import mmap
import pyudev
import base64
+import socket
from tornado import gen, web
try:
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FBQUFBQUFBQUFBQUFBQUFBQUFBQUFBQUFBQUFBQUFBQUFBQUFBT/wgARCAHgAoADASEAAhEBAxEB/8QA
-HQABAAMAAwEBAQAAAAAAAAAAAAYHCAMEBQkCAf/EABQBAQAAAAAAAAAAAAAAAAAAAAD/2gAMAwEAAhAD
-EAAAAcqAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+HAABAAIDAQEBAAAAAAAAAAAAAAYHBAUIAwIB/8QAFAEBAAAAAAAAAAAAAAAAAAAAAP/aAAwDAQACEAMQ
+AAAB6pAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
-AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAJl7hB/JAAAAAAAAA
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-oehTZqScnUocqUAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
+AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAR/XEizwAAAAAAAAAe
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AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
-AAAAAAAAAAAAAAAAB//EACsQAAEEAgIBAgUEAwAAAAAAAAYDBAUHAAIBNhA1QBMVFhcxEiA3sBEhJf/a
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+qhJEhSpcEm7f+h7/AP/Z
'''
offline_jpg = base64.b64decode(offline_jpg)
+def array_to_string(a): return ''.join([chr(i) for i in a])
+
+
+def fourcc_to_string(i):
+ return \
+ chr((i >> 0) & 0xff) + \
+ chr((i >> 8) & 0xff) + \
+ chr((i >> 16) & 0xff) + \
+ chr((i >> 24) & 0xff)
+
+
+def string_to_fourcc(s): return v4l2.v4l2_fourcc(s[0], s[1], s[2], s[3])
+
+
class VideoDevice(object):
def __init__(self, path = '/dev/video0'):
self.fd = os.open(path, os.O_RDWR | os.O_NONBLOCK | os.O_CLOEXEC)
def fileno(self): return self.fd
- def set_format(self, width = 640, height = 480,
- fourcc = v4l2.V4L2_PIX_FMT_MJPEG):
+ def get_audio(self):
+ b = v4l2.v4l2_audio()
+ b.index = 0
+
+ l = []
+
+ while True:
+ try:
+ fcntl.ioctl(self, v4l2.VIDIOC_ENUMAUDIO, b)
+ l.append((array_to_string(b.name), b.capability, b.mode))
+ b.index += 1
+
+ except OSError: break
+
+ return l
+
+
+ def get_formats(self):
+ b = v4l2.v4l2_fmtdesc()
+ b.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
+ b.index = 0
+
+ l = []
+
+ while True:
+ try:
+ fcntl.ioctl(self, v4l2.VIDIOC_ENUM_FMT, b)
+
+ l.append((fourcc_to_string(b.pixelformat),
+ array_to_string(b.description)))
+
+ b.index += 1
+
+ except OSError: break
+
+ return l
+
+
+ def get_frame_sizes(self, fourcc):
+ b = v4l2.v4l2_frmsizeenum()
+ b.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
+ b.pixel_format = fourcc
+
+ sizes = []
+
+ while True:
+ try:
+ fcntl.ioctl(self, v4l2.VIDIOC_ENUM_FRAMESIZES, b)
+
+ if b.type == v4l2.V4L2_FRMSIZE_TYPE_DISCRETE:
+ sizes.append((b.discrete.width, b.discrete.height))
+
+ else:
+ sizes.append((b.stepwise.min_width, b.stepwise.max_width,
+ b.stepwise.step_width, b.stepwise.min_height,
+ b.stepwise.max_height,
+ b.stepwise.step_height))
+
+ b.index += 1
+
+ except OSError: break
+
+ return sizes
+
+
+ def set_format(self, width, height, fourcc):
fmt = v4l2.v4l2_format()
fmt.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
fcntl.ioctl(self, v4l2.VIDIOC_G_FMT, fmt)
def create_buffers(self, count):
+ # Create buffers
rbuf = v4l2.v4l2_requestbuffers()
rbuf.count = count;
rbuf.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE;
fcntl.ioctl(self, v4l2.VIDIOC_REQBUFS, rbuf)
for i in range(rbuf.count):
+ # Get buffer
buf = v4l2.v4l2_buffer()
buf.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
buf.memory = v4l2.V4L2_MEMORY_MMAP
buf.index = i
fcntl.ioctl(self, v4l2.VIDIOC_QUERYBUF, buf)
+ # Mem map buffer
mm = mmap.mmap(self.fileno(), buf.length, mmap.MAP_SHARED,
mmap.PROT_READ | mmap.PROT_WRITE,
offset = buf.m.offset)
fcntl.ioctl(self, v4l2.VIDIOC_QBUF, buf)
- def read(self):
- if not len(self.buffers):
- raise Exception('Buffers have not been created.')
