add new package and try to transplat rtsp of rouring

This commit is contained in:
SikongJueluo 2025-01-16 14:25:11 +08:00
parent c289d4ee7d
commit 8567012936
No known key found for this signature in database
15 changed files with 318 additions and 149 deletions

22
readerwriterqueue.lua Normal file
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@ -0,0 +1,22 @@
package("readerwritercircularbuffer")
set_kind("library")
set_homepage("https://github.com/cameron314/readerwriterqueue")
set_urls("https://github.com/cameron314/readerwriterqueue/archive/$(version).zip")
add_versions("16b48ae1148284e7b40abf72167206a4390a4592", "11758ab1b2ec96217245b32222edbcae76b686c9d795973907223ce0b720541f")
add_deps("cmake")
on_install(function (package)
local configs = {}
table.insert(configs, "-DCMAKE_BUILD_TYPE=" .. (package:debug() and "Debug" or "Release"))
table.insert(configs, "-DBUILD_SHARED_LIBS=" .. (package:config("shared") and "ON" or "OFF"))
import("package.tools.cmake").install(package, configs)
end)
on_test(function (package)
assert(package:has_cxxtypes(
"BlockingReaderWriterCircularBuffer",
{includes = "readerwritercircularbuffer.h"}))
end)

2
.gitignore vendored
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@ -1,5 +1,6 @@
# Xmake cache
.xmake
.cache
.vscode
.devenv
.direnv
@ -12,6 +13,7 @@ Rouring-Vision
smart_trash_bin
nnie-yolov3-demo
dtof_sensor_driver
compile_commands.json
# Build Cache
*.a

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@ -39,11 +39,11 @@
]
},
"locked": {
"lastModified": 1734605856,
"narHash": "sha256-RfNqLS5f9s3aiRZIOjSbM8Vz7x2dT/7zwJhyt9TLEmE=",
"lastModified": 1736273305,
"narHash": "sha256-lZDdyP3Y9VBCYMTiA7rOXUuXnngLwqoZDHjTrRHeb8g=",
"owner": "cachix",
"repo": "devenv",
"rev": "f81cf7dc4cbfa46de11618af94e5983c5e600d8c",
"rev": "cc48e044747cef4e4f69897e20a100adf5b716a3",
"type": "github"
},
"original": {
@ -260,11 +260,11 @@
},
"nixpkgs_3": {
"locked": {
"lastModified": 1734649271,
"narHash": "sha256-4EVBRhOjMDuGtMaofAIqzJbg4Ql7Ai0PSeuVZTHjyKQ=",
"lastModified": 1736012469,
"narHash": "sha256-/qlNWm/IEVVH7GfgAIyP6EsVZI6zjAx1cV5zNyrs+rI=",
"owner": "NixOS",
"repo": "nixpkgs",
"rev": "d70bd19e0a38ad4790d3913bf08fcbfc9eeca507",
"rev": "8f3e1f807051e32d8c95cd12b9b421623850a34d",
"type": "github"
},
"original": {

11
src/common.h Executable file
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@ -0,0 +1,11 @@
#ifndef __COMMON_H__
#define __COMMON_H__
#include "stdbool.h"
#include "stdint.h"
#ifndef ARRAY_LENGTH
#define ARRAY_LENGTH(arr) (sizeof(arr) / sizeof(arr[0]))
#endif
#endif

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@ -3,7 +3,6 @@
#include "hi_comm_snap.h"
#include "hi_common.h"
#include "mpi_snap.h"
#include "my_common.h"
#include "sample_comm.h"
#include "zlog.h"

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@ -5,7 +5,25 @@
extern "C"{
#endif
#include "stdbool.h"
#include "common.h"
typedef enum {
VIDEO = 0,
H264,
H265,
JPEG,
AUDIO = 128,
AAC,
G711A, // PCMA
G711U, // PCMU
} codec_type_t;
typedef struct {
uint8_t *data;
uint32_t length;
uint64_t timestamp; // in microseconds
} video_packet_t;
bool eb3516VideoInit(void);
bool eb3516VideoStart(void);

