kml_exif[Exif_GPSInfo_GPSLongitude_Index].dst]);
longitude=__cpu_to_be32( ip[0])/(1.0*__cpu_to_be32( ip[1])) + __cpu_to_be32( ip[2])/(60.0*__cpu_to_be32( ip[3]));
if ((state->kml_exif[Exif_GPSInfo_GPSLongitudeRef_Index].ltag==Exif_GPSInfo_GPSLongitudeRef) &&
(state->ed[state->kml_exif[Exif_GPSInfo_GPSLongitudeRef_Index].dst] != 'E')) longitude=-longitude;
D2(fprintf (debug_file,"(longitude) 0x%x 0x%x 0x%x 0x%x '%c'\n",ip[0],ip[1],ip[2],ip[3],state->ed[state->kml_exif[Exif_GPSInfo_GPSLongitudeRef_Index].dst]));
}
if (state->kml_exif[Exif_GPSInfo_GPSLatitude_Index].ltag==Exif_GPSInfo_GPSLatitude) { // Exif_GPSInfo_GPSLatitude is present in template
ip= (int *) &(state->ed[state->kml_exif[Exif_GPSInfo_GPSLatitude_Index].dst]);
latitude=__cpu_to_be32( ip[0])/(1.0*__cpu_to_be32( ip[1])) + __cpu_to_be32( ip[2])/(60.0*__cpu_to_be32( ip[3]));
if ((state->kml_exif[Exif_GPSInfo_GPSLatitudeRef_Index].ltag==Exif_GPSInfo_GPSLatitudeRef) &&
(state->ed[state->kml_exif[Exif_GPSInfo_GPSLatitudeRef_Index].dst] != 'N')) latitude=-latitude;
D2(fprintf (debug_file,"(latitude) 0x%x 0x%x 0x%x 0x%x '%c'\n",ip[0],ip[1],ip[2],ip[3],state->ed[state->kml_exif[Exif_GPSInfo_GPSLatitudeRef_Index].dst]?'-':'+'));
}
/// altitude - will be modified/replaced later
if (state->kml_exif[Exif_GPSInfo_GPSAltitude_Index].ltag==Exif_GPSInfo_GPSAltitude) { // Exif_GPSInfo_GPSAltitude is present in template
ip= (int *) &(state->ed[state->kml_exif[Exif_GPSInfo_GPSAltitude_Index].dst]);
altitude=(1.0*__cpu_to_be32( ip[0]))/__cpu_to_be32( ip[1]);
if ((state->kml_exif[Exif_GPSInfo_GPSAltitudeRef_Index].ltag==Exif_GPSInfo_GPSAltitudeRef) &&
(state->ed[state->kml_exif[Exif_GPSInfo_GPSAltitudeRef_Index].dst] != '\0')) altitude=-altitude;
D2(fprintf (debug_file,"(altitude) 0x%x 0x%x '%c'\n",ip[0],ip[1],state->ed[state->kml_exif[Exif_GPSInfo_GPSAltitudeRef_Index].dst]));
}
D1(fprintf (debug_file,"longitude=%f, latitude=%f, altitude=%f\n",longitude, latitude, altitude));
/// Heading - no processing of "True/Magnetic" Exif_GPSInfo_CompassDirectionRef now (always M)
if (state->kml_exif[Exif_GPSInfo_CompassDirection_Index].ltag==Exif_GPSInfo_CompassDirection) { // Exif_GPSInfo_CompassDirection is present in template
ip= (int *) &(state->ed[state->kml_exif[Exif_GPSInfo_CompassDirection_Index].dst]);
heading=(1.0*__cpu_to_be32( ip[0]))/__cpu_to_be32( ip[1]);
D2(fprintf (debug_file,"(heading) 0x%x 0x%x\n",ip[0],ip[1]));
}
///Processing 'hacked' pitch and roll (made of Exif destination latitude/longitude)
if (state->kml_exif[Exif_GPSInfo_CompassRoll_Index].ltag==Exif_GPSInfo_CompassRoll) { // Exif_GPSInfo_CompassRoll is present in template
ip= (int *) &(state->ed[state->kml_exif[Exif_GPSInfo_CompassRoll_Index].dst]);
roll=__cpu_to_be32( ip[0])/(1.0*__cpu_to_be32( ip[1])) + __cpu_to_be32( ip[2])/(60.0*__cpu_to_be32( ip[3]));
if ((state->kml_exif[Exif_GPSInfo_CompassRollRef_Index].ltag==Exif_GPSInfo_CompassRollRef) &&
(state->ed[state->kml_exif[Exif_GPSInfo_CompassRollRef_Index].dst] != EXIF_COMPASS_ROLL_ASCII[0])) roll=-roll;
D2(fprintf (debug_file,"(roll) 0x%x 0x%x '%c'\n",ip[0],ip[1],state->ed[state->kml_exif[Exif_GPSInfo_CompassRollRef_Index].dst]));
}
if (state->kml_exif[Exif_GPSInfo_CompassPitch_Index].ltag==Exif_GPSInfo_CompassPitch) { // Exif_GPSInfo_CompassPitch is present in template
ip= (int *) &(state->ed[state->kml_exif[Exif_GPSInfo_CompassPitch_Index].dst]);
pitch=__cpu_to_be32( ip[0])/(1.0*__cpu_to_be32( ip[1])) + __cpu_to_be32( ip[2])/(60.0*__cpu_to_be32( ip[3]));
if ((state->kml_exif[Exif_GPSInfo_CompassPitchRef_Index].ltag==Exif_GPSInfo_CompassPitchRef) &&
(state->ed[state->kml_exif[Exif_GPSInfo_CompassPitchRef_Index].dst] != EXIF_COMPASS_PITCH_ASCII[0])) pitch=-pitch;
D2(fprintf (debug_file,"(pitch) 0x%x 0x%x '%c'\n",ip[0],ip[1],state->ed[state->kml_exif[Exif_GPSInfo_CompassPitchRef_Index].dst]));
}
/// convert from GPS heading, pitch, roll to KML heading, tilt, roll
tilt=pitch+90.0;
if (tilt <0.0) tilt=0;
else if (tilt > 180.0) tilt=180.0;
D2(fprintf (debug_file,"heading=%f, roll=%f, pitch=%f, tilt=%f\n",heading, roll, pitch, tilt));
/// modify altitude
altitude=(state->kml_height_mode?altitude:0.0)+state->kml_height;
/// write to KML
