[Jde-dev] mencoderRecorder

Roberto Calvo rocapal en libresoft.es
Mar Abr 27 18:24:04 CEST 2010 

Si lees esto a tiempo, no subas aún el código. Si no ha llegado a
tiempo, tampoco pasa nada :-)

Al estar cambiando el diseño que hemos comentado, me he dado cosa de una
cuenta. El recorder en principio no tenía nada de configuración para
saber donde grabar, el llega todo a través del RecorderConfig, y
deberíamos seguir haciendolo así. Estoy cambiando el ICE para que no
tenga v4ldevice y v4lversion, sino protocol y device. De esa forma
podríamos tener estas configuraciones:

protocol=v4l - device=/dev/video1

protocol=cameraServer - device= proxy correspondiente.

¿Que te parece?

El mar, 27-04-2010 a las 18:07 +0200, Sara Marugan escribió:
> Jeje, la verdad es que sí había pensado lo de uno fuera de tipo "device" 
> y otro "camera" (o image como dices tú) recorder. Así que si tú también 
> lo has pensado cambiemoslo.
> 
> Vale, pues lo subo al svn ya con el nombre cambiado y sólo quedaría por 
> retocar lo de los procesos zombies, que no influye en la funcionalidad, 
> pero está mejor liberar los recursos bien.
> 
> 
> Roberto Calvo wrote:
> > 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 físico
> >   - 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 podríamos 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 vídeo 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
> >>     
> >
> >   
> 
> _______________________________________________
> 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)

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