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@ -9,9 +9,9 @@
#ifndef _BASE_DEVICE_SOURCE_HH
#define _BASE_DEVICE_SOURCE_HH
#include "msgbus/ipc_msg.h"
#include "isp/eb3516_video.h"
using FrameData = mpp_packet_t;
using FrameData = video_packet_t;
class BaseDeviceSource {
public:

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@ -0,0 +1,94 @@
/**
* @file H26XDeviceSource.cpp
* @author
* @brief live555
*
* @copyright Copyright (c) 2022-2024 OurEDA
*/
#include "H26XDeviceSource.hh"
#include <cstdlib>
#include <cstring>
#include "GroupsockHelper.hh"
unsigned H26XDeviceSource::referenceCount = 0;
EventTriggerId H26XDeviceSource::eventTriggerId = 0;
H26XDeviceSource *H26XDeviceSource::createNew(UsageEnvironment &env, Boolean isH265) {
return new H26XDeviceSource(env, isH265);
}
H26XDeviceSource::H26XDeviceSource(UsageEnvironment &env, Boolean isH265)
: FramedSource(env), isH265(isH265), frameDataQueue(3) {
if (eventTriggerId == 0) {
eventTriggerId = envir().taskScheduler().createEventTrigger([](void *clientData) {
((H26XDeviceSource *) clientData)->deliverFrame();
});
}
++referenceCount;
}
H26XDeviceSource::~H26XDeviceSource() {
--referenceCount;
if (referenceCount == 0) {
envir().taskScheduler().deleteEventTrigger(eventTriggerId);
eventTriggerId = 0;
}
FrameData frameData;
while (frameDataQueue.try_dequeue(frameData)) {
delete[] frameData.data;
}
}
codec_type_t H26XDeviceSource::getCodecType() {
return isH265 ? H265 : H264;
}
void H26XDeviceSource::signalNewFrame(const FrameData &frameData) {
if (!frameDataQueue.try_enqueue(frameData)) {
envir() << "Stream data queue full!\n";
delete[] frameData.data;
}
envir().taskScheduler().triggerEvent(eventTriggerId, this);
}
unsigned H26XDeviceSource::maxFrameSize() const {
return 0;
}
void H26XDeviceSource::doGetNextFrame() {
if (frameDataQueue.size_approx() > 0) {
deliverFrame();
}
}
void H26XDeviceSource::deliverFrame() {
// 是否准备好接收数据
if (!isCurrentlyAwaitingData()) return;
// 从队列里取出数据
FrameData buffer;
if (!frameDataQueue.try_dequeue(buffer)) return;
// 处理大小
if (buffer.length > fMaxSize) {
fFrameSize = fMaxSize;
fNumTruncatedBytes = buffer.length - fMaxSize;
} else {
fFrameSize = buffer.length;
}
// 设置这帧的时间码
if (buffer.timestamp == 0) {
gettimeofday(&fPresentationTime, NULL);
} else {
fPresentationTime.tv_sec = buffer.timestamp / 1000000;
fPresentationTime.tv_usec = buffer.timestamp % 1000000;
}
// 拷贝码流
// 去掉start code 0x00000001
int offset = buffer.data[0] == 0 && buffer.data[1] == 0 && buffer.data[2] == 0 && buffer.data[3] == 1 ? 4 : 0;
fFrameSize -= offset;
memcpy(fTo, buffer.data + offset, fFrameSize);
delete[] buffer.data;
// 通知live555
afterGetting(this);
}

