[Jde-dev] mencoderRecorder
Roberto Calvo
rocapal en libresoft.es
Mar Abr 27 17:33:44 CEST 2010
Genial!
Los cambios que comentas no les veo problema. De hecho creo que tienes
permisos para subir al subversion no? Por mi no hay problema que lo
subas mientras compruebes que sigue todo funcionando, que la entrega del
TFM se acerca :-)
Por cierto, echando un ojo al diseño, quizás tengo más sentido que
tengamos recorders dependiendo de como graban, y no dependiendo del
programa que usen. Por ejemplo podemos tener:
- DeviceRecorder: Graban directamente del dispositivo fÃsico
- ImageRecorder: Graban utilizando imágenes
¿Que te parece esta separación?
La veo mucho más útil y si en el futuro tenemos 4 programas diferentes
para generar ImageRecorder no hace falta tener 4 clases distintas,
simplemente configurar a esta clase de una manera determinada. En el
fichero de config podrÃamos indicar que programa se quiere utilizar para
grabar.
De todas formas sube esto que has hecho al subversion para tenerlo. Yo
voy a pasar el ffmpegRecorder a DeviceRecorder para que soporte ffmpeg y
mencoder.
un saludo!
El mar, 27-04-2010 a las 13:27 +0200, Sara Marugan escribió:
> Hola,
>
> mencoderRecorder graba vÃdeo desde una cámara de jderobot. Sólo hay que
> indicarle el proxy de la cámara.
>
> Adjunto el parche que cambia alguna cosilla en recoder y en
> recorderconfig le he cambiado el tipo a duration porque al ser int daba
> problemas para llegar bien pasando por la red no sé por qué. Además
> width y height también son string.
>
> Adjunto también los nuevos ficheros de código.
>
> Un saludo!
> código fuente en C++ adjunto (parche_mencoderRecorder.cpp)
> Index: src/interfaces/slice/jderobot/recorder.ice
> ===================================================================
> --- src/interfaces/slice/jderobot/recorder.ice (revisión: 463)
> +++ src/interfaces/slice/jderobot/recorder.ice (copia de trabajo)
> @@ -64,7 +64,7 @@
> string frameRate;
>
> //! Seconds of recording
> - int duration;
> + string duration;
>
> //! Status
> // 0: In progress
> Index: src/components/recorder/ffmpegRecorder.h
> ===================================================================
> --- src/components/recorder/ffmpegRecorder.h (revisión: 463)
> +++ src/components/recorder/ffmpegRecorder.h (copia de trabajo)
> @@ -31,7 +31,7 @@
>
> public:
> /// \brief Recorder
> - ffmpegRecorder(const jderobotice::Context& context);
> + ffmpegRecorder(const jderobotice::Context& context,const jderobot::RecorderConfigPtr& recConfig);
>
>
> private:
> Index: src/components/recorder/recorder.cpp
> ===================================================================
> --- src/components/recorder/recorder.cpp (revisión: 463)
> +++ src/components/recorder/recorder.cpp (copia de trabajo)
> @@ -26,6 +26,7 @@
> #include <list>
>
> #include "ffmpegRecorder.h"
> +#include "mencoderRecorder.h"
>
> namespace RecorderProcess {
>
> @@ -44,8 +45,13 @@
> const Ice::Current& c)
> {
>
> - ffmpegRecorder* myRecorder = new ffmpegRecorder(context);
> - myRecorder->setConfig(recConfig);
> + GenericRecorder *myRecorder;
> + if(recConfig->cameraProxy.length()==0){
> + myRecorder =(ffmpegRecorder*) new ffmpegRecorder(context,recConfig);
> + }
> + else{
> + myRecorder = (mencoderRecorder*) new mencoderRecorder(context,recConfig);
> + }
>
> myRecorder->startRecording();
>
> Index: src/components/recorder/GenericRecorder.h
> ===================================================================
> --- src/components/recorder/GenericRecorder.h (revisión: 463)
> +++ src/components/recorder/GenericRecorder.h (copia de trabajo)
> @@ -37,7 +37,7 @@
>
> public:
> /// \brief Constructor
