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elphel-apps-camogm
Commit c4ef6af1 authored by Mikhail Karpenko's avatar Mikhail Karpenko
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WIP: single threaded app 

Convert some major members of the global struct to arrays. The app can
take frames from first channel.
parent 4debbbaa
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Showing with 320 additions and 320 deletions
camogm.c
View file @ c4ef6af1
......@@ -128,28 +128,18 @@
#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 "ogmstreams.h"
#include "camogm_ogm.h"
#include "camogm_jpeg.h"
#include "camogm_mov.h"
#include "camogm_kml.h"
#include "camogm.h"
/* debug code follows */
// this will be defined in c313a.h
#define SENSOR_PORTS 4
#undef GLOBALPARS
#define GLOBALPARS(p, x) (globalPars[(p)][(x)-FRAMEPAR_GLOBALS])
/* end of debug code */
#define COMMAND_LOOP_DELAY 500000 //0.5sec
#define DEFAULT_DEBUG_LVL 6
#define TRAILER_SIZE 0x02
#define MAP_OPTIONS MAP_FILE | MAP_PRIVATE
#define FOR_EACH_PORT(indtype, indvar) for (indtype indvar = 0; indvar < SENSOR_PORTS; indvar++)
char trailer[TRAILER_SIZE] = { 0xff, 0xd9 };
......@@ -171,7 +161,7 @@ unsigned long * ccam_dma_buf[SENSOR_PORTS]; /* mmapped arrays */
int lastDaemonBit[SENSOR_PORTS] = {DAEMON_BIT_CAMOGM};
struct framepars_all_t *frameParsAll[SENSOR_PORTS];
struct framepars_t *framePars[SENSOR_PORTS];
unsigned long *globalPars[SENSOR_PORTS]; /// parameters that are not frame-related, their changes do not initiate any actions
unsigned long *aglobalPars[SENSOR_PORTS]; /// parameters that are not frame-related, their changes do not initiate any actions
#define DEFAULT_DURATION 600 /*!default segment duration (seconds) */
#define DEFAULT_LENGTH 1073741824 /*!default segment length (B) */
......@@ -189,7 +179,7 @@ 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[SENSOR_PORTS];
camogm_state sstate;
//camogm_state * state;
int debug_level;
......@@ -231,6 +221,11 @@ void camogm_set_max_frames(camogm_state *state, int d);
void camogm_set_frames_per_chunk(camogm_state *state, int d);
uint64_t get_disk_size(const char *name);
int open_files(camogm_state *state);
unsigned long getGPValue(unsigned int port, unsigned long GPNumber);
void setGValue(unsigned int port, unsigned long GNumber, unsigned long value);
unsigned int select_port(camogm_state *states);
inline void set_chn_state(camogm_state *s, unsigned int port, unsigned int new_state);
//!======================================================================================================
void put_uint16(void *buf, u_int16_t val)
......@@ -304,7 +299,7 @@ void camogm_init(camogm_state *state, unsigned int port, char *pipe_name)
camogm_set_timescale(state, 1.0);
camogm_set_frames_skip(state, 0); // don't skip
camogm_set_format(state, CAMOGM_FORMAT_MOV);
state->exifSize = 0;
FOR_EACH_PORT(int, chn) {state->exifSize[chn] = 0;}
state->exif = DEFAULT_EXIF;
state->frame_lengths = NULL;
state->frameno = 0;
......@@ -329,6 +324,7 @@ void camogm_init(camogm_state *state, unsigned int port, char *pipe_name)
state->rawdev.curr_pos = state->rawdev.start_pos;
state->rawdev.overrun = 0;
state->rawdev_op = 0;
FOR_EACH_PORT(int, chn) {set_chn_state(state, chn, 1);}
}
......@@ -365,6 +361,7 @@ int camogm_start(camogm_state *state)
int timestamp_start;
int rslt;
int next_metadata_start, next_jpeg_len, fp;
int port = state->port_num;
D1(fprintf(debug_file, "Starting recording\n"));
double dtime_stamp;
......@@ -390,31 +387,30 @@ int camogm_start(camogm_state *state)
state->frames_per_chunk = state->set_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);
D3(fprintf(debug_file, "1: state->cirbuf_rp=0x%x\n", state->cirbuf_rp[port]));
if ((state->cirbuf_rp[port] < 0) || (lseek(state->fd_circ[port], state->cirbuf_rp[port], SEEK_SET) < 0) || (lseek(state->fd_circ[port], LSEEK_CIRC_VALID, SEEK_END) < 0 )) {
D3(fprintf(debug_file, "2: state->cirbuf_rp=0x%x\n", state->cirbuf_rp[port]));
/* 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);
state->cirbuf_rp[port] = lseek(state->fd_circ[port], 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
if (((fp = lseek(state->fd_circ[port], LSEEK_CIRC_PREV, SEEK_END))) >= 0) state->cirbuf_rp[port] = fp; //!try to have 2 frames available for fps
}
state->buf_overruns++;
state->buf_overruns[port]++;
//! 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(state->port_num, G_FREECIRCBUF);
state->buf_min[port] = getGPValue(state->port_num, G_FREECIRCBUF);
} else {
if (state->buf_min > getGPValue(state->port_num, G_FREECIRCBUF)) state->buf_min = getGPValue(state->port_num, G_FREECIRCBUF);
if (state->buf_min[port] > getGPValue(state->port_num, G_FREECIRCBUF)) state->buf_min[port] = getGPValue(state->port_num, 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)));
D3(fprintf(debug_file, "3: state->cirbuf_rp=0x%x\n", state->cirbuf_rp[port]));
D3(fprintf(debug_file, "4:lseek(state->fd_circ,LSEEK_CIRC_READY,SEEK_END)=%d\n", (int)lseek(state->fd_circ[port], 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;
if (lseek(state->fd_circ[port], 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[port]));
state->metadata_start = (state->cirbuf_rp[port]) - 32;