-
+ def _dqbuf(self):
buf = v4l2.v4l2_buffer()
buf.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
buf.memory = v4l2.V4L2_MEMORY_MMAP
fcntl.ioctl(self, v4l2.VIDIOC_DQBUF, buf)
+ return buf
+
+
+ def _qbuf(self, buf):
+ fcntl.ioctl(self, v4l2.VIDIOC_QBUF, buf)
+
+
+ def read_frame(self):
+ buf = self._dqbuf()
+
mm = self.buffers[buf.index]
frame = mm.read()
mm.seek(0)
- fcntl.ioctl(self, v4l2.VIDIOC_QBUF, buf)
+ self._qbuf(buf)
return frame
+ def flush_frame(self): self._qbuf(self._dqbuf())
+
+
def get_info(self):
caps = v4l2.v4l2_capability()
fcntl.ioctl(self, v4l2.VIDIOC_QUERYCAP, caps)
- caps._driver = ''.join([chr(i) for i in caps.driver])
- caps._card = ''.join([chr(i) for i in caps.card])
- caps._bus_info = ''.join([chr(i) for i in caps.bus_info])
+ caps._driver = array_to_string(caps.driver)
+ caps._card = array_to_string(caps.card)
+ caps._bus_info = array_to_string(caps.bus_info)
+
+ l = []
+ c = caps.capabilities
+ if c & v4l2.V4L2_CAP_VIDEO_CAPTURE: l.append('video_capture')
+ if c & v4l2.V4L2_CAP_VIDEO_OUTPUT: l.append('video_output')
+ if c & v4l2.V4L2_CAP_VIDEO_OVERLAY: l.append('video_overlay')
+ if c & v4l2.V4L2_CAP_VBI_CAPTURE: l.append('vbi_capture')
+ if c & v4l2.V4L2_CAP_VBI_OUTPUT: l.append('vbi_output')
+ if c & v4l2.V4L2_CAP_SLICED_VBI_CAPTURE: l.append('sliced_vbi_capture')
+ if c & v4l2.V4L2_CAP_SLICED_VBI_OUTPUT: l.append('sliced_vbi_output')
+ if c & v4l2.V4L2_CAP_RDS_CAPTURE: l.append('rds_capture')
+ if c & v4l2.V4L2_CAP_VIDEO_OUTPUT_OVERLAY:
+ l.append('video_output_overlay')
+ if c & v4l2.V4L2_CAP_HW_FREQ_SEEK: l.append('hw_freq_seek')
+ if c & v4l2.V4L2_CAP_RDS_OUTPUT: l.append('rds_output')
+ if c & v4l2.V4L2_CAP_TUNER: l.append('tuner')
+ if c & v4l2.V4L2_CAP_AUDIO: l.append('audio')
+ if c & v4l2.V4L2_CAP_RADIO: l.append('radio')
+ if c & v4l2.V4L2_CAP_MODULATOR: l.append('modulator')
+ if c & v4l2.V4L2_CAP_READWRITE: l.append('readwrite')
+ if c & v4l2.V4L2_CAP_ASYNCIO: l.append('asyncio')
+ if c & v4l2.V4L2_CAP_STREAMING: l.append('streaming')
+ caps._caps = l
return caps
def close(self):
if self.fd is None: return
- os.close(self.fd)
- self.fd = None
+ try:
+ os.close(self.fd)
+ except Exception as e: log.warning('While closing camera: %s', e)
+ finally: self.fd = None
class Camera(object):
def __init__(self, ctrl):
self.ctrl = ctrl
+ self.width = ctrl.args.width
+ self.height = ctrl.args.height
+ self.fps = ctrl.args.fps
+ self.fourcc = string_to_fourcc(ctrl.args.fourcc)
+
self.dev = None
self.clients = []
self.path = None
- self.frames = 0
+ # Find connected cameras
for i in range(4):
path = '/dev/video%d' % i
if os.path.exists(path):
self.open(path)
break
+ # Get notifications of camera (un)plug events
self.udevCtx = pyudev.Context()
self.udevMon = pyudev.Monitor.from_netlink(self.udevCtx)
self.udevMon.filter_by(subsystem = 'video4linux')
if action == 'remove' and path == self.path: self.close()
- def open(self, path):
- self.path = path
+ def _handler(self, fd, events):
+ try:
+ frame = None
+ if len(self.clients): frame = self.dev.read_frame()
+ else: self.dev.flush_frame()
+
+ except:
+ log.warning('Failed to read from camera.')
