int main()
{
int i;
struct picture_t pic;
struct encoded_pic_t encoded_pic;
errno = 0;
if(!camera_init(&pic))
goto error_cam;
if(!encoder_init(&pic)){
fprintf(stderr,"failed to initialize encoder\n");
goto error_encoder;
}
if(!preview_init(&pic))
goto error_preview;
if(!output_init(&pic))
goto error_output;
if(!encoder_encode_headers(&encoded_pic))
goto error_output;
if(!output_write_headers(&encoded_pic))
goto error_output;
if(!camera_on())
goto error_cam_on;
if(signal(SIGINT, stop_recording) == SIG_ERR){
fprintf(stderr,"signal() failed\n");
goto error_signal;
}
printf("Press ctrl-c to stop recording...\n");
recording = 1;
for(i=0; recording; i++){
if(!camera_get_frame(&pic))
break;
gen_osd_info();
osd_print(&pic, osd_string);
if((i&7)==0) // i%8==0
preview_display(&pic);
if(!encoder_encode_frame(&pic, &encoded_pic))
break;
applog_flush();
if(!output_write_frame(&encoded_pic))
break;
}
printf("\nrecorded %d frames\n", i);
error_signal:
camera_off();
error_cam_on:
output_close();
error_output:
preview_close();
error_preview:
encoder_close();
error_encoder:
camera_close();
error_cam:
return 0;
}
void *cam_thread()
{
int number,FileSize;
number=0;
FileSize =0;
fd_set fds;
struct timeval tv;
int r;
printf ("cam_thread : I'm thread 1\n");
while (!g_s32Quit)
{
/* Timeout. */
tv.tv_sec = 0;
tv.tv_usec = 33333;
nanosleep(&tv,NULL);
if(!camera_get_frame(&pic)){
printf("error1\r\n");
break;
}
gen_osd_info();
osd_print(&pic, osd_string);
if(!encoder_encode_frame(&pic, &encoded_pic))
break;
FileSize+=encoded_pic.length;
if(g_s32DoPlay>0)
ringput(encoded_pic.buffer,encoded_pic.length,encoded_pic.frame_type);
if ((FileSize>MAX_SIZE) && (encoded_pic.frame_type ==FRAME_TYPE_I)) {
output_close();
get_filename();
printf("file:%s\n",mkv_filename);
if(!output_init(&pic,mkv_filename))
break;
if(!output_write_headers(&header_pic,&psp))
break;
FileSize=0;
ResetTime(&pic,&encoded_pic);
if(!output_write_frame(&encoded_pic))
break;
encoder_release(&encoded_pic);
} else {
if(!output_write_frame(&encoded_pic))
break;
encoder_release(&encoded_pic);
}
}
printf("exit the enc_thread\n");
g_s32Quit= 0;
//pthread_exit(NULL);
}
int main(){
int FileSize;
FileSize =0;
int WriteSize;
long tstmp;
value_readfile_init();
serial_init();
wiringPiSetup();
softPwmCreate(0,0,20000);
softPwmCreate(1,0,20000);
softPwmCreate(2,0,20000);
softPwmCreate(3,0,20000);
softPwmCreate(4,0,20000);
softPwmCreate(5,0,20000);
//i2c_init();
gettimeofday(×tart,NULL);
get_filename(replayFileName);
if(!encoder_init(&pic,fps,brightness,bitrate))
goto error_encoder;
if(!output_init(&pic,mkv_filename))
goto error_output;
encoded_pic.buffer=malloc(1024*100);
encoded_pic.length=0;
if(!encoder_encode_headers(&encoded_pic))
goto error_output;
memcpy(&header_pic,&encoded_pic,sizeof(encoded_pic));
header_pic.buffer=malloc(1024*100);//(encoded_pic.length);
printf("header_pic len:%d\n",encoded_pic.length);
memcpy(header_pic.buffer,encoded_pic.buffer,encoded_pic.length);
if(!output_write_headers(&encoded_pic))
goto error_output;
if(signal(SIGINT, stop_running) == SIG_ERR){
printf("signal() failed\n");
goto error_signal;
}
if(pthread_create(&thread[0], NULL, client_thread, NULL) != 0)
printf("client_thread error!\n");
else
printf("client_thread ok\n");
if(pthread_create(&thread[1],NULL,schedule_do,NULL) != 0)
printf("schedule_do error!\n");
else
printf("schedule_do ok\n");