if (state->metadata_start < 0) state->metadata_start += state->circ_buff_size[port];
///==================================
......@@ -424,97 +420,93 @@ int camogm_start(camogm_state *state)
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));
state->cirbuf_rp[port] = -1;
D1(fprintf(debug_file, "state->cirbuf_rp=0x%x\r\n", (int)state->cirbuf_rp[port]));
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;
timestamp_start = (state->cirbuf_rp[port]) + ((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[port]) timestamp_start -= state->circ_buff_size[port];
memcpy(&(state->frame_params.timestamp_sec), (unsigned long* )&ccam_dma_buf[state->port_num][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;
state->cirbuf_rp[port] = -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));
D3(fprintf(debug_file, "6: state->cirbuf_rp=0x%x\n", state->cirbuf_rp[port]));
//! see if next frame is available
if ((lseek(state->fd_circ, LSEEK_CIRC_NEXT, SEEK_END) < 0 ) ||
if ((lseek(state->fd_circ[port], 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)));
(((fp = lseek(state->fd_circ[port], 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[port], LSEEK_CIRC_NEXT, SEEK_END), (int)lseek(state->fd_circ[port], LSEEK_CIRC_READY, SEEK_END)));
lseek(state->fd_circ, state->cirbuf_rp, SEEK_SET); //!just in case - restore pointer
lseek(state->fd_circ[port], state->cirbuf_rp[port], 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;
if (next_metadata_start < 0) next_metadata_start += state->circ_buff_size[port];
memcpy(&(state->this_frame_params), (unsigned long* )&ccam_dma_buf[state->port_num][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;
state->cirbuf_rp[port] = -1;
return -CAMOGM_FRAME_BROKEN;
}
D3(fprintf(debug_file, "7: state->cirbuf_rp=0x%x\n", state->cirbuf_rp));
D3(fprintf(debug_file, "7: state->cirbuf_rp=0x%x\n", state->cirbuf_rp[port]));
//! 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;
if (timestamp_start >= state->circ_buff_size[port]) timestamp_start -= state->circ_buff_size[port];
memcpy(&(state->this_frame_params.timestamp_sec), (unsigned long* )&ccam_dma_buf[state->port_num][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;
state->cirbuf_rp[port] = 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));
D3(fprintf(debug_file, "8: state->cirbuf_rp=0x%x\n", state->cirbuf_rp[port]));
//! calcualte the frame period - time difference (in microseconds)
state->frame_period = (state->this_frame_params.timestamp_usec - state->frame_params.timestamp_usec) +
state->frame_period[port] = (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;
state->frames_skip_left[port] = 0;
state->frame_period[port] *= (state->frames_skip + 1);
} 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;
state->frame_period[port] = -(state->frames_skip); //! actual frame period will fluctuate to the nearest frame acquired (free running)
state->frames_skip_left[port] = state->frame_params.timestamp_sec;
}
D3(fprintf(debug_file, "9: state->frame_period=0x%x\n", state->frame_period));
D3(fprintf(debug_file, "9: state->frame_period=0x%x\n", state->frame_period[port]));
state->time_unit = (ogg_int64_t)(((double)state->frame_period) * ((double)10) / ((double)state->timescale));
state->time_unit = (ogg_int64_t)(((double)state->frame_period[port]) * ((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 ));
lseek(state->fd_head[port], state->cirbuf_rp[port] + 1, SEEK_END); //!+1 to avoid condition when jpeg_start==0. overloaded lseek will ignore 5 LSBs when SEEK_END
state->head_size[port] = lseek(state->fd_head[port], 0, SEEK_END); /// In 8.0 the header size might change for some jp4 modes
if (state->head_size[port] > JPEG_HEADER_MAXSIZE) {
D0(fprintf(debug_file, "%s:%d: Too big JPEG header (%d > %d)", __FILE__, __LINE__, state->head_size[port], JPEG_HEADER_MAXSIZE ));
return -2;
}
//! and read it
lseek(state->fd_head, 0, 0);
read(state->fd_head, state->jpegHeader, state->head_size);
lseek(state->fd_head[port], 0, 0);
read(state->fd_head[port], state->jpegHeader[port], state->head_size[port]);
//! Restore read pointer to the original (now there may be no frame ready there yet)
lseek(state->fd_circ, state->cirbuf_rp, SEEK_SET);
lseek(state->fd_circ[port], state->cirbuf_rp[port], SEEK_SET);
//!here we are ready to initialize Ogm (or other) file
switch (state->format) {
......@@ -536,16 +528,14 @@ int camogm_start(camogm_state *state)
return 0;
}
int sendImageFrame(camogm_state *state)
{
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;
int port = state->port_num;
//! This is probably needed only for Quicktime (not to exceed already allocated frame index)
if (state->frameno >= (state->max_frames)) {
......@@ -570,36 +560,36 @@ int sendImageFrame(camogm_state *state)
return -CAMOGM_FRAME_CHANGED;
}
//! check the frame pointer is valid
if ((fp = lseek(state->fd_circ, state->cirbuf_rp, SEEK_SET)) < 0) {
if ((fp = lseek(state->fd_circ[port], state->cirbuf_rp[port], 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) {
if (lseek(state->fd_circ[port], 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);
if ( (state->frames_skip > 0) && (state->frames_skip_left[port] > 0 )) { //!skipping frames, not seconds.
