/* in case default setting */
#define WIDTH 1280
#define HEIGHT 1024
#define BPPIN 8
#define OUTFRMNUMB 1
#define NB_BUFFER 4
struct frame_t{
char header[5];
int nbframe; //记录当前是第几帧
double seqtimes; //记录转换完当前帧时的时间。
int deltatimes; //记录从开始读取数据到数据转换完成所用时间
int w;
int h;
int size; //记录原始数据帧经过转换后的图像大小,即convertframe()的返回值
int format; //记录当前帧格式
unsigned short bright;
unsigned short contrast;
unsigned short colors;
unsigned short exposure;
unsigned char wakeup;
int acknowledge;
} __attribute__ ((packed));
/*
此结构体用于描述图像数据帧(指原始数据转换后的)的信息,从s3c2410_Grab()的一些片段可看出。
struct frame_t *headerframe;
jpegsize= convertframe(vd->ptframe[vd->frame_cour]+ sizeof(struct frame_t),
vd->pFramebuffer,
vd->hdrwidth, vd->hdrheight,
vd->formatIn, qualite, vd->framesizeIn);
headerframe=(struct frame_t*)vd->ptframe[vd->frame_cour];
headerframe->seqtimes = ms_time();
headerframe->deltatimes=(int)(headerframe->seqtimes-timecourant);
headerframe->w = vd->hdrwidth;
headerframe->h = vd->hdrheight;
headerframe->size = (( jpegsize < 0)?0:jpegsize);;
headerframe->format = vd->formatIn;
headerframe->nbframe = frame++;
*/
struct vdIn {
int fd;
char *videodevice ; //设备名字
unsigned char *pFramebuffer; //存放从驱动中读取的原始数据,vd->pFramebuffer=(unsigned char *) malloc ((size_t) vd->framesizeIn );
unsigned char *ptframe[OUTFRMNUMB]; //用于在转换convertframe()成图像时的参数。#define OUTFRMNUMB 1,所以仅有一个元素ptframe[0]
unsigned char *mem[NB_BUFFER];
int framelock[OUTFRMNUMB];
pthread_mutex_t grabmutex; //并发控制多个读驱动线程对全局vd数据的访问。但问题是好像只能有一个读驱动线程,所以觉得可以省去的。
int framesizeIn ; //记录每一帧多少字节,是每次要从驱动读取的字节数。vd->framesizeIn=width*height*2; //RGB565
volatile int frame_cour; //当前帧索引。总是0(#define OUTFRMNUMB 1)
int bppIn;
int hdrwidth; //图像width
int hdrheight; //图像height
int formatIn;
int signalquit;
struct v4l2_capability cap;
struct v4l2_format fmt;
struct v4l2_buffer buf;
struct v4l2_requestbuffers rb;
int grayscale; //图像灰度
uint32_t quality; //图像质量,用于将一帧原始数据转化成图像convertframe()时的参数。
};
/*
此结构体用于保存从设备读取的原始数据
*/
在plugins/input_s3c2410/input_s3c2410.c中声明了几个指针,全局的但只是在本input plugin即
input_s3c2410目录里使用
#define INPUT_PLUGIN_NAME "S3C2410 embedded camera"
#define MAX_ARGUMENTS 32
/* private functions and variables to this plugin */
pthread_t cam;//从设备读数据的线程标识符
struct vdIn *videoIn;
static globals *pglobal;//此指针会指向在全局的mjpg_streamer.c中定义的global,以供本模块访问全局buf
如果使用如下指令启动的mjpg_streamer
./mjpg_streamer -o "output_http.so -w ./www" -i "input_s3c2410.so -d /dev/camera"
则在
mjpg_streamer.c中的两条指令global.in.init(&global.in.param)
global.in.run()
分别是执行input_s3c2410.c中的
int input_init(input_parameter *param) // param.parameter_string="-d /dev/camera"
int input_run(void)
搜索"见下面"取得线索。
***********************************************************init***************************************************************************
在input_s3c2410.c里,input_init源码如下
/******************************************************************************
Description.: This function initializes the plugin. It parses the commandline-
parameter and stores the default and parsed values in the
appropriate variables.