fprintf(state->kml_file,"<PhotoOverlay>\n" \
" <shape>rectangle</shape>\n" \
" <TimeStamp>\n" \
" <when>%sT%02d:%02d:%05.2fZ</when>\n" \
" </TimeStamp>\n" \
" <Icon>\n" \
" <href>%s</href>\n" \
" </Icon>\n" \
" <Camera>\n" \
" <longitude>%f</longitude>\n" \
" <latitude>%f</latitude>\n" \
" <altitude>%f</altitude>\n" \
" <heading>%f</heading>\n" \
" <tilt>%f</tilt>\n" \
" <roll>%f</roll>\n" \
" <altitudeMode>%s</altitudeMode>\n" \
" </Camera>\n" \
" <ViewVolume>\n" \
" <leftFov>%f</leftFov>\n" \
" <rightFov>%f</rightFov>\n" \
" <bottomFov>%f</bottomFov>\n" \
" <topFov>%f</topFov>\n" \
" <near>%f</near>\n" \
" </ViewVolume>\n" \
"</PhotoOverlay>\n", \
datestr, hours, minutes, seconds, \
filename, longitude,latitude,altitude,heading,tilt,roll,state->kml_height_mode?"absolute":"relativeToGround", \
-(state->kml_horHalfFov), state->kml_horHalfFov, -(state->kml_vertHalfFov), state->kml_vertHalfFov, state->kml_near);
}
}
return 0;
}
int camogm_end_kml(void){
if (state->kml_file) {
fprintf (state->kml_file,"</Document>\n");
fprintf (state->kml_file,"</kml>\n");
fclose(state->kml_file);
state->kml_file=NULL;
}
return 0;
}
camogm_kml.h 0 → 100644
View file @ 38d28dd5
int camogm_init_kml(void);
int camogm_start_kml(void);
int camogm_frame_kml(void);
int camogm_end_kml(void);
void camogm_free_kml(void);
/*
<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://earth.google.com/kml/2.2">
<Document>
<PhotoOverlay>
<TimeStamp>
<when>2007-01-14T21:05:02Z</when>
</TimeStamp>
<!-- inherited from Feature element -->
<name>...</name> <!-- string -->
<visibility>1</visibility> <!-- boolean -->
<open>0</open> <!-- boolean -->
<atom:author>...<atom:author> <!-- xmlns:atom -->
<atom:link>...</atom:link> <!-- xmlns:atom -->
<address>...</address> <!-- string -->
<AddressDetails xmlns="urn:oasis:names:tc:ciq:xsdschema:xAL:2.0">...
</AddressDetails> <!-- string -->
<phoneNumber>...</phoneNumber> <!-- string -->
<Snippet maxLines="2">...</Snippet> <!-- string -->
<description>...</description> <!-- string -->
<AbstractView>...</AbstractView> <!-- Camera or LookAt -->
<TimePrimitive>...</TimePrimitive>
<styleUrl>...</styleUrl> <!-- anyURI -->
<StyleSelector>...</StyleSelector>
<Region>...</Region>
<ExtendedData>...</ExtendedData>
<!-- inherited from Overlay element -->
<color>ffffffff</color> <!-- kml:color -->
<drawOrder>0</drawOrder> <!-- int -->
<Icon>
<href>...</href> <!-- anyURI -->
...
</Icon>
<!-- specific to PhotoOverlay -->
<rotation>0</rotation> <!-- kml:angle180 -->
<ViewVolume>
<leftFov>0</leftFov> <!-- kml:angle180 -->
<rightFov>0</rightFov> <!-- kml:angle180 -->
<bottomFov>0</bottomFov> <!-- kml:angle90 -->
<topFov>0</topFov> <!-- kml:angle90 -->
<near>0</near> <!-- double -->
</ViewVolume>
<ImagePyramid>
<tileSize>256</tileSize> <!-- int -->
<maxWidth>...</maxWidth> <!-- int -->
<maxHeight>...</maxHeight> <!-- int -->
<gridOrigin>lowerLeft</gridOrigin> <!-- lowerLeft or upperLeft-->
</ImagePyramid>
<Point>
<coordinates>...</coordinates> <!-- lon,lat[,alt] -->
</Point>
<shape>rectangle</shape> <!-- kml:shape -->
</PhotoOverlay>
<Camera id="ID">
<longitude>0</longitude> <!-- kml:angle180 -->
<latitude>0</latitude> <!-- kml:angle90 -->
<altitude>0</altitude> <!-- double -->
<heading>0</heading> <!-- kml:angle360 -->
<tilt>0</tilt> <!-- kml:anglepos180 -->
<roll>0</roll> <!-- kml:angle180 -->
<altitudeMode>clampToGround</altitudeMode>
<!-- kml:altitudeModeEnum: relativeToGround, clampToGround, or absolute -->
</Camera>
*/
camogm_mov.c 0 → 100644
View file @ 38d28dd5
/*!***************************************************************************
*! FILE NAME : camogm_mov.c
*! DESCRIPTION: Provides writing to file compatible with Apple Quicktime(R) for camogm
*!TODO: Nothing yet here, will be added ASAP
*! 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_mov.c,v $
*! 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 1.4 2008/04/11 23:09:33 elphel
*! modified to handle kml generation
*!
*! Revision 1.3 2007/11/19 17:00:20 elphel
*! removed wrong dependency
*!
*! 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 08:49:57 elphel
*! Initial release of camogm - program to record video/image to the camera hard drive (or other storage)
*!