state->cirbuf_rp[port] = lseek(state->fd_circ[port], 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--;
if (state->save_gp) lseek(state->fd_circ[port], LSEEK_CIRC_SETP, SEEK_END);
state->frames_skip_left[port]--;
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;
state->metadata_start = state->cirbuf_rp[port] - 32;
if (state->metadata_start < 0) state->metadata_start += state->circ_buff_size[port];
memcpy(&(state->this_frame_params), (unsigned long* )&ccam_dma_buf[state->port_num][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, "state->cirbuf_rp=0x%x\r\n", (int)state->cirbuf_rp[port]));
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"));
......@@ -607,8 +597,8 @@ int sendImageFrame(camogm_state *state)
}
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;
timestamp_start = state->cirbuf_rp[port] + ((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[port]) timestamp_start -= state->circ_buff_size[port];
D3(fprintf(debug_file, "_3_"));
memcpy(&(state->this_frame_params.timestamp_sec), (unsigned long* )&ccam_dma_buf[state->port_num][timestamp_start >> 2], 8);
//! verify that the essential current frame params did not change, if they did - return an error (need new file header)
......@@ -624,10 +614,10 @@ int sendImageFrame(camogm_state *state)
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);
if ((state->frames_skip < 0) && (state->frames_skip_left[port] > state->this_frame_params.timestamp_sec) ) {
state->cirbuf_rp[port] = lseek(state->fd_circ[port], 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);
if (state->save_gp) lseek(state->fd_circ[port], 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
}
......@@ -637,17 +627,15 @@ int sendImageFrame(camogm_state *state)
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;
state->exifSize[port] = lseek(state->fd_exif[port], 1, SEEK_END); // at the beginning of page 1 - position == page length
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);
lseek(state->fd_exif[port], state->this_frame_params.meta_index, SEEK_END); //! select meta page to use (matching frame)
rslt = read(state->fd_exif[port], state->ed[port], state->exifSize[port]);
if (rslt < 0) rslt = 0;
state->exifSize = rslt;
} else state->exifSize = 0;
} else state->exifSize = 0;
state->exifSize[port] = rslt;
} else state->exifSize[port] = 0;
} else state->exifSize[port] = 0;
D3(fprintf(debug_file, "_6_"));
......@@ -658,33 +646,33 @@ int sendImageFrame(camogm_state *state)
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]);
state->packetchunks[state->chunk_index++].chunk = state->jpegHeader[port];
state->packetchunks[state->chunk_index ].bytes = state->exifSize[port];
state->packetchunks[state->chunk_index++].chunk = state->ed[port];
state->packetchunks[state->chunk_index ].bytes = state->head_size[port] - 2;
state->packetchunks[state->chunk_index++].chunk = &(state->jpegHeader[port][2]);
} else {
D3(fprintf(debug_file, "_8_"));
state->packetchunks[state->chunk_index ].bytes = state->head_size;
state->packetchunks[state->chunk_index++].chunk = state->jpegHeader;
state->packetchunks[state->chunk_index ].bytes = state->head_size[port];
state->packetchunks[state->chunk_index++].chunk = state->jpegHeader[port];
}
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
if ((state->cirbuf_rp[port] + state->jpeg_len) > state->circ_buff_size[port]) { //! 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->port_num][state->cirbuf_rp >> 2];
state->packetchunks[state->chunk_index ].bytes = state->circ_buff_size[port] - state->cirbuf_rp[port];
state->packetchunks[state->chunk_index++].chunk = (unsigned char*)&ccam_dma_buf[state->port_num][state->cirbuf_rp[port] >> 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 ].bytes = state->jpeg_len - (state->circ_buff_size[port] - state->cirbuf_rp[port]);
state->packetchunks[state->chunk_index++].chunk = (unsigned char*)&ccam_dma_buf[state->port_num][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->port_num][state->cirbuf_rp >> 2];
state->packetchunks[state->chunk_index++].chunk = (unsigned char*)&ccam_dma_buf[state->port_num][state->cirbuf_rp[port] >> 2];
}
D3(fprintf(debug_file, "_12_"));
state->packetchunks[state->chunk_index ].bytes = 2;
......@@ -707,19 +695,18 @@ int sendImageFrame(camogm_state *state)
D3(fprintf(debug_file, "_14_"));
//!advance frame pointer
state->frameno++;
state->cirbuf_rp = lseek(state->fd_circ, LSEEK_CIRC_NEXT, SEEK_END);
state->cirbuf_rp[port] = lseek(state->fd_circ[port], 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);
if (state->save_gp) lseek(state->fd_circ[port], LSEEK_CIRC_SETP, SEEK_END);
D3(fprintf(debug_file, "_15_\n"));
if (state->frames_skip > 0) {
state->frames_skip_left = state->frames_skip;
state->frames_skip_left[port] = state->frames_skip;
} else if (state->frames_skip < 0) {
state->frames_skip_left += -(state->frames_skip);
state->frames_skip_left[port] += -(state->frames_skip);
}
return 0;
}
int camogm_stop(camogm_state *state)
{
int rslt = 0;
