int runtimeStart(Runtime* _runtime)
{
int res;
int exit_code = 0;
RuntimeThreads* rt;
if (_runtime == NULL)
return EINVAL;
rt = &_runtime->m_threads;
rt->m_terminate = false;
if ((res = pthread_create(&rt->m_inputThread, NULL, &threadInput, _runtime)) != 0)
{
fprintf(stderr, "pthread_create(input) failed: %d\n", res);
exit_code = res;
goto exit;
}
if ((res = pthread_create(&rt->m_videoThread, NULL, &threadAudio, _runtime)) != 0)
{
fprintf(stderr, "pthread_create(audio) failed: %d\n", res);
exit_code = res;
goto exit_join_input_thread;
}
return 0;
//exit_join_video_thread:
runtimeSetTerminate(_runtime);
pthread_cancel(rt->m_videoThread);
pthread_join(rt->m_videoThread, NULL);
exit_join_input_thread:
runtimeSetTerminate(_runtime);
pthread_cancel(rt->m_inputThread);
pthread_join(rt->m_inputThread, NULL);
exit:
runtimeSetTerminate(_runtime);
return exit_code;
}
int runtimeStop(Runtime* _runtime)
{
RuntimeThreads* rt;
if (_runtime == NULL)
return EINVAL;
rt = &_runtime->m_threads;
runtimeSetTerminate(_runtime);
pthread_join(rt->m_videoThread, NULL);
pthread_join(rt->m_inputThread, NULL);
return 0;
}
static int threadInputSelectLoop(Runtime* _runtime, RCInput* _rc)
{
int res;
int maxFd = 0;
fd_set fdsIn;
static const struct timespec s_selectTimeout = { .tv_sec=1, .tv_nsec=0 };
if (_runtime == NULL || _rc == NULL)
return EINVAL;
FD_ZERO(&fdsIn);
FD_SET(_rc->m_serverFd, &fdsIn);
if (maxFd < _rc->m_serverFd)
maxFd = _rc->m_serverFd;
if (_rc->m_stdinFd != -1)
{
FD_SET(_rc->m_stdinFd, &fdsIn);
if (maxFd < _rc->m_stdinFd)
maxFd = _rc->m_stdinFd;
}
if (_rc->m_eventInputFd != -1)
{
FD_SET(_rc->m_eventInputFd, &fdsIn);
if (maxFd < _rc->m_eventInputFd)
maxFd = _rc->m_eventInputFd;
}
if (_rc->m_connectionFd != -1)
{
FD_SET(_rc->m_connectionFd, &fdsIn);
if (maxFd < _rc->m_connectionFd)
maxFd = _rc->m_connectionFd;
}
if ((res = pselect(maxFd+1, &fdsIn, NULL, NULL, &s_selectTimeout, NULL)) < 0)
{
res = errno;
fprintf(stderr, "pselect() failed: %d\n", res);
return res;
}
if (FD_ISSET(_rc->m_serverFd, &fdsIn))
{
if ((res = rcInputAcceptConnection(_rc)) != 0)
{
fprintf(stderr, "rcInputAcceptConnection() failed: %d\n", res);
return res;
}
}
if (_rc->m_stdinFd != -1 && FD_ISSET(_rc->m_stdinFd, &fdsIn))
{
if ((res = rcInputReadStdin(_rc)) != 0)
{
fprintf(stderr, "rcInputReadStdin() failed: %d\n", res);
return res;
}
}
if (_rc->m_eventInputFd != -1 && FD_ISSET(_rc->m_eventInputFd, &fdsIn))
{
if ((res = rcInputReadEventInput(_rc)) != 0)
{
fprintf(stderr, "rcInputReadEventInput() failed: %d\n", res);
return res;
}
}
if (_rc->m_connectionFd != -1 && FD_ISSET(_rc->m_connectionFd, &fdsIn))
{
if ((res = rcInputReadConnection(_rc)) != 0)
{
fprintf(stderr, "rcInputReadConnection() failed: %d\n", res);
return res;
}
}
DriverManualControl driverManualControl;
if ((res = rcInputGetManualControl(_rc, &driverManualControl)) != 0)
{
if (res != ENODATA)
{
fprintf(stderr, "rcInputGetManualControl() failed: %d\n", res);
return res;
}
}
else
{
if ((res = runtimeSetDriverManualControl(_runtime, &driverManualControl)) != 0)
{
fprintf(stderr, "runtimeSetDriverManualControl() failed: %d\n", res);
return res;
}
}
TargetDetectParams targetParams;
if ((res = rcInputGetTargetDetectParams(_rc, &targetParams)) != 0)
{
if (res != ENODATA)
{
fprintf(stderr, "rcInputGetTargetDetectParams() failed: %d\n", res);
return res;
}
}
else
{