*/
//!Not all are needed, just copied from the camogm.c
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <fcntl.h>
#include <sys/uio.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/stat.h>
//#include <ctype.h>
//#include <getopt.h>
#include <time.h>
#include <string.h>
#include <netinet/in.h> /*little <-> big endian ?*/
#include <sys/mman.h> /* mmap */
#include <sys/ioctl.h>
#include <asm/elphel/c313a.h>
#include <asm/byteorder.h>
#include <ogg/ogg.h> // has to be before ogmstreams.h
#include "ogmstreams.h" // move it to <>?
#include "camogm_mov.h"
#include "camogm.h"
#define QUICKTIME_MIN_HEADER 0x300 // Quicktime header length (w/o index tables) enough to accomodate
// static data .
//! for the parser
const char hexStr[]="0123456789abcdef";
const char qtSourceFileName[]= "/etc/qt_source";
char comStr[1024];
int width=1280;
int height=1024;
int nframes=100;
int sample_dur=80;
int samplesPerChunk=10;
int framesize=80000;
int timescale=600;
int * sizes; // array of frame sizes
int iPos; //!position in the string "iFile"
//int oPos; //!position in the string "oFile"
int ofd; // output file descriptor (file opened by the caller)
int iFileLen;
char * q_template=NULL;
long headerSize=0;
const char *iFile=NULL;
int quicktime_template_parser (const char * i_iFile, //! now - string containing header template
int i_ofd, //!output file descriptor (opened)
int i_width, // width in pixels
int i_height,
int i_nframes,
int i_sample_dur,
int i_samplesPerChunk,
int i_framesize,
int i_timescale,
int * i_sizes,
int data_start // put zero if the header is written before data (no gap)
);
void putBigEndian(unsigned long d, int l);
int parse_special(void);
int parse (int top);
//! called first time format is changed to this one (only once) recording is stopped
//! read frame template from the file if it is not done yet
int camogm_init_mov(void) {
FILE* qt_header;
int size;
if ((qt_header= fopen (qtSourceFileName,"r"))==NULL) {
D0(fprintf (debug_file,"Error opening Quicktime header template %s for reading\n", qtSourceFileName));
return -CAMOGM_FRAME_FILE_ERR;
}
fseek(qt_header, 0, SEEK_END);
size=ftell(qt_header);
//malloc(4*state->max_frames);
if (!((q_template=malloc(size+1)))) {
D0(fprintf (debug_file,"Could not allocate %d bytes of memory for Quicktime header template\n", (size+1)));
fclose(qt_header);
return -CAMOGM_FRAME_MALLOC ;
}
fseek(qt_header, 0, SEEK_SET); //rewind
if (fread (q_template,size,1,qt_header)<1) {
D0(fprintf (debug_file,"Could not read %d bytes of Quicktime header template from %s\n", (size+1),qtSourceFileName));
free(q_template);
q_template=NULL;
fclose(qt_header);
return -CAMOGM_FRAME_FILE_ERR;
}
q_template[size]=0;
return 0;
}
void camogm_free_mov(void) {
if (q_template) {
free (q_template);
q_template=NULL;
}
}
int camogm_start_mov(void) {
//! allocate memory for the frame index table
if (!((state->frame_lengths=malloc(4*state->max_frames)))) return -CAMOGM_FRAME_MALLOC ;
//! open file for writing
sprintf(state->path,"%s%010ld_%06ld.mov",state->path_prefix,state->frame_params.timestamp_sec,state->frame_params.timestamp_usec);
if (((state->ivf=open(state->path,O_RDWR | O_CREAT, 0777)))<0){
D0(fprintf (debug_file, "Error opening %s for writing, returned %d, errno=%d\n", state->path,state->ivf,errno));
return -CAMOGM_FRAME_FILE_ERR;
}
//!skip header (plus extra)
//! Quicktime (and else?) - frame data start (0xff 0xd8...)
state->frame_data_start=QUICKTIME_MIN_HEADER+16+ 4*(state->max_frames)+ ( 4*(state->max_frames))/(state->frames_per_chunk); // 8 bytes for "skip" tag
lseek(state->ivf, state->frame_data_start, SEEK_SET);
return 0;
}
int camogm_frame_mov(void){
int i,j;
ssize_t iovlen,l;
struct iovec chunks_iovec[7];
l=0;
for (i=0; i< (state->chunk_index)-1; i++) {
chunks_iovec[i].iov_base=state->packetchunks[i+1].chunk;
chunks_iovec[i].iov_len= state->packetchunks[i+1].bytes;
l+=chunks_iovec[i].iov_len;
}
iovlen=writev(state->ivf,chunks_iovec, (state->chunk_index)-1);
if (iovlen < l) {
j=errno;
D0(fprintf(debug_file,"writev error %d (returned %d, expected %d)\n",j,iovlen,l));
close (state->ivf);
state->ivf=-1;
return -CAMOGM_FRAME_FILE_ERR;
}
state->frame_lengths[state->frameno]=l;
return 0;
}
//!move to the start of the file and insert generated header
int camogm_end_mov(void){
off_t l/*,he;
unsigned char mdat_tag[8];
unsigned char skip_tag[]="\0\0\0\0skip"*/;
timescale=10000; //! frame period measured in 1/10000 of a second?