......@@ -774,9 +761,11 @@ void camogm_free(camogm_state *state)
int camogm_reset(camogm_state *state) //! reset circbuf read pointer
{
state->cirbuf_rp = -1;
state->buf_overruns = -1; //!first will not count
FOR_EACH_PORT(int, chn) {
state->port_num = chn;
state->cirbuf_rp[state->port_num] = -1;
state->buf_overruns[state->port_num] = -1; //!first will not count
}
return 0;
}
......@@ -876,8 +865,7 @@ void camogm_set_frames_skip(camogm_state *state, int d) //! set frames to ski
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_fram_skip;
state->frames_skip_left = 0;
state->frames_skip_left[state->port_num] = 0;
}
}
......@@ -924,10 +912,10 @@ void camogm_status(camogm_state *state, char * fn, int xml)
int _dur, _udur;
//TODO:make it XML file
FILE* f;
char *_state, *_output_format, *_using_exif, *_using_global_pointer, *_compressor_state;
char *_state, *_output_format, *_using_exif, *_using_global_pointer, *_compressor_state[SENSOR_PORTS];
int _b_free, _b_used, _b_size; // , save_p;
int _frames_remain = 0;
int _sec_remain = 0;
int _frames_remain[SENSOR_PORTS] = {0};
int _sec_remain[SENSOR_PORTS] = {0};
int _frames_skip = 0;
int _sec_skip = 0;
char *_kml_enable, *_kml_used, *_kml_height_mode;
......@@ -968,12 +956,12 @@ void camogm_status(camogm_state *state, char * fn, int xml)
"other"))) : "none";
_using_exif = state->exif ? "yes" : "no";
_using_global_pointer = state->save_gp ? "yes" : "no";
_compressor_state = (getGPValue(state->port_num, P_COMPRESSOR_RUN) == 2) ? "running" : "stopped";
FOR_EACH_PORT(int, chn) {_compressor_state[chn] = (getGPValue(chn, P_COMPRESSOR_RUN) == 2) ? "running" : "stopped";}
if ( state->frames_skip > 0 ) {
_frames_remain = state->frames_skip_left;
FOR_EACH_PORT(int, chn) {_frames_remain[chn] = state->frames_skip_left[chn];}
_frames_skip = state->frames_skip;
} else if ( state->frames_skip < 0 ) {
_sec_remain = (state->frames_skip_left - state->this_frame_params.timestamp_sec);
FOR_EACH_PORT(int, chn) {_sec_remain[chn] = (state->frames_skip_left[chn] - state->this_frame_params.timestamp_sec);}
_sec_skip = -(state->frames_skip);
}
......@@ -1026,27 +1014,31 @@ void camogm_status(camogm_state *state, char * fn, int xml)
" <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, _compressor_state[0], state->path, state->frameno, _b_size, state->start_after_timestamp, _dur, _udur, _len, state->frame_period[0], \
_frames_skip, _sec_skip, _frames_remain[0], _sec_remain[0], \
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->frames_per_chunk, state->last_error_code, state->buf_overruns[0], state->buf_min[0], _b_free, _b_used, state->cirbuf_rp[0], \
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);
FOR_EACH_PORT(int, chn) {fprintf(f, "compressor %d state %s\n", chn, _compressor_state[chn]);}
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);
FOR_EACH_PORT(int, chn) {fprintf(f, "frame period %d (0x%x)\n", state->frame_period[chn], state->frame_period[chn]);}
if ( _frames_skip > 0 ) {
FOR_EACH_PORT(int, chn) {fprintf(f, "frames to skip on port %d %d (left %d)\n", chn, _frames_skip, _frames_remain[chn]);}
}
if ( _sec_skip < 0 ) {
FOR_EACH_PORT(int, chn) {fprintf(f, "timelapse period on port %d %d sec (remaining %d sec)\n", chn, _sec_skip, _sec_remain[chn]);}
}
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");
......@@ -1062,11 +1054,11 @@ void camogm_status(camogm_state *state, char * fn, int xml)
fprintf(f, "ignore fps %s\n", state->ignore_fps ? "yes" : "no");
fprintf(f, "\n");
fprintf(f, "last error code %d\n", state->last_error_code);
fprintf(f, "buffer overruns %d\n", state->buf_overruns);
fprintf(f, "buffer minimal %d\n", state->buf_min);
FOR_EACH_PORT(int, chn) {fprintf(f, "buffer %d overruns %d\n", chn, state->buf_overruns[chn]);}
FOR_EACH_PORT(int, chn) {fprintf(f, "buffer %d minimal %d\n", chn, state->buf_min[chn]);}
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);
FOR_EACH_PORT(int, chn) {fprintf(f, "circbuf_rp %d (0x%x)\n", state->cirbuf_rp[chn], state->cirbuf_rp[chn]);}
fprintf(f, "\n");
fprintf(f, "debug output to %s\n", state->debug_name);
fprintf(f, "debug level %d\n", debug_level);
......@@ -1086,9 +1078,9 @@ void camogm_status(camogm_state *state, char * fn, int xml)
}
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
FOR_EACH_PORT(int, chn) {if (state->buf_overruns[chn] >= 0) state->buf_overruns[chn] = 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;
FOR_EACH_PORT(int, chn) {state->buf_min[chn] = _b_free;}
}
//! will read from pipe, return pointer to null terminated string if available, NULL otherwise
......@@ -1106,31 +1098,24 @@ char * getLineFromPipe(FILE* npipe)
}
//! 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(camogm_state *state, FILE* npipe)
{
char * cmd;
......@@ -1145,12 +1130,11 @@ int parse_cmd(camogm_state *state, FILE* npipe)
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
#ifdef DISABLE_CODE
/// Acknowledge received command by copying frame number to per-daemon parameter
