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video_record.c
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video_record.c
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/*
* File: buffer_demo.c
* Author: Tasanakorn
*
* Created on May 22, 2013, 1:52 PM
*/
#include <stdio.h>
#include <stdlib.h>
#include <sys/time.h>
#include "bcm_host.h"
#include "interface/vcos/vcos.h"
#include "interface/mmal/mmal.h"
#include "interface/mmal/util/mmal_default_components.h"
#include "interface/mmal/util/mmal_connection.h"
#include <cairo/cairo.h>
#define MMAL_CAMERA_PREVIEW_PORT 0
#define MMAL_CAMERA_VIDEO_PORT 1
#define MMAL_CAMERA_CAPTURE_PORT 2
#define VIDEO_FPS 30
#define VIDEO_WIDTH 1280
#define VIDEO_HEIGHT 720
typedef struct {
int width;
int height;
MMAL_COMPONENT_T *camera;
MMAL_COMPONENT_T *encoder;
MMAL_COMPONENT_T *preview;
MMAL_PORT_T *camera_preview_port;
MMAL_PORT_T *camera_video_port;
MMAL_PORT_T *camera_still_port;
MMAL_POOL_T *camera_video_port_pool;
MMAL_PORT_T *encoder_input_port;
MMAL_POOL_T *encoder_input_pool;
MMAL_PORT_T *encoder_output_port;
MMAL_POOL_T *encoder_output_pool;
uint8_t *overlay_buffer;
uint8_t *overlay_buffer2;
int overlay;
float fps;
} PORT_USERDATA;
static void camera_video_buffer_callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer) {
static int frame_count = 0;
static struct timespec t1;
struct timespec t2;
uint8_t *local_overlay_buffer;
//fprintf(stderr, "INFO:%s\n", __func__);
if (frame_count == 0) {
clock_gettime(CLOCK_MONOTONIC, &t1);
}
clock_gettime(CLOCK_MONOTONIC, &t2);
int d = t2.tv_sec - t1.tv_sec;
MMAL_BUFFER_HEADER_T *new_buffer;
MMAL_BUFFER_HEADER_T *output_buffer = 0;
PORT_USERDATA *userdata = (PORT_USERDATA *) port->userdata;
MMAL_POOL_T *pool = userdata->camera_video_port_pool;
frame_count++;
output_buffer = mmal_queue_get(userdata->encoder_input_pool->queue);
//Set pointer to latest updated/drawn double buffer to local pointer
if (userdata->overlay == 0) {
local_overlay_buffer = userdata->overlay_buffer;
}
else {
local_overlay_buffer = userdata->overlay_buffer2;
}
//Try to some colors http://en.wikipedia.org/wiki/YUV
int chrominance_offset = userdata->width * userdata->height;
int v_offset = chrominance_offset / 4;
int chroma = 0;
if (output_buffer) {
mmal_buffer_header_mem_lock(buffer);
memcpy(output_buffer->data, buffer->data, buffer->length);
// dim
int x, y;
for (x = 0; x < 600; x++) {
for (y = 0; y < 100; y++) {
if (local_overlay_buffer[(y * 600 + x) * 4] > 0) {
//copy luma Y
output_buffer->data[y * userdata->width + x ] = 0xdf;
//pointer to chrominance U/V
chroma= y / 2 * userdata->width / 2 + x / 2 + chrominance_offset;
//just guessing colors
output_buffer->data[chroma] = 0x38 ;
output_buffer->data[chroma+v_offset] = 0xb8 ;
}
}
}
output_buffer->length = buffer->length;
mmal_buffer_header_mem_unlock(buffer);
if (mmal_port_send_buffer(userdata->encoder_input_port, output_buffer) != MMAL_SUCCESS) {
fprintf(stderr, "ERROR: Unable to send buffer \n");
}
} else {
fprintf(stderr, "ERROR: mmal_queue_get (%d)\n", output_buffer);
}
if (frame_count % 10 == 0) {
// print framerate every n frame
clock_gettime(CLOCK_MONOTONIC, &t2);
float d = (t2.tv_sec + t2.tv_nsec / 1000000000.0) - (t1.tv_sec + t1.tv_nsec / 1000000000.0);
float fps = 0.0;
if (d > 0) {
fps = frame_count / d;
} else {
fps = frame_count;
}