Input Value.: param contains among others the command-line string
Return Value: 0 if everything is fine
1 if "--help" was triggered, in this case the calling programm
should stop running and leave.
******************************************************************************/
int input_init(input_parameter *param) {
char *dev = "/dev/video0", *s;
//默认设备名是dev = "/dev/video0"
int width=640, height=512, i;
int argc=1;
char *argv[MAX_ARGUMENTS]={NULL};
uint32_t jpg_quality=1024;
int grayscale=0;
/* convert the single parameter-string to an array of strings */
argv[0] = INPUT_PLUGIN_NAME;
if ( param->parameter_string != NULL && strlen(param->parameter_string) != 0 ) {
char *arg=NULL, *saveptr=NULL, *token=NULL;
arg=(char *)strdup(param->parameter_string);
if ( strchr(arg, ' ') != NULL ) {
token=strtok_r(arg, " ", &saveptr);
if ( token != NULL ) {
argv[argc] = strdup(token);
argc++;
while ( (token=strtok_r(NULL, " ", &saveptr)) != NULL ) {
argv[argc] = strdup(token);
argc++;
if (argc >= MAX_ARGUMENTS) {
IPRINT("ERROR: too many arguments to input plugin\n");
return 1;
}
}
}
}
}
/* show all parameters for DBG purposes */
for (i=0; i<argc; i++) {
DBG("argv[%d]=%s\n", i, argv[i]);
/*
如果使用:-i "input_s3c2410.so -d /dev/camera"
则
DBG(input_s3c2410.c, input_init(), 95): argv[0]=S3C2410 embedded camera
DBG(input_s3c2410.c, input_init(), 95): argv[1]=-d
DBG(input_s3c2410.c, input_init(), 95): argv[2]=/dev/camera
*/
}
/* parse the parameters */
reset_getopt();
while(1) {
int option_index = 0, c=0;
struct option long_options[] = \
{
{"help", no_argument, 0, 'h'},
{"device", required_argument, 0, 'd'},
{"resolution", required_argument, 0, 'r'},
{"quality", required_argument, 0, 'q'},
{"grayscale", no_argument, 0, 'g'},
{0, 0, 0, 0}
};
c = getopt_long(argc, argv, "hd:r:q:g", long_options, &option_index);
/* no more options to parse */
if (c == -1) break;
/* dispatch the given options */
switch (c) {
/* d, device */
case 'd':
DBG("case d\n");
dev = strdup(optarg);
break;
//指定灰度,默认0
case 'g':
grayscale=1;
break;
/* r, resolution */
//指定尺寸如 -r 320x240 ,默认640x512
case 'r':
DBG("case r\n");
width = -1;
height = -1;
/* parse value as decimal value */
width = strtol(optarg, &s, 10);
height = strtol(s+1, NULL, 10);
break;
/* q, quality */
//指定图片质量 默认1024
case 'q':
DBG("case q\n");
jpg_quality = atoi(optarg);
break;
/* h, help */
case 'h':
default:
DBG("default case, h\n");
help();
return 1;
}
}
/* keep a pointer to the global variables */
pglobal = param->global;
/* allocate webcam datastructure */