//! that was in old code. If that works - try to switch to microseconds
l=lseek(state->ivf, 0, SEEK_CUR) - (state->frame_data_start)+8; //!4-byte length+"mdat"
// lseek(state->ivf, state->frame_data_start, SEEK_SET);
// fill in the header in the beginning of the file
lseek(state->ivf, 0, SEEK_SET);
quicktime_template_parser (q_template, //! now - string containing header template
state->ivf, //!output file descriptor (opened)
state->width, //! width in pixels
state->height,
state->frameno,
state->frame_period/ (1000000/timescale),
state->frames_per_chunk,
0, //!frame size - will look in the table
(int) ((float)timescale/(state->timescale)),
state->frame_lengths, //! array of frame lengths to build an index
state->frame_data_start
);
#if 0
//! now we need to overwrite last mdat tag in the header to the skip the gap, instead of the length 'mdat
//! put length 'skip length 'mdat
he=lseek(state->ivf, 0, SEEK_CUR);// just after the original header end
l=state->frame_data_start-he; //! should be >=
D4(fprintf (debug_file,"Remaining gap between Quicktime header and the data is %d (it should be>=8) \n", (int) l));
lseek(state->ivf, he-8, SEEK_SET);
read (state->ivf, mdat_tag,8); //!read calculated length+'mdat' tag
lseek(state->ivf, state->frame_data_start-8, SEEK_SET);
write(state->ivf, mdat_tag,8);
skip_tag[0]=(l >> 24) & 0xff;
skip_tag[1]=(l >> 16) & 0xff;
skip_tag[2]=(l >> 8) & 0xff;
skip_tag[3]=(l ) & 0xff;
lseek(state->ivf, he-8, SEEK_SET);
write(state->ivf, skip_tag,8);
#endif
close (state->ivf);
state->ivf=-1;
//! free memory used for index
if (state->frame_lengths) {
free(state->frame_lengths);
state->frame_lengths=NULL;
}
return 0;
}
/*
starts with the input file pointer just after the opening "{",
and output file - at the beginning of it's output
on exit - input pointer - after closing "}", output after it's output
*/
void putBigEndian(unsigned long d, int l) {
unsigned char od[4];
od[3]=d;
od[2]=d >> 8;
od[1]=d >> 16;
od[0]=d >> 24;
if (l) write (ofd, &od[4-l], l);
// oPos+=l;
}
//!temporary replacement for fgets to read from string
char * sfgets(char * str, int size, const char * stream, int * pos) {
int l;
const char * eol=strchr(&stream[*pos],'\n');
if (!eol) eol=stream+(strlen(stream)-1); //!pointer to last before \0
l=(eol-stream)-(*pos);
// if (l >= size) eol=stream+ (*pos+size-1);
if (l >= size) l=size-1;
memcpy(str, &stream[*pos],l);
str[l]='\0';
*pos+=l;
return str;
}
int parse_special(void) {
time_t ltime;
int n,j,l;
char str[256];
char c;
int i=0;
int gap;
// while (((c=fgetc(infile))!=0x20) && (c!=0x09) && (c!=0x0a) && (c!=0x0d) && (c!=0x0) && (i<255) && ( feof(infile) == 0 )) str[i++]=c;
while (((c=iFile[iPos++])!=0x20) && (c!=0x09) && (c!=0x0a) && (c!=0x0d) && (c!=0x0) && (i<255) && ( iPos<iFileLen )) str[i++]=c;
str[i]=0;
D4(fprintf (debug_file, "parse_special, str=!%s\n",str));
if (strcmp(str,"mdata")==0) {putBigEndian(headerSize, 4);return 0;} // will put zeroes on pass 1
if (strcmp(str,"height")==0) {putBigEndian(height,2);return 0;}
if (strcmp(str,"width")==0) {putBigEndian(width,2);return 0;}
if (strcmp(str,"width")==0) {putBigEndian(width,2);return 0;}
if (strcmp(str,"nframes")==0) {putBigEndian(nframes,4);return 0;}
if (strcmp(str,"timescale")==0) {putBigEndian(timescale,4);return 0;}
if (strcmp(str,"duration")==0) {putBigEndian(nframes*sample_dur,4);return 0;}
if (strcmp(str,"frame_duration")==0) {putBigEndian(sample_dur,4);return 0;}
if (strcmp(str,"samples_chunk")==0) {putBigEndian(samplesPerChunk, 4);return 0;} // will put zeroes on pass 1
if (strcmp(str,"sample_sizes")==0) {
if (sizes!=NULL) for (i=0;i<nframes;i++) putBigEndian(sizes[i],4);
else for (i=0;i<nframes;i++) putBigEndian(framesize,4);
return 0;
}
if (strcmp(str,"chunk_offsets")==0) {
n= (nframes-1)/samplesPerChunk +1;
putBigEndian(n,4);
if (sizes!=NULL) {
l=0;j=0;
for (i=0; i<nframes;i++) {
if (j==0) putBigEndian(headerSize+l,4);
j++; if (j>=samplesPerChunk) j=0;
l+=sizes[i];
}
} else for (i=0;i<n;i++) putBigEndian(headerSize+framesize*samplesPerChunk*i,4);
return 0;
}
//! a hack - invlude length'skip if data position (header size is known and there is a gap)
if (strcmp(str,"data_size")==0) {
gap=headerSize-lseek(ofd,0,SEEK_CUR)-8;
if (gap>0) { //!it should be exactly 0 if there is no gap or >8 if there is
D4(fprintf (debug_file, "Inserting a skip tag to compensate for a gap (%d bytes) between the header and the frame data\n",gap));
if (gap<8) {
D0(fprintf (debug_file, "not enough room to insret 'skip' tag - %d (need 8)\n",gap));
return -1;
}
D4(fprintf (debug_file, "writing hex %x, %x bytes\n",gap,4));
putBigEndian(gap, 4);
D4(fprintf (debug_file, "writing string <%s>\n","skip"));
write (ofd, "skip", 4);
lseek(ofd,gap-8,SEEK_CUR); //! lseek over the gap and proceed as before
}
if (sizes!=NULL) {
l=0;
for (i=0; i<nframes;i++) l+=sizes[i];
D4(fprintf (debug_file, "writing hex %x, %x bytes\n",l,4));
