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/*
* This file is part of the OpenKinect Project. http://www.openkinect.org
*
* Copyright (c) 2010 Brandyn White (bwhite@dappervision.com)
* Copyright (c) 2016 Luke Shumaker (lukeshu@sbcglobal.net)
*
* This code is licensed to you under the terms of the Apache License, version
* 2.0, or, at your option, the terms of the GNU General Public License,
* version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
* or the following URLs:
* http://www.apache.org/licenses/LICENSE-2.0
* http://www.gnu.org/licenses/gpl-2.0.txt
*
* If you redistribute this file in source form, modified or unmodified, you
* may:
* 1) Leave this header intact and distribute it under the same terms,
* accompanying it with the APACHE20 and GPL20 files, or
* 2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
* 3) Delete the GPL v2 clause and accompany it with the APACHE20 file
* In all cases you must keep the copyright notice intact and include a copy
* of the CONTRIB file.
*
* Binary distributions must follow the binary distribution requirements of
* either License.
*/
#include <stdio.h>
#include <errno.h>
#include <error.h>
#include <pthread.h>
#include <signal.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/wait.h>
#include "main.h"
#include "wg.h"
volatile sig_atomic_t running = 1;
static struct wg wg;
void * xrealloc(void *ptr, size_t size)
{
void *ret = realloc(ptr, size);
if (ret == NULL) {
if (ptr==NULL)
error(1, errno, "Could not allocate memory");
else
error(1, errno, "Could not re-allocate memory");
}
return ret;
}
static
void start_ffmpeg(int in, int out) {
switch (fork()) {
case -1: /* error */
error(1, errno, "fork");
case 0: /* child */
dup2(in, 0);
dup2(out, 1);
for (int fd = 3; fd < 30; fd++)
close(fd);
execlp("ffmpeg",
"ffmpeg",
"-pix_fmt", "rgb24", "-s", "640x480", "-f", "rawvideo", "-i", "/dev/stdin",
"-f", "mpjpeg", "-",
NULL);
error(1, errno, "execlp: ffmpeg");
default: /* parent */
close(in);
close(out);
}
}
struct thread_kinect_args {
int video_fd;
int depth_fd;
int accel_fd;
};
static
void* start_kinect_inner(void *args_anon) {
pthread_setname_np(pthread_self(), "kinect");
struct thread_kinect_args *args = args_anon;
thread_kinect(args->video_fd, args->depth_fd, args->accel_fd);
wg_sub(&wg, 1);
finish(0);
return NULL;
}
static
void start_kinect(int video_fd, int depth_fd, int accel_fd) {
static struct thread_kinect_args args;
args.video_fd = video_fd;
args.depth_fd = depth_fd;
args.accel_fd = accel_fd;
static pthread_t thread;
wg_add(&wg, 1);
pthread_create(&thread, NULL, start_kinect_inner, &args);
}
struct thread_mpjpeg_args {
struct mpjpeg_stream *s;
int fd;
const char *boundary;
};
static
void *start_mpjpeg_reader_inner(void *args_anon) {
pthread_setname_np(pthread_self(), "mpjpeg-reader");
struct thread_mpjpeg_args *args = args_anon;
thread_mpjpeg_reader(args->s, args->fd, args->boundary);
wg_sub(&wg, 1);
return NULL;
}
static
void start_mpjpeg_reader(struct mpjpeg_stream *s, int fd, const char *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);
static pthread_t thread;
pthread_create(&thread, NULL, start_mpjpeg_reader_inner, args);
}
struct thread_http_args {
struct wg *wg;
struct mpjpeg_stream *video;
struct mpjpeg_stream *depth;
};
static
void *start_http_inner(void *args_anon) {
pthread_setname_np(pthread_self(), "http-listener");
struct thread_http_args *args = args_anon;
thread_http_listener(args->wg, args->video, args->depth);
wg_sub(&wg, 1);
finish(0);
return NULL;
}
static
void start_http(struct wg *awg,
struct mpjpeg_stream *video,
struct mpjpeg_stream *depth) {
static struct thread_http_args args;
args.wg = awg;
args.video = video;
args.depth = depth;
static pthread_t thread;
wg_add(&wg, 1);
pthread_create(&thread, NULL, start_http_inner, &args);
}
static
void sigchld_handler(int sig UNUSED)
{
int status;
while (waitpid(-1, &status, WNOHANG) > 0) {}
}
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)
{
int kinect_video_fds[2];
int kinect_depth_fds[2];
int kinect_accel_fds[2];
int mpjpeg_video_fds[2];
int mpjpeg_depth_fds[2];
struct mpjpeg_stream mpjpeg_video;
struct mpjpeg_stream mpjpeg_depth;
struct sigaction act_chld;
sigemptyset (&act_chld.sa_mask);
act_chld.sa_flags = SA_RESTART;
act_chld.sa_handler = sigchld_handler;
if (sigaction(SIGCHLD, &act_chld, 0)) {
error(EXIT_FAILURE, errno, _("Could not set up SIGCHLD 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");
if (pipe(kinect_accel_fds) == -1) error(1, errno, "pipe");
if (pipe(mpjpeg_video_fds) == -1) error(1, errno, "pipe");
if (pipe(mpjpeg_depth_fds) == -1) error(1, errno, "pipe");
init_mpjpeg_stream(&mpjpeg_video);
init_mpjpeg_stream(&mpjpeg_depth);
wg_init(&wg);
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_http(&wg, &mpjpeg_video, &mpjpeg_depth);
/* never call exit() after we've started ffmpeg */
start_ffmpeg(kinect_video_fds[0], mpjpeg_video_fds[1]);
start_ffmpeg(kinect_depth_fds[0], mpjpeg_depth_fds[1]);
wg_wait(&wg);
return 0;
}
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