videoIn = malloc(sizeof(struct vdIn));
//为模块内全局指针videoIn分配内存
if ( videoIn == NULL )
{
IPRINT("not enough memory for videoIn\n");
exit(EXIT_FAILURE);
}
memset(videoIn, 0, sizeof(struct vdIn));
//清0
DBG("initializing s3c2410 device\n");
/* display the parsed values */
IPRINT("Using V4L2 device.: %s\n", dev);
IPRINT("Desired Resolution: %i x %i\n", width, height);
IPRINT("Grayscale mode: %s\n",grayscale?"on":"off");
videoIn->grayscale=grayscale;
videoIn->quality=jpg_quality;
/* open video device and prepare data structure */
if (init_s3c2410 (videoIn, dev, width, height) != 0) //调用实际的初始化函数对设备初始化,见下面
{
IPRINT("init_s3c2410 failed\n");
closelog();
exit(EXIT_FAILURE);
}
return 0;
}
在plugins/input_s3c2410/s3c2410.c可以看到init_s3c2410 (videoIn, dev, width, height)的源码
对设备文件/dev/camera进行读写等操作的函数均在此文件内
init_s3c2410()函数接收的
第1个参数是指针struct vdIn *vd
第2个参数是设备名
第3,4个参数是图像尺寸
int init_s3c2410 (struct vdIn *vd, char *device,
int width, int height)
{
int err = -1;
int f;
int i;
if (vd == NULL || device == NULL)
return -1;
if (width == 0 || height == 0)
return -1;
vd->videodevice=strdup(device);//取得设备名,以便open
vd->framesizeIn=width*height*2; //RGB565
vd->hdrwidth=width;
vd->hdrheight=height;
//printf("Allocating frame:%dx%d\n",width,height);
vd->pFramebuffer=(unsigned char *) malloc ((size_t) vd->framesizeIn ); //just in case
vd->formatIn=0;
DBG("Opening device\n");
if ((vd->fd = open( vd->videodevice, O_RDWR)) == -1)//打开设备 /dev/camera
exit_fatal ("ERROR opening V4L interface");
DBG("Allocating input buffers\n");
/* allocate the 4 frames output buffer */
for (i = 0; i < OUTFRMNUMB; i++)
{
vd->ptframe[i] = NULL;
vd->ptframe[i] = (unsigned char *) malloc ((size_t) vd->framesizeIn+sizeof(struct frame_t) );
vd->framelock[i] = 0;
}
vd->frame_cour = 0;
pthread_mutex_init (&vd->grabmutex, NULL);//初始化互斥量,以便后面用到
printf("Allocated\n");
return 0;
}
***********************************************************run**************************************************************************
在plugins/input_s3c2410/input_s3c2410.c,input_run源码如下
/******************************************************************************
Description.: spins of a worker thread
Input Value.: -
Return Value: always 0
******************************************************************************/
int input_run(void)
{
pglobal->buf = malloc(videoIn->framesizeIn);
if (pglobal->buf == NULL)
{
fprintf(stderr, "could not allocate memory\n");
exit(EXIT_FAILURE);
}
pthread_create(&cam, 0, cam_thread, NULL);//创建线程,线程函数见下面
pthread_detach(cam);
return 0;
}
说明