if ((res = runtimeSetTargetDetectParams(_runtime, &targetParams)) != 0)
{
fprintf(stderr, "runtimeSetTargetDetectParams() failed: %d\n", res);
return res;
}
}
return 0;
}
void* threadInput(void* _arg)
{
int res = 0;
intptr_t exit_code = 0;
Runtime* runtime = (Runtime*)_arg;
RCInput* rc;
if (runtime == NULL)
{
exit_code = EINVAL;
goto exit;
}
if ((rc = runtimeModRCInput(runtime)) == NULL)
{
exit_code = EINVAL;
goto exit;
}
if ((res = rcInputOpen(rc, runtimeCfgRCInput(runtime))) != 0)
{
fprintf(stderr, "rcInputOpen() failed: %d\n", res);
exit_code = res;
goto exit;
}
if ((res = rcInputStart(rc)) != 0)
{
fprintf(stderr, "rcInputStart() failed: %d\n", res);
exit_code = res;
goto exit_rc_close;
}
printf("Entering input thread loop\n");
while (!runtimeGetTerminate(runtime))
{
if ((res = threadInputSelectLoop(runtime, rc)) != 0)
{
fprintf(stderr, "threadInputSelectLoop() failed: %d\n", res);
exit_code = res;
goto exit_rc_stop;
}
}
printf("Left input thread loop\n");
exit_rc_stop:
if ((res = rcInputStop(rc)) != 0)
fprintf(stderr, "rcInputStop() failed: %d\n", res);
exit_rc_close:
if ((res = rcInputClose(rc)) != 0)
fprintf(stderr, "rcInputClose() failed: %d\n", res);
exit:
runtimeSetTerminate(runtime);
return (void*)exit_code;
}
static int threadVideoSelectLoop(Runtime* _runtime, CodecEngine* _ce, V4L2Input* _v4l2, FBOutput* _fb)
{
int res;
int maxFd = 0;
fd_set fdsIn;
static const struct timespec s_selectTimeout = { .tv_sec=1, .tv_nsec=0 };
if (_runtime == NULL || _ce == NULL || _v4l2 == NULL || _fb == NULL)
return EINVAL;
FD_ZERO(&fdsIn);
FD_SET(_v4l2->m_fd, &fdsIn);
if (maxFd < _v4l2->m_fd)
maxFd = _v4l2->m_fd;
if ((res = pselect(maxFd+1, &fdsIn, NULL, NULL, &s_selectTimeout, NULL)) < 0)
{
res = errno;
fprintf(stderr, "pselect() failed: %d\n", res);
return res;
}
if (!FD_ISSET(_v4l2->m_fd, &fdsIn))
{
fprintf(stderr, "pselect() did not select V4L2\n");
return EBUSY;
}
const void* frameSrcPtr;
size_t frameSrcSize;
size_t frameSrcIndex;
if ((res = v4l2InputGetFrame(_v4l2, &frameSrcPtr, &frameSrcSize, &frameSrcIndex)) != 0)
{
fprintf(stderr, "v4l2InputGetFrame() failed: %d\n", res);
return res;
}
void* frameDstPtr;
size_t frameDstSize;
if ((res = fbOutputGetFrame(_fb, &frameDstPtr, &frameDstSize)) != 0)
{
fprintf(stderr, "fbOutputGetFrame() failed: %d\n", res);
return res;
}
TargetDetectParams targetParams;
TargetLocation targetLocation;
if ((res = runtimeGetTargetDetectParams(_runtime, &targetParams)) != 0)
{
fprintf(stderr, "runtimeGetTargetDetectParams() failed: %d\n", res);
return res;
}
size_t frameDstUsed = frameDstSize;
if ((res = codecEngineTranscodeFrame(_ce,
frameSrcPtr, frameSrcSize,
frameDstPtr, frameDstSize, &frameDstUsed,
&targetParams,
&targetLocation)) != 0)
{
fprintf(stderr, "codecEngineTranscodeFrame(%p[%zu] -> %p[%zu]) failed: %d\n",
frameSrcPtr, frameSrcSize, frameDstPtr, frameDstSize, res);
return res;
}
if ((res = fbOutputPutFrame(_fb)) != 0)
{
fprintf(stderr, "fbOutputPutFrame() failed: %d\n", res);
return res;
}
if ((res = v4l2InputPutFrame(_v4l2, frameSrcIndex)) != 0)
{
fprintf(stderr, "v4l2InputPutFrame() failed: %d\n", res);
return res;
}
if ((res = runtimeSetTargetLocation(_runtime, &targetLocation)) != 0)
{
fprintf(stderr, "runtimeSetTargetLocation() failed: %d\n", res);
return res;
}
return 0;
}
void* threadVideo(void* _arg)
{
int res = 0;
intptr_t exit_code = 0;
