path: root/zmq-camera.c

/*
    Copyright (c) 2010 Martin Lucina

    This file is part of zeromq-examples.

    zeromq-examples 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.

    zeromq-examples 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/>.
*/

#include <arpa/inet.h>
#include <assert.h>
#include <pthread.h>
#include <stdlib.h>
#include <stdio.h>
#include <sys/types.h>

#include <unicap.h>
#include <ucil.h>

#include <SDL/SDL.h>

#include <zmq.h>

#define FOURCC(a,b,c,d) (unsigned int)((((unsigned int)d)<<24)+\
    (((unsigned int)c)<<16)+(((unsigned int)b)<<8)+a)

struct sender_args_t
{
    const char *endpoint;
    void *ctx;
};

void *sender_thread (void *arg)
{
    struct sender_args_t *sender_args;
    void *s;
    int rc;
    unicap_handle_t handle;
    unicap_device_t device;
    unicap_format_t src_format;
    unicap_format_t dest_format;
    unicap_data_buffer_t src_buffer;
    unicap_data_buffer_t dest_buffer;
    unicap_data_buffer_t *returned_buffer;

    sender_args = (struct sender_args_t *)arg;

    /* Create a ZMQ_PUB socket for sending video data and bind it to both
       an inproc endpoint for the local loopback view and the endpoint
       specified by the user. */
    s = zmq_socket (sender_args->ctx, ZMQ_PUB);
    assert (s);
    rc = zmq_bind (s, sender_args->endpoint);
    if (rc != 0) {
        fprintf (stderr, "zmq_bind (\"%s\"): %s\n", sender_args->endpoint,
            zmq_strerror (errno));
        exit (1);
    }
    rc = zmq_bind (s, "inproc://local-camera");
    if (rc != 0) {
        fprintf (stderr, "zmq_bind (\"inproc://local-camera\"): %s\n",
            zmq_strerror (errno));
        exit (1);
    }

    /* Open first available video capture device. */
    if (!SUCCESS (unicap_enumerate_devices (NULL, &device, 0))) {
        fprintf (stderr, "Could not enumerate devices\n");
        exit (1);
    }
    if (!SUCCESS (unicap_open (&handle, &device))) {
        fprintf (stderr, "Failed to open device: %s\n", device.identifier);
        exit (1);
    }
    printf( "Opened video capture device: %s\n", device.identifier );

    /* Find a suitable video format that we can convert to RGB24. */
    int conversion_found = 0;
    int index = 0;
    while (SUCCESS (unicap_enumerate_formats (handle, NULL, &src_format,
          index))) {
        printf ("Trying video format: %s\n", src_format.identifier);
        if (ucil_conversion_supported (FOURCC ('R', 'G', 'B', '3'), 
            src_format.fourcc)) {
            conversion_found = 1;
            break;
        }
        index++;
    }
    if (!conversion_found) {
        fprintf (stderr, "Could not find a suitable video format\n");
        exit (1);
    }
    src_format.buffer_type = UNICAP_BUFFER_TYPE_USER;
    if (!SUCCESS (unicap_set_format (handle, &src_format))) {
        fprintf (stderr, "Failed to set video format\n");
        exit (1);
    }
    printf ("Using video format: %s [%dx%d]\n", 
        src_format.identifier, 
        src_format.size.width, 
        src_format.size.height);

    /* Clone destination format with equal dimensions, but RGB24 colorspace. */
    unicap_copy_format (&dest_format, &src_format);
    strcpy (dest_format.identifier, "RGB 24bpp");
    dest_format.fourcc = FOURCC ('R', 'G', 'B', '3');
    dest_format.bpp = 24;
    dest_format.buffer_size = dest_format.size.width *
        dest_format.size.height * 3;
    