// GLOBALPARS(state->port_num, G_DAEMON_ERR + lastDaemonBit[state->port_num]) = GLOBALPARS(state->port_num, G_THIS_FRAME);
setGValue(state->port, G_DAEMON_ERR + lastDaemonBit[state->port_nun], getGValue(state->port_num, G_THIS_FRAME));
setGValue(state->port_num, G_DAEMON_ERR + lastDaemonBit[state->port_num], getGPValue(state->port_num, G_THIS_FRAME));
#endif /* DISABLE_CODE */
// 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) {
......@@ -1284,42 +1268,6 @@ int parse_cmd(camogm_state *state, FILE* npipe)
return -1;
}
/**
* @brief Create a list of pipe names from a single name given
*
* This function accepts a pipe name string provided by the user to the program and
* creates a list of #SENSOR_PORTS similar names but with port number added to the end of
* the name.
* @param[in] pipe_name pipe name provided by user
* @param[out] names a list of names with port number added
* return 0 if the list was successfully created or -1 otherwise
*/
int create_pipe_names(const char *pipe_name, char **names)
{
int ret = 0;
unsigned int len = strlen(pipe_name);
for (int i = 0; i < SENSOR_PORTS; i++) {
char *name = malloc(PATH_MAX);
if (name == NULL) {
ret = -1;
break;
}
strncpy(name, pipe_name, PATH_MAX - 1);
snprintf(&name[len], PATH_MAX - len - 1, "%u", i);
names[i] = name;
}
if (ret < 0) {
for (int i = 0; i < SENSOR_PORTS; i++) {
free(names[i]);
names[i] = NULL;
}
}
return ret;
}
/**
* @brief This function closes open files and deletes allocated memory.
* @param[in] state pointer to #camogm_state structure for a particular sensor channel
......@@ -1327,16 +1275,16 @@ int create_pipe_names(const char *pipe_name, char **names)
*/
void clean_up(camogm_state *state)
{
if (state->fd_exif > 0)
close(state->fd_exif);
if (state->fd_head > 0)
close(state->fd_head);
if (state->fd_circ > 0)
close(state->fd_circ);
if (state->fd_fparmsall)
close(state->fd_fparmsall);
free(state->pipe_name);
state->pipe_name = NULL;
for (int port = 0; port < SENSOR_PORTS; port++) {
if (state->fd_exif[port] > 0)
close(state->fd_exif[port]);
if (state->fd_head[port] > 0)
close(state->fd_head[port]);
if (state->fd_circ[port] > 0)
close(state->fd_circ[port]);
if (state->fd_fparmsall[port])
close(state->fd_fparmsall[port]);
}
}
/**
......@@ -1354,70 +1302,9 @@ int listener_loop(camogm_state *state)
int rslt, ret, cmd, f_ok;
int fp0, fp1;
int process = 1;
unsigned int port = state->port_num;
int curr_port = 0;
const char *pipe_name = state->pipe_name;
// open Exif header file
#ifdef DISABLE_CODE
state->fd_exif = open(exifFileNames[port], O_RDONLY);
if (state->fd_exif < 0) { // check control OK
D0(fprintf(debug_file, "Error opening %s\n", exifFileNames[port]));
clean_up(state);
return -1;
}
#endif /* DESABLE_CODE */
// open JPEG header file
state->fd_head = open(headFileNames[port], O_RDWR);
if (state->fd_head < 0) { // check control OK
D0(fprintf(debug_file, "Error opening %s\n", headFileNames[port]));
clean_up(state);
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 ));
clean_up(state);
return -2;
}
// open circbuf and mmap it (once at startup)
state->fd_circ = open(circbufFileNames[port], O_RDWR);
if (state->fd_circ < 0) { // check control OK
D0(fprintf(debug_file, "Error opening %s\n", circbufFileNames[port]));
clean_up(state);
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[port] = (unsigned long*)mmap(0, state->circ_buff_size, PROT_READ, MAP_SHARED, state->fd_circ, 0);
if ((int)ccam_dma_buf[port] == -1) {
D0(fprintf(debug_file, "Error in mmap of %s\n", circbufFileNames[port]));
clean_up(state);
return -3;
}
// now open/mmap file to read sensor/compressor parameters (currently - just free memory in circbuf and compressor state)
#ifdef DISABLE_CODE
state->fd_fparmsall = open(ctlFileNames[port], O_RDWR);
if (state->fd_fparmsall < 0) { // check control OK
D0(fprintf(debug_file, "%s:%d:%s: Error opening %s\n", __FILE__, __LINE__, __FUNCTION__, ctlFileNames[port]));
clean_up(state);
return -2;
}
// now try to mmap
// PROT_WRITE - only to write acknowledge
frameParsAll[port] = (struct framepars_all_t*)mmap(0, sizeof(struct framepars_all_t), PROT_READ | PROT_WRITE, MAP_SHARED, state->fd_fparmsall, 0);
if ((int)frameParsAll[port] == -1) {
D0(fprintf(debug_file, "%s:%d:%s: Error in mmap in %s\n", __FILE__, __LINE__, __FUNCTION__, ctlFileNames[port]));
clean_up(state);
return -3;
}
framePars[port] = frameParsAll[port]->framePars;
globalPars[port] = frameParsAll[port]->globalPars;
#endif /* DESABLE_CODE */
// create a named pipe
// always delete the pipe if it existed, start a fresh one
f_ok = access(pipe_name, F_OK);
......@@ -1448,6 +1335,9 @@ int listener_loop(camogm_state *state)
// enter main processing loop
while (process) {
curr_port = select_port(state);
state->port_num = curr_port;
printf("Selected port: %d\n", curr_port);
// look at command queue first
cmd = parse_cmd(state, cmd_file);
if (cmd) {
......@@ -1460,12 +1350,12 @@ int listener_loop(camogm_state *state)
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?
