add new package and try to transplat rtsp of rouring

readerwriterqueue.lua

@@ -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)

.gitignore

@@ -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

flake.lock

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

src/common.h

@@ -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

src/modules/isp/eb3516_video.c

@@ -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"
 

src/modules/isp/eb3516_video.h

@@ -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);

src/modules/rtsp/BaseDeviceSource.hh

@@ -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:

src/modules/rtsp/H26XDeviceSource.cpp

@@ -0,0 +1,94 @@
+/**
+ * @file H26XDeviceSource.cpp
+ * @author 吴晨
+ * @brief 适配 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);
+}

src/modules/rtsp/H26XDeviceSource.hh

@@ -0,0 +1,41 @@
+/**
+ * @file H26XDeviceSource.hh
+ * @author 吴晨
+ * @brief 适配 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

src/modules/rtsp/LiveServerMediaSubsession.cpp

@@ -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;

src/modules/rtsp/build.mk

@@ -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))

src/modules/rtsp/rtsp_server.cpp

@@ -2,23 +2,25 @@
  * @file rtsp_server.cpp
  * @author 吴晨
  * @brief 基于 live555 的 RTSP 服务器
- * 
+ *
  * @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
+  if (rtspServer == NULL || sms == NULL)
-    UsageEnvironment &env = rtspServer->envir();
+    return; // sanuty check
-    env << "Play this stream using the URL ";
+  UsageEnvironment &env = rtspServer->envir();
-    if (weHaveAnIPv4Address(env)) {
+  env << "Play this stream using the URL ";
-        char *url = rtspServer->ipv4rtspURL(sms);
+  if (weHaveAnIPv4Address(env)) {
-        env << "\"" << url << "\"";
+    char *url = rtspServer->ipv4rtspURL(sms);
-        delete[] url;
+    env << "\"" << url << "\"";
-        if (weHaveAnIPv6Address(env)) env << " or ";
+    delete[] url;
-    }
+    if (weHaveAnIPv6Address(env))
-    if (weHaveAnIPv6Address(env)) {
+      env << " or ";
-        char *url = rtspServer->ipv6rtspURL(sms);
+  }
-        env << "\"" << url << "\"";
+  if (weHaveAnIPv6Address(env)) {
-        delete[] url;
+    char *url = rtspServer->ipv6rtspURL(sms);
-    }
+    env << "\"" << url << "\"";
-    env << "\n";
+    delete[] url;
+  }
+  env << "\n";
 }
 
-static void *rtsp_loop(void *arg) {
+static void *rtsp_loop([[maybe_unused]] void *arg) {
-    UNUSED(arg);
+  env->taskScheduler().doEventLoop(&stop_running);
-    env->taskScheduler().doEventLoop(&stop_running);
+  return nullptr;
-    return nullptr;
 }
 
 static void on_msg_received(ipc_request_t *req) {
-    if (req->id == IPC_MSG_ID_RTSP_STREAM_VIDEO) {
+  if (req->id == IPC_MSG_ID_RTSP_STREAM_VIDEO) {
-        const ipc_msg_rtsp_stream_t *packet = (const ipc_msg_rtsp_stream_t *)req->msg;
+    const ipc_msg_rtsp_stream_t *packet =
-        if (videoSubsession == nullptr || videoSubsession->deviceSource() == nullptr) {
+        (const ipc_msg_rtsp_stream_t *)req->msg;
-            delete[] packet->data;
+    if (videoSubsession == nullptr ||
-            ipc_reply(req, nullptr);
+        videoSubsession->deviceSource() == nullptr) {
-            return;
+      delete[] packet->data;
-        }
+      ipc_reply(req, nullptr);
-        videoSubsession->deviceSource()->signalNewFrame(*packet);
+      return;
-        ipc_reply(req, nullptr);
     }
+    videoSubsession->deviceSource()->signalNewFrame(*packet);
+    ipc_reply(req, nullptr);
+  }
 }
 
 static bool rtsp_start() {
-    LOG_DEBUG("Starting RTSP server...\n");
+  // Get logger
-    ipc_register_callback(MOD_RTSP, on_msg_received);
+  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();
+  scheduler = BasicTaskScheduler::createNew();
-    env = BasicUsageEnvironment::createNew(*scheduler);
+  env = BasicUsageEnvironment::createNew(*scheduler);
-    rtspServer = RTSPServer::createNew(*env, 554, nullptr, 10U);
+  rtspServer = RTSPServer::createNew(*env, 554, nullptr, 10U);
-    if (rtspServer == nullptr) {
+  if (rtspServer == nullptr) {
-        *env << "Failed to create RTSP server: " << env->getResultMsg() << "\n";
+    *env << "Failed to create RTSP server: " << env->getResultMsg() << "\n";
-        return false;
+    return false;
-    }
+  }
 