userdata->fps = fps;
fprintf(stderr, " Frame = %d, Framerate = %.1f fps \n", frame_count, fps);
}
mmal_buffer_header_release(buffer);
// and send one back to the port (if still open)
if (port->is_enabled) {
MMAL_STATUS_T status;
new_buffer = mmal_queue_get(pool->queue);
if (new_buffer) {
status = mmal_port_send_buffer(port, new_buffer);
}
if (!new_buffer || status != MMAL_SUCCESS) {
fprintf(stderr, "Error: Unable to return a buffer to the video port\n");
}
}
}
static void encoder_input_buffer_callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer) {
//fprintf(stderr, "INFO:%s\n", __func__);
mmal_buffer_header_release(buffer);
}
static void encoder_output_buffer_callback(MMAL_PORT_T *port, MMAL_BUFFER_HEADER_T *buffer) {
MMAL_BUFFER_HEADER_T *new_buffer;
PORT_USERDATA *userdata = (PORT_USERDATA *) port->userdata;
MMAL_POOL_T *pool = userdata->encoder_output_pool;
//fprintf(stderr, "INFO:%s\n", __func__);
mmal_buffer_header_mem_lock(buffer);
fwrite(buffer->data, 1, buffer->length, stdout);
mmal_buffer_header_mem_unlock(buffer);
mmal_buffer_header_release(buffer);
if (port->is_enabled) {
MMAL_STATUS_T status;
new_buffer = mmal_queue_get(pool->queue);
if (new_buffer) {
status = mmal_port_send_buffer(port, new_buffer);
}
if (!new_buffer || status != MMAL_SUCCESS) {
fprintf(stderr, "Unable to return a buffer to the video port\n");
}
}
}
int fill_port_buffer(MMAL_PORT_T *port, MMAL_POOL_T *pool) {
int q;
int num = mmal_queue_length(pool->queue);
for (q = 0; q < num; q++) {
MMAL_BUFFER_HEADER_T *buffer = mmal_queue_get(pool->queue);
if (!buffer) {
fprintf(stderr, "Unable to get a required buffer %d from pool queue\n", q);
}
if (mmal_port_send_buffer(port, buffer) != MMAL_SUCCESS) {
fprintf(stderr, "Unable to send a buffer to port (%d)\n", q);
}
}
}
int setup_camera(PORT_USERDATA *userdata) {
MMAL_STATUS_T status;
MMAL_COMPONENT_T *camera = 0;
MMAL_ES_FORMAT_T *format;
MMAL_PORT_T * camera_preview_port;
MMAL_PORT_T * camera_video_port;
MMAL_PORT_T * camera_still_port;
MMAL_POOL_T * camera_video_port_pool;
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_CAMERA, &camera);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: create camera %x\n", status);
return -1;
}
userdata->camera = camera;
userdata->camera_preview_port = camera->output[MMAL_CAMERA_PREVIEW_PORT];
userdata->camera_video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
userdata->camera_still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
camera_preview_port = camera->output[MMAL_CAMERA_PREVIEW_PORT];
camera_video_port = camera->output[MMAL_CAMERA_VIDEO_PORT];
camera_still_port = camera->output[MMAL_CAMERA_CAPTURE_PORT];
{
MMAL_PARAMETER_CAMERA_CONFIG_T cam_config = {
{ MMAL_PARAMETER_CAMERA_CONFIG, sizeof (cam_config)},
.max_stills_w = 1280,
.max_stills_h = 720,
.stills_yuv422 = 0,
.one_shot_stills = 1,
.max_preview_video_w = VIDEO_WIDTH,
.max_preview_video_h = VIDEO_HEIGHT,
.num_preview_video_frames = 3,
.stills_capture_circular_buffer_height = 0,
.fast_preview_resume = 0,
.use_stc_timestamp = MMAL_PARAM_TIMESTAMP_MODE_RESET_STC
};
mmal_port_parameter_set(camera->control, &cam_config.hdr);
}
// Setup camera preview port format
format = camera_preview_port->format;
format->encoding = MMAL_ENCODING_OPAQUE;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = VIDEO_WIDTH;