if(pthread_create(&thread[2],NULL,aircraft_thread,NULL) != 0)
printf("aircraft_thread error!\n");
else
printf("aircraft_thread ok\n");
while (!camera_Quit)
{
gettimeofday(&timeend,NULL);
tstmp=(timeend.tv_sec-timestart.tv_sec)*1000000ll+timeend.tv_usec-timestart.tv_usec;
if(tstmp<(1000000/fps)){
usleep(tstmp);
}else{
timestart.tv_sec=timeend.tv_sec;
timestart.tv_usec=timeend.tv_usec;
/*
if(copycoded.length>0){
if ((FileSize>MAX_SIZE) && (sendcoded.frame_type ==FRAME_TYPE_I)) {
output_close();
printf("file full\n");
get_filename(replayFileName);
printf("file:%s\n",mkv_filename);
if(!output_init(&pic,mkv_filename)){
printf("output_init error\r\n");
break;
}
if(!output_write_headers(&header_pic)){
printf("output_write_headers error\r\n");
break;
}
FileSize=0;
//ResetTime(&pic,&encoded_pic);
if(!output_write_frame(©coded)){
printf("output_write_frame1 error\r\n");
break;
}
//encoder_release(&encoded_pic);
} else {
if(!output_write_frame(©coded)){
printf("output_write_frame2 error\r\n");
break;
}
//encoder_release(&encoded_pic);
}
copycoded.length=0;
}
*/
}
}
error_signal:
printf("exit the cam_thread\n");
encode_Quit =1;
//=========add==========
free(sendcoded.buffer);
//=========add==========
schedule_do_Quit = 1;
g_s32Quit = 1;
control_thread_go=1;
printf("The device quit!\n");
pthread_cancel(thread[0]);
pthread_cancel(thread[1]);
pthread_cancel(thread[2]);
if(thread[0])
pthread_join(thread[0],NULL);
if(thread[1])
pthread_join(thread[1],NULL);
if(thread[2])
pthread_join(thread[2],NULL);
error_output:
error_cam_on:
output_close();
error_encoder:
error_cam:
serial_close();
//i2c_close();
return 0;
}
int main()
{
int s32MainFd,temp;
struct timespec ts = { 2, 0 };
//=================================================
ringmalloc(640*480);
errno = 0;
if(!camera_init(&pic))
goto error_cam;
if(!encoder_init(&pic))
goto error_encoder;
if(!preview_init(&pic))
goto error_preview;
get_filename();
printf("file:%s\n",mkv_filename);
if(!output_init(&pic,mkv_filename))
goto error_output;
if(!encoder_encode_headers(&encoded_pic))
goto error_output;
memcpy(&header_pic,&encoded_pic,sizeof(encoded_pic));
header_pic.buffer=malloc(encoded_pic.length);
memcpy(header_pic.buffer,encoded_pic.buffer,encoded_pic.length);
if(!output_write_headers(&encoded_pic,&psp))
goto error_output;
encoder_release(&encoded_pic);
if(!camera_on())
goto error_cam_on;
//================================================
printf("RTSP server START\n");
PrefsInit();
printf("listen for client connecting...\n");
signal(SIGINT, IntHandl);
s32MainFd = tcp_listen(SERVER_RTSP_PORT_DEFAULT);
/* 初始化schedule_list 队列，创建调度线程，参考 schedule.c */
if (ScheduleInit(&pic,&encoded_pic) == ERR_FATAL)
{
fprintf(stderr,"Fatal: Can't start scheduler %s, %i \nServer is aborting.\n", __FILE__, __LINE__);
return 0;
}
/* 将所有可用的RTP端口号放入到port_pool[MAX_SESSION] 中 */
RTP_port_pool_init(RTP_DEFAULT_PORT);
//循环等待
if((temp = pthread_create(&thread[0], NULL, cam_thread, NULL)) != 0)
printf("cam_thread error!\n");
else
printf("cam_thread ok\n");
pthread_mutex_init(&mut,NULL);
while (!g_s32Quit)
{
nanosleep(&ts, NULL);
/*查找收到的rtsp连接，
* 对每一个连接产生所有的信息放入到结构体rtsp_list中
*/
// trace_point();
EventLoop(s32MainFd);
}
ringfree();
printf("The Server quit!\n");
camera_off();
error_cam_on:
output_close();
error_output:
preview_close();
error_preview:
encoder_close();
error_encoder:
camera_close();
error_cam:
return NULL;
}