-    ipc_msg_mpp_stream_info_req stream_info_req;
+  ipc_msg_mpp_stream_info_req stream_info_req;
-    stream_info_req.num = 0;
+  stream_info_req.num = 0;
-    ipc_request_t req = IPC_REQUEST_INIT(MOD_MPP);
+  ipc_request_t req = IPC_REQUEST_INIT(MOD_MPP);
-    req.id = IPC_MSG_ID_MPP_STREAM_INFO;
+  req.id = IPC_MSG_ID_MPP_STREAM_INFO;
-    req.msg = (const ipc_msg_t *)&stream_info_req;
+  req.msg = (const ipc_msg_t *)&stream_info_req;
-    req.length = sizeof(ipc_msg_mpp_stream_info_req);
+  req.length = sizeof(ipc_msg_mpp_stream_info_req);
-    int result = ipc_send(&req);
+  int result = ipc_send(&req);
-    if (result != IPC_OK) {
+  if (result != IPC_OK) {
-        *env << "Failed to get live stream params\n";
+    *env << "Failed to get live stream params\n";
-        return false;
+    return false;
-    }
+  }
-    ipc_msg_mpp_stream_info_res *stream_info_res = &req.res->msg.mpp_stream_info_res;
+  ipc_msg_mpp_stream_info_res *stream_info_res =
-    if (stream_info_res->video_codec < ROV_AUDIO) {
+      &req.res->msg.mpp_stream_info_res;
-        videoSubsession = LiveServerMediaSubsession::createNew(*env, stream_info_res->video_codec);
+  if (stream_info_res->video_codec < ROV_AUDIO) {
-    }
+    videoSubsession = LiveServerMediaSubsession::createNew(
-    if (stream_info_res->audio_codec > ROV_AUDIO) {
+        *env, stream_info_res->video_codec);
-        audioSubsession = LiveServerMediaSubsession::createNew(*env, stream_info_res->audio_codec);
+  }
-    }
+  if (stream_info_res->audio_codec > ROV_AUDIO) {
-    free(req.res);
+    audioSubsession = LiveServerMediaSubsession::createNew(
+        *env, stream_info_res->audio_codec);
+  }
+  free(req.res);
 
-    ServerMediaSession *sms = ServerMediaSession::createNew(*env, stream_name, stream_name, description);
+  ServerMediaSession *sms = ServerMediaSession::createNew(
-    if (videoSubsession != nullptr) {
+      *env, stream_name, stream_name, description);
-        sms->addSubsession(videoSubsession);
+  if (videoSubsession != nullptr) {
-    }
+    sms->addSubsession(videoSubsession);
-    if (audioSubsession != nullptr) {
+  }
-        sms->addSubsession(audioSubsession);
+  if (audioSubsession != nullptr) {
-    }
+    sms->addSubsession(audioSubsession);
-    rtspServer->addServerMediaSession(sms);
+  }
-    announceURL(rtspServer, sms);
+  rtspServer->addServerMediaSession(sms);
+  announceURL(rtspServer, sms);
 
-    stop_running = 0;
+  stop_running = 0;
-    result = pthread_create(&rtsp_thread, NULL, rtsp_loop, NULL);
+  result = pthread_create(&rtsp_thread, NULL, rtsp_loop, NULL);
-    if (result != 0) {
+  if (result != 0) {
-        *env << "Create RTSP server thread failed, result: " << result << "\n";
+    *env << "Create RTSP server thread failed, result: " << result << "\n";
-        return false;
+    return false;
-    }
+  }
-    return true;
+  return true;
 }
 
 static void rtsp_stop() {
-    stop_running = 1;
+  stop_running = 1;
-    pthread_join(rtsp_thread, NULL);
+  pthread_join(rtsp_thread, NULL);
-    videoSubsession = audioSubsession = nullptr;
+  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
+  // 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);
+  rtspServer->closeAllClientSessionsForServerMediaSession(stream_name);
-    Medium::close(rtspServer);
+  Medium::close(rtspServer);
-    if (env && !env->reclaim()) {
+  if (env && !env->reclaim()) {
-        fprintf(stderr, "!!! UsageEnvironment release failed !!!\n");
+    fprintf(stderr, "!!! UsageEnvironment release failed !!!\n");
-    }
+  }
-    delete scheduler;
+  delete scheduler;
 }
-
-MODULE_RUN(rtsp_start, rtsp_stop, 09);

src/my_common.h

@@ -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

xmake.lua

@@ -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_includedirs("src", "src/modules")
-add_packages("live555", "zlog")
+add_packages("live555", "zlog", "readerwriterqueue")
 add_links("pthread")
 target_end()