format->es->video.height = VIDEO_HEIGHT;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = VIDEO_WIDTH;
format->es->video.crop.height = VIDEO_HEIGHT;
status = mmal_port_format_commit(camera_preview_port);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: camera viewfinder format couldn't be set\n");
return -1;
}
// Setup camera video port format
mmal_format_copy(camera_video_port->format, camera_preview_port->format);
format = camera_video_port->format;
format->encoding = MMAL_ENCODING_I420;
format->encoding_variant = MMAL_ENCODING_I420;
format->es->video.width = VIDEO_WIDTH;
format->es->video.height = VIDEO_HEIGHT;
format->es->video.crop.x = 0;
format->es->video.crop.y = 0;
format->es->video.crop.width = VIDEO_WIDTH;
format->es->video.crop.height = VIDEO_HEIGHT;
format->es->video.frame_rate.num = VIDEO_FPS;
format->es->video.frame_rate.den = 1;
camera_video_port->buffer_size = format->es->video.width * format->es->video.height * 12 / 8;
camera_video_port->buffer_num = 2;
fprintf(stderr, "INFO:camera video buffer_size = %d\n", camera_video_port->buffer_size);
fprintf(stderr, "INFO:camera video buffer_num = %d\n", camera_video_port->buffer_num);
status = mmal_port_format_commit(camera_video_port);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to commit camera video port format (%u)\n", status);
return -1;
}
camera_video_port_pool = (MMAL_POOL_T *) mmal_port_pool_create(camera_video_port, camera_video_port->buffer_num, camera_video_port->buffer_size);
userdata->camera_video_port_pool = camera_video_port_pool;
camera_video_port->userdata = (struct MMAL_PORT_USERDATA_T *) userdata;
status = mmal_port_enable(camera_video_port, camera_video_buffer_callback);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to enable camera video port (%u)\n", status);
return -1;
}
status = mmal_component_enable(camera);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to enable camera (%u)\n", status);
return -1;
}
fill_port_buffer(userdata->camera_video_port, userdata->camera_video_port_pool);
if (mmal_port_parameter_set_boolean(camera_video_port, MMAL_PARAMETER_CAPTURE, 1) != MMAL_SUCCESS) {
printf("%s: Failed to start capture\n", __func__);
}
fprintf(stderr, "INFO: camera created\n");
return 0;
}
int setup_encoder(PORT_USERDATA *userdata) {
MMAL_STATUS_T status;
MMAL_COMPONENT_T *encoder = 0;
MMAL_PORT_T *preview_input_port = NULL;
MMAL_PORT_T *encoder_input_port = NULL, *encoder_output_port = NULL;
MMAL_POOL_T *encoder_input_port_pool;
MMAL_POOL_T *encoder_output_port_pool;
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_ENCODER, &encoder);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to create preview (%u)\n", status);
return -1;
}
encoder_input_port = encoder->input[0];
encoder_output_port = encoder->output[0];
userdata->encoder_input_port = encoder_input_port;
userdata->encoder_output_port = encoder_input_port;
mmal_format_copy(encoder_input_port->format, userdata->camera_video_port->format);
encoder_input_port->buffer_size = encoder_input_port->buffer_size_recommended;
encoder_input_port->buffer_num = 2;
mmal_format_copy(encoder_output_port->format, encoder_input_port->format);
encoder_output_port->buffer_size = encoder_output_port->buffer_size_recommended;
encoder_output_port->buffer_num = 2;
// Commit the port changes to the input port