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@ -0,0 +1,41 @@
/**
* @file H26XDeviceSource.hh
* @author
* @brief live555
*
* @copyright Copyright (c) 2022-2024 OurEDA
*/
#ifndef _H26X_DEVICE_SOURCE_HH
#define _H26X_DEVICE_SOURCE_HH
#include "FramedSource.hh"
#include "readerwritercircularbuffer.h"
#include "BaseDeviceSource.hh"
class H26XDeviceSource : public FramedSource, public BaseDeviceSource {
public:
static H26XDeviceSource *createNew(UsageEnvironment &env, Boolean isH265);
public:
virtual codec_type_t getCodecType();
virtual void signalNewFrame(const FrameData &frameData);
protected:
H26XDeviceSource(UsageEnvironment &env, Boolean isH265);
virtual ~H26XDeviceSource();
virtual unsigned maxFrameSize() const;
virtual void doGetNextFrame();
private:
void deliverFrame();
private:
Boolean isH265;
moodycamel::BlockingReaderWriterCircularBuffer<FrameData> frameDataQueue;
static unsigned referenceCount;
static EventTriggerId eventTriggerId;
};
#endif

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@ -24,25 +24,25 @@ LiveServerMediaSubsession::LiveServerMediaSubsession(UsageEnvironment &env, code
LiveServerMediaSubsession::~LiveServerMediaSubsession() {}
FramedSource *LiveServerMediaSubsession::createNewStreamSource(unsigned clientSessionId, unsigned &estBitrate) {
if (fCodecType == ROV_H264) {
if (fCodecType == H264) {
estBitrate = 3000; // kbps, estimate
H26XDeviceSource *streamSource = H26XDeviceSource::createNew(envir(), False);
fDeviceSource = streamSource;
return H264VideoStreamDiscreteFramer::createNew(envir(), streamSource, True);
} else if (fCodecType == ROV_H265) {
} else if (fCodecType == H265) {
estBitrate = 2500;
H26XDeviceSource *streamSource = H26XDeviceSource::createNew(envir(), True);
fDeviceSource = streamSource;
return H265VideoStreamDiscreteFramer::createNew(envir(), streamSource, True);
} else if (fCodecType == ROV_JPEG) {
} else if (fCodecType == JPEG) {
estBitrate = 8000;
MJPEGDeviceSource *streamSource = MJPEGDeviceSource::createNew(envir());
fDeviceSource = streamSource;
return streamSource;
} else if (fCodecType == ROV_AAC) {
} else if (fCodecType == AAC) {
estBitrate = 64;
return NULL;
} else if (fCodecType == ROV_G711A || fCodecType == ROV_G711U) {
} else if (fCodecType == G711A || fCodecType == G711U) {
estBitrate = 128;
return NULL;
}
@ -50,20 +50,20 @@ FramedSource *LiveServerMediaSubsession::createNewStreamSource(unsigned clientSe
}
RTPSink *LiveServerMediaSubsession::createNewRTPSink(Groupsock *rtpGroupsock, unsigned char rtpPayloadTypeIfDynamic, FramedSource *inputSource) {
if (fCodecType == ROV_H264) {
if (fCodecType == H264) {
OutPacketBuffer::increaseMaxSizeTo(512 * 1024);
return H264VideoRTPSink::createNew(envir(), rtpGroupsock, rtpPayloadTypeIfDynamic);
} else if (fCodecType == ROV_H265) {
} else if (fCodecType == H265) {
OutPacketBuffer::increaseMaxSizeTo(512 * 1024);
return H265VideoRTPSink::createNew(envir(), rtpGroupsock, rtpPayloadTypeIfDynamic);
} else if (fCodecType == ROV_JPEG) {
} else if (fCodecType == JPEG) {
OutPacketBuffer::increaseMaxSizeTo(2 * 512 * 1024);
return JPEGVideoRTPSink::createNew(envir(), rtpGroupsock);
} else if (fCodecType == ROV_AAC) {
} else if (fCodecType == AAC) {
return SimpleRTPSink::createNew(envir(), rtpGroupsock, 0, 8000, "audio", "AAC", 1, False);
} else if (fCodecType == ROV_G711A) {
} else if (fCodecType == G711A) {
return SimpleRTPSink::createNew(envir(), rtpGroupsock, 0, 8000, "audio", "PCMA", 1, False);
} else if (fCodecType == ROV_G711U) {
} else if (fCodecType == G711U) {
return SimpleRTPSink::createNew(envir(), rtpGroupsock, 0, 8000, "audio", "PCMU", 1, False);
}
return NULL;

