/*
* Start printing
*/
int unicorn_start(int fd_rd, int fd_wr, int fd_rd_emerg)
{
/* Turn on fans */
printf("unicorn_start\n");
channel_tag fan = NULL;
fan = fan_lookup_by_name("fan_3");
if (fan) {
fan_set_level(fan, DEFAULT_FAN_MAX_LEVEL);
fan_enable(fan);
}
fan = fan_lookup_by_name("fan_4");
if (fan) {
fan_set_level(fan, DEFAULT_FAN_MAX_LEVEL);
fan_enable(fan);
}
heater_start();
plan_start();
stepper_start();
gcode_start(fd_rd, fd_wr, fd_rd_emerg);
if (hPause_printing) {
Pause_off(hPause_printing);
}
printf("unicorn_start ok!!!\n");
return 0;
}
int unicorn_restart(void)
{
stepper_start();
plan_start();
if (hPause_printing) {
Pause_off(hPause_printing);
}
return 0;
}
int unicorn_disconnect_octoprint()
{
channel_tag fan = NULL;
/* If paused, pause thread off */
if (hPause_printing) {
Pause_on(hPause_printing);
}
printf("stepper_idle\n");
stepper_idle();
printf("ok\n");
fan = fan_lookup_by_name("fan_ext");
if (fan) {
fan_set_level(fan, 0);
fan_disable(fan);
}
fan = fan_lookup_by_name("fan_ext2");
if (fan) {
fan_set_level(fan, 0);
fan_disable(fan);
}
printf("gcode_stop\n");
gcode_stop();
printf("ok\n");
//if (!blocking) {
/* Clean up all fifo data */
stepper_clean_up_fifo();
//}
printf("plan_stop\n");
plan_stop();
printf("ok\n");
printf("heater_stop\n");
heater_stop();
printf("ok\n");
if (unicorn_get_mode() == FW_MODE_REMOTE) {
if (hPause_printing) {
Pause_off(hPause_printing);
}
}
printf("unicorn disconnect ok!\n");
return 0;
}
/*
* Exit from unicorn, delete sub sys and threads
*/
void unicorn_exit(int blocking)
{
printf("unicorn_exit...\n");
/* Flush stepper and planner fifo */
if (hFifo_plan2st) {
Fifo_flush(hFifo_plan2st);
}
if (hFifo_st2plan) {
Fifo_flush(hFifo_st2plan);
}
if (hPause_printing) {
Pause_off(hPause_printing);
}
heater_exit();
gcode_exit();
stepper_exit(blocking);
plan_exit();
#ifdef SERVO
if (bbp_board_type == BOARD_BBP1S) {
servo_exit();
}
#endif
lmsw_exit();
pwm_exit();
temp_exit();
analog_exit();
parameter_exit();
/* Delete fifo */
if (hFifo_plan2st) {
Fifo_delete(hFifo_plan2st);
}
if (hFifo_st2plan) {
Fifo_delete(hFifo_st2plan);
}
if (hPause_printing) {
Pause_delete(hPause_printing);
}
fan_exit(); //???? glibc detected *** /usr/bin/unicorn: corrupted double-linked list: 0x0007e330
printf("unicorn_exit..., done\n");
}
/*
* Resume printing
*/
int unicorn_resume(void)
{
/*
* Start heating
* waiting to achieve target temperature
*/
//TODO:
stepper_resume();
if (hPause_printing) {
Pause_off(hPause_printing);
}
return 0;
}
/******************************************************************************
* captureThrFxn
******************************************************************************/
Void *captureThrFxn(Void *arg)
{
CaptureEnv *envp = (CaptureEnv *) arg;
Void *status = THREAD_SUCCESS;
Capture_Attrs cAttrs = Capture_Attrs_DM365_DEFAULT;
BufferGfx_Attrs gfxAttrs = BufferGfx_Attrs_DEFAULT;
Capture_Handle hCapture = NULL;
BufTab_Handle hBufTab = NULL;
BufferGfx_Dimensions dim;
Buffer_Handle hDstBuf, hCapBuf;
Int32 width, height, bufSize;
Int fifoRet;
ColorSpace_Type colorSpace = ColorSpace_YUV420PSEMI;
/* Create capture device driver instance */
cAttrs.numBufs = NUM_CAPTURE_BUFS;
cAttrs.videoInput = envp->videoInput;
cAttrs.videoStd = envp->videoStd;
cAttrs.colorSpace = colorSpace;
if (VideoStd_getResolution(envp->videoStd, &width, &height) < 0) {
ERR("Failed to calculate resolution of video standard\n");
cleanup(THREAD_FAILURE);
}
if (envp->imageWidth > 0 && envp->imageHeight > 0) {
if (width < envp->imageWidth && height < envp->imageHeight) {
ERR("User resolution (%ldx%ld) larger than detected (%ldx%ld)\n",
envp->imageWidth, envp->imageHeight, width, height);
cleanup(THREAD_FAILURE);
}
/*
* Capture driver provides 32-byte aligned data. We 32-byte align the
* capture and video buffers to perform zero copy encoding.
*/
envp->imageWidth = Dmai_roundUp(envp->imageWidth, 32);
}
else {
/* Resolution was not set on command line. Set to defaults. */
envp->imageHeight = height;
/*
* Capture driver provides 32-byte aligned data. We 32-byte align the
* capture and video buffers to perform zero copy encoding.
