fixes

5 files changed, 64 insertions, 55 deletions

diff --git a/main.c b/main.c
index df892ac..9af7dd7 100644
--- a/main.c
+++ b/main.c
@@ -64,7 +64,7 @@ void start_ffmpeg(int in, int out) {
 			close(fd);
 		execlp("ffmpeg",
 		       "ffmpeg",
-		       "-pix_fmt", "rgb24", "-s", "640x480", "-f", "rawvideo", "-i", "-",
+		       "-pix_fmt", "rgb24", "-s", "640x480", "-f", "rawvideo", "-i", "/dev/stdin",
 		       "-f", "mpjpeg", "-",
 		       NULL);
 		error(1, errno, "execlp: ffmpeg");
@@ -85,8 +85,7 @@ void* start_kinect_inner(void *args_anon) {
 	struct thread_kinect_args *args = args_anon;
 	thread_kinect(args->video_fd, args->depth_fd, args->accel_fd);
 	wg_sub(&wg, 1);
-	running = 0;
-	close(httpsock);
+	finish(0);
 	return NULL;
 }
 static
@@ -117,16 +116,13 @@ void *start_mpjpeg_reader_inner(void *args_anon) {
 }
 static
 void start_mpjpeg_reader(struct mpjpeg_stream *s, int fd, const char *boundary) {
-	struct thread_mpjpeg {
-		struct thread_mpjpeg_args args;
-		pthread_t thread;
-	};
-	struct thread_mpjpeg *thread = xrealloc(NULL, sizeof(struct thread_mpjpeg_args));
-	thread->args.s = s;
-	thread->args.fd = fd;
-	thread->args.boundary = boundary;
+	struct thread_mpjpeg_args *args = xrealloc(NULL, sizeof(struct thread_mpjpeg_args));
+	args->s = s;
+	args->fd = fd;
+	args->boundary = boundary;
 	wg_add(&wg, 1);
-	pthread_create(&thread->thread, NULL, start_mpjpeg_reader_inner, &thread->args);
+	static pthread_t thread;
+	pthread_create(&thread, NULL, start_mpjpeg_reader_inner, args);
 }
 
 struct thread_http_args {
@@ -140,8 +136,7 @@ void *start_http_inner(void *args_anon) {
 	struct thread_http_args *args = args_anon;
 	thread_http_listener(args->wg, args->video, args->depth);
 	wg_sub(&wg, 1);
-	running = 0;
-	close(httpsock);
+	finish(0);
 	return NULL;
 }
 static
@@ -165,11 +160,13 @@ void sigchld_handler(int sig UNUSED)
 	while (waitpid(-1, &status, WNOHANG) > 0) {}
 }
 
-static
-void sigint_handler(int num UNUSED)
+void finish(int sig)
 {
+	if (sig != 0)
+		printf("Caught signal %d\n", sig);
 	running = 0;
 	close(httpsock);
+	kill(getpid(), SIGHUP);
 }
 
 int main(int argc UNUSED, char **argv UNUSED)
@@ -190,13 +187,13 @@ int main(int argc UNUSED, char **argv UNUSED)
 		error(EXIT_FAILURE, errno, _("Could not set up SIGCHLD handler"));
 	}
 
-	struct sigaction act_int;
-	sigemptyset (&act_int.sa_mask);
-	act_int.sa_flags = 0;
-	act_int.sa_handler = sigint_handler;
-	if (sigaction(SIGINT, &act_int, 0)) {
-		error(EXIT_FAILURE, errno, _("Could not set up SIGINT handler"));
-	}
+	struct sigaction act_exit;
+	sigemptyset (&act_exit.sa_mask);
+	act_exit.sa_flags = 0;
+	act_exit.sa_handler = finish;
+	sigaction(SIGINT, &act_exit, 0);
+	sigaction(SIGQUIT, &act_exit, 0);
+	sigaction(SIGTERM, &act_exit, 0);
 