putBigEndian(l,4);
} else putBigEndian(nframes * framesize,4);
return 0;
}
if (strcmp(str,"time")==0) {
time (&ltime);
ltime+=2082801600; // 1970->1904// 31,557,600 seconds/year
putBigEndian(ltime,4);return 0;
}
return -1;
}
int parse (int top) { // if top - will not include length
long out_start, out_end;
char c;
unsigned long d,l;
char * cp;
D4(fprintf (debug_file,"parse(%x)\n",top));
// c=fgetc(infile);
c=iFile[iPos++];
D5(fprintf (debug_file,"%c",c));
// out_start=ftell (outfile);
// out_start=oPos;
// out_start=oPos=lseek(ofd,0,SEEK_CUR);
out_start=lseek(ofd,0,SEEK_CUR);
if (!top) putBigEndian(0, 4);
// while (( feof(infile) == 0 ) && (c!='}')) {
while (( iPos<iFileLen ) && (c!='}')) {
// skip white spaces strchr
if ((c!=' ') && (c!=0x9) && (c!=0xa) && (c!=0xd)) {
if (c=='!') {
if (parse_special()<0) return -1;
}
// children atoms
else if (c=='{') {
if (parse(0)<0) return -1;
// skip comments
// } else if (c=='#') fgets( comStr, sizeof(comStr), infile);
} else if (c=='#') sfgets( comStr, sizeof(comStr), iFile, &iPos);
else if (c=='\'') {
// fgets ( comStr, sizeof(comStr), infile);
sfgets( comStr, sizeof(comStr), iFile, &iPos);
if ((cp=strchr(comStr,0x0a))!=NULL) cp[0]=0;
if ((cp=strchr(comStr,0x0d))!=NULL) cp[0]=0;
if ((cp=strchr(comStr,'#'))!=NULL) cp[0]=0;
cp=comStr+strlen(comStr)-1;
while ((cp>comStr) && ((cp[0]==0x20) || (cp[0]==0x09))) cp--;
cp[1]=0;
// fwrite (comStr,1, strlen(comStr),outfile);
// memcpy(&oFile[oPos],comStr,strlen(comStr));
write (ofd, comStr, strlen(comStr));
D4(fprintf (debug_file, "writing string <%s>\n",comStr));
} else if (strchr(hexStr,c)) {
d=0;
l=1;
do {
d=(d<<4)+(strchr(hexStr,c)-hexStr);
l++;
} while (( iPos<iFileLen ) && (l<=8) && (strchr(hexStr,(c=iFile[iPos++]))) );
l=(l)>>1;
putBigEndian(d, l);
D4(fprintf (debug_file, "writing hex %lx, %lx bytes\n",d,l));
} else if ((c=='}')){
break;
} else {
return -1;
}
}
// c=fgetc(infile);
c=iFile[iPos++];
}
// fread fseek ftell
if (!top) {
// out_end=ftell (outfile);
// out_end=oPos;
out_end=lseek(ofd,0,SEEK_CUR);
// fseek (outfile,out_start,SEEK_SET);
// oPos=out_start;
lseek (ofd,out_start,SEEK_SET);
putBigEndian((out_end-out_start), 4);
// fseek (outfile,out_end,SEEK_SET);
// oPos=out_end;
lseek (state->ivf,out_end,SEEK_SET);
}
return 0;
}
int quicktime_template_parser (const char * i_iFile, //! now - string containing header template
int i_ofd, //!output file descriptor (opened)
int i_width, // width in pixels
int i_height,
int i_nframes,
int i_sample_dur,
int i_samplesPerChunk,
int i_framesize,
int i_timescale,
int * i_sizes,
int data_start // zero if dfata is not written yet (will be no gap)
) {
iFile= i_iFile;
width= i_width;
height= i_height;
nframes= i_nframes;
sample_dur= i_sample_dur;
samplesPerChunk= i_samplesPerChunk;
framesize= i_framesize;
timescale= i_timescale;
sizes= i_sizes;
iPos=0; //!position in the string "iFile"
ofd= i_ofd;
iFileLen= strlen(iFile);
lseek (ofd,0,SEEK_SET);
if (data_start) headerSize=data_start;
// int iFileLen=strlen(inFIle);
D3(fprintf (debug_file, "PASS I\n"));
// while ( feof(infile) == 0 ) parse(1); // pass 1
while ( iPos < iFileLen ) parse(1); // pass 1
// headerSize=ftell (outfile);
// fseek (outfile,0,SEEK_SET); // rewind for pass 2
// fseek (infile, 0,SEEK_SET); //
// headerSize=oPos;
if (!headerSize) headerSize=lseek(ofd,0,SEEK_CUR);
iPos=0;
// oPos=0;
lseek (ofd,0,SEEK_SET);
D3(fprintf (debug_file, "PASS II\n"));
// while ( feof(infile) == 0 ) parse(1); // pass 2
while ( iPos < iFileLen ) parse(1); // pass 2
//fclose (infile);
//fclose (outfile);
// oFile[oPos]='\0';
return 0;
}
camogm_mov.h 0 → 100644
View file @ 38d28dd5
int camogm_init_mov(void);
int camogm_start_mov(void);
int camogm_frame_mov(void);
int camogm_end_mov(void);
void camogm_free_mov(void);
camogm_ogm.c 0 → 100644
View file @ 38d28dd5
/*!***************************************************************************
*! FILE NAME : camogm_ogm.c
*! DESCRIPTION: Provides writing to ogm files for camogm
*! 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_ogm.c,v $
*! 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 1.2 2007/11/19 03:23:21 elphel
*! 7.1.5.5 Added support for *.mov files in camogm.
*!
*! Revision 1.1 2007/11/16 08:49:58 elphel
*! Initial release of camogm - program to record video/image to the camera hard drive (or other storage)
*!
*/
//!Not all are needed, just copied from the camogm.c
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <fcntl.h>
#include <sys/uio.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/stat.h>
//#include <ctype.h>
//#include <getopt.h>
#include <time.h>
#include <string.h>
#include <netinet/in.h> /*little <-> big endian ?*/
#include <sys/mman.h> /* mmap */
#include <sys/ioctl.h>
#include <asm/elphel/c313a.h>
#include <asm/byteorder.h>
#include <ogg/ogg.h> // has to be before ogmstreams.h
#include "ogmstreams.h" // move it to <>?