*/
envp->imageWidth = Dmai_roundUp(width, 32);
}
Dmai_clear(dim);
dim.width = envp->imageWidth;
dim.height = envp->imageHeight;
dim.lineLength = Dmai_roundUp(dim.width, 32);
if (colorSpace == ColorSpace_YUV420PSEMI) {
bufSize = dim.lineLength * dim.height * 3 / 2;
} else {
bufSize = dim.lineLength * dim.height * 2;
}
gfxAttrs.dim = dim;
/* Report the video standard and image size back to the main thread */
Rendezvous_meet(envp->hRendezvousCapStd);
gfxAttrs.colorSpace = colorSpace;
hBufTab = BufTab_create(NUM_CAPTURE_BUFS, bufSize,
BufferGfx_getBufferAttrs(&gfxAttrs));
if (hBufTab == NULL) {
ERR("Failed to create buftab\n");
cleanup(THREAD_FAILURE);
}
if ((envp->videoStd == VideoStd_720P_60) && (!envp->passThrough)) {
cAttrs.videoStd = VideoStd_720P_30;
}
else {
cAttrs.videoStd = envp->videoStd;
}
cAttrs.colorSpace = colorSpace;
cAttrs.captureDimension = &dim;
cAttrs.numBufs = NUM_CAPTURE_BUFS;
hCapture = Capture_create(hBufTab, &cAttrs);
if (hCapture == NULL) {
ERR("Failed to create capture device\n");
cleanup(THREAD_FAILURE);
}
/* Get a buffer from the video thread */
fifoRet = Fifo_get(envp->hInFifo, &hDstBuf);
if (fifoRet < 0) {
ERR("Failed to get buffer from video thread\n");
cleanup(THREAD_FAILURE);
}
if (fifoRet == Dmai_EFLUSH) {
cleanup(THREAD_SUCCESS);
}
/* Signal that initialization is done and wait for other threads */
Rendezvous_meet(envp->hRendezvousInit);
while (!gblGetQuit()) {
/* Get a buffer from the capture driver to encode */
if (Capture_get(hCapture, &hCapBuf) < 0) {
ERR("Failed to get capture buffer\n");
cleanup(THREAD_FAILURE);
}
/* Send captured buffer to video thread for encoding */
if (Fifo_put(envp->hOutFifo, hCapBuf) < 0) {
ERR("Failed to send buffer to video thread\n");
cleanup(THREAD_FAILURE);
}
/* Pause processing? */
Pause_test(envp->hPauseProcess);
/* Get a buffer from the video thread */
fifoRet = Fifo_get(envp->hInFifo, &hDstBuf);
if (fifoRet < 0) {
ERR("Failed to get buffer from video thread\n");
cleanup(THREAD_FAILURE);
}
/* Did the video thread flush the fifo? */
if (fifoRet == Dmai_EFLUSH) {
cleanup(THREAD_SUCCESS);
}
/* Return a buffer to the capture driver */
if (Capture_put(hCapture, hDstBuf) < 0) {
ERR("Failed to put capture buffer\n");
cleanup(THREAD_FAILURE);
}
}
cleanup:
/* Make sure the other threads aren't waiting for us */
Rendezvous_force(envp->hRendezvousCapStd);
Rendezvous_force(envp->hRendezvousInit);
Pause_off(envp->hPauseProcess);
Fifo_flush(envp->hOutFifo);
/* Meet up with other threads before cleaning up */
Rendezvous_meet(envp->hRendezvousCleanup);
if (hCapture) {
Capture_delete(hCapture);
}
/* Clean up the thread before exiting */
if (hBufTab) {
BufTab_delete(hBufTab);
}
return status;
}
/******************************************************************************
* displayThrFxn
******************************************************************************/
Void *displayThrFxn(Void *arg)
{
DisplayEnv *envp = (DisplayEnv *) arg;
Display_Attrs dAttrs = Display_Attrs_DM365_VID_DEFAULT;
Display_Handle hDisplay = NULL;
Framecopy_Handle hFc = NULL;
Void *status = THREAD_SUCCESS;
Uns frameCnt = 0;
BufferGfx_Dimensions srcDim;
Buffer_Handle hSrcBuf, hDstBuf;
Int fifoRet;
ColorSpace_Type colorSpace = ColorSpace_YUV420PSEMI;
BufferGfx_Attrs gfxAttrs = BufferGfx_Attrs_DEFAULT;
BufTab_Handle hBufTab = NULL;
Int32 bufSize;
Time_Attrs tAttrs = Time_Attrs_DEFAULT;
Time_Handle hTime = NULL;
Int32 time, waitTime;
Int bufCnt = 1;
hTime = Time_create(&tAttrs);
if (hTime == NULL) {
ERR("Failed to create Time object\n");
cleanup(THREAD_FAILURE);
}
if(Time_reset(hTime) != Dmai_EOK) {
ERR("Failed to reset timer\n");
cleanup(THREAD_FAILURE);
}
/* Signal that initialization is done and wait for other threads */
Rendezvous_meet(envp->hRendezvousInit);
while (!gblGetQuit()) {
/* Pause processing? */
Pause_test(envp->hPauseProcess);
/* Pause for priming? */
Pause_test(envp->hPausePrime);
/* Get decoded video frame */
fifoRet = Fifo_get(envp->hInFifo, &hSrcBuf);
if (fifoRet < 0) {
ERR("Failed to get buffer from video thread\n");
cleanup(THREAD_FAILURE);
}
/* Did the video thread flush the fifo? */
if (fifoRet == Dmai_EFLUSH) {
cleanup(THREAD_SUCCESS);
}
BufferGfx_getDimensions(hSrcBuf, &srcDim);
/* Prime the display driver with the first NUM_DISPLAY_BUFS buffers */
if (bufCnt <= NUM_DISPLAY_BUFS) {
if (bufCnt == 1) { // Create the Display at the first frame
gfxAttrs.dim.width = srcDim.width;
gfxAttrs.dim.height = srcDim.height;
gfxAttrs.dim.lineLength = srcDim.lineLength;
gfxAttrs.dim.x = srcDim.x;
gfxAttrs.dim.y = srcDim.y;
if (colorSpace == ColorSpace_YUV420PSEMI) {
bufSize = gfxAttrs.dim.lineLength * gfxAttrs.dim.height *
3 / 2;
} else {
bufSize = gfxAttrs.dim.lineLength * gfxAttrs.dim.height * 2;
}
/* Create a table of buffers to use with the device drivers */
gfxAttrs.colorSpace = colorSpace;
hBufTab = BufTab_create(NUM_DISPLAY_BUFS, bufSize,
BufferGfx_getBufferAttrs(&gfxAttrs));
if (hBufTab == NULL) {
ERR("Failed to create buftab\n");
cleanup(THREAD_FAILURE);
}
/* Create the display device instance */
dAttrs.delayStreamon = TRUE;
dAttrs.numBufs = NUM_DISPLAY_BUFS;
dAttrs.videoStd = envp->videoStd;
/*
* Round down the width to a multiple of 32 as required by
* display driver. Otherwise, the driver would internally round
* up the width, resulting in the codec padding showing up
* on the display when the image width is not a multiple of 32.