status = mmal_port_format_commit(encoder_input_port);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to commit encoder input port format (%u)\n", status);
return -1;
}
// Only supporting H264 at the moment
encoder_output_port->format->encoding = MMAL_ENCODING_H264;
encoder_output_port->format->bitrate = 2000000;
encoder_output_port->buffer_size = encoder_output_port->buffer_size_recommended;
if (encoder_output_port->buffer_size < encoder_output_port->buffer_size_min) {
encoder_output_port->buffer_size = encoder_output_port->buffer_size_min;
}
encoder_output_port->buffer_num = encoder_output_port->buffer_num_recommended;
if (encoder_output_port->buffer_num < encoder_output_port->buffer_num_min) {
encoder_output_port->buffer_num = encoder_output_port->buffer_num_min;
}
// Commit the port changes to the output port
status = mmal_port_format_commit(encoder_output_port);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to commit encoder output port format (%u)\n", status);
return -1;
}
fprintf(stderr, " encoder input buffer_size = %d\n", encoder_input_port->buffer_size);
fprintf(stderr, " encoder input buffer_num = %d\n", encoder_input_port->buffer_num);
fprintf(stderr, " encoder output buffer_size = %d\n", encoder_output_port->buffer_size);
fprintf(stderr, " encoder output buffer_num = %d\n", encoder_output_port->buffer_num);
encoder_input_port_pool = (MMAL_POOL_T *) mmal_port_pool_create(encoder_input_port, encoder_input_port->buffer_num, encoder_input_port->buffer_size);
userdata->encoder_input_pool = encoder_input_port_pool;
encoder_input_port->userdata = (struct MMAL_PORT_USERDATA_T *) userdata;
status = mmal_port_enable(encoder_input_port, encoder_input_buffer_callback);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to enable encoder input port (%u)\n", status);
return -1;
}
fprintf(stderr, "INFO:Encoder input pool has been created\n");
encoder_output_port_pool = (MMAL_POOL_T *) mmal_port_pool_create(encoder_output_port, encoder_output_port->buffer_num, encoder_output_port->buffer_size);
userdata->encoder_output_pool = encoder_output_port_pool;
encoder_output_port->userdata = (struct MMAL_PORT_USERDATA_T *) userdata;
status = mmal_port_enable(encoder_output_port, encoder_output_buffer_callback);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to enable encoder output port (%u)\n", status);
return -1;
}
fprintf(stderr, "INFO:Encoder output pool has been created\n");
fill_port_buffer(encoder_output_port, encoder_output_port_pool);
fprintf(stderr, "INFO:Encoder has been created\n");
return 0;
}
int setup_preview(PORT_USERDATA *userdata) {
MMAL_STATUS_T status;
MMAL_COMPONENT_T *preview = 0;
MMAL_CONNECTION_T *camera_preview_connection = 0;
MMAL_PORT_T *preview_input_port;
status = mmal_component_create(MMAL_COMPONENT_DEFAULT_VIDEO_RENDERER, &preview);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to create preview (%u)\n", status);
return -1;
}
userdata->preview = preview;
preview_input_port = preview->input[0];
{
MMAL_DISPLAYREGION_T param;
param.hdr.id = MMAL_PARAMETER_DISPLAYREGION;
param.hdr.size = sizeof (MMAL_DISPLAYREGION_T);
param.set = MMAL_DISPLAY_SET_LAYER;
param.layer = 0;
param.set |= MMAL_DISPLAY_SET_FULLSCREEN;
param.fullscreen = 1;
status = mmal_port_parameter_set(preview_input_port, ¶m.hdr);
if (status != MMAL_SUCCESS && status != MMAL_ENOSYS) {
fprintf(stderr, "Error: unable to set preview port parameters (%u)\n", status);