    /* Initialise image buffers. */
    memset (&src_buffer, 0, sizeof (unicap_data_buffer_t));
    src_buffer.data = (unsigned char*) malloc (src_format.buffer_size);
    src_buffer.buffer_size = src_format.buffer_size;
    memset (&dest_buffer, 0, sizeof (unicap_data_buffer_t));
    dest_buffer.data = (unsigned char*) malloc (dest_format.buffer_size);
    dest_buffer.buffer_size = dest_format.buffer_size;
    dest_buffer.format = dest_format;

    /* Start video capture. */
    if (!SUCCESS (unicap_start_capture (handle))) {
        fprintf (stderr, "Failed to start capture on device: %s\n",
            device.identifier);
        exit (1);
    }

    /* Loop, publising one message per raw video frame. */
    while (1) {
        zmq_msg_t msg;
        size_t msg_size;
        uint32_t image_width, image_height;
        unsigned char *data;

        /* Queue buffer for video capture. */
        if (!SUCCESS (unicap_queue_buffer (handle, &src_buffer))) {
            fprintf (stderr, "Failed to queue a buffer on device: %s\n",
                device.identifier);
            exit (1);
        }

        /* Wait until buffer is ready. */
        if (!SUCCESS (unicap_wait_buffer (handle, &returned_buffer))) {
            fprintf (stderr, "Failed to wait for buffer on device: %s\n",
                device.identifier);
            exit (1);
        }

        /* Convert colorspace. */
        if (!SUCCESS (ucil_convert_buffer (&dest_buffer, &src_buffer))) {
            /* TODO: This fails sometimes for unknown reasons,
               just skip the frame for now. */
            fprintf (stderr, "Failed to convert video buffer\n");
        }

        /* Create 0MQ message and fill in data. */
        msg_size = dest_format.buffer_size + (2 * sizeof (uint32_t));
        rc = zmq_msg_init_size (&msg, msg_size);
        assert (rc == 0);
        data = (unsigned char *)zmq_msg_data (&msg);

        /* Image width (uint32_t in network byte order) */
        image_width = htonl (dest_format.size.width);
        memcpy (data, &image_width, sizeof (uint32_t));
        data += sizeof (uint32_t);

        /* Image height (uint32_t in network byte order) */
        image_height = htonl (dest_format.size.height);
        memcpy (data, &image_height, sizeof (uint32_t));
        data += sizeof (uint32_t);

        /* RGB24 image data. */
        memcpy (data, dest_buffer.data, dest_format.buffer_size);
        
        /* Send message to network. */
        rc = zmq_send (s, &msg, 0);
        assert (rc == 0);
        zmq_msg_close (&msg);
    }
    
    return NULL;
}

void err_usage(void)
{
    const char usage[] = \
        "Usage: zmq-camera -r | -s ENDPOINT\n" \
        "Sends or receives video using 0MQ.\n" \
        "\n" \
        "  -r        receive video from ENDPOINT\n" \
        "  -s        send video to ENDPOINT\n" \
        "\n" \
        "ENDPOINT is any 0MQ endpoint valid for a ZMQ_PUB/ZMQ_SUB socket.\n"
        "\n" \
        "Examples:\n" \
        "\n" \
        "  zmq-camera -s tcp://eth0:5555\n" \
        "  zmq-camera -r tcp://eth0:5555\n";
    
    fprintf (stderr, "%s", usage);
    exit (1);
}

int main (int argc, char *argv [])
{
    void *ctx, *s;
    int rc;
    int is_sender = 0;
    char *endpoint = NULL;
    SDL_Surface *screen = NULL;
    SDL_Surface *rgb_surface = NULL;
    uint32_t image_width, image_height;
    int sdl_initialised = 0;
    int quit = 0;

    /* Parse command line. */
    if (argc != 3)
        err_usage();
    if (strcmp (argv [1], "-r") == 0)
        is_sender = 0;
    else if (strcmp (argv [1], "-s") == 0)
        is_sender = 1;
    else
        err_usage();
    endpoint = argv [2];