Runtime* runtime = (Runtime*)_arg;
CodecEngine* ce;
V4L2Input* v4l2;
FBOutput* fb;
struct timespec last_fps_report_time;
if (runtime == NULL)
{
exit_code = EINVAL;
goto exit;
}
if ( (ce = runtimeModCodecEngine(runtime)) == NULL
|| (v4l2 = runtimeModV4L2Input(runtime)) == NULL
|| (fb = runtimeModFBOutput(runtime)) == NULL)
{
exit_code = EINVAL;
goto exit;
}
if ((res = codecEngineOpen(ce, runtimeCfgCodecEngine(runtime))) != 0)
{
fprintf(stderr, "codecEngineOpen() failed: %d\n", res);
exit_code = res;
goto exit;
}
if ((res = v4l2InputOpen(v4l2, runtimeCfgV4L2Input(runtime))) != 0)
{
fprintf(stderr, "v4l2InputOpen() failed: %d\n", res);
exit_code = res;
goto exit_ce_close;
}
if ((res = fbOutputOpen(fb, runtimeCfgFBOutput(runtime))) != 0)
{
fprintf(stderr, "fbOutputOpen() failed: %d\n", res);
exit_code = res;
goto exit_v4l2_close;
}
ImageDescription srcImageDesc;
ImageDescription dstImageDesc;
if ((res = v4l2InputGetFormat(v4l2, &srcImageDesc)) != 0)
{
fprintf(stderr, "v4l2InputGetFormat() failed: %d\n", res);
exit_code = res;
goto exit_fb_close;
}
if ((res = fbOutputGetFormat(fb, &dstImageDesc)) != 0)
{
fprintf(stderr, "fbOutputGetFormat() failed: %d\n", res);
exit_code = res;
goto exit_fb_close;
}
if ((res = codecEngineStart(ce, runtimeCfgCodecEngine(runtime), &srcImageDesc, &dstImageDesc)) != 0)
{
fprintf(stderr, "codecEngineStart() failed: %d\n", res);
exit_code = res;
goto exit_fb_close;
}
if ((res = v4l2InputStart(v4l2)) != 0)
{
fprintf(stderr, "v4l2InputStart() failed: %d\n", res);
exit_code = res;
goto exit_ce_stop;
}
if ((res = fbOutputStart(fb)) != 0)
{
fprintf(stderr, "fbOutputStart() failed: %d\n", res);
exit_code = res;
goto exit_v4l2_stop;
}
if ((res = clock_gettime(CLOCK_MONOTONIC, &last_fps_report_time)) != 0)
{
fprintf(stderr, "clock_gettime(CLOCK_MONOTONIC) failed: %d\n", errno);
exit_code = res;
goto exit_fb_stop;
}
printf("Entering video thread loop\n");
while (!runtimeGetTerminate(runtime))
{
struct timespec now;
long long last_fps_report_elapsed_ms;
if ((res = clock_gettime(CLOCK_MONOTONIC, &now)) != 0)
{
fprintf(stderr, "clock_gettime(CLOCK_MONOTONIC) failed: %d\n", errno);
exit_code = res;
goto exit_fb_stop;
}
last_fps_report_elapsed_ms = (now.tv_sec - last_fps_report_time.tv_sec )*1000
+ (now.tv_nsec - last_fps_report_time.tv_nsec)/1000000;
if (last_fps_report_elapsed_ms >= 10*1000)
{
last_fps_report_time.tv_sec += 10;
if ((res = codecEngineReportLoad(ce, last_fps_report_elapsed_ms)) != 0)
fprintf(stderr, "codecEngineReportLoad() failed: %d\n", res);
if ((res = v4l2InputReportFPS(v4l2, last_fps_report_elapsed_ms)) != 0)
fprintf(stderr, "v4l2InputReportFPS() failed: %d\n", res);
}
if ((res = threadVideoSelectLoop(runtime, ce, v4l2, fb)) != 0)
{
fprintf(stderr, "threadVideoSelectLoop() failed: %d\n", res);
exit_code = res;
goto exit_fb_stop;
}
}
printf("Left video thread loop\n");
exit_fb_stop:
if ((res = fbOutputStop(fb)) != 0)
fprintf(stderr, "fbOutputStop() failed: %d\n", res);
exit_v4l2_stop:
if ((res = v4l2InputStop(v4l2)) != 0)
fprintf(stderr, "v4l2InputStop() failed: %d\n", res);
exit_ce_stop:
if ((res = codecEngineStop(ce)) != 0)
fprintf(stderr, "codecEngineStop() failed: %d\n", res);
exit_fb_close:
if ((res = fbOutputClose(fb)) != 0)
fprintf(stderr, "fbOutputClose() failed: %d\n", res);
exit_v4l2_close:
if ((res = v4l2InputClose(v4l2)) != 0)