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@ -1,24 +0,0 @@
#
# rtsp/build.mk
# rtsp 模块构建脚本
#
# Copyright (c) 2022-2024 OurEDA
#
TARGET := rtsp
CUR_INCS := -I$(CUR_SRC_DIR) \
-I$(ROV_HOME)/configs \
-I$(ROV_HOME)/common \
-I$(ROV_HOME)/modules \
-I$(ROV_HOME)/modules/tcp/generated \
-I$(ROV_OUT_DIR)/include \
-I$(ROV_OUT_DIR)/include/groupsock \
-I$(ROV_OUT_DIR)/include/BasicUsageEnvironment \
-I$(ROV_OUT_DIR)/include/UsageEnvironment \
-I$(ROV_OUT_DIR)/include/liveMedia
CUR_SRCS := $(wildcard $(CUR_SRC_DIR)/*.c) \
$(wildcard $(CUR_SRC_DIR)/*.cpp)
CUR_STATIC_LIBS := -lliveMedia -lUsageEnvironment -lBasicUsageEnvironment -lgroupsock
CUR_DEPS := live555 readerwriterqueue mpp
$(call build_module,$(TARGET))

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@ -2,23 +2,25 @@
* @file rtsp_server.cpp
* @author
* @brief live555 RTSP
*
*
* @copyright Copyright (c) 2022-2024 OurEDA
*/
#include <stdio.h>
#include <pthread.h>
#include "BasicUsageEnvironment.hh"
#include "GroupsockHelper.hh"
#include "liveMedia.hh"
#include <cstdio>
#include <pthread.h>
#include <stdio.h>
#include "module_init.h"
#include "platform/log.h"
#include "msgbus/ipc.h"
#include "LiveServerMediaSubsession.hh"
#include "zlog.h"
static zlog_category_t *log_rtsp = nullptr;
static const char *stream_name = "main";
static const char *description = "Session streamed by the main camera of rouring ROV";
static const char *description =
"Session streamed by the main camera of Hi3516";
static volatile char stop_running;
static pthread_t rtsp_thread;
@ -29,104 +31,115 @@ static LiveServerMediaSubsession *videoSubsession;
static LiveServerMediaSubsession *audioSubsession;
static void announceURL(RTSPServer *rtspServer, ServerMediaSession *sms) {
if (rtspServer == NULL || sms == NULL) return; // sanuty check
UsageEnvironment &env = rtspServer->envir();
env << "Play this stream using the URL ";
if (weHaveAnIPv4Address(env)) {
char *url = rtspServer->ipv4rtspURL(sms);
env << "\"" << url << "\"";
delete[] url;
if (weHaveAnIPv6Address(env)) env << " or ";
}
if (weHaveAnIPv6Address(env)) {
char *url = rtspServer->ipv6rtspURL(sms);
env << "\"" << url << "\"";
delete[] url;
}
env << "\n";
if (rtspServer == NULL || sms == NULL)
return; // sanuty check
UsageEnvironment &env = rtspServer->envir();
env << "Play this stream using the URL ";
if (weHaveAnIPv4Address(env)) {
char *url = rtspServer->ipv4rtspURL(sms);
env << "\"" << url << "\"";
delete[] url;
if (weHaveAnIPv6Address(env))
env << " or ";
}
if (weHaveAnIPv6Address(env)) {
char *url = rtspServer->ipv6rtspURL(sms);
env << "\"" << url << "\"";
delete[] url;
}
env << "\n";
}
static void *rtsp_loop(void *arg) {
UNUSED(arg);
env->taskScheduler().doEventLoop(&stop_running);
return nullptr;
static void *rtsp_loop([[maybe_unused]] void *arg) {
env->taskScheduler().doEventLoop(&stop_running);
return nullptr;
}
static void on_msg_received(ipc_request_t *req) {
if (req->id == IPC_MSG_ID_RTSP_STREAM_VIDEO) {
const ipc_msg_rtsp_stream_t *packet = (const ipc_msg_rtsp_stream_t *)req->msg;
if (videoSubsession == nullptr || videoSubsession->deviceSource() == nullptr) {
delete[] packet->data;
ipc_reply(req, nullptr);
return;
}
videoSubsession->deviceSource()->signalNewFrame(*packet);
ipc_reply(req, nullptr);
if (req->id == IPC_MSG_ID_RTSP_STREAM_VIDEO) {
const ipc_msg_rtsp_stream_t *packet =
(const ipc_msg_rtsp_stream_t *)req->msg;
if (videoSubsession == nullptr ||
videoSubsession->deviceSource() == nullptr) {
delete[] packet->data;
ipc_reply(req, nullptr);
return;
}
videoSubsession->deviceSource()->signalNewFrame(*packet);
ipc_reply(req, nullptr);
}
}
static bool rtsp_start() {
LOG_DEBUG("Starting RTSP server...\n");
ipc_register_callback(MOD_RTSP, on_msg_received);
// Get logger
log_rtsp = zlog_get_category("eb3516_rtsp");
if (!log_rtsp) {
std::printf("Error: Failed to start rtsp!!!\n");
return false;
}
zlog_debug(log_rtsp, "Starting RTSP server...\n");