*/
dAttrs.width = ((gfxAttrs.dim.width & 0x1f) ?
(gfxAttrs.dim.width & ~(0x1f)) : gfxAttrs.dim.width);
dAttrs.height = gfxAttrs.dim.height;
dAttrs.videoOutput = envp->displayOutput;
dAttrs.colorSpace = colorSpace;
hDisplay = Display_create(hBufTab, &dAttrs);
if (hDisplay == NULL) {
ERR("Failed to create display device\n");
cleanup(THREAD_FAILURE);
}
}
bufCnt++;
}
else {
/* Get a buffer from the display device driver */
if (Display_get(hDisplay, &hDstBuf) < 0) {
ERR("Failed to get display buffer\n");
cleanup(THREAD_FAILURE);
}
/* Send buffer back to the video thread */
if (Fifo_put(envp->hOutFifo, hDstBuf) < 0) {
ERR("Failed to send buffer to video thread\n");
cleanup(THREAD_FAILURE);
}
}
if (envp->videoStd == VideoStd_720P_60) {
if (Time_delta(hTime, (UInt32*)&time) < 0) {
ERR("Failed to get timer delta\n");
cleanup(THREAD_FAILURE);
}
waitTime = DISPLAYLOOPLATENCY - time;
if(waitTime > 0) {
usleep(waitTime);
}
if(Time_reset(hTime) != Dmai_EOK) {
ERR("Failed to reset timer\n");
cleanup(THREAD_FAILURE);
}
}
/* Incremement statistics for the user interface */
gblIncFrames();
/* Give a filled buffer back to the display device driver */
if (Display_put(hDisplay, hSrcBuf) < 0) {
ERR("Failed to put display buffer\n");
cleanup(THREAD_FAILURE);
}
frameCnt++;
}
cleanup:
/* Make sure the other threads aren't waiting for us */
Rendezvous_force(envp->hRendezvousInit);
Pause_off(envp->hPauseProcess);
Pause_off(envp->hPausePrime);
Fifo_flush(envp->hOutFifo);
/* Meet up with other threads before cleaning up */
Rendezvous_meet(envp->hRendezvousCleanup);
/* Clean up the thread before exiting */
if (hFc) {
Framecopy_delete(hFc);
}
if (hDisplay) {
Display_delete(hDisplay);
}
/* Clean up the thread before exiting */
if (hBufTab) {
BufTab_delete(hBufTab);
}
if(hTime) {
Time_delete(hTime);
}
return status;
}
/******************************************************************************
* speechThrFxn
******************************************************************************/
Void *speechThrFxn(Void *arg)
{
SpeechEnv *envp = (SpeechEnv *) arg;
SPHDEC1_Params defaultParams = Sdec1_Params_DEFAULT;
SPHDEC1_DynamicParams defaultDynParams = Sdec1_DynamicParams_DEFAULT;
Void *status = THREAD_SUCCESS;
Sound_Attrs sAttrs = Sound_Attrs_MONO_DEFAULT;
Loader_Attrs lAttrs = Loader_Attrs_DEFAULT;
Buffer_Attrs bAttrs = Buffer_Attrs_DEFAULT;
Sdec1_Handle hSd1 = NULL;
Sound_Handle hSound = NULL;
Loader_Handle hLoader = NULL;
Engine_Handle hEngine = NULL;
Buffer_Handle hOutBuf = NULL;
SPHDEC1_Params *params;
SPHDEC1_DynamicParams *dynParams;
Buffer_Handle hInBuf;
/* Open the codec engine */
hEngine = Engine_open(envp->engineName, NULL, NULL);
if (hEngine == NULL) {
ERR("Failed to open codec engine %s\n", envp->engineName);
cleanup(THREAD_FAILURE);
}
/* Create the sound device */
sAttrs.sampleRate = 8000;
sAttrs.mode = Sound_Mode_OUTPUT;
sAttrs.leftGain = 127;
sAttrs.rightGain = 127;
sAttrs.bufSize = 128;
hSound = Sound_create(&sAttrs);
if (hSound == NULL) {
ERR("Failed to create audio device\n");
cleanup(THREAD_FAILURE);
}
/* Set the sample rate for the user interface */
gblSetSamplingFrequency(sAttrs.sampleRate);
/* Use supplied params if any, otherwise use defaults */
params = envp->params ? envp->params : &defaultParams;
dynParams = envp->dynParams ? envp->dynParams : &defaultDynParams;
/* Create the speech decoder */
hSd1 = Sdec1_create(hEngine, envp->speechDecoder, params, dynParams);
if (hSd1 == NULL) {
ERR("Failed to create speech decoder: %s\n", envp->speechDecoder);
cleanup(THREAD_FAILURE);
}
/*
* Make the output buffer size twice the size of what the codec needs
* as the codec needs mono and the Sound module converts the decoded
* mono samples to stereo before writing to the device driver.
