VideoInputSenderManager::VideoInputSenderManager(QObject *parent)
: QObject(parent)
{
QStringList devs = CameraThread::enumerateDevices();
foreach(QString dev, devs)
{
//qDebug() << "VideoInputSenderManager::ctor: Creating thread for device: "<<dev;
VideoSender *sender = new VideoSender();
CameraThread *source = CameraThread::threadForCamera(dev);
source->setFps(30);
source->registerConsumer(sender);
// The 'raw frames' mode uses V4L to get the frames instead of LibAV
// Of course, V4L isn't supported on windows, so we don't enable raw frames on windows.
// In the future, I suppose I could find code to use the appros Windows API to
// connect to the capture card - but I just don't have a need for that level of performance
// on windows right now, so I'll put it off until I need it or someone really wants it.
// For now, the high-performance capture use is on Linux (for me), so that's where I'll focus.
#ifndef Q_OS_WIN
source->enableRawFrames(true);
#endif
sender->setVideoSource(source);
m_videoSenders[dev] = sender;
}
void* ConnectToClient(void* cam)
{
CameraThread* camera = static_cast<CameraThread *>(cam);
while(camera->Continue())
{
cout << "Waiting for new client\n";
if(!camera->serverSocket->ConnectClient())
cout << "Could not connect to client\n";
}
pthread_exit(NULL);
}
void* DrawThreadFunction(void* cam)
{
cout << "\nStarting Draw Function";
CameraThread* camera = static_cast<CameraThread *>(cam);
string buffer;
// FPS Calculation
struct timeval tim;
double t, dt;
int fps;
gettimeofday(&tim, NULL);
t = tim.tv_sec + (tim.tv_usec/1000000.0);
while(camera->Continue())
{
buffer.clear();
while(!camera->display);
buffer.append("{");
buffer.append("\"fabric\":");
buffer.append("[");
buffer.append("{");
buffer.append("\"id\":101");
buffer.append(",");
buffer.append("\"x\":");
buffer.append(to_string((camera->fabricPosition.x - camera->frameCenter.x)*camera->pixelToRealx));
buffer.append(",");
buffer.append("\"y\":");
buffer.append(to_string((camera->frameSize.height - camera->fabricPosition.y - camera->frameCenter.y)*camera->pixelToRealy));
buffer.append(",");
buffer.append("\"theta\":");
buffer.append(to_string(camera->fabricAngle));
buffer.append("}");
buffer.append("]");
buffer.append(",");
buffer.append("\"budger\":[]");
buffer.append("}\n");
for(auto client : camera->serverSocket->clients)
camera->serverSocket->Write(client.first, buffer.c_str(), buffer.size());
camera->display = false;
gettimeofday(&tim, NULL);
dt = tim.tv_sec + (tim.tv_usec/1000000.0) - t;
gettimeofday(&tim, NULL);
t = tim.tv_sec + (tim.tv_usec/1000000.0);
fps = (int)(1/dt);
cout << "\nComm FPS: " << fps;
}
pthread_exit(NULL);
}
VideoInputSenderManager::VideoInputSenderManager(QObject *parent)
: QObject(parent)
{
QStringList devs = CameraThread::enumerateDevices();
foreach(QString dev, devs)
{
VideoSender *sender = new VideoSender();
CameraThread *source = CameraThread::threadForCamera(dev);
source->setFps(30);
source->registerConsumer(sender);
#ifndef Q_OS_WINDOWS
source->enableRawFrames(true);
#endif
sender->setVideoSource(source);
m_videoSenders[dev] = sender;
}
int main(int argc, char const *argv[])
{
if(argc != 3)
{
cout << "Usage: " << argv[0] << " <Camera Number> <Server Port>" << endl;
exit(0);
}
unsigned int cameraNum = atoi(argv[1]);
int portno = atoi(argv[2]);
CServerSocket *server = new CServerSocket(portno);
CameraThread* camera = new CameraThread();
camera->serverSocket = server;
if(!camera->Init(cameraNum))
return 0;
cout << "Camera Initialized\n";
if(!camera->SetupVision())
return 0;
cout << "Camera Setup Done\n";
pthread_t camThread;
pthread_t drawThread;
pthread_t commThread;
void* camStatus = 0;
void* drawStatus = 0;
void* commStatus = 0;
pthread_attr_t camAttr;
pthread_attr_t drawAttr;
pthread_attr_t commAttr;
pthread_attr_init(&camAttr);
pthread_attr_init(&drawAttr);
pthread_attr_init(&commAttr);
pthread_attr_setschedpolicy(&camAttr, SCHED_FIFO);
pthread_attr_setschedpolicy(&drawAttr, SCHED_FIFO);
pthread_attr_setschedpolicy(&commAttr, SCHED_FIFO);
struct sched_param camSched;
struct sched_param drawSched;
struct sched_param commSched;
camSched.sched_priority = 1;
drawSched.sched_priority = 2;
commSched.sched_priority = 3;
pthread_attr_setschedparam(&camAttr, &camSched);
pthread_attr_setschedparam(&drawAttr, &drawSched);
pthread_attr_setschedparam(&commAttr, &commSched);
pthread_create(&camThread, &camAttr, CameraThreadFunction, (void*) camera);
pthread_create(&drawThread, &drawAttr, DrawThreadFunction, (void*) camera);
pthread_create(&commThread, &commAttr, ConnectToClient, (void*) camera);
pthread_join(camThread, &camStatus);
pthread_join(drawThread, &drawStatus);
pthread_join(commThread, &commStatus);
delete camera;
delete server;
return 0;
}