> - GenericRecorder(const jderobotice::Context& context) : mContext(context),mRecConfig(NULL), mId(), mStatus() {};
> + GenericRecorder(const jderobotice::Context& context,const jderobot::RecorderConfigPtr& recConfig) : mContext(context),mRecConfig(recConfig), mId(), mStatus() {};
>
>
> void setId (int id) {mId = id;};
> Index: src/components/recorder/Makefile.am
> ===================================================================
> --- src/components/recorder/Makefile.am (revisión: 463)
> +++ src/components/recorder/Makefile.am (copia de trabajo)
> @@ -2,19 +2,20 @@
> bin_PROGRAMS = recorder recorder_client
> endif
>
> -recorder_SOURCES = recorder.cpp ffmpegRecorder.cpp ffmpegRecorder.h GenericRecorder.h GenericRecorder.cpp
> +recorder_SOURCES = recorder.cpp ffmpegRecorder.cpp ffmpegRecorder.h mencoderRecorder.cpp mencoderRecorder.h GenericRecorder.h GenericRecorder.cpp
>
> -recorder_CXXFLAGS = -I$(top_srcdir)/src/interfaces/cpp $(LIBJDEROBOTICE_CPPFLAGS)
> +recorder_CPPFLAGS = -I$(top_srcdir)/src/interfaces/cpp $(LIBJDEROBOTICE_CPPFLAGS) $(LIBCOLORSPACESMM_LDFLAGS)
>
> -recorder_LDFLAGS = $(LIBICE) $(LIBICEUTIL) $(RECORDER_LIBS)
> +recorder_LDFLAGS = $(LIBICE) $(LIBICEUTIL) $(RECORDER_LIBS) $(LIBICEBOX) $(LIBICESTORM) $(LIBICESTORMSERVICE) $(LIBCOLORSPACESMM_LDFLAGS)
>
> recorder_LDADD = $(top_srcdir)/src/interfaces/cpp/jderobot/libJderobotInterfaces.la \
> - $(top_srcdir)/src/libs/jderobotice/libJderobotIce.la
> + $(top_srcdir)/src/libs/jderobotice/libJderobotIce.la \
> + $(top_srcdir)/src/libs/colorspaces/libcolorspacesmm.la
>
>
> recorder_client_SOURCES = recorder_client.cpp
>
> -recorder_client_CXXFLAGS = -I$(top_srcdir)/src/interfaces/cpp $(LIBJDEROBOTICE_CPPFLAGS)
> +recorder_client_CPPFLAGS = -I$(top_srcdir)/src/interfaces/cpp $(LIBJDEROBOTICE_CPPFLAGS)
>
> recorder_client_LDFLAGS = $(LIBICE) $(LIBICEUTIL) $(RECORDER_LIBS) -pthread
>
> Index: src/components/recorder/ffmpegRecorder.cpp
> ===================================================================
> --- src/components/recorder/ffmpegRecorder.cpp (revisión: 463)
> +++ src/components/recorder/ffmpegRecorder.cpp (copia de trabajo)
> @@ -27,7 +27,7 @@
>
> void *record_function( void *ptr );
>
> -ffmpegRecorder::ffmpegRecorder(const jderobotice::Context& context) : GenericRecorder(context)
> +ffmpegRecorder::ffmpegRecorder(const jderobotice::Context& context,const jderobot::RecorderConfigPtr& recConfig) : GenericRecorder(context,recConfig)
> {
>
> }
> Index: src/components/surveillance/surveillance.cpp
> ===================================================================
> --- src/components/surveillance/surveillance.cpp (revisión: 463)
> +++ src/components/surveillance/surveillance.cpp (copia de trabajo)
> @@ -89,7 +89,7 @@
>
> std::cout << " [*] New Recording launched, with ID = " << recId << " - " + timeRecording << " min." << std::endl;
>
> - sleep( recConfig->duration );
> + sleep( atoi(recConfig->duration.c_str()) );
>
> recManagerPrx->stopRecording(recId);
> }
> cabecera de código fuente en C adjunto (mencoderRecorder.h)
> /*
> *
> * Copyright (C) 1997-2010 JDE Developers Team
> *
> * This program is free software: you can redistribute it and/or modify
> * it under the terms of the GNU General Public License as published by
> * the Free Software Foundation, either version 3 of the License, or
> * (at your option) any later version.
> *
> * This program is distributed in the hope that it will be useful,
> * but WITHOUT ANY WARRANTY; without even the implied warranty of
> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
> * GNU General Public License for more details.
> *
> * You should have received a copy of the GNU General Public License
> * along with this program. If not, see http://www.gnu.org/licenses/.