+ self.ctrl.ioloop.remove_handler(fd)
+ self.close()
+ return
+
+ if frame is not None:
+ for client in self.clients:
+ client.write_frame(frame)
+
+ def open(self, path):
try:
+ self.path = path
self.dev = VideoDevice(path)
caps = self.dev.get_info()
- log.info('%s, %s, %s', caps._driver, caps._card, caps._bus_info)
+ log.info('%s, %s, %s, %s', caps._driver, caps._card, caps._bus_info,
+ caps._caps)
if caps.capabilities & v4l2.V4L2_CAP_VIDEO_CAPTURE == 0:
raise Exception('Video capture not supported.')
- self.dev.set_format(640, 480, fourcc = v4l2.V4L2_PIX_FMT_MJPEG)
- self.dev.set_fps(15)
+ log.info('Formats: %s', self.dev.get_formats())
+ log.info('Sizes: %s', self.dev.get_frame_sizes(self.fourcc))
+ log.info('Audio: %s', self.dev.get_audio())
+
+ self.dev.set_format(self.width, self.height, fourcc = self.fourcc)
+ self.dev.set_fps(self.fps)
self.dev.create_buffers(30)
self.dev.start()
finally: self.dev = None
- def _handler(self, fd, events):
- try:
- frame = self.dev.read()
-
- except:
- log.warning('Failed to read from camera.')
- self.ctrl.ioloop.remove_handler(fd)
- self.close()
- return
-
- if frame is not None:
- if self.frames < 10:
- with open('frame%d.jpg' % self.frames, 'wb') as f:
- f.write(frame)
-
- self.frames += 1
-
- for client in self.clients:
- client.write_frame(frame)
-
-
def add_client(self, client):
log.info('Adding camera client: %d' % len(self.clients))
self.clients.append(client)
def write_frame(self, frame):
+ # Drop frame if client is slow
+ if self.request.connection.stream.writing(): return
+
self.write("Content-type: image/jpeg\r\n")
self.write("Content-length: %s\r\n\r\n" % len(frame))
self.write(frame)
web.Application.__init__(self, handlers)
self.listen(9000, address = '127.0.0.1')
+ import argparse
+ parser = argparse.ArgumentParser(description = 'Camera Server Test')
+ parser.add_argument('--width', default = 640, type = int)
+ parser.add_argument('--height', default = 480, type = int)
+ parser.add_argument('--fps', default = 15, type = int)
+ parser.add_argument('--fourcc', default = 'MJPG')
+ args = parser.parse_args()
- root = logging.getLogger()
- root.setLevel(logging.INFO)
+ logging.basicConfig(level = logging.INFO)
ctrl = Ctrl()
+ ctrl.args = args
ctrl.camera = Camera(ctrl)
server = Web(ctrl)
ctrl.ioloop.start()
projects / bbctrl-firmware / commitdiff