*/
hOutBuf = Buffer_create(OUTBUFSIZE, &bAttrs);
if (hOutBuf == NULL) {
ERR("Failed to allocate output buffer\n");
cleanup(THREAD_FAILURE);
}
/* How much encoded data to feed the codec each process call */
lAttrs.readSize = INBUFSIZE;
/* Make the total ring buffer larger */
lAttrs.readBufSize = lAttrs.readSize * 512;
/* Create the file loader for reading encoded data */
hLoader = Loader_create(envp->speechFile, &lAttrs);
if (hLoader == NULL) {
ERR("Failed to create loader\n");
cleanup(THREAD_FAILURE);
}
/* Signal that initialization is done and wait for other threads */
Rendezvous_meet(envp->hRendezvousInit);
/* Prime the file loader */
Loader_prime(hLoader, &hInBuf);
while (!gblGetQuit()) {
/* Pause processing? */
Pause_test(envp->hPauseProcess);
/* Decode the audio buffer */
if (Sdec1_process(hSd1, hInBuf, hOutBuf) < 0) {
ERR("Failed to decode audio buffer\n");
cleanup(THREAD_FAILURE);
}
/* Increment statistics for user interface */
gblIncSoundBytesProcessed(Buffer_getNumBytesUsed(hInBuf));
/*
* Force the output buffer size since we are forcing the size of the
* output buffer allocated as opposed to asking the codec for a size.
*/
Buffer_setNumBytesUsed(hOutBuf, OUTBUFSIZE);
/* Write the decoded samples to the sound device */
if (Sound_write(hSound, hOutBuf) < 0) {
ERR("Failed to write audio buffer\n");
cleanup(THREAD_FAILURE);
}
/* Load a new frame from the file system */
if (Loader_getFrame(hLoader, hInBuf) < 0) {
ERR("Failed to read a frame of encoded data\n");
cleanup(THREAD_FAILURE);
}
/* Check if the clip has ended */
if (Buffer_getUserPtr(hInBuf) == NULL) {
/* Wait for the video clip to finish, if applicable */
Rendezvous_meet(envp->hRendezvousLoop);
/* If we are to loop the clip, start over */
if (envp->loop) {
/* Recreate the speech codec */
Sdec1_delete(hSd1);
hSd1 = Sdec1_create(hEngine, envp->speechDecoder,
params, dynParams);
if (hSd1 == NULL) {
ERR("Failed to create speech decoder: %s\n",
envp->speechDecoder);
cleanup(THREAD_FAILURE);
}
/* Re-prime the file loader */
Loader_prime(hLoader, &hInBuf);
}
else {
printf("End of clip reached, exiting..\n");
cleanup(THREAD_SUCCESS);
}
}
}
cleanup:
/* Make sure the other threads aren't waiting for us */
Rendezvous_force(envp->hRendezvousInit);
Rendezvous_force(envp->hRendezvousLoop);
Pause_off(envp->hPauseProcess);
/* Meet up with other threads before cleaning up */
Rendezvous_meet(envp->hRendezvousCleanup);
/* Clean up the thread before exiting */
if (hLoader) {
Loader_delete(hLoader);
}
if (hSd1) {
Sdec1_delete(hSd1);
}
if (hSound) {
Sound_delete(hSound);
}
if (hOutBuf) {
Buffer_delete(hOutBuf);
}
if (hEngine) {
Engine_close(hEngine);
}
return status;
}
/******************************************************************************
* captureThrFxn
******************************************************************************/
Void *captureThrFxn(Void *arg)
{
CaptureEnv *envp = (CaptureEnv *) arg;
Void *status = THREAD_SUCCESS;
Capture_Attrs cAttrs = Capture_Attrs_DM365_DEFAULT;
Display_Attrs dAttrs = Display_Attrs_DM365_VID_DEFAULT;
BufferGfx_Attrs gfxAttrs = BufferGfx_Attrs_DEFAULT;
Capture_Handle hCapture = NULL;
Display_Handle hDisplay = NULL;
BufTab_Handle hBufTab = NULL;
BufTab_Handle hDispBufTab = NULL;
BufTab_Handle hFifoBufTab = NULL;
Buffer_Handle hDstBuf, hCapBuf, hDisBuf, hBuf;
BufferGfx_Dimensions capDim;
VideoStd_Type videoStd;
Int32 width, height, bufSize;
Int fifoRet;
ColorSpace_Type colorSpace = ColorSpace_YUV420PSEMI;
Int bufIdx;
Int numCapBufs;
/* Create capture device driver instance */
cAttrs.numBufs = NUM_CAPTURE_BUFS;
cAttrs.videoInput = envp->videoInput;
cAttrs.videoStd = envp->videoStd;
cAttrs.colorSpace = colorSpace;
videoStd = envp->videoStd;
/* We only support D1, 720P and 1080P input */
if (videoStd != VideoStd_D1_NTSC && videoStd != VideoStd_D1_PAL
&& videoStd != VideoStd_720P_60 && videoStd != VideoStd_720P_50 &&
videoStd != VideoStd_1080I_30) {
ERR("Need D1/720P/1080P input to this demo\n");
cleanup(THREAD_FAILURE);
}
if (envp->imageWidth > 0 && envp->imageHeight > 0) {
if (VideoStd_getResolution(videoStd, &width, &height) < 0) {
ERR("Failed to calculate resolution of video standard\n");
cleanup(THREAD_FAILURE);
}
if (width < envp->imageWidth && height < envp->imageHeight) {
ERR("User resolution (%ldx%ld) larger than detected (%ldx%ld)\n",
envp->imageWidth, envp->imageHeight, width, height);
cleanup(THREAD_FAILURE);
}
/*
* Capture driver provides 32 byte aligned data. We 32 byte align the
* capture and video buffers to perform zero copy encoding.
*/
envp->imageWidth = Dmai_roundUp(envp->imageWidth,32);
capDim.x = 0;
capDim.y = 0;
capDim.height = envp->imageHeight;
capDim.width = envp->imageWidth;
capDim.lineLength = BufferGfx_calcLineLength(capDim.width, colorSpace);
}
else {
/* Calculate the dimensions of a video standard given a color space */
if (BufferGfx_calcDimensions(videoStd, colorSpace, &capDim) < 0) {
ERR("Failed to calculate Buffer dimensions\n");
cleanup(THREAD_FAILURE);
}
/*
* Capture driver provides 32 byte aligned data. We 32 byte align the
* capture and video buffers to perform zero copy encoding.
