rewrite for 2017

See merge request !1

examples/Makefile

@@ -20,23 +20,27 @@ LD=${COMPILER_DIR}/bin/mipsisa32r2el-axis-linux-gnu-ld
 # Tell the compiler where to look for header files used in the auxilliary native methods for the camera classes
 #CPPFLAGS+=-I${AXIS_PATH}/include -I${AXIS_PATH}/usr/include
 CPPFLAGS+=-I${AXIS_PATH}/usr/include -I${COMPILER_DIR}/mipsisa32r2el-axis-linux-gnu/sys-include
+CPPFLAGS+=-DFORMAT_FOR_SIZE_T=\"%u\"
 AXIS_LIBCAP=-lcapture # This is needed for the native camera classes to fetch images
 AXIS_LIBCAP_DEP=-ldbus-1 -lgobject-2.0 -ldbus-glib-1 -lgthread-2.0 -lglib-2.0 -lrapp -lpthread # Dependencies of libcapture
 LDFLAGS+=${AXIS_LIBCAP} ${AXIS_LIBCAP_DEP} ${AXIS_LIBCAP} -L${AXIS_PATH}/lib -L${AXIS_PATH}/usr/lib # Specify which libs are used and set search path for them
 CFLAGS+=-O3 -g -Wall
 LDLIBS+=-lpthread
 
-all: http_server
+all: http_server motion_server
 
-http_server: http_server.o  camera.o
+http_server: http_server.o  camera.o server_common.o
 http_server.o: http_server.c camera.h 
+motion_server: motion_server.o  server_common.o
+motion_server.o: motion_server.c
+server_common.o: server_common.c server_common.h
 camera.o: camera.c camera.h fakecapture.h
 
 clean:
-	-rm http_server.o camera.o
+	-rm http_server.o motion_server.o server_common.o camera.o
 
 distclean: clean
-	-rm http_server
+	-rm http_server motion_server
 
 
 .PHONY: all clean

examples/Makefile.fake

 # To run: make -f Makefile.fake 
 #
 # For compiling on PC
+CC=gcc
 
-
-.PHONY: all clean
-all: fake_server
+.PHONY: all clean distclean
+all: fake_server motion_server_host motion_client
 
 CPPFLAGS+=-DFAKE -DDISABLE_SANITY_CHECKS
-CFLAGS+=-DFAKE -DDISABLE_SANITY_CHECKS
-CFLAGS+=-Wall
+CPPFLAGS+=-DUSE_POSIX_FUNCTION
+CPPFLAGS+=-DINFO
+# CPPFLAGS+=-DDEBUG
+# CPPFLAGS+=-DSHORT_NUMBER_FRAME_SEQUENCE
+CFLAGS+=-g -Wall
 LDLIBS=-lpthread
 
-fake_server: http_server.c fakecapture.h fakecapture.c camera.h camera.c
-	$(CC) -o $@ $(CPPFLAGS) $(CFLAGS) $(LDFLAGS) http_server.c fakecapture.c camera.c $(LDLIBS)
+fake_server: http_server.c fakecapture.h fakecapture.c camera.h camera.c server_common.c
+	$(CC) -o $@ $(CPPFLAGS) $(CFLAGS) $(LDFLAGS) http_server.c fakecapture.c camera.c server_common.c $(LDLIBS)
+
+motion_server_host: motion_server.c server_common.c
+	$(CC) -o $@ $(CPPFLAGS) $(CFLAGS) $(LDFLAGS) motion_server.c  server_common.c $(LDLIBS)
+
+motion_client: motion_client.c server_common.c
+	$(CC) -o $@ $(CPPFLAGS) $(CFLAGS) $(LDFLAGS) motion_client.c  server_common.c $(LDLIBS)
 
 clean:
-	-rm fake_server
+
+distclean: clean
+	-rm fake_server motion_server_host motion_client