fprintf(stderr, "v4l2InputClose() failed: %d\n", res);
exit_ce_close:
if ((res = codecEngineClose(ce)) != 0)
fprintf(stderr, "codecEngineClose() failed: %d\n", res);
exit:
runtimeSetTerminate(runtime);
return (void*)exit_code;
}
// Video thread
void* threadVideo(void* _arg)
{
intptr_t exit_code = 0;
Runtime* runtime = (Runtime*)_arg;
CodecEngine* ce;
FBOutput* fb;
int res = 0;
struct timespec last_fps_report_time;
ImageDescription srcImageDesc;
ImageDescription dstImageDesc;
if (runtime == NULL)
{
exit_code = EINVAL;
goto exit;
}
if ((ce = runtimeModCodecEngine(runtime)) == NULL
|| (fb = runtimeModFBOutput(runtime)) == NULL)
{
exit_code = EINVAL;
goto exit;
}
if ((res = codecEngineOpen(ce, runtimeCfgCodecEngine(runtime))) != 0)
{
fprintf(stderr, "codecEngineOpen() failed: %d\n", res);
exit_code = res;
goto exit;
}
if ((res = fbOutputOpen(fb, runtimeCfgFBOutput(runtime))) != 0)
{
fprintf(stderr, "fbOutputOpen() failed: %d\n", res);
exit_code = res;
goto exit_ce_close;
}
if ((res = fbOutputGetFormat(fb, &dstImageDesc)) != 0)
{
fprintf(stderr, "fbOutputGetFormat() failed: %d\n", res);
exit_code = res;
goto exit_fb_close;
}
memcpy(&srcImageDesc, &dstImageDesc, sizeof(srcImageDesc));
srcImageDesc.m_format = ImageSourceFormat;
srcImageDesc.m_imageSize = FrameSourceSize;
if ((res = codecEngineStart(ce, runtimeCfgCodecEngine(runtime), &srcImageDesc, &dstImageDesc)) != 0)
{
fprintf(stderr, "codecEngineStart() failed: %d\n", res);
exit_code = res;
goto exit_fb_close;
}
if ((res = fbOutputStart(fb)) != 0)
{
fprintf(stderr, "fbOutputStart() failed: %d\n", res);
exit_code = res;
goto exit_ce_close;
}
if ((res = clock_gettime(CLOCK_MONOTONIC, &last_fps_report_time)) != 0)
{
fprintf(stderr, "clock_gettime(CLOCK_MONOTONIC) failed: %d\n", errno);
exit_code = res;
goto exit_fb_stop;
}
printf("Open default soundcard\n");
init_soundcard();
printf("Entering video thread loop\n");
while (!runtimeGetTerminate(runtime))
{
struct timespec now;
long long last_fps_report_elapsed_ms;
if ((res = clock_gettime(CLOCK_MONOTONIC, &now)) != 0)
{
fprintf(stderr, "clock_gettime(CLOCK_MONOTONIC) failed: %d\n", errno);
exit_code = res;
goto exit_fb_stop;
}
last_fps_report_elapsed_ms = (now.tv_sec - last_fps_report_time.tv_sec )*1000
+ (now.tv_nsec - last_fps_report_time.tv_nsec)/1000000;
if (last_fps_report_elapsed_ms >= 10*1000)
{
last_fps_report_time.tv_sec += 10;
if ((res = codecEngineReportLoad(ce, last_fps_report_elapsed_ms)) != 0)
fprintf(stderr, "codecEngineReportLoad() failed: %d\n", res);
if ((res = InputReportFPS(last_fps_report_elapsed_ms)) != 0)
fprintf(stderr, "InputReportFPS() failed: %d\n", res);
}
if ((res = threadVideoSelectLoop(runtime, ce, fb)) != 0)
{
fprintf(stderr, "threadVideoSelectLoop() failed: %d\n", res);
exit_code = res;
goto exit_fb_stop;
}
}
printf("Left video thread loop\n");
exit_fb_stop:
if ((res = fbOutputStop(fb)) != 0)
fprintf(stderr, "fbOutputStop() failed: %d\n", res);
exit_ce_stop:
if ((res = codecEngineStop(ce)) != 0)
fprintf(stderr, "codecEngineStop() failed: %d\n", res);
exit_fb_close:
if ((res = fbOutputClose(fb)) != 0)
fprintf(stderr, "fbOutputClose() failed: %d\n", res);
exit_ce_close:
if ((res = codecEngineClose(ce)) != 0)
fprintf(stderr, "codecEngineClose() failed: %d\n", res);
exit:
runtimeSetTerminate(runtime);
printf("Close default soundcard\n");
close_soundcard();
return (void*)exit_code;
}