1.执行一次.mjpg_streamer会,会创建一个线程去从设备读数据。并将数据处理后放在全局变量global里。而不管有没有客户端从global中读取。
2.pthread_detach(cam);分离线程,这个线程的作用是从设备读数据到全局变量,没数据返回给主线程,所以主线程没必要等待此线程的返回。这样的话,这个线程结束时(何时?主进程结束比如kill xxx,比如pglobal->stop==1)就可以自动被系统回收。
在plugins/input_s3c2410/input_s3c2410.c,线程函数cam_thread源码如下
/******************************************************************************
Description.: this thread worker grabs a frame and copies it to the global buffer
Input Value.: unused
Return Value: unused, always NULL
******************************************************************************/
void *cam_thread( void *arg )
{
int iframe = 0;
unsigned char *pictureData = NULL;
struct frame_t *headerframe;
int r;
/* set cleanup handler to cleanup allocated ressources */
pthread_cleanup_push(cam_cleanup, NULL);
while( !pglobal->stop )
{
/* grab a frame */
r=s3c2410_Grab( videoIn );//从驱动抓取一帧原始数据并编码,见下面
if( r < 0 ) {
IPRINT("Error grabbing frames\n");
exit(EXIT_FAILURE);
}
if(!r) //not captured
{
//sleep(0);
pthread_yield();
continue;
}
iframe=(videoIn->frame_cour +(OUTFRMNUMB-1))% OUTFRMNUMB;
//循环索引
//由于#define OUTFRMNUMB 1,所以iframe总是0
videoIn->framelock[iframe]++;
//这句和下面的那句--貌似没怎么用用,注释掉也可以
headerframe=(struct frame_t*)videoIn->ptframe[iframe];
//指向转换后的图像数据
pictureData = videoIn->ptframe[iframe]+sizeof(struct frame_t);
//指向数据区。
videoIn->framelock[iframe]--;
/* copy JPG picture to global buffer */
pthread_mutex_lock( &pglobal->db );
//写数据前上锁(互斥量,互斥锁),以防止客户端线程此时去读数据。
//如果此时客户端线程在持有互斥锁,则该线程阻塞,直到锁可用。
pglobal->size = get_jpegsize(pictureData, headerframe->size);
memcpy(pglobal->buf, pictureData, pglobal->size);
//全局变量,写入数据大小pglobal->size,数据pglobal->buf
/* signal fresh_frame */
pthread_cond_broadcast(&pglobal->db_update);
//有新数据的信号
pthread_mutex_unlock( &pglobal->db );
//释放互斥量
}
DBG("leaving input thread, calling cleanup function now\n");
pthread_cleanup_pop(1);
return NULL;
}
/*
在plugins/input_s3c2410/utils.c
int get_jpegsize (unsigned char *buf, int insize)
{
int i;
for ( i= 1024 ; i< insize; i++) {
if ((buf[i] == 0xFF) && (buf[i+1] == 0xD9)) return i+10;
//图像结束标志 0xFF 0xD9
}
return -1;
}
*/
在plugins/input_s3c2410/s3c2410.c,s3c2410_Grab源码如下,这个是从设备读数据的关键部分
int s3c2410_Grab (struct vdIn *vd )
{
static int frame = 0;
//记录抓取到第几帧
int len;
int size;
int err = 0;
int jpegsize = 0;
int qualite = 1024;
struct frame_t *headerframe;
double timecourant =0;
double temps = 0;
//记录将原始数据转换成图像格式所用的时间,ms
timecourant = ms_time();
//即将开始读取,记下当前时间
/* read method */
size = vd->framesizeIn;
//要从驱动中读取的字节数。 vd->framesizeIn=width*height*2;
do