    /* Initialise 0MQ infrastructure for 2 application threads and 
       a single I/O thread */
    ctx = zmq_init (2, 1, 0);
    assert (ctx);

    /* If sending video, start the sender thread */
    if (is_sender) {
        struct sender_args_t sender_args = {endpoint, ctx};
        pthread_t sender;
        rc = pthread_create (&sender, NULL, sender_thread,
            (void*) &sender_args);
        assert (rc == 0);
        /* XXX */ sleep (1);
    }

    /* Create a ZMQ_SUB socket to receive video data. If we're also sending, 
       bind to an inproc: endpoint to get the video feed, otherwise bind to
       the endpoint the user specified. */
    s = zmq_socket (ctx, ZMQ_SUB);
    assert (s);
    if (is_sender)
        endpoint = "inproc://local-camera";
    rc = zmq_connect (s, endpoint);
    if (rc != 0) {
        fprintf (stderr, "zmq_connect (\"%s\"): %s\n", endpoint,
            zmq_strerror (errno));
        exit (1);
    }
    /* Subscribe to all messages on socket. */
    rc = zmq_setsockopt (s, ZMQ_SUBSCRIBE, "", 0);
    assert (rc == 0);

    /* Display video until user asks to quit. */
    while (!quit) {

        zmq_msg_t msg;
        unsigned char *data;
        SDL_Event event;

        /* Receive single message. */
        rc = zmq_msg_init (&msg);
        assert (rc == 0);
        rc = zmq_recv (s, &msg, 0);
        assert (rc == 0);

        /* Parse message data. */
        data = (unsigned char*) zmq_msg_data (&msg);
        /* Sanity check that we have at least the width, height in 
           the message data */
        assert (zmq_msg_size (&msg) >= sizeof (uint32_t) + sizeof (uint32_t));

        /* Get image width in pixels. */
        memcpy (&image_width, data, sizeof (uint32_t));
        image_width = ntohl (image_width);
        data += sizeof (uint32_t);

        /* Get image height in pixels. */
        memcpy (&image_height, data, sizeof (uint32_t));
        image_height = ntohl (image_height);
        data += sizeof (uint32_t);

        /* data now points to RGB24 pixel data. */

        if (!sdl_initialised) {

            /* Initialise SDL if not already done.
               We need to have received at least one message, so that we
               know what the image size being sent is. */
            if (SDL_Init (SDL_INIT_VIDEO) < 0)
            {
                fprintf (stderr, "Failed to initialize SDL:  %s\n",
                    SDL_GetError());
                exit (1);
            }
            screen = SDL_SetVideoMode (image_width, image_height, 32,
                SDL_HWSURFACE);
            if (screen == NULL) {
               fprintf (stderr, "Unable to set video mode: %s\n",
                   SDL_GetError ());
               SDL_Quit ();
               exit (1);
            }
            /* Set window title to endpoint we are receiving from */
            SDL_WM_SetCaption (endpoint, endpoint);

            sdl_initialised = 1;
        }

        /* Create RGB surface. */
        rgb_surface = SDL_CreateRGBSurfaceFrom (
            data,                       /* Pixel data */
            image_width,                /* Width */
            image_height,               /* Height */
            24,                         /* Depth */
            image_width * 3,            /* Scanline pitch */
            0, 0, 0, 0);                /* TODO: RGBA mask */

        /* Blit surface to screen. */
        SDL_BlitSurface (rgb_surface, NULL, screen, NULL);
        SDL_UpdateRect (screen, 0, 0, 0, 0);
        SDL_FreeSurface (rgb_surface);

        /* Free zmq_msg we received */
        zmq_msg_close (&msg);

        /* Check if user asked to quit. */
        while (SDL_PollEvent (&event))
        {
            if (event.type == SDL_QUIT)
                quit = 1;
        }
    }

    /* TODO: Send a 'stop' message to sender thread rather than killing it
             forcefully by terminating the main thread. */

    /* Cleanup */
    SDL_Quit ();
    
    return 0;
}