fixity fix

5 files changed, 47 insertions, 31 deletions

diff --git a/freenect-server--http.c b/freenect-server--http.c
index 6871ffb..cda7ae1 100644
--- a/freenect-server--http.c
+++ b/freenect-server--http.c
@@ -146,7 +146,9 @@ void connection_handler(int fd) {
 
 void *connection_thread(void *arg_anon) {
 	int fd = (int)(intptr_t)arg_anon;
+	error(0, 0, "Connection %d opened", fd);
 	connection_handler(fd);
+	error(0, 0, "Connection %d closed", fd);
 	return NULL;
 }
 
@@ -168,7 +170,8 @@ int main(int argc, char *argv[]) {
 
 	for (int i = 2; i < argc; i++)
 		file_add(argv[i]);
-	
+
+	signal(SIGPIPE, SIG_IGN);
 	while (1) {
 		int conn = accept(sock, NULL, NULL);
 		if (conn < 0)
diff --git a/freenect-server--kinect.c b/freenect-server--kinect.c
index 4573a08..32b029d 100644
--- a/freenect-server--kinect.c
+++ b/freenect-server--kinect.c
@@ -51,8 +51,10 @@ void dump_ffmpeg_pad16(FILE *stream, uint32_t timestamp UNUSED, void *data_anon,
 	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);
+		uint16_t z = *data;
+		uint8_t out[3];
+		memset(out, (uint8_t)(z*2.0/3.0), 3);
+		fwrite(out, 3, 1, stream);
 		data = &data[1];
 	}
 }
diff --git a/freenect-server.sh b/freenect-server.sh
index eebcd7f..1590eff 100644
--- a/freenect-server.sh
+++ b/freenect-server.sh
@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 # Copyright 2016 Luke Shumaker
 
-d="$(dirname -- "$0")"
+PATH="$PATH:$(dirname -- "$0")"
 
 t="$(mktemp -d --tmpdir "${0##*/}.XXXXXXXXXX")"
 
@@ -10,14 +10,15 @@ mkfifo $t/depth.rgb24
 mkfifo $t/video.mjpg
 mkfifo $t/depth.mjpg
 
-$d/freenect-server--kinect -v $t/video.rgb24 -d $t/depth.rgb24 & pids+=($!)
-$d/freenect-server--http 8090 $t/video.mjpg $t/depth.mjpg & pids+=($!)
-ffmpeg -loglevel warning -pix_fmt rgb24 -s 640x480 -f rawvideo -i $t/video.rgb24 -f mpjpeg - > $t/video.mjpg & pids+=($!)
-ffmpeg -loglevel warning -pix_fmt rgb24 -s 640x480 -f rawvideo -i $t/depth.rgb24 -f mpjpeg - > $t/depth.mjpg & pids+=($!)
+( freenect-server--kinect -v $t/video.rgb24 -d $t/depth.rgb24; echo "EXITED: freenect-server--kinect: $?") & pids+=($!)
+( freenect-server--http 8090 $t/video.mjpg $t/depth.mjpg; echo "EXITED: freenect-server--http: $?") & pids+=($!)
+rm -f {depth,video}.{avi,mjpg}
+( ffmpeg -loglevel warning -pixel_format rgb24 -s 640x480 -f rawvideo -i $t/video.rgb24 -q:v 1 -f mpjpeg - > $t/video.mjpg; echo "EXITED: ffmpeg video: $?") & pids+=($!)
+( ffmpeg -loglevel warning -pixel_format rgb24 -s 640x480 -f rawvideo -i $t/depth.rgb24 -q:v 1 -f mpjpeg - > $t/depth.mjpg; echo "EXITED: ffmpeg depth: $?") & pids+=($!)
 
 cleanup() {
-	kill -- "${pids[@]}"
-	rm -rf -- "$tmpdir"
+	kill -- "${pids[@]}" 2>/dev/null
+	rm -rf -- "$t"
 }
 trap cleanup EXIT
 
diff --git a/mpjpeg.c b/mpjpeg.c
index b64c5f0..87ca2a4 100644
--- a/mpjpeg.c
+++ b/mpjpeg.c
@@ -1,10 +1,11 @@
 /* Copyright 2016 Luke Shumaker */
 