return -1;
}
}
status = mmal_connection_create(&camera_preview_connection, userdata->camera_preview_port, preview_input_port, MMAL_CONNECTION_FLAG_TUNNELLING | MMAL_CONNECTION_FLAG_ALLOCATION_ON_INPUT);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to create connection (%u)\n", status);
return -1;
}
status = mmal_connection_enable(camera_preview_connection);
if (status != MMAL_SUCCESS) {
fprintf(stderr, "Error: unable to enable connection (%u)\n", status);
return -1;
}
fprintf(stderr, "INFO: preview created\n");
return 0;
}
int setup_video_overlay(PORT_USERDATA *userdata) {
return 0;
}
int main(int argc, char** argv) {
PORT_USERDATA userdata;
MMAL_STATUS_T status;
cairo_surface_t *surface,*surface2;
cairo_t *context,*context2;
memset(&userdata, 0, sizeof (PORT_USERDATA));
userdata.width = VIDEO_WIDTH;
userdata.height = VIDEO_HEIGHT;
userdata.fps = 0.0;
fprintf(stderr, "VIDEO_WIDTH : %i\n", userdata.width );
fprintf(stderr, "VIDEO_HEIGHT: %i\n", userdata.height );
fprintf(stderr, "VIDEO_FPS : %i\n", VIDEO_FPS);
fprintf(stderr, "Running...\n");
bcm_host_init();
surface = cairo_image_surface_create(CAIRO_FORMAT_ARGB32, 600, 100);
context = cairo_create(surface);
cairo_rectangle(context, 0.0, 0.0, 600, 100);
cairo_set_source_rgba(context, 0.0, 0.0, 0.0, 1.0);
cairo_fill(context);
userdata.overlay_buffer = cairo_image_surface_get_data(surface);
userdata.overlay = 1;
surface2 = cairo_image_surface_create(CAIRO_FORMAT_ARGB32, 600, 100);
context2 = cairo_create(surface2);
cairo_rectangle(context2, 0.0, 0.0, 600, 100);
cairo_set_source_rgba(context2, 0.0, 0.0, 0.0, 1.0);
cairo_fill(context2);
userdata.overlay_buffer2 = cairo_image_surface_get_data(surface2);
if (1 && setup_camera(&userdata) != 0) {
fprintf(stderr, "Error: setup camera %x\n", status);
return -1;
}
if (1 && setup_encoder(&userdata) != 0) {
fprintf(stderr, "Error: setup encoder %x\n", status);
return -1;
}
if (1 && setup_preview(&userdata) != 0) {
fprintf(stderr, "Error: setup preview %x\n", status);
return -1;
}
char text[256];
//fake Speed and GPS data
float lat = 47.4912;
float lon = 8.906;
float speed = 20.0;
while (1) {
//Update Draw to unused buffer that way there is no flickering of the overlay text if the overlay update rate
//and video FPS are not the same
if (userdata.overlay == 1) {
cairo_rectangle(context, 0.0, 0.0, 600, 100);
cairo_set_source_rgba(context, 0.0, 0.0, 0.0, 1.0);
cairo_fill(context);
cairo_move_to(context, 0.0, 0.0);
cairo_set_source_rgba(context, 1.0, 1.0, 1.0, 1.0);
cairo_move_to(context, 0.0, 30.0);
cairo_set_font_size(context, 20.0);
sprintf(text, "%.2fFPS GPS: %.3f, %.3f Speed %.1fkm/h b0", userdata.fps,lat,lon,speed);
cairo_show_text(context, text);
userdata.overlay = 0;
}
else {
cairo_rectangle(context2, 0.0, 0.0, 600, 100);
cairo_set_source_rgba(context2, 0.0, 0.0, 0.0, 1.0);
cairo_fill(context2);
cairo_move_to(context2, 0.0, 0.0);
cairo_set_source_rgba(context2, 1.0, 1.0, 1.0, 1.0);
cairo_move_to(context2, 0.0, 30.0);
cairo_set_font_size(context2, 20.0);
sprintf(text, "%.2fFPS GPS: %.3f, %.3f Speed %.1fkm/h b1", userdata.fps,lat,lon,speed);
//sprintf(text, "%.2fFPS GPS: 0.00000, 0.00000 Speed 0km/h b1", userdata.fps);
cairo_show_text(context2, text);
userdata.overlay = 1;
}
lat += 0.01;
lon += 0.01;
speed += 0.1;
usleep(30000);
}
return 0;
}