ipc_register_callback(MOD_RTSP, on_msg_received);
scheduler = BasicTaskScheduler::createNew();
env = BasicUsageEnvironment::createNew(*scheduler);
rtspServer = RTSPServer::createNew(*env, 554, nullptr, 10U);
if (rtspServer == nullptr) {
*env << "Failed to create RTSP server: " << env->getResultMsg() << "\n";
return false;
}
scheduler = BasicTaskScheduler::createNew();
env = BasicUsageEnvironment::createNew(*scheduler);
rtspServer = RTSPServer::createNew(*env, 554, nullptr, 10U);
if (rtspServer == nullptr) {
*env << "Failed to create RTSP server: " << env->getResultMsg() << "\n";
return false;
}
ipc_msg_mpp_stream_info_req stream_info_req;
stream_info_req.num = 0;
ipc_request_t req = IPC_REQUEST_INIT(MOD_MPP);
req.id = IPC_MSG_ID_MPP_STREAM_INFO;
req.msg = (const ipc_msg_t *)&stream_info_req;
req.length = sizeof(ipc_msg_mpp_stream_info_req);
int result = ipc_send(&req);
if (result != IPC_OK) {
*env << "Failed to get live stream params\n";
return false;
}
ipc_msg_mpp_stream_info_res *stream_info_res = &req.res->msg.mpp_stream_info_res;
if (stream_info_res->video_codec < ROV_AUDIO) {
videoSubsession = LiveServerMediaSubsession::createNew(*env, stream_info_res->video_codec);
}
if (stream_info_res->audio_codec > ROV_AUDIO) {
audioSubsession = LiveServerMediaSubsession::createNew(*env, stream_info_res->audio_codec);
}
free(req.res);
ipc_msg_mpp_stream_info_req stream_info_req;
stream_info_req.num = 0;
ipc_request_t req = IPC_REQUEST_INIT(MOD_MPP);
req.id = IPC_MSG_ID_MPP_STREAM_INFO;
req.msg = (const ipc_msg_t *)&stream_info_req;
req.length = sizeof(ipc_msg_mpp_stream_info_req);
int result = ipc_send(&req);
if (result != IPC_OK) {
*env << "Failed to get live stream params\n";
return false;
}
ipc_msg_mpp_stream_info_res *stream_info_res =
&req.res->msg.mpp_stream_info_res;
if (stream_info_res->video_codec < ROV_AUDIO) {
videoSubsession = LiveServerMediaSubsession::createNew(
*env, stream_info_res->video_codec);
}
if (stream_info_res->audio_codec > ROV_AUDIO) {
audioSubsession = LiveServerMediaSubsession::createNew(
*env, stream_info_res->audio_codec);
}
free(req.res);
ServerMediaSession *sms = ServerMediaSession::createNew(*env, stream_name, stream_name, description);
if (videoSubsession != nullptr) {
sms->addSubsession(videoSubsession);
}
if (audioSubsession != nullptr) {
sms->addSubsession(audioSubsession);
}
rtspServer->addServerMediaSession(sms);
announceURL(rtspServer, sms);
ServerMediaSession *sms = ServerMediaSession::createNew(
*env, stream_name, stream_name, description);
if (videoSubsession != nullptr) {
sms->addSubsession(videoSubsession);
}
if (audioSubsession != nullptr) {
sms->addSubsession(audioSubsession);
}
rtspServer->addServerMediaSession(sms);
announceURL(rtspServer, sms);
stop_running = 0;
result = pthread_create(&rtsp_thread, NULL, rtsp_loop, NULL);
if (result != 0) {
*env << "Create RTSP server thread failed, result: " << result << "\n";
return false;
}
return true;
stop_running = 0;
result = pthread_create(&rtsp_thread, NULL, rtsp_loop, NULL);
if (result != 0) {
*env << "Create RTSP server thread failed, result: " << result << "\n";
return false;
}
return true;
}
static void rtsp_stop() {
stop_running = 1;
pthread_join(rtsp_thread, NULL);
videoSubsession = audioSubsession = nullptr;
// 若销毁RTSP服务端时客户端未断开连接则不会关闭连接, 所以在销毁之前关闭一下
rtspServer->closeAllClientSessionsForServerMediaSession(stream_name);
Medium::close(rtspServer);
if (env && !env->reclaim()) {
fprintf(stderr, "!!! UsageEnvironment release failed !!!\n");
}
delete scheduler;
stop_running = 1;
pthread_join(rtsp_thread, NULL);
videoSubsession = audioSubsession = nullptr;
// 若销毁RTSP服务端时客户端未断开连接则不会关闭连接, 所以在销毁之前关闭一下
rtspServer->closeAllClientSessionsForServerMediaSession(stream_name);
Medium::close(rtspServer);
if (env && !env->reclaim()) {
fprintf(stderr, "!!! UsageEnvironment release failed !!!\n");
}
delete scheduler;
}
MODULE_RUN(rtsp_start, rtsp_stop, 09);