#include "camogm_ogm.h"
#include "camogm.h"
//! may add something - called first time format is changed to this one (only once) recording is stopped
int camogm_init_ogm(void) {
return 0;
}
void camogm_free_ogm(void) {
}
int camogm_start_ogm(void) {
char vendor[]= "ElphelOgm v 0.1";
int pos;
stream_header sh;
char hdbuf[sizeof(sh)+1];
ogg_packet ogg_header;
sprintf(state->path,"%s%010ld_%06ld.ogm",state->path_prefix,state->frame_params.timestamp_sec,state->frame_params.timestamp_usec);
if (!((state->vf=fopen(state->path,"w+"))) ){
D0(fprintf (debug_file, "Error opening %s for writing\n", state->path));
return -CAMOGM_FRAME_FILE_ERR;
}
ogg_stream_init(&(state->os), state->serialno);
state->packetno = 0;
memset(&sh, 0, sizeof(stream_header));
memcpy(sh.streamtype,"video",5);
memcpy(sh.subtype, "MJPG", 4);
put_uint32(&sh.size, sizeof(sh));
// put_uint64(&sh.time_unit, (ogg_int64_t) 10*state->frame_period);
put_uint64(&sh.time_unit, state->time_unit);
// put_uint64(&sh.samples_per_unit, 1);
put_uint64(&sh.samples_per_unit, (ogg_int64_t) state->timescale);
put_uint32(&sh.default_len, 1);
put_uint32(&sh.buffersize, state->width*state->height);
// put_uint16(&sh.bits_per_sample, 24); //?
put_uint16(&sh.bits_per_sample, 0); //?
put_uint32(&sh.sh.video.width, state->width);
put_uint32(&sh.sh.video.height, state->height);
memcpy(&hdbuf[1], &sh, sizeof(sh));
hdbuf[0]=1;
//! put it into Ogg stream
ogg_header.packet = hdbuf;
ogg_header.bytes = sizeof(sh)+1;
ogg_header.b_o_s = 1;
ogg_header.e_o_s = 0;
ogg_header.packetno = state->packetno++;;
ogg_header.granulepos =0;
ogg_stream_packetin(&(state->os), &ogg_header);
// while(ogg_stream_pageout(&(state->os), &(state->og))) {
while(ogg_stream_flush(&(state->os), &(state->og))) {
int i, j;
if ((((i = fwrite(state->og.header, 1, state->og.header_len, state->vf))) != state->og.header_len) ||
(state->og.body_len && (((i = fwrite(state->og.body, 1, state->og.body_len, state->vf))) != state->og.body_len))) {
j=errno;
D2(fprintf(debug_file,"\n%d %ld %ld\n",i,state->og.header_len,state->og.body_len));
return -CAMOGM_FRAME_FILE_ERR;
}
}
//!create comment
//!use fixed minimal one - hdbuf will be enough for that
memset(hdbuf, 0, sizeof(hdbuf));
hdbuf[0]=PACKET_TYPE_COMMENT;
memcpy(&hdbuf[1], "vorbis",6);
pos=7;
put_uint32(&hdbuf[pos], strlen(vendor));
pos += 4;
strcpy(&hdbuf[pos], vendor);
pos += strlen(vendor);
put_uint32(&hdbuf[pos], 0);
pos += 4;
hdbuf[pos++] = 1;
//! put it into Ogg stream
ogg_header.packet = hdbuf;
ogg_header.bytes = pos;
ogg_header.b_o_s = 0;
ogg_header.e_o_s = 0;
ogg_header.packetno = state->packetno++;;
ogg_header.granulepos = 0;
ogg_stream_packetin(&(state->os), &ogg_header);
/*
while(ogg_stream_pageout(&(state->os), &(state->og))) {
int i, j;
if ((((i = fwrite(state->og.header, 1, state->og.header_len, state->vf))) != state->og.header_len) ||
(state->og.body_len && (((i = fwrite(state->og.body, 1, state->og.body_len, state->vf))) != state->og.body_len))) {
j=errno;
D(fprintf(debug_file,"\n%d %ld %ld\n",i,state->og.header_len,state->og.body_len));
return -CAMOGM_FRAME_FILE_ERR;
}
}
*/
//! calculate initial absolute granulepos (from 1970), then increment with each frame. Later try calculating granulepos of each frame
//! from the absolute time (actual timestamp)
state->granulepos= (ogg_int64_t) ( (((double) state->frame_params.timestamp_usec)+
(((double) 1000000) * ((double)state->frame_params.timestamp_sec))) *
((double) 10) /
((double) state->time_unit) *
((double) state->timescale));
// state->frame_period=(state->this_frame_params.timestamp_usec - state->frame_params.timestamp_usec)+
// 1000000*(state->this_frame_params.timestamp_sec - state->frame_params.timestamp_sec);
// put_uint64(&sh.time_unit, (ogg_int64_t)((double)10000000.0 / (double)fps));
//!Temporarily setting granulepos to 0 (suspect they do not process correctly 64 bits)
state->granulepos=0;
//! Here - Ogg stream started, both header and comment packets are sent out, next should be just data packets