> *
> * Author : Sara Marugán Alonso <smarugan en gsyc.es>
> *
> */
>
> #ifndef MECODER_RECORDER_H
> #define MECODER_RECORDER_H
>
> #include "GenericRecorder.h"
> #include <jderobotice/component.h>
> #include <jderobotice/application.h>
> #include <jderobot/camera.h>
>
> class mencoderRecorder : public GenericRecorder
> {
>
> public:
> /// \brief Recorder
> mencoderRecorder(const jderobotice::Context& context,const jderobot::RecorderConfigPtr& recConfig);
>
> private:
>
> int doRecording();
> };
>
> #endif MECODER_RECORDER_H
> código fuente en C++ adjunto (mencoderRecorder.cpp)
> /*
> *
> * Copyright (C) 1997-2010 JDE Developers Team
> *
> * This program is free software: you can redistribute it and/or modify
> * it under the terms of the GNU General Public License as published by
> * the Free Software Foundation, either version 3 of the License, or
> * (at your option) any later version.
> *
> * This program is distributed in the hope that it will be useful,
> * but WITHOUT ANY WARRANTY; without even the implied warranty of
> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
> * GNU General Public License for more details.
> *
> * You should have received a copy of the GNU General Public License
> * along with this program. If not, see http://www.gnu.org/licenses/.
> *
> * Author : Sara Marugán Alonso <smarugan en gsyc.es>
> *
> */
>
> #include "mencoderRecorder.h"
> #include <unistd.h>
> #include <signal.h>
> #include <sys/wait.h>
> #include <sys/types.h>
> #include <string.h>
> #include <strings.h>
> #include <jderobot/image.h>
> #include <stdio.h>
> #include <stdlib.h>
> #include <fcntl.h>
> #include <Ice/Ice.h>
> #include <IceUtil/Thread.h>
> #include <IceUtil/Time.h>
> #include <IceUtil/IceUtil.h>
> #include <IceUtil/Handle.h>
> #include <IceStorm/IceStorm.h>
> #include <iostream>
> #include <jderobot/camera.h>
> #include <colorspaces/colorspacesmm.h>
> #include <ctime>
>
>
> //////////////////////////////////////////////////////// IMAGE CONSUMER INTERFACE IMPLEMENTATION
> class ImageConsumerI: virtual public jderobot::ImageConsumer {
> private:
> jderobot::Time timeStampOld;
> jderobot::Time timeStampNew;
> int size;
> int fifo_fd;
> char *imageData;
> public:
> ImageConsumerI(int width,int height){
> size=width*height*3;
> imageData = (char*) malloc(size);
> timeStampOld.seconds=timeStampNew.seconds=0;
> timeStampOld.useconds=timeStampNew.useconds=0;
>
> // open fifo
> if ((fifo_fd=open("fifovid", O_WRONLY))<0){
> fprintf (stderr, "mencoderRecorder error: could not open fifo\n");
> }
> }
>
> ~ImageConsumerI(){
> // close fifo
> close (fifo_fd);
> unlink("fifovid");
>
> free(imageData);
> }
>
>
> virtual void report(const ::jderobot::ImageDataPtr& data,
> const Ice::Current&) {
>
> colorspaces::Image::FormatPtr fmt = colorspaces::Image::Format::searchFormat(data->description->format);
> if (!fmt)
> throw "Format not supported";
>
> colorspaces::Image img(data->description->width,
> data->description->height,
> fmt,
> &(data->pixelData[0]));
>
> timeStampOld=timeStampNew;
> timeStampNew=data->timeStamp;
>
> if(timeStampOld!=timeStampNew){
> int s=size/3;
> for (int j=0; j<s; j++) {
> imageData[j*3] = img.data[(s-1-j)*3];
> imageData[j*3+1] = img.data[(s-1-j)*3+1];
> imageData[j*3+2] = img.data[(s-1-j)*3+2];
> }
>
> if (write (fifo_fd, imageData, size)>size){
> fprintf (stderr, "mencoderRecorder error: could not write on fifo\n");
> }
> }
> }
> };
>
>
> //////////////////////////////////////////////////////////// THREAD
>
> void* callback(void* obj);
>
> class Thread {
> private:
> Ice::CommunicatorPtr communicator;
> jderobot::RecorderConfigPtr configuration;
>
> public:
> int main()
> {
> int imgwidth= atoi((char*)configuration->width.c_str());
> int imgheight= atoi((char*)configuration->height.c_str());
> int duration= atoi((char*)configuration->duration.c_str());
> IceStorm::TopicPrx topic;
>
> //IMAGE CONSUMERS INIT
>
> // generate camera adapter endpoint randomly