*/
capDim.width = Dmai_roundUp(capDim.width,32);
envp->imageWidth = capDim.width;
envp->imageHeight = capDim.height;
}
numCapBufs = NUM_CAPTURE_BUFS;
gfxAttrs.dim.height = capDim.height;
gfxAttrs.dim.width = capDim.width;
gfxAttrs.dim.lineLength =
Dmai_roundUp(BufferGfx_calcLineLength(gfxAttrs.dim.width,
colorSpace), 32);
gfxAttrs.dim.x = 0;
gfxAttrs.dim.y = 0;
if (colorSpace == ColorSpace_YUV420PSEMI) {
bufSize = gfxAttrs.dim.lineLength * gfxAttrs.dim.height * 3 / 2;
}
else {
bufSize = gfxAttrs.dim.lineLength * gfxAttrs.dim.height * 2;
}
/* Create a table of buffers to use with the capture driver */
gfxAttrs.colorSpace = colorSpace;
hBufTab = BufTab_create(numCapBufs, bufSize,
BufferGfx_getBufferAttrs(&gfxAttrs));
if (hBufTab == NULL) {
ERR("Failed to create buftab\n");
cleanup(THREAD_FAILURE);
}
/* Create a table of buffers to use to prime Fifo to video thread */
hFifoBufTab = BufTab_create(VIDEO_PIPE_SIZE, bufSize,
BufferGfx_getBufferAttrs(&gfxAttrs));
if (hFifoBufTab == NULL) {
ERR("Failed to create buftab\n");
cleanup(THREAD_FAILURE);
}
/* Update global data for user interface */
gblSetImageWidth(envp->imageWidth);
gblSetImageHeight(envp->imageHeight);
/* Report the video standard and image size back to the main thread */
Rendezvous_meet(envp->hRendezvousCapStd);
/* Capture at half frame rate if using COMPONENT input at 720P */
if ((envp->videoStd == VideoStd_720P_60)
&& (envp->videoInput == Capture_Input_COMPONENT)) {
cAttrs.videoStd = VideoStd_720P_30;
}
else {
cAttrs.videoStd = envp->videoStd;
}
/*If its component input and video std is 1080I_30 then make it 1080I_60.*/
if (cAttrs.videoStd == VideoStd_1080I_30 && cAttrs.videoInput
== Capture_Input_COMPONENT) {
cAttrs.videoStd = VideoStd_1080I_60;
}
cAttrs.numBufs = NUM_CAPTURE_BUFS;
cAttrs.colorSpace = colorSpace;
cAttrs.captureDimension = &gfxAttrs.dim;
/* Create the capture device driver instance */
hCapture = Capture_create(hBufTab, &cAttrs);
if (hCapture == NULL) {
ERR("Failed to create capture device. Is video input connected?\n");
cleanup(THREAD_FAILURE);
}
/* Create a table of buffers to use with the display driver */
hDispBufTab = BufTab_create(NUM_DISPLAY_BUFS, bufSize,
BufferGfx_getBufferAttrs(&gfxAttrs));
if (hDispBufTab == NULL) {
ERR("Failed to create buftab\n");
cleanup(THREAD_FAILURE);
}
/* Create display device driver instance if preview is needed */
if (!envp->previewDisabled) {
dAttrs.videoStd = envp->videoStd;
if ( (dAttrs.videoStd == VideoStd_CIF) ||
(dAttrs.videoStd == VideoStd_SIF_NTSC) ||
(dAttrs.videoStd == VideoStd_SIF_PAL) ||
(dAttrs.videoStd == VideoStd_VGA) ||
(dAttrs.videoStd == VideoStd_D1_NTSC) ||
(dAttrs.videoStd == VideoStd_D1_PAL) ) {
dAttrs.videoOutput = Display_Output_COMPOSITE;
} else {
dAttrs.videoOutput = Display_Output_COMPONENT;
}
dAttrs.numBufs = NUM_DISPLAY_BUFS;
dAttrs.colorSpace = colorSpace;
dAttrs.width = capDim.width;
dAttrs.height = capDim.height;
hDisplay = Display_create(hDispBufTab, &dAttrs);
if (hDisplay == NULL) {
ERR("Failed to create display device\n");
cleanup(THREAD_FAILURE);
}
}
for (bufIdx = 0; bufIdx < VIDEO_PIPE_SIZE; bufIdx++) {
/* Queue the video buffers for main thread processing */
hBuf = BufTab_getFreeBuf(hFifoBufTab);
if (hBuf == NULL) {
ERR("Failed to fill video pipeline\n");
cleanup(THREAD_FAILURE);
}
/* Fill with black the buffer */
CapBuf_blackFill(hBuf);
/* Send buffer to video thread for encoding */
if (Fifo_put(envp->hOutFifo, hBuf) < 0) {
ERR("Failed to send buffer to display thread\n");
cleanup(THREAD_FAILURE);
}
}
/* Signal that initialization is done and wait for other threads */
Rendezvous_meet(envp->hRendezvousInit);
while (!gblGetQuit()) {
/* Pause processing? */
Pause_test(envp->hPauseProcess);
/* Capture a frame */
if (Capture_get(hCapture, &hCapBuf) < 0) {
ERR("Failed to get capture buffer\n");
cleanup(THREAD_FAILURE);
}
/* Get a buffer from the display device */
if ((!envp->previewDisabled) && (Display_get(hDisplay, &hDisBuf) < 0)) {
ERR("Failed to get display buffer\n");
cleanup(THREAD_FAILURE);
}
/* Send buffer to video thread for encoding */
if (Fifo_put(envp->hOutFifo, hCapBuf) < 0) {
ERR("Failed to send buffer to display thread\n");
cleanup(THREAD_FAILURE);
}
/* Get a buffer from the video thread */
fifoRet = Fifo_get(envp->hInFifo, &hDstBuf);
if (fifoRet < 0) {
ERR("Failed to get buffer from video thread\n");
cleanup(THREAD_FAILURE);
}
/* Did the video thread flush the fifo? */
if (fifoRet == Dmai_EFLUSH) {
cleanup(THREAD_SUCCESS);
}
if (!envp->previewDisabled) {
/* Release buffer to the display device driver */
if (Display_put(hDisplay, hDstBuf) < 0) {
ERR("Failed to put display buffer\n");
cleanup(THREAD_FAILURE);
}
}
if (envp->previewDisabled) {
/* Return the processed buffer to the capture driver */
if (Capture_put(hCapture, hDstBuf) < 0) {
ERR("Failed to put capture buffer\n");
cleanup(THREAD_FAILURE);
}
}
else {
/* Return the displayed buffer to the capture driver */
if (Capture_put(hCapture, hDisBuf) < 0) {
ERR("Failed to put capture buffer\n");
cleanup(THREAD_FAILURE);
}
}
/* Increment statistics for the user interface */
gblIncFrames();
}
cleanup:
/* Make sure the other threads aren't waiting for us */
Rendezvous_force(envp->hRendezvousCapStd);
Rendezvous_force(envp->hRendezvousInit);
Pause_off(envp->hPauseProcess);
Fifo_flush(envp->hOutFifo);
/* Meet up with other threads before cleaning up */
Rendezvous_meet(envp->hRendezvousCleanup);
if (hDisplay) {
Display_delete(hDisplay);
}
if (hCapture) {
Capture_delete(hCapture);
}
/* Clean up the thread before exiting */
if (hBufTab) {
BufTab_delete(hBufTab);
}
if (hFifoBufTab) {
BufTab_delete(hFifoBufTab);
}
if (hDispBufTab) {
BufTab_delete(hDispBufTab);
}
return status;
}
/******************************************************************************
* main
******************************************************************************/
Int main(Int argc, Char *argv[])
{
Args args = DEFAULT_ARGS;
Uns initMask = 0;
Int status = EXIT_SUCCESS;
Pause_Attrs pAttrs = Pause_Attrs_DEFAULT;
Rendezvous_Attrs rzvAttrs = Rendezvous_Attrs_DEFAULT;
Fifo_Attrs fAttrs = Fifo_Attrs_DEFAULT;
Rendezvous_Handle hRendezvousCapStd = NULL;
Rendezvous_Handle hRendezvousInit = NULL;
Rendezvous_Handle hRendezvousWriter = NULL;
Rendezvous_Handle hRendezvousCleanup = NULL;
Pause_Handle hPauseProcess = NULL;
UI_Handle hUI = NULL;
struct sched_param schedParam;
pthread_t captureThread;
pthread_t writerThread;
pthread_t videoThread;
pthread_t speechThread;
CaptureEnv captureEnv;
WriterEnv writerEnv;
VideoEnv videoEnv;
SpeechEnv speechEnv;
CtrlEnv ctrlEnv;
Int numThreads;
pthread_attr_t attr;
Void *ret;
/* Zero out the thread environments */
Dmai_clear(captureEnv);
Dmai_clear(writerEnv);
Dmai_clear(videoEnv);
Dmai_clear(speechEnv);
Dmai_clear(ctrlEnv);
/* Parse the arguments given to the app and set the app environment */
parseArgs(argc, argv, &args);
printf("Encode demo started.\n");
/* Initialize the mutex which protects the global data */
pthread_mutex_init(&gbl.mutex, NULL);
/* Set the priority of this whole process to max (requires root) */
setpriority(PRIO_PROCESS, 0, -20);
/* Initialize Codec Engine runtime */
CERuntime_init();
/* Initialize signal handler for SIGINT */
signal(SIGINT, signalHandler);
/* Initialize Davinci Multimedia Application Interface */
Dmai_init();
initMask |= LOGSINITIALIZED;
/* Set up the user interface */
hUI = uiSetup(&args);
if (hUI == NULL) {
cleanup(EXIT_FAILURE);
}
/* Create the Pause object */
hPauseProcess = Pause_create(&pAttrs);
if (hPauseProcess == NULL) {
ERR("Failed to create Pause object\n");
cleanup(EXIT_FAILURE);
}
/* Determine the number of threads needing synchronization */
numThreads = 1;
if (args.videoFile) {
numThreads += 3;
}
if (args.speechFile) {
numThreads += 1;
}
/* Create the objects which synchronizes the thread init and cleanup */
hRendezvousCapStd = Rendezvous_create(2, &rzvAttrs);
hRendezvousInit = Rendezvous_create(numThreads, &rzvAttrs);
hRendezvousCleanup = Rendezvous_create(numThreads, &rzvAttrs);
hRendezvousWriter = Rendezvous_create(2, &rzvAttrs);
if (hRendezvousCapStd == NULL || hRendezvousInit == NULL ||
hRendezvousCleanup == NULL || hRendezvousWriter == NULL) {
ERR("Failed to create Rendezvous objects\n");
cleanup(EXIT_FAILURE);
}
/* Initialize the thread attributes */
if (pthread_attr_init(&attr)) {
ERR("Failed to initialize thread attrs\n");
cleanup(EXIT_FAILURE);
}
/* Force the thread to use custom scheduling attributes */
if (pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED)) {
ERR("Failed to set schedule inheritance attribute\n");
cleanup(EXIT_FAILURE);
}
/* Set the thread to be fifo real time scheduled */
if (pthread_attr_setschedpolicy(&attr, SCHED_FIFO)) {
ERR("Failed to set FIFO scheduling policy\n");
cleanup(EXIT_FAILURE);
}
/* Create the video threads if a file name is supplied */
if (args.videoFile) {
/* Create the capture fifos */
captureEnv.hInFifo = Fifo_create(&fAttrs);
captureEnv.hOutFifo = Fifo_create(&fAttrs);
if (captureEnv.hInFifo == NULL || captureEnv.hOutFifo == NULL) {
ERR("Failed to open display fifos\n");
cleanup(EXIT_FAILURE);
}
/* Set the capture thread priority */
schedParam.sched_priority = CAPTURE_THREAD_PRIORITY;
if (pthread_attr_setschedparam(&attr, &schedParam)) {
ERR("Failed to set scheduler parameters\n");
cleanup(EXIT_FAILURE);
}
/* Create the capture thread */
captureEnv.hRendezvousInit = hRendezvousInit;
captureEnv.hRendezvousCapStd = hRendezvousCapStd;
captureEnv.hRendezvousCleanup = hRendezvousCleanup;
captureEnv.hPauseProcess = hPauseProcess;
captureEnv.videoStd = args.videoStd;
captureEnv.videoInput = args.videoInput;
captureEnv.imageWidth = args.imageWidth;
captureEnv.imageHeight = args.imageHeight;
/* TODO */
VideoStd_getResolution(VideoStd_CIF, &captureEnv.resizeWidth,
&captureEnv.resizeHeight);
if (pthread_create(&captureThread, &attr, captureThrFxn, &captureEnv)) {
ERR("Failed to create capture thread\n");
cleanup(EXIT_FAILURE);
}
initMask |= CAPTURETHREADCREATED;
/*
* Once the capture thread has detected the video standard, make it
* available to other threads. The capture thread will set the
* resolution of the buffer to encode in the environment (derived
* from the video standard if the user hasn't passed a resolution).