return 0;
}
int camogm_frame_ogm(void){
int indx;
elph_ogg_packet elp_packet;
elp_packet.bytes= 0;
for (indx=0; indx<state->chunk_index; indx++) elp_packet.bytes+=state->packetchunks[indx].bytes;
elp_packet.packet=state->packetchunks;
//D(fprintf (debug_file,"elp_packet.bytes=0x%lx: elp_packet.packet=%p\n",elp_packet.bytes, elp_packet.packet));
/*D(fprintf (debug_file,"0:0x%lx: %p\n" \
"1:0x%lx: %p\n" \
"2:0x%lx: %p\n" \
"3:0x%lx: %p\n" \
"4:0x%lx: %p\n" \
"5:0x%lx: %p\n" \
"6:0x%lx: %p\n", \
elp_packet.packet[0].bytes, elp_packet.packet[0].chunk,
elp_packet.packet[1].bytes, elp_packet.packet[1].chunk,
elp_packet.packet[2].bytes, elp_packet.packet[2].chunk,
elp_packet.packet[3].bytes, elp_packet.packet[3].chunk,
elp_packet.packet[4].bytes, elp_packet.packet[4].chunk,
elp_packet.packet[5].bytes, elp_packet.packet[5].chunk,
elp_packet.packet[6].bytes, elp_packet.packet[6].chunk));
*/
elp_packet.b_o_s = 0;
elp_packet.e_o_s = 0;
elp_packet.packetno = state->packetno++;;
// tts[0]=state->frame_params.timestamp_usec;
// tts[1]=state->frame_params.timestamp_sec;
elp_packet.granulepos=state->granulepos;
//!TODO: If that works, calculate granulepos from timestamp for each frame
state->granulepos+= (ogg_int64_t) state->timescale;
//D3(fprintf (debug_file,"_121_"));
ogg_stream_packetin_elph(&(state->os), &elp_packet);
//D3(fprintf (debug_file,"_13_"));
while(ogg_stream_pageout(&(state->os), &(state->og))) {
int i,j;
if ((((i = fwrite(state->og.header, 1, state->og.header_len, state->vf))) != state->og.header_len) ||
(state->og.body_len && (((i = fwrite(state->og.body, 1, state->og.body_len, state->vf))) != state->og.body_len))) {
j=errno;
D0(fprintf(debug_file,"\n%d %ld %ld\n",i,state->og.header_len,state->og.body_len));
return -CAMOGM_FRAME_FILE_ERR;
}
}
return 0;
}
//!Zero packets are OK, use them to end file with "last" turned on
int camogm_end_ogm(void){
//! put zero-packet it into stream
ogg_packet ogg_header;
ogg_header.packet = NULL;
ogg_header.bytes = 0;
ogg_header.b_o_s = 0;
ogg_header.e_o_s = 1;
ogg_header.packetno = state->packetno++;
ogg_header.granulepos = ++(state->granulepos);
ogg_stream_packetin(&(state->os), &ogg_header); //!+++++++++++++++++++++++++++++++++++++++++++++++++++++
while(ogg_stream_flush(&(state->os), &(state->og))) {
int i, j;
if ((((i = fwrite(state->og.header, 1, state->og.header_len, state->vf))) != state->og.header_len) ||
(state->og.body_len && (((i = fwrite(state->og.body, 1, state->og.body_len, state->vf))) != state->og.body_len))) {
j=errno;
D0(fprintf(debug_file,"\n%d %ld %ld\n",i,state->og.header_len,state->og.body_len));
return -CAMOGM_FRAME_FILE_ERR;
}
}
return 0;
}
camogm_ogm.h 0 → 100644
View file @ 38d28dd5
int camogm_init_ogm(void);
int camogm_start_ogm(void);
int camogm_frame_ogm(void);
int camogm_end_ogm(void);
void camogm_free_ogm(void);
camogmstate.php 0 → 100644
View file @ 38d28dd5
<?php
/*!***************************************************************************
*! FILE NAME : camogmstate.php
*! DESCRIPTION: Just a sample program that interacts with camogm recorder
*! 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: camogmstate.php,v $
*! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
*!
*!
*! Revision 1.2 2007/11/28 07:15:38 elphel
*! added sending arbitrary commands to camogm
*!
*! Revision 1.1 2007/11/19 03:23:21 elphel
*! 7.1.5.5 Added support for *.mov files in camogm.
*!
*!
*/
//! just for testing, asuming camogm is running and listening to /var/state/camogm_cmd
//! create a named pipe - "/var/state/camogm.state"
$pipe="/var/state/camogm.state";
$cmd_pipe="/var/state/camogm_cmd";
$mode=0777;
if(!file_exists($pipe)) {
// create the pipe
umask(0);
posix_mkfifo($pipe,$mode);
} else {
//! make sure $pipe is empty (how?) or just unlink($pipe) if it existed?
}
//! open command pipe to camogm
$fcmd=fopen($cmd_pipe,"w");
//! did the caller supply any command to be send to camogm?