//读取数据,死循环,直到读到数据。如果驱动从硬件采集数据较慢的话,该线程大多数的时间可能就在这个地方打转。
{
len = read (vd->fd, vd->pFramebuffer, size);
//从驱动中读取size字节原始数据到vd->pFramebuffer
if(!len ) //not yet ready
sched_yield();
//如果驱动还未准备好数据,线程主动让出cpu,即主动向os申请调度到可运行队列末尾。但不是阻塞即不是调度到等待队列。
} while(!len);
if(len<0)
{
printf ("2440 read error\n");
return -1;
}
/* Is there someone using the frame */
while((vd->framelock[vd->frame_cour] != 0)&& vd->signalquit)
usleep(1000);
pthread_mutex_lock (&vd->grabmutex);
//写数据前上锁(互斥量,互斥锁),是对本模块内的全局结构体vd的并发保护。
//但我觉得可以不用保护,因为自始自终只有这一个线程可以操作这个数据,其他的socket线程根本不会接触这个数据的。
/*
memcpy (vd->ptframe[vd->frame_cour]+ sizeof(struct frame_t), vd->pFramebuffer, vd->framesizeIn);
jpegsize =jpeg_compress(vd->ptframe[vd->frame_cour]+ sizeof(struct frame_t),len,
vd->pFramebuffer, vd->hdrwidth, vd->hdrheight, qualite);
*/
temps = ms_time();
jpegsize= convertframe(vd->ptframe[vd->frame_cour]+ sizeof(struct frame_t),//对原始数据转换及编码,见下面
vd->pFramebuffer,
vd->hdrwidth, vd->hdrheight,
vd->formatIn, qualite, vd->framesizeIn);
/*
函数原型是
int convertframe(unsigned char *dst,
unsigned char *src,
int width,int height,
int formatIn, int qualite,int buf_size)
可见是将原始数据vd->pFramebuffer转换成图像数据,然后用比如vd->ptframe[0]指向之。
*/
headerframe=(struct frame_t*)vd->ptframe[vd->frame_cour];
//真正的图像帧格式headerframe指向转换后的数据区
snprintf(headerframe->header,5,"%s","2410");
headerframe->seqtimes = ms_time();
//读取并转换完毕,记下当前时间
headerframe->deltatimes=(int)(headerframe->seqtimes-timecourant);
//记录从开始读取数据到数据编码完成所用时间
headerframe->w = vd->hdrwidth;
headerframe->h = vd->hdrheight;
headerframe->size = (( jpegsize < 0)?0:jpegsize);;
headerframe->format = vd->formatIn;
headerframe->nbframe = frame++;
DBG("compress frame %d times %f\n",frame, headerframe->seqtimes-temps);
/*
打印出来的是转换时间,不包括从驱动读取数据用去的时间。所以比较均匀。
这个就是终端里一直打印出来的,比如 次数 所用时间ms
DBG(s3c2410.c, s3c2410_Grab(), 172): compress frame 34599 times 175.409058
DBG(s3c2410.c, s3c2410_Grab(), 172): compress frame 34600 times 176.015015
DBG(s3c2410.c, s3c2410_Grab(), 172): compress frame 34601 times 175.151001
DBG(s3c2410.c, s3c2410_Grab(), 172): compress frame 34602 times 175.377930
*/
vd->frame_cour = (vd->frame_cour +1) % OUTFRMNUMB; //#define OUTFRMNUMB 1
/*
当前帧索引+1,
可以看出作者是每次从驱动中读取一个原始数据帧放在vd->pFramebuffer,将数据转换后使用当前帧vd->ptframe[vd->frame_cour]指向,而每读取一帧则vd->frame_cour++。
由于#define OUTFRMNUMB 1,所以vd->ptframe[vd->frame_cour]总是vd->ptframe[0].
而headerframe是本函数内的局部变量,总是指向vd->ptframe[0]。记录转换后的图像信息可以打印出来以供调试参考
在s3c2410_Grab()返回点cam_thread()里面也有一个局部变量headerframe,也是指向vd->ptframe[0],但也不重要。重要的是那个pictureData
是全局global变量的buf和size的源头活水,见cam_thread().