fp0 = lseek(state->fd_circ, 0, SEEK_CUR);
fp0 = lseek(state->fd_circ[curr_port], 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);
fp1 = lseek(state->fd_circ[curr_port], 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;
......@@ -1501,8 +1391,8 @@ int listener_loop(camogm_state *state)
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
lseek(state->fd_circ[curr_port], LSEEK_CIRC_TOWP, SEEK_END); // set pointer to the frame to wait for
lseek(state->fd_circ[curr_port], 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
......@@ -1559,6 +1449,127 @@ uint64_t get_disk_size(const char *name)
return dev_sz;
}
/**
* @brief Select a sensor channel with minimum free space left in the buffer.
* @param[in] state a pointer to a structure containing current state
* @return The number of of a channel with minimum free space left
*/
unsigned int select_port(camogm_state *state)
{
unsigned int chn = 0;
off_t free_sz[SENSOR_PORTS] = {-1};
off_t file_pos;
for (int i = 0; i < SENSOR_PORTS; i++) {
if (is_chn_active(state, i)) {
file_pos = lseek(state->fd_circ[i], 0, SEEK_CUR);
if (file_pos != -EINVAL) {
free_sz[i] = lseek(state->fd_circ[i], LSEEK_CIRC_FREE, SEEK_END);
lseek(state->fd_circ[i], file_pos, SEEK_SET);
}
}
}
for (int i = 1; i < SENSOR_PORTS; i++) {
if (free_sz[i - 1] < free_sz[i])
chn = i;
}
printf("free sizes: %x, %x, %x, %x\n", free_sz[0], free_sz[1], free_sz[2], free_sz[3]);
return chn;
}
inline int is_chn_active(camogm_state *s, unsigned int port)
{
return (s->active_chn >> port) & 0x1;
}
/**
* @brief Change the state of a given sensor channel.
* @param[in,out] s a pointer to a structure containing current state
* @param[in] port port which state should be changed
* @param[in] new_state new state of the channel
* @return None
*/
inline void set_chn_state(camogm_state *s, unsigned int port, unsigned int new_state)
{
if (new_state)
s->active_chn |= 1 << port;
else
s->active_chn &= ~(1 << port);
}
/**
* @brief Open files provided by circbuf driver.