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@ -1,8 +0,0 @@
#ifndef __MY_COMMON_H__
#define __MY_COMMON_H__
#ifndef ARRAY_LENGTH
#define ARRAY_LENGTH(arr) (sizeof(arr) / sizeof(arr[0]))
#endif
#endif

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@ -1,5 +1,5 @@
add_rules("mode.debug", "mode.release")
includes("Hi3516_SDK.lua", "live555.lua")
includes("Hi3516_SDK.lua", "live555.lua", " readerwriterqueue.lua")
--- Add Cross Compile Toolchain
toolchain("arm-himix200-linux")
@ -20,13 +20,14 @@ add_requires(
"zlog 1.2.17",
"mongoose 7.15",
"live555 2024.11.28",
"readerwriterqueue 16b48ae1148284e7b40abf72167206a4390a4592",
{ system = false }
)
target("ISP")
set_kind("static")
add_files("src/modules/isp/*.c")
add_includedirs("src")
add_includedirs("src", "src/modules")
add_deps("sample_common")
add_packages("zlog")
target_end()
@ -34,7 +35,7 @@ target_end()
target("NNIE")
set_kind("static")
add_files("src/modules/nnie/*.c")
add_includedirs("src")
add_includedirs("src", "src/modules")
add_deps("sample_common", "sample_svp")
add_packages("zlog")
target_end()
@ -42,8 +43,8 @@ target_end()
target("RTSP")
set_kind("static")
add_files("src/modules/rtsp/*.cpp")
add_includedirs("src")
add_packages("live555", "zlog")
add_includedirs("src", "src/modules")
add_packages("live555", "zlog", "readerwriterqueue")
add_links("pthread")
target_end()