$cmd=$_GET['cmd'];
if ($cmd) $cmd=urldecode($cmd).";";
//! ask it to send status to the pipe $pipe (so this program will wait for the data to appear)
fprintf($fcmd,$cmd."xstatus=%s\n",$pipe);
fclose($fcmd);
//! it seems that everything worked - caller (this script) waits for the file to appear
$status=file_get_contents($pipe);
header("Content-Type: text/xml");
header("Content-Length: ".strlen($status)."\n");
header("Pragma: no-cache\n");
printf($status);
?>
ogmstreams.h 0 → 100644
View file @ 38d28dd5
#ifndef __OGGSTREAMS_H
#define __OGGSTREAMS_H
/*
* Taken from http://tobias.everwicked.com/packfmt.htm
*
First packet (header)
---------------------
pos | content | description
-------+-------------------------+----------------------------------
0x0000 | 0x01 | indicates 'header packet'
-------+-------------------------+----------------------------------
0x0001 | stream_header | the size is indicated in the
| | size member
Second packet (comment)
-----------------------
pos | content | description
-------+-------------------------+----------------------------------
0x0000 | 0x03 | indicates 'comment packet'
-------+-------------------------+----------------------------------
0x0001 | data | see vorbis doc on www.xiph.org
Data packets
------------
pos | content | description
---------+-------------------------+----------------------------------
0x0000 | Bit0 0 | indicates data packet
| Bit1 Bit 2 of lenbytes |
| Bit2 unused |
| Bit3 keyframe |
| Bit4 unused |
| Bit5 unused |
| Bit6 Bit 0 of lenbytes |
| Bit7 Bit 1 of lenbytes |
---------+-------------------------+----------------------------------
0x0001 | LowByte | Length of this packet in samples
| ... | (frames for video, samples for
| HighByte | audio, 1ms units for text)
---------+-------------------------+----------------------------------
0x0001+ | data | packet contents
lenbytes | |
*
*
*/
//// OggDS headers
// Header for the new header format
typedef struct stream_header_video {
ogg_int32_t width;
ogg_int32_t height;
} stream_header_video;
typedef struct stream_header_audio {
ogg_int16_t channels;
ogg_int16_t blockalign;
ogg_int32_t avgbytespersec;
} stream_header_audio;
typedef struct stream_header {
char streamtype[8];
char subtype[4];
ogg_int32_t size; // size of the structure
ogg_int64_t time_unit; // in reference time
ogg_int64_t samples_per_unit;
ogg_int32_t default_len; // in media time
ogg_int32_t buffersize;
// ogg_int16_t bits_per_sample;
ogg_int32_t bits_per_sample;
union {
// Video specific
stream_header_video video;
// Audio specific
stream_header_audio audio;
} sh;
// ogg_int16_t padding;
ogg_int32_t padding;
} stream_header;
typedef struct old_stream_header {
char streamtype[8];
char subtype[4];
ogg_int32_t size; // size of the structure
ogg_int64_t time_unit; // in reference time
ogg_int64_t samples_per_unit;
ogg_int32_t default_len; // in media time
ogg_int32_t buffersize;
ogg_int16_t bits_per_sample;
ogg_int16_t padding;
union {
// Video specific
stream_header_video video;
// Audio specific
stream_header_audio audio;
} sh;
} old_stream_header;
/// Some defines from OggDS
#define PACKET_TYPE_HEADER 0x01
#define PACKET_TYPE_COMMENT 0x03
#define PACKET_TYPE_BITS 0x07
#define PACKET_LEN_BITS01 0xc0
#define PACKET_LEN_BITS2 0x02
#define PACKET_IS_SYNCPOINT 0x08
#endif /* __OGGSTREAMS_H */
qt_source 0 → 100644
View file @ 38d28dd5
{'moov
{'mvhd
00 # version
000000 # Flags
!time # Creation time
!time # Modification time
!timescale # Time Scale - time unints per second
!duration # Duration - in time units
00010000 # Preferred rate
00ff # Preferred volume
00000000 00000000 0000 # (reserved)
00010000 00000000 00000000 # Matrix [a b u]
00000000 00010000 00000000 # Matrix [c d v]
00000000 00000000 40000000 # Matrix [x y w]
00000000 # Preview Time
00000000 # Preview Duration
00000000 # Poster Time
00000000 # Selection Time
00000000 # Selection Duration
00000000 # Current Time
00000002 # Next Track ID
}
{'trak
{'tkhd
00 # version
00000f # Flags
!time # Creation time
!time # Modification time
00000001 # Track ID
00000000 # (reserved)
!duration # Duration
00000000 00000000 # (reserved)
0000 # Layer
0000 # Alternate group
0000 # Volume
0000 # (reserved)
00010000 00000000 00000000 # Matrix [a b u]
00000000 00010000 00000000 # Matrix [c d v]
00000000 00000000 40000000 # Matrix [x y w]
!width 0000 # Track width
!height 0000 # Track height
}
{'mdia
{'mdhd
00 # version
000000 # Flags
!time # Creation time
!time # Modification time
!timescale # Time Scale
!duration # Duration
0000 # Language
0000 # Quality
}
{'hdlr
00 # version
000000 # Flags
'mhlr # Component type
'vide # Component subtype
'appl # Component manufacturer
00000000 # Component Flags
0001001f # Component Flags Mask
19 'Apple Video Media Handler # Component Name
}
{'minf
{'vmhd
00 # version
000001 # Flags
0040 # Graphics Mode
8000 8000 8000 # Opcolor
}
{'hdlr
00 # version
000000 # Flags
'dhlr # Component type
'alis # Component subtype
'appl # Cmponent manufacturer
00000001 # Component Flags
00010026 # Component Flags Mask
18 'Apple Alias Data Handler # Component Name
}
{'dinf
{'dref
00 # version
000000 # Flags (1 - the same file???)
00000001 # Number of entries
0000000c 616c6973 00000001 # Data references
}
}
{'stbl
{'stsd
00 # version
000000 # Flags
00000001 # Number of entries
00000056 # Sample description size
'jpeg # Data format
00000000 0000 # (reserved)
0001 # Data reference index
0000 # Version
0000 # Revision Level
'appl # Vendor
00000000 # Temporal quality
00000200 # Spatial quality
!width # Width
!height # Height
00480000 # Horizontal resolution
00480000 # Vertical resolution
00000000 # Data size
0001 # Frame count
0c 'Photo - JPEG # Compressor Name
00000000 00000000 00000000 00000000 000000 # padding
0018 # Color depth (24)
ffff # Color table ID
}
{'stts
00 # version
000000 # Flags
00000001 # Number of entries
!nframes !frame_duration # TIME-TO-SAMPLE table (was 0x0a 0x28) - time units/sample
}
{'stsc
00 # version
000000 # Flags
00000001 # Number of entries
# 00000001 !nframes 00000001 # SAMPLE-TO-CHUNK table - all in one chunk
00000001 !samples_chunk 00000001 # SAMPLE-TO-CHUNK table - each sample it new chunk
}
{'stsz
00 # version
000000 # Flags
00000000 # Sample Size ** Did not work with non-zero!
!nframes # Number of entries
!sample_sizes # nframes of 4-byte words
}
{'stco
00 # version
000000 # Flags
# 00000001 # Number of entries
# !mdata #
# !nframes # Number of entries
!chunk_offsets #
}
}
}
}
{'udta
00000000
}
}
{'udta
{'WLOC
0017
0020
}
00000000 # ???
}
}
!data_size
'mdat
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