 	if (pipe(kinect_video_fds) == -1) error(1, errno, "pipe");
 	if (pipe(kinect_depth_fds) == -1) error(1, errno, "pipe");
@@ -210,8 +207,8 @@ int main(int argc UNUSED, char **argv UNUSED)
 	start_kinect(kinect_video_fds[1],
 	                    kinect_depth_fds[1],
 	                    kinect_accel_fds[1]);
-	start_mpjpeg_reader(&mpjpeg_video, mpjpeg_video_fds[0], "--ffserver");
-	start_mpjpeg_reader(&mpjpeg_depth, mpjpeg_depth_fds[0], "--ffserver");
+	start_mpjpeg_reader(&mpjpeg_video, mpjpeg_video_fds[0], "ffserver");
+	start_mpjpeg_reader(&mpjpeg_depth, mpjpeg_depth_fds[0], "ffserver");
 	start_http(&wg, &mpjpeg_video, &mpjpeg_depth);
 	/* never call exit() after we've started ffmpeg */
 	start_ffmpeg(kinect_video_fds[0], mpjpeg_video_fds[1]);
diff --git a/main.h b/main.h
index 32495fa..73fa96e 100644
--- a/main.h
+++ b/main.h
@@ -30,6 +30,7 @@ struct mpjpeg_stream {
 
 struct wg;
 
+void finish(int sig);
 void thread_kinect(int video_fd, int depth_fd, int accel_fd);
 void thread_http_listen(int fd);
 void thread_mpjpeg_reader(struct mpjpeg_stream *s, int fd, const char *boundary);
diff --git a/thread_http.c b/thread_http.c
index b257131..353ad0f 100644
--- a/thread_http.c
+++ b/thread_http.c
@@ -69,21 +69,23 @@ void thread_http_connection(int fd) {
 	while (strcmp(line_buf, "\r\n") != 0)
 		getline(&line_buf, &line_cap, stream);
 
-	if (strcmp(path, "/kinect-video.mpjpg") == 0) {
+	const char *boundary = "boundary";
+	if (strcmp(path, "/kinect-video.mjpg") == 0) {
 		dprintf(fd,
 		        "HTTP/1.1 200 OK\r\n"
 		        "Content-Type: multipart/x-mixed-replace;boundary=%s\r\n"
 		        "\r\n",
-		        "--boundary");
-		thread_mpjpeg_writer(video, fd, "--boundary");
-	} else if (strcmp(path, "/kinect-depth.mpjpg") == 0) {
+		        boundary);
+		thread_mpjpeg_writer(video, fd, boundary);
+	} else if (strcmp(path, "/kinect-depth.mjpg") == 0) {
 		dprintf(fd,
 		        "HTTP/1.1 200 OK\r\n"
 		        "Content-Type: multipart/x-mixed-replace;boundary=%s\r\n"
 		        "\r\n",
-		        "--boundary");
-		thread_mpjpeg_writer(depth, fd, "--boundary");
+		        boundary);
+		thread_mpjpeg_writer(depth, fd, boundary);
 	} else {
+		printf("not found url: %s\n", path);
 		dprintf(fd,
 		        "HTTP/1.1 404 Not Found\r\n"
 		        "\r\n");
@@ -123,6 +125,5 @@ void thread_http_listener(struct wg *awg,
 			continue;
 		start_http_connection(conn);
 	}
-	running = 0;
-	close(httpsock);
+	finish(0);
 }
diff --git a/thread_kinect.c b/thread_kinect.c
index fdd7f25..bd70679 100644
--- a/thread_kinect.c
+++ b/thread_kinect.c
@@ -13,22 +13,21 @@ FILE *accel_stream = NULL;
 
 static
 void dump_ffmpeg_24(FILE *stream, uint32_t timestamp UNUSED, void *data,
-                    int data_size)
+                    size_t data_size)
 {
 	fwrite(data, data_size, 1, stream);
 }
 
 static
-void dump_ffmpeg_pad16(FILE *stream, uint32_t timestamp UNUSED, void *data,
-                       int data_size)
+void dump_ffmpeg_pad16(FILE *stream, uint32_t timestamp UNUSED, void *data_anon,
+                       size_t data_size)
 {
-	unsigned int z = 0;
-	uint16_t* data_ptr = (uint16_t*)data;
-	uint16_t* end = data_ptr + data_size;
-	while (data_ptr < end) {
-		z = *data_ptr;
+	uint16_t* data = data_anon;
+	uint16_t* end = (void*)&((char*)data_anon)[data_size];
+	while (data < end) {
+		uint32_t z = *data;
 		fwrite(((char*)(&z)), 3, 1, stream);
-		data_ptr += 2;
+		data = &data[1];
 	}
 }
 