> srand((unsigned)time(0));
> char adapter_endpoint [256];
>
> int adapter_port = 10010 + (rand()%500)+1;
> sprintf(adapter_endpoint,"default -t 5000 -p %d",adapter_port);
>
> Ice::ObjectAdapterPtr adapter= communicator->createObjectAdapterWithEndpoints(adapter_endpoint,adapter_endpoint);
>
> if (adapter==0){
> fprintf(stderr,"mencoderRecorder error: could not create adapter for camera");
> return -1;
> }
>
> Ice::ObjectPrx obj = communicator->stringToProxy(configuration->cameraProxy);
>
> if (obj==0){
> fprintf(stderr,"mencoderRecorder error: could not create proxy\n");
> return(-1);
> }
>
> std::string topicName = configuration->name;
>
> IceStorm::TopicManagerPrx topicManager=IceStorm::TopicManagerPrx::checkedCast(obj);
>
> ImageConsumerI *imageConsumer = new ImageConsumerI(imgwidth,imgheight);
> Ice::ObjectPrx proxy = adapter->addWithUUID(imageConsumer)->ice_oneway();
>
> try {
> topic = topicManager->retrieve(topicName);
> IceStorm::QoS qos;
> topic->subscribeAndGetPublisher(qos, proxy);
> }
> catch (const IceStorm::NoSuchTopic& ex) {
> std::cerr << ex << std::endl;
> return -1;
> }
>
> adapter->activate();
>
> //communicator->waitForShutdown();
> sleep(duration);
>
> topic->unsubscribe(proxy);
>
> adapter->deactivate();
>
> delete imageConsumer;
> adapter=NULL;
>
> pthread_exit(0);
> }
>
> void run(Ice::CommunicatorPtr comm,jderobot::RecorderConfigPtr config)
> {
> communicator=comm;
> configuration=config;
> pthread_create(&thread, 0, &callback, this);
> sleep(1);
> }
>
> void stop(){
> }
>
> int join()
> {
> return pthread_join(thread, ret);
> }
>
> pthread_t thread;
> void** ret;
> }; // class Thread
>
>
> void* callback(void* obj)
> {
> static_cast<Thread*>(obj)->main();
> return(0);
> } // callback
>
>
> ///////////////////////////////////////// MENCODER_RECORDER FUCNTIONS
>
> mencoderRecorder::mencoderRecorder(const jderobotice::Context& context,
> const jderobot::RecorderConfigPtr& recConfig) : GenericRecorder(context,recConfig)
> {
> // create fifo
> unlink ("fifovid");
> if ( (mkfifo ("fifovid", 0600) != 0) ){
> fprintf (stderr, "mencoderRecorder error: could not create fifo\n");
> }
>
> // create thread for getting images
> Thread thread;
> thread.run(getContext().communicator(),recConfig);
> }
>
> int mencoderRecorder::doRecording()
> {
>
> int imgwidth= atoi((char*)getConfig()->width.c_str());
> int imgheight= atoi((char*)getConfig()->height.c_str());
>
>
> getContext().tracer().info ( "starting recording: Path = " +
> getConfig()->path + " - FrameRate = " +
> getConfig()->frameRate + " fps - ");
>
> char str[50];
> int file;
> file = open("/dev/null",O_RDWR);
> close(0); dup(file);
> close(1); dup(file);
> close(2); dup(file);
>
> // execute mencoder
> sprintf(str,"fps=%.1f:w=%d:h=%d:format=%s",atof((char*)getConfig()->frameRate.c_str()),imgwidth,imgheight, "rgb24");
> execlp("mencoder","mencoder","fifovid","-demuxer","rawvideo", "-rawvideo",
> str, "-o", (char*) (getConfig()->path).c_str(), "-ovc", "lavc" ,NULL);
>
> printf("mencoderRecorder error: cannot execute mencoder\n");
> return -1;
> }
>
>
>
> _______________________________________________
> Jde-developers mailing list
> Jde-developers en gsyc.es
> http://gsyc.escet.urjc.es/cgi-bin/mailman/listinfo/jde-developers
--
Roberto Calvo Palomino | Libre Software Engineering Lab (GSyC)
Tel: (+34) 91 488 85 23 | Universidad Rey Juan Carlos
rocapal en libresoft.es | Edif. Departamental II - Despacho 116
http://libresoft.es/ | c/Tulipán s/n 28933 Móstoles (Madrid)
GPG-KEY: http://gsyc.es/~rocapal/rocapal.gpg
------------ próxima parte ------------
Se ha borrado un mensaje que no está en formato texto plano...
Nombre : no disponible
Tipo : application/pgp-signature
Tamaño : 198 bytes
Descripción: Esta parte del mensaje =?ISO-8859-1?Q?est=E1?= firmada
digitalmente
Url : http://gsyc.escet.urjc.es/pipermail/jde-developers/attachments/20100427/3f2c558b/attachment-0001.pgp
More information about the Jde-developers
mailing list