*/
Rendezvous_meet(hRendezvousCapStd);
/* Create the writer fifos */
writerEnv.hInFifo = Fifo_create(&fAttrs);
writerEnv.hOutFifo = Fifo_create(&fAttrs);
if (writerEnv.hInFifo == NULL || writerEnv.hOutFifo == NULL) {
ERR("Failed to open display fifos\n");
cleanup(EXIT_FAILURE);
}
/* Set the video thread priority */
schedParam.sched_priority = VIDEO_THREAD_PRIORITY;
if (pthread_attr_setschedparam(&attr, &schedParam)) {
ERR("Failed to set scheduler parameters\n");
cleanup(EXIT_FAILURE);
}
/* Create the video thread */
videoEnv.hRendezvousInit = hRendezvousInit;
videoEnv.hRendezvousCleanup = hRendezvousCleanup;
videoEnv.hRendezvousWriter = hRendezvousWriter;
videoEnv.hPauseProcess = hPauseProcess;
videoEnv.hCaptureOutFifo = captureEnv.hOutFifo;
videoEnv.hCaptureInFifo = captureEnv.hInFifo;
videoEnv.hWriterOutFifo = writerEnv.hOutFifo;
videoEnv.hWriterInFifo = writerEnv.hInFifo;
videoEnv.videoEncoder = args.videoEncoder->codecName;
videoEnv.params = args.videoEncoder->params;
videoEnv.dynParams = args.videoEncoder->dynParams;
videoEnv.videoBitRate = args.videoBitRate;
videoEnv.imageWidth = captureEnv.imageWidth;
videoEnv.imageHeight = captureEnv.imageHeight;
videoEnv.resizeWidth = captureEnv.resizeWidth;
videoEnv.resizeHeight = captureEnv.resizeHeight;
videoEnv.imgEncoder = "jpegenc";
videoEnv.engineName = engine->engineName;
if (args.videoStd == VideoStd_D1_PAL) {
videoEnv.videoFrameRate = 25000;
} else {
videoEnv.videoFrameRate = 30000;
}
if (pthread_create(&videoThread, &attr, videoThrFxn, &videoEnv)) {
ERR("Failed to create video thread\n");
cleanup(EXIT_FAILURE);
}
initMask |= VIDEOTHREADCREATED;
/*
* Wait for the codec to be created in the video thread before
* launching the writer thread (otherwise we don't know which size
* of buffers to use).