@@ -37,12 +36,13 @@ void handle_accel(freenect_device *dev UNUSED, freenect_raw_tilt_state* data)
 {
 	double x, y, z;
 	freenect_get_mks_accel(data, &x, &y, &z);
-	fprintf(accel_stream, "x=%f\ty=%f\tz=%f\n", x, y, z);
+	//fprintf(accel_stream, "x=%f\ty=%f\tz=%f\n", x, y, z);
 }
 
 static
 void handle_depth(freenect_device *dev UNUSED, void *depth, uint32_t timestamp)
 {
+	printf("handle depth\n");
 	dump_ffmpeg_pad16(depth_stream, timestamp, depth,
 	                  freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM,
 	                                           FREENECT_DEPTH_11BIT).bytes);
@@ -51,6 +51,7 @@ void handle_depth(freenect_device *dev UNUSED, void *depth, uint32_t timestamp)
 static
 void handle_video(freenect_device *dev, void *rgb, uint32_t timestamp)
 {
+	printf("handle depth\n");
 	dump_ffmpeg_24(video_stream, timestamp, rgb,
 	               freenect_get_current_video_mode(dev).bytes);
 }
diff --git a/thread_mpjpeg.c b/thread_mpjpeg.c
index 112e1a2..410faa0 100644
--- a/thread_mpjpeg.c
+++ b/thread_mpjpeg.c
@@ -9,12 +9,15 @@
 #include "main.h"
 
 static
-char *add_nl(const char *old) {
+char *format_boundary(const char *old) {
 	size_t len = strlen(old);
-	char *new = xrealloc(NULL, len+2);
-	strcpy(new, old);
-	new[len+0] = '\n';
-	new[len+1] = '\0';
+	char *new = xrealloc(NULL, len+5);
+	new[0] = '-';
+	new[1] = '-';
+	strcpy(&new[2], old);
+	new[2+len+0] = '\r';
+	new[2+len+1] = '\n';
+	new[2+len+2] = '\0';
 	return new;
 }
 
@@ -22,21 +25,25 @@ char *add_nl(const char *old) {
 
 void thread_mpjpeg_reader(struct mpjpeg_stream *s, int fd, const char *boundary) {
 	FILE *stream = fdopen(fd, "r");
-	boundary = add_nl(boundary);
+	boundary = format_boundary(boundary);
 
 	char *line_buf = NULL;
 	size_t line_cap = 0;
+	ssize_t line_len = 0;
 
 	while (1) {
+		printf("getting frame\n");
 		s->back->len = -1;
 		/* read the frame header (MIME headers) */
-		getline(&line_buf, &line_cap, stream);
+		line_len = getline(&line_buf, &line_cap, stream);
 		if (strcmp(line_buf, boundary) != 0)
 			return;
 		ssize_t framelen = -1;
-		while (strcmp(line_buf, "\r\n") != 0) {
-			if (STARTS_WITH(line_buf, "Content-Type:")) {
-				s->back->len = atoi(&line_buf[sizeof("Content-Type:")-1]);
+		while (strcmp(line_buf, "\r\n") != 0 && line_len >= 0) {
+			line_len = getline(&line_buf, &line_cap, stream);
+			if (STARTS_WITH(line_buf, "Content-Type:") == 0) {
+				printf("line: <%s>\n", line_buf);
+				s->back->len = atoi(&line_buf[strlen("Content-Type:")]);
 			}
 		}
 		if (s->back->len < 0)
@@ -47,7 +54,9 @@ void thread_mpjpeg_reader(struct mpjpeg_stream *s, int fd, const char *boundary)
 			s->back->data = xrealloc(s->back->data, s->back->cap = s->back->len);
 		if (fread(line_buf, framelen, 1, stream) != 1)
 			return;
-		
+
+		printf("got frame on fd %d\n", fd);
+
 		/* swap the frames */
 		pthread_mutex_lock(&s->frontlock);
 		struct frame *tmp = s->front;
@@ -74,7 +83,7 @@ void thread_mpjpeg_writer(struct mpjpeg_stream *s, int fd, const char *boundary)
 		lastframe = s->front;
 		pthread_mutex_unlock(&s->frontlock);
 		/* send the frame to the client */
-		if (dprintf(fd, "%s\r\nContent-Type: image/jpeg\r\nContent-Length: %zd\r\n\r\n", boundary, myframe.len) < 0)
+		if (dprintf(fd, "--%s\r\nContent-Type: image/jpeg\r\nContent-Length: %zd\r\n\r\n", boundary, myframe.len) < 0)
 			return;
 		if (write(fd, myframe.data, myframe.len) < myframe.len)
 			return;