* @param[in,out] state a pointer to a structure containing current state
* @return 0 on success or negative error code
*/
int open_files(camogm_state *state)
{
int ret = 0;
for (int port = 0; port < SENSOR_PORTS; port++) {
// open Exif header file
state->fd_exif[port] = open(exifFileNames[port], O_RDONLY);
if (state->fd_exif[port] < 0) { // check control OK
D0(fprintf(debug_file, "Error opening %s\n", exifFileNames[port]));
clean_up(state);
return -1;
}
// open JPEG header file
state->fd_head[port] = open(headFileNames[port], O_RDWR);
if (state->fd_head[port] < 0) { // check control OK
D0(fprintf(debug_file, "Error opening %s\n", headFileNames[port]));
clean_up(state);
return -1;
}
state->head_size[port] = lseek(state->fd_head[port], 0, SEEK_END);
if (state->head_size[port] > JPEG_HEADER_MAXSIZE) {
D0(fprintf(debug_file, "%s:%d: Too big JPEG header (%d > %d)", __FILE__, __LINE__, state->head_size[port], JPEG_HEADER_MAXSIZE ));
clean_up(state);
return -2;
}
// open circbuf and mmap it (once at startup)
state->fd_circ[port] = open(circbufFileNames[port], O_RDWR);
if (state->fd_circ < 0) { // check control OK
D0(fprintf(debug_file, "Error opening %s\n", circbufFileNames[port]));
clean_up(state);
return -2;
}
// find total buffer length (it is in defines, actually in c313a.h
state->circ_buff_size[port] = lseek(state->fd_circ[port], 0, SEEK_END);
ccam_dma_buf[port] = (unsigned long*)mmap(0, state->circ_buff_size[port], PROT_READ, MAP_SHARED, state->fd_circ[port], 0);
if ((int)ccam_dma_buf[port] == -1) {
D0(fprintf(debug_file, "Error in mmap of %s\n", circbufFileNames[port]));
clean_up(state);
return -3;
}
// now open/mmap file to read sensor/compressor parameters (currently - just free memory in circbuf and compressor state)
#ifdef DISABLE_CODE
state->fd_fparmsall[port] = open(ctlFileNames[port], O_RDWR);
if (state->fd_fparmsall[port] < 0) { // check control OK
D0(fprintf(debug_file, "%s:%d:%s: Error opening %s\n", __FILE__, __LINE__, __FUNCTION__, ctlFileNames[port]));
clean_up(state);
return -2;
}
// now try to mmap
// PROT_WRITE - only to write acknowledge
frameParsAll[port] = (struct framepars_all_t*)mmap(0, sizeof(struct framepars_all_t), PROT_READ | PROT_WRITE, MAP_SHARED, state->fd_fparmsall[port], 0);
if ((int)frameParsAll[port] == -1) {
D0(fprintf(debug_file, "%s:%d:%s: Error in mmap in %s\n", __FILE__, __LINE__, __FUNCTION__, ctlFileNames[port]));
clean_up(state);
return -3;
}
framePars[port] = frameParsAll[port]->framePars;
aglobalPars[port] = frameParsAll[port]->globalPars;
#endif /* DESABLE_CODE */
}
return ret;
}
int main(int argc, char *argv[])
{
const char usage[] = "This program allows recording of the video/images acquired by Elphel camera to the storage media.\n" \
......@@ -1579,8 +1590,6 @@ int main(int argc, char *argv[])
"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";
char *pipe_names[SENSOR_PORTS] = {0};
int ret;
// no command line options processing yet
......@@ -1588,21 +1597,15 @@ int main(int argc, char *argv[])
printf(usage, argv[0], argv[0]);
return EXIT_SUCCESS;
}
if (create_pipe_names(argv[1], pipe_names) < 0) {
printf("Error: unable to allocate memory for command pipe name\n");
return EXIT_FAILURE;
}
// spawn a process for each sensor port
for (int i = 0; i < SENSOR_PORTS; i++) {
camogm_init(&sstate[i], i, pipe_names[i]);
if (fork() == 0) {
ret = listener_loop(&sstate[i]);
exit(ret);
}
}
camogm_init(&sstate, 0, argv[1]);
ret = open_files(&sstate);
if (ret < 0)
return ret;
return EXIT_SUCCESS;
ret = listener_loop(&sstate);
return ret;
}
/**
......@@ -1641,12 +1644,12 @@ void setGValue(unsigned int port, unsigned long GNumber, unsigned long value)
*/
int waitDaemonEnabled(unsigned int port, int daemonBit) // <0 - use default
{
camogm_state *state = &sstate[port];
camogm_state *state = &sstate;
if ((daemonBit >= 0) && (daemonBit < 32)) lastDaemonBit[port] = daemonBit;
unsigned long this_frame = GLOBALPARS(port, 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[port], SEEK_END); ///
lseek(state->fd_circ[state->port_num], LSEEK_DAEMON_CIRCBUF + lastDaemonBit[port], SEEK_END); ///
if (this_frame == GLOBALPARS(port, G_THIS_FRAME)) return 1;
return 0;
}
......
camogm.h
View file @ c4ef6af1
......@@ -78,10 +78,10 @@
typedef struct {
int rawdev_fd;
uint32_t overrun;
uint64_t start_pos;
uint64_t end_pos;
uint64_t curr_pos;
uint32_t overrun;
} rawdev_buffer;
typedef struct {
......@@ -89,22 +89,21 @@ typedef struct {
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
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
unsigned char jpegHeader [JPEG_HEADER_MAXSIZE];
int cirbuf_rp[SENSOR_PORTS]; //!-1 - invalid
int fd_circ[SENSOR_PORTS]; //! file descriptor for circbuf
int fd_head[SENSOR_PORTS]; //! file descriptor for JPEG header
int fd_fparmsall[SENSOR_PORTS]; //! file descriptor for sensor/compressor parameters
int fd_exif[SENSOR_PORTS]; //! file descriptor for Exif data
int head_size[SENSOR_PORTS]; //! JPEG header size
unsigned char jpegHeader[SENSOR_PORTS][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 frame_period[SENSOR_PORTS]; //!in microseconds (1/10 of what is needed for the Ogm header)
int width;
int height;
int starting;
......@@ -122,25 +121,23 @@ typedef struct {
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 exifSize[SENSOR_PORTS]; //signed
unsigned char ed[SENSOR_PORTS][MAX_EXIF_SIZE];
int circ_buff_size;
int senspars_size;
int circ_buff_size[SENSOR_PORTS];
// int senspars_size;
char debug_name[256];
// FILE* debug_file;
int set_samples_per_unit;
// 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 set_frames_per_chunk; // quicktime - index for fast forward?