*/
Rendezvous_meet(hRendezvousWriter);
/* Set the writer thread priority */
schedParam.sched_priority = WRITER_THREAD_PRIORITY;
if (pthread_attr_setschedparam(&attr, &schedParam)) {
ERR("Failed to set scheduler parameters\n");
cleanup(EXIT_FAILURE);
}
/* Create the writer thread */
writerEnv.hRendezvousInit = hRendezvousInit;
writerEnv.hRendezvousCleanup = hRendezvousCleanup;
writerEnv.hPauseProcess = hPauseProcess;
writerEnv.videoFile = args.videoFile;
writerEnv.outBufSize = videoEnv.outBufSize;
writerEnv.outsBufSize = videoEnv.outsBufSize;
if (pthread_create(&writerThread, &attr, writerThrFxn, &writerEnv)) {
ERR("Failed to create writer thread\n");
cleanup(EXIT_FAILURE);
}
initMask |= WRITERTHREADCREATED;
}
/* Create the speech thread if a file name is supplied */
if (args.speechFile) {
/* Set the thread priority */
schedParam.sched_priority = SPEECH_THREAD_PRIORITY;
if (pthread_attr_setschedparam(&attr, &schedParam)) {
ERR("Failed to set scheduler parameters\n");
cleanup(EXIT_FAILURE);
}
/* Create the speech thread */
speechEnv.hRendezvousInit = hRendezvousInit;
speechEnv.hRendezvousCleanup = hRendezvousCleanup;
speechEnv.hPauseProcess = hPauseProcess;
speechEnv.speechFile = args.speechFile;
speechEnv.soundInput = args.soundInput;
speechEnv.speechEncoder = args.speechEncoder->codecName;
speechEnv.params = args.speechEncoder->params;
speechEnv.dynParams = args.speechEncoder->dynParams;
speechEnv.engineName = engine->engineName;
if (pthread_create(&speechThread, &attr, speechThrFxn, &speechEnv)) {
ERR("Failed to create speech thread\n");
cleanup(EXIT_FAILURE);
}
initMask |= SPEECHTHREADCREATED;
}
/* Main thread becomes the control thread */
ctrlEnv.hRendezvousInit = hRendezvousInit;
ctrlEnv.hRendezvousCleanup = hRendezvousCleanup;
ctrlEnv.hPauseProcess = hPauseProcess;
ctrlEnv.keyboard = args.keyboard;
ctrlEnv.time = args.time;
ctrlEnv.hUI = hUI;
ctrlEnv.engineName = engine->engineName;
ret = ctrlThrFxn(&ctrlEnv);
if (ret == THREAD_FAILURE) {
status = EXIT_FAILURE;
}
cleanup:
/* Make sure the other threads aren't waiting for init to complete */
if (hRendezvousCapStd) Rendezvous_force(hRendezvousCapStd);
if (hRendezvousWriter) Rendezvous_force(hRendezvousWriter);
if (hRendezvousInit) Rendezvous_force(hRendezvousInit);
if (hPauseProcess) Pause_off(hPauseProcess);
/* Wait until the other threads terminate */
if (initMask & SPEECHTHREADCREATED) {
if (pthread_join(speechThread, &ret) == 0) {
if (ret == THREAD_FAILURE) {
status = EXIT_FAILURE;
}
}
}
if (initMask & VIDEOTHREADCREATED) {
if (pthread_join(videoThread, &ret) == 0) {
if (ret == THREAD_FAILURE) {
status = EXIT_FAILURE;
}
}
}
if (initMask & WRITERTHREADCREATED) {
if (pthread_join(writerThread, &ret) == 0) {
if (ret == THREAD_FAILURE) {
status = EXIT_FAILURE;
}
}
}
if (writerEnv.hOutFifo) {
Fifo_delete(writerEnv.hOutFifo);
}
if (writerEnv.hInFifo) {
Fifo_delete(writerEnv.hInFifo);
}
if (initMask & CAPTURETHREADCREATED) {
if (pthread_join(captureThread, &ret) == 0) {
if (ret == THREAD_FAILURE) {
status = EXIT_FAILURE;
}
}
}
if (captureEnv.hOutFifo) {
Fifo_delete(captureEnv.hOutFifo);
}
if (captureEnv.hInFifo) {
Fifo_delete(captureEnv.hInFifo);
}
if (hRendezvousCleanup) {
Rendezvous_delete(hRendezvousCleanup);
}
if (hRendezvousInit) {
Rendezvous_delete(hRendezvousInit);
}
if (hPauseProcess) {
Pause_delete(hPauseProcess);
}
if (hUI) {
UI_delete(hUI);
}
system("sync");
system("echo 3 > /proc/sys/vm/drop_caches");
pthread_mutex_destroy(&gbl.mutex);
if (args.interface) {
/* Launch the demo selection interface when exiting */
if (execl("./interface", "interface", "-l 3", (char *) NULL) == -1) {
status = EXIT_FAILURE;
}
}
exit(status);
}
Void *writerThrFxn(Void *arg)
{
WriterEnv *envp = (WriterEnv *) arg;
Void *status = THREAD_SUCCESS;
FILE *outFile = NULL;
Buffer_Attrs bAttrs = Buffer_Attrs_DEFAULT;
BufTab_Handle hBufTab = NULL;
Buffer_Handle hOutBuf;
Int bufIdx;
/* Initialization */
/* Open the output video file */
outFile = fopen(envp->videoFile, "w");
if (outFile == NULL) {
ERR("Failed to open %s for writing\n", envp->videoFile);
cleanup(THREAD_FAILURE);
}
/* Create buftab for video thread */
hBufTab = BufTab_create(NUM_WRITER_BUFS, envp->outBufSize, &bAttrs);
if (hBufTab == NULL) {
ERR("Failed to allocate contiguous buffers\n");
cleanup(THREAD_FAILURE);
}
/* Send all buffers to the video thread to be filled with encoded data */
for (bufIdx = 0; bufIdx < NUM_WRITER_BUFS; bufIdx++) {
if (Fifo_put(envp->hWriterOutFifo, BufTab_getBuf(hBufTab, bufIdx)) < 0) {
ERR("Failed to send buffer to display thread\n");
cleanup(THREAD_FAILURE);
}
}
/* Signal that initialization is done and wait for other threads */
Rendezvous_meet(envp->hRendezvousInit);
while(1) {
/* Get an encoded buffer from the video thread */
if (Fifo_get(envp->hWriterInFifo, &hOutBuf) < 0) {
ERR("Failed to get buffer from video thread\n");
cleanup(THREAD_FAILURE);
}
if (Buffer_getNumBytesUsed(hOutBuf)) {
if (fwrite(Buffer_getUserPtr(hOutBuf), Buffer_getNumBytesUsed(hOutBuf), 1, outFile) != 1) {
ERR("Error writing the encoded data to video file\n");
cleanup(THREAD_FAILURE);
}
}
else {
printf("Warning, writer received 0 byte encoded frame\n");
}
/* Return buffer to capture thread */
if (Fifo_put(envp->hWriterOutFifo, hOutBuf) < 0) {
ERR("Failed to send buffer to display thread\n");
cleanup(THREAD_FAILURE);
}
}
cleanup:
/* Make sure the other threads aren't waiting for us */
Rendezvous_force(envp->hRendezvousInit);
Pause_off(envp->hPauseProcess);
/* Meet up with other threads before cleaning up */
Rendezvous_meet(envp->hRendezvousCleanup);
/* Clean up the thread before exiting */
if (outFile) {
fclose(outFile);
}
if (hBufTab) {
BufTab_delete(hBufTab);
}
return status;
}