examples/README.txt

+http_server.c: a simple example of socket communication, interfacing
+to the Axis capture API and pthread programming.
+
+A brief overview of the files:
+
+camera.c    	: An interface towards the (fake or real) camera
+camera.h
+
+fakecapture.c   : Fake motion capture for use on the PC while testing
+fakecapture.h
+
+http_server.c   : A http server getting images from the camera. Allows
+		  testing of the capture code from a web browser.
+
+Makefile        : makefile for cross-compiling for the Axis camera
+Makefile.fake   : makefile for building the fake versions for testing
+
+motion_client.c : a minimal example of a client connecting to the
+		  motion server. Provided for illustration of the protocol.
+
+motion_server.c : A proxy server written to decouple the push notification
+                  interface of the Axis camera from the student code, by
+		  providing a pull interface.
+
+server_common.c :  common routines and config
+server_common.h
+
+
+
+About the Makefile
+
+Makefile is the file to use for cross-compiling to the Axis camera.
+It is written to work in the computer labs, where the tools and
+libraries are found under /usr/local/cs/rtp/ in the directories
+under tools.
+
+If compiling elsewhere, if you have the same directory structure as
+in /usr/local/cs/rtp, you can use the variable COMMON_DIR to the
+location of the compiler and libs.
+
+Makefile.fake is the file to use for building the http server
+with fake capture.
+
+When building, you can set options to change its behaviour.
+To use a short frame sequence of images of numbers, define
+SHORT_NUMBER_FRAME_SEQUENCE, for instance with the command line
+
+> CPPFLAGS="-DSHORT_NUMBER_FRAME_SEQUENCE" make -f Makefile.fake  
+
+To turn off fake motion, define NO_FAKE_MOTION
+
+Example: CPPFLAGS="-DSHORT_NUMBER_FRAME_SEQUENCE -DNO_FAKE_MOTION" make ...
+(note that you need separate-D options for each macro)
+
+To use the film sequence (of man in corridor) but skip the first part
+without motion, give START_FRAME a value>1. See fakecapture.c for details.
+
+
+Running
+
+On host, start the two server processes
+
+> ./fake_server
+
+and
+
+> ./motion_server_host
+
+The servers have a simple user interface.
+For instance, if you type s (and press enter) it will print some status
+information. See the code for details.
+To close down the servers cleanly, type q (and press enter) in the
+terminal. 
+For this reason, it is recommended to run the servers in separate
+terminals.
+
+Then, you can browse to localhost:9999 to get an image
+and to localhost:9091 to get motion information
+
+Note: if you run just the fake_server without running the motion_server
+on the same computer, you will get the output "ERROR connecting:
+Connection refused" when motion occurs, as the fake_server
+also sends motion notifications to localhost:9090.
+
+The motion client (which polls a motion server) is run
+(with the default parameters of polling localhost every second) as
+
+> ./motion_client

examples/camera.c

@@ -8,6 +8,10 @@ camera* camera_open(){
 		return NULL;
 	}
 #ifdef FAKE
+#ifdef DEBUG
+        printf("fake camera: camera_open\n");
+#endif
+
 	cam->frame_nbr = 0;
 #endif
 	cam->stream = capture_open_stream(IMAGE_JPEG, "fps=25&resolution=640x480");
@@ -22,50 +26,15 @@ void camera_close(camera* cam){
 frame* camera_get_frame(camera* cam){
 	frame *f = malloc(sizeof(frame));
 	f->fr = capture_get_frame(cam->stream);
+
 #ifdef FAKE
-	f->motion = (cam->frame_nbr >= 86 && cam->frame_nbr <= 240);
-	cam->frame_nbr = (cam->frame_nbr % 247) + 1;
-#else
-	//TODO
-	//f->motion = analyseframes(capture_get_frame(cam->stream, */prev_frame*/);
+	++cam->frame_nbr;
 #endif
-	return f;
-}
-
-//From axis example code
-static int analyse_frames(media_frame *cur_frame, media_frame *prev_frame){
-	int   i, j;
-	char *prev_data  = NULL;
-	int   prev_width;
-	int   prev_height;
-	//int   prev_stride;
-	char *cur_data  = NULL;
-	int   cur_width;
-	int   cur_height;
-	//int   cur_stride;
-	int   result = 0;
-
-	prev_data   = (char *)capture_frame_data(prev_frame);
-	prev_width  = capture_frame_width(prev_frame);
-	prev_height = capture_frame_height(prev_frame);
-	//prev_stride = capture_frame_stride(prev_frame);
 
-	cur_data   = (char *)capture_frame_data(cur_frame);
-	cur_width  = capture_frame_width(cur_frame);
-	cur_height = capture_frame_height(cur_frame);
-	//cur_stride = capture_frame_stride(cur_frame);;
-
-	/* simple pixel diff */
-	for (i = 0; i < cur_height; i++) {
-		for (j = 0; j < cur_width; j++) {
-			int c_pos = i /* * cur_stride */ + j;
-			int p_pos = i /* * prev_stride */ + j;
-			result += abs(cur_data[c_pos] - prev_data[p_pos]);
-		}
-	}
-	result /= (cur_width * cur_height);
-
-	return result > 20; //Arbitrary value used in the axis example 
+#ifdef DEBUG
+	printf("camera_get_frame: ts=%llu\n", get_frame_timestamp(f));
+#endif
+	return f;
 }
 
 byte* get_frame_bytes(frame* f){
@@ -80,9 +49,11 @@ capture_time get_frame_timestamp(frame* f){
 	return capture_frame_timestamp(f->fr);
 }
 
+#ifdef MOTION_FLAG_IN_FRAMES
 int get_frame_motion(frame* f){
 	return f->motion;
 }
+#endif
 
 size_t get_frame_height(frame* f){
 	return capture_frame_height(f->fr);

examples/camera.h

@@ -6,6 +6,7 @@
 
 #define IMAGE_JPEG "image/jpeg"
 
+#undef MOTION_FLAG_IN_FRAMES
 /* A wrapper for the Axis capture API
  */
 
@@ -23,14 +24,12 @@ typedef struct camera camera;
 typedef struct frame frame;
 typedef char byte;
 
-#ifdef FRAME_NOT_NEEDED
-typedef frame media_frame;
-#else
 struct frame{
     media_frame* fr;
+#ifdef MOTION_FLAG_IN_FRAMES
     int motion;
-};
 #endif
+};
 
 struct camera* camera_open();
 void camera_close(struct camera*);
@@ -43,7 +42,9 @@ size_t get_frame_size(struct frame*);
 
 capture_