+#include <errno.h>
+#include <error.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 #include <unistd.h>
-#include <error.h>
 
 #include "mpjpeg.h"
 #include "util.h"
@@ -47,14 +48,16 @@ void mpjpeg_reader(struct mpjpeg_stream *s, int fd, const char *boundary) {
 
 	while (1) {
 		s->back->len = -1;
-		/* read the frame header (MIME headers) */
+		/* scan for the first non-empty line */
 		do {
 			line_len = getline(&line_buf, &line_cap, stream);
 		} while (line_len >= 0 && strcmp(line_buf, "\r\n") == 0);
+		/* make sure it matches the boundary separator */
 		if (strcmp(line_buf, boundary) != 0) {
 			error(0, 0, "line does not match boundary: \"%s\"", line_buf);
 			return;
 		}
+		/* read the frame header (MIME headers) */
 		while (strcmp(line_buf, "\r\n") != 0 && line_len >= 0) {
 			line_len = getline(&line_buf, &line_cap, stream);
 			if (strncasecmp(line_buf, "Content-length:", strlen("Content-length:")) == 0) {
@@ -75,35 +78,44 @@ void mpjpeg_reader(struct mpjpeg_stream *s, int fd, const char *boundary) {
 		}
 
 		/* swap the frames */
-		pthread_mutex_lock(&s->frontlock);
+		pthread_rwlock_wrlock(&s->frontlock);
 		struct frame *tmp = s->front;
 		s->front = s->back;
 		s->back = tmp;
-		pthread_mutex_unlock(&s->frontlock);
+		s->framecount++;
+		pthread_rwlock_unlock(&s->frontlock);
 	}
 
 }
 
 void mpjpeg_writer(struct mpjpeg_stream *s, int fd, const char *boundary) {
 	struct frame myframe = { 0 };
-	struct frame *lastframe = NULL;
+	long lastframe = 0;
+	pthread_rwlock_rdlock(&s->frontlock);
 	while(1) {
 		/* get the most recent frame (copy front to myframe) */
-		pthread_mutex_lock(&s->frontlock);
-		if (s->front == lastframe) { /* TODO: use a pthread_cond_t instead of a busy loop */
-			pthread_mutex_unlock(&s->frontlock);
-			continue;
-		}
 		if (myframe.cap < (size_t)s->front->len)
 			myframe.data = xrealloc(myframe.data, myframe.cap = s->front->len);
 		memcpy(myframe.data, s->front->data, myframe.len = s->front->len);
-		lastframe = s->front;
-		pthread_mutex_unlock(&s->frontlock);
+		lastframe = s->framecount;
+		pthread_rwlock_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) {
+			error(0, errno, "dprintf");
 			return;
-		if (write(fd, myframe.data, myframe.len) < myframe.len)
+		}
+		if (write(fd, myframe.data, myframe.len) < myframe.len) {
+			error(0, errno, "write");
 			return;
+		}
+
+		/* poll until there's a new frame */
+		pthread_rwlock_rdlock(&s->frontlock);
+		while (s->framecount == lastframe) {
+			pthread_rwlock_unlock(&s->frontlock);
+			usleep(30000); /* a bit over 30 FPS */
+			pthread_rwlock_rdlock(&s->frontlock);
+		}
 	}
 }
 
@@ -112,5 +124,5 @@ void init_mpjpeg_stream(struct mpjpeg_stream *s) {
 	ZERO(s->b);
 	s->front = &s->a;
 	s->back = &s->b;
-	pthread_mutex_init(&s->frontlock, NULL);
+	pthread_rwlock_init(&s->frontlock, NULL);
 }
diff --git a/mpjpeg.h b/mpjpeg.h
index 85f4fcf..f850adc 100644
--- a/mpjpeg.h
+++ b/mpjpeg.h
@@ -11,12 +11,10 @@ struct frame {
 };
 
 struct mpjpeg_stream {
-	struct frame a;
-	struct frame b;
-
-	struct frame *front;
-	struct frame *back;
-	pthread_mutex_t frontlock;
+	struct frame a, b;
+	struct frame *front, *back;
+	pthread_rwlock_t frontlock;
+	long framecount;
 };
 
 void mpjpeg_reader(struct mpjpeg_stream *s, int fd, const char *boundary);