int frameno;
int* frame_lengths;
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
......@@ -148,12 +145,12 @@ typedef struct {
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 buf_overruns[SENSOR_PORTS];
int buf_min[SENSOR_PORTS];
int set_frames_skip; //! will be copied to frames_skip if stopped or at start
int frames_skip; //! number of frames to skip after the one recorded (for time lapse)
//! if negetive - -(interval between frames in seconds)
int frames_skip_left; //! number of frames left to skip before the next one to be processed
int frames_skip_left[SENSOR_PORTS]; //! number of frames left to skip before the next one to be processed
//! if (frames_skip <0) - next timestamp to save an image
//kml stuff
int kml_enable; //! enable KML file generation
......@@ -170,10 +167,11 @@ typedef struct {
int kml_last_uts; //! last generated kml file timestamp, microseconds
struct exif_dir_table_t kml_exif[ExifKmlNumber]; //! store locations of the fields needed for KML generations in the Exif block
unsigned int port_num; // sensor port this state is assigned to
char *pipe_name; // command pipe name for this sensor port
unsigned int port_num; // sensor port we are currently working with
char *pipe_name; // command pipe name
int rawdev_op; // flag indicating writing to raw device
rawdev_buffer rawdev; // contains pointers to raw device buffer
rawdev_buffer rawdev; // contains pointers to raw device buffer
int active_chn; // bitmask of active sensor ports
} camogm_state;
extern int debug_level;
......
camogm_jpeg.c
View file @ c4ef6af1
......@@ -35,7 +35,7 @@
*!
*/
#define LARGEFILES64_SOURCE
#define _LARGEFILE64_SOURCE
//!Not all are needed, just copied from the camogm.c
#include <unistd.h>
......@@ -47,7 +47,7 @@
#include <errno.h>
#include <sys/types.h>
//#include <sys/socket.h>
//#include <sys/stat.h>
#include <sys/stat.h>
//#include <ctype.h>
//#include <getopt.h>
//#include <time.h>
......@@ -70,9 +70,9 @@
#define IOVEC_SIZE 10
/** @brief File starting marker, contains "stelphel" string in ASCII symbols */
const unsigned char elphelst[] = {0x73, 0x74, 0x65, 0x6c, 0x70, 0x68, 0x65, 0x6c};
unsigned char elphelst[] = {0x73, 0x74, 0x65, 0x6c, 0x70, 0x68, 0x65, 0x6c};
/** @brief File ending marker, contains "enelphel" string in ASCII symbols */
const unsigned char elphelen[] = {0x65, 0x6e, 0x65, 0x6c, 0x70, 0x68, 0x65, 0x6c};
unsigned char elphelen[] = {0x65, 0x6e, 0x65, 0x6c, 0x70, 0x68, 0x65, 0x6c};
static struct iovec start_marker = {
.iov_base = elphelst,
.iov_len = sizeof(elphelst)
......@@ -130,12 +130,10 @@ int camogm_frame_jpeg(camogm_state *state)
{
int i, j, split_index;
int chunks_used = state->chunk_index - 1;
ssize_t iovlen, l;
ssize_t iovlen, l = 0;
struct iovec chunks_iovec[8];
unsigned char *split_ptr = NULL;
long split_cntr;
long total_len;
const uint64_t storage_sz = state->rawdev.end_pos - state->rawdev.start_pos;
long split_cntr = 0;
if (!state->rawdev_op) {
l = 0;
......
camogm_kml.c
View file @ c4ef6af1
......@@ -165,6 +165,7 @@ int camogm_frame_kml(camogm_state *state)
int hours = 0, minutes = 0;
double seconds = 0.0;
int * ip;
int port = state->port_num;
if (state->kml_file) { // probably not needed
i = state->this_frame_params.timestamp_sec - (state->kml_last_ts + state->kml_period);
......@@ -204,7 +205,7 @@ int camogm_frame_kml(camogm_state *state)
///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);
memcpy(datestr, &(state->ed[port][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
......@@ -227,31 +228,31 @@ int camogm_frame_kml(camogm_state *state)
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]));
(state->ed[port][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[port][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]);
ip = (int*)&(state->ed[port][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] ? '-' : '+'));
(state->ed[port][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[port][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]);
ip = (int*)&(state->ed[port][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]));
(state->ed[port][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[port][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]);
ip = (int*)&(state->ed[port][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]));
}
......@@ -260,16 +261,16 @@ int camogm_frame_kml(camogm_state *state)
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]));
(state->ed[port][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[port][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]);
ip = (int*)&(state->ed[port][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]));
(state->ed[port][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[port][state->kml_exif[Exif_GPSInfo_CompassPitchRef_Index].dst]));
}
/// convert from GPS heading, pitch, roll to KML heading, tilt, roll
tilt = pitch + 90.0;
......
camogm_mov.c
View file @ c4ef6af1
......@@ -200,7 +200,7 @@ int camogm_end_mov(camogm_state *state)
off_t l/*,he;
unsigned char mdat_tag[8];
unsigned char skip_tag[]="\0\0\0\0skip"*/;
int port = state->port_num;
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"
......@@ -213,7 +213,7 @@ int camogm_end_mov(camogm_state *state)
state->width, //! width in pixels
state->height,
state->frameno,
state->frame_period / (1000000 / timescale),
state->frame_period[port] / (1000000 / timescale),
state->frames_per_chunk,
0, //!frame size - will look in the table
(int)((float)timescale / (state->timescale)),
......
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