*/
pthread_mutex_unlock (&vd->grabmutex);
/************************************/
return jpegsize;
}
在plugins/input_s3c2410/s3c2410.c,
int convertframe(unsigned char *dst,unsigned char *src,
int width,int height, int formatIn, int qualite,int buf_size)
{
int ret=0;
//unsigned char *tmp=malloc(width*height*2);
RGB565_2_YCbCr420(src,src,width,height); //inplace conversion
//见下面
ret=s_encode_image(src,dst,qualite,FORMAT_CbCr420,width,height,buf_size);
//图像编码,见下面
//free(tmp);
return ret;
}
在根目录的simplified_jpeg_encoder.c,
/* translate RGB565 to YUV420 in input */
void RGB565_2_YCbCr420(uint8_t * input_ptr, uint8_t * output_ptr, uint32_t image_width,
uint32_t image_height)
{
uint32_t i, j, size;
uint8_t R, G, B, R1, G1, B1, Rd, Gd, Bd, Rd1, Gd1, Bd1;
S_INT Y, Yd, Y11, Yd1, Cb, Cr;
S_JPEG_RGB16 * inbuf = (S_JPEG_RGB16 *) input_ptr;
S_JPEG_RGB16 * inbuf1 = inbuf + (image_width);
size = image_width * image_height >> 2;
for (i = size, j = 0; i > 0; i--)
{
B = inbuf[0].blue << 3;
G = inbuf[0].green << 2;
R = inbuf[0].red << 3;
B1 = inbuf[1].blue << 3;
G1 = inbuf[1].green << 2;
R1 = inbuf[1].red << 3;
Bd = inbuf1[0].blue << 3;
Gd = inbuf1[0].green << 2;
Rd = inbuf1[0].red << 3;
Bd1 = inbuf1[1].blue << 3;
Gd1 = inbuf[1].green << 2;
Rd1 = inbuf[1].red << 3;
inbuf += 2;
inbuf1 += 2;
j++;
if (j >= image_width / 2) {
j = 0;
inbuf += (image_width);
inbuf1 += (image_width);
}
Y = CLIP((77 * R + 150 * G + 29 * B) >> 8);
Y11 = CLIP((77 * R1 + 150 * G1 + 29 * B1) >> 8);
Yd = CLIP((77 * Rd + 150 * Gd + 29 * Bd) >> 8);
Yd1 = CLIP((77 * Rd1 + 150 * Gd1 + 29 * Bd1) >> 8);
Cb = CLIP(((-43 * R - 85 * G + 128 * B) >> 8) + 128);
Cr = CLIP(((128 * R - 107 * G - 21 * B) >> 8) + 128);
*output_ptr++ = (uint8_t) Y;
*output_ptr++ = (uint8_t) Y11;
*output_ptr++ = (uint8_t) Yd;
*output_ptr++ = (uint8_t) Yd1;
*output_ptr++ = (uint8_t) Cb;
*output_ptr++ = (uint8_t) Cr;
}
}
在根目录的simplified_jpeg_encoder.c,
uint32_t s_encode_image(uint8_t * input_ptr, uint8_t * output_ptr,
uint32_t quality_factor, int image_format,
uint32_t image_width, uint32_t image_height,
uint32_t output_buffer_size)
{
S_UINT i, j;
S_UINT last_col;
S_UINT last_row;
uint8_t * output;
S_JPEG_ENCODER_STRUCTURE JpegStruct;
S_JPEG_ENCODER_STRUCTURE * enc = &JpegStruct;
/*(S_JPEG_ENCODER_STRUCTURE *)malloc(sizeof(S_JPEG_ENCODER_STRUCTURE));
memset(enc,0,sizeof(S_JPEG_ENCODER_STRUCTURE));*/
output = output_ptr;
/* Initialization of JPEG control structure */
initialization(enc, image_format, image_width, image_height);
/* Quantization Table Initialization */
initialize_quantization_tables(enc,quality_factor);
/* Writing Marker Data */
output_ptr = write_markers(enc,output_ptr, image_format, image_width, image_height);
last_row=enc->vertical_mcus-1;
last_col=enc->horizontal_mcus-1;
for (i = 0; i < enc->vertical_mcus; i++)
{
if (i < last_row)
enc->rows = enc->mcu_height;
else
enc->rows = enc->rows_in_bottom_mcus;
for (j = 0; j < enc->horizontal_mcus; j++)
{
if (j < last_col)
{
enc->cols = enc->mcu_width;
enc->scan_line_incr = enc->length_minus_mcu_width;
} else {
enc->cols = enc->cols_in_right_mcus;
enc->scan_line_incr = enc->length_minus_width;
}
enc->read_format(enc, input_ptr,i,j);
/* Encode the data in MCU */
output_ptr = encodeMCU(enc, image_format, output_ptr);
//input_ptr += enc->mcu_width_size;
}
//input_ptr += enc->mcu_line_offset;
}
/* Close Routine */
output_ptr = close_bitstream(enc,output_ptr);
//free(enc);
return (uint32_t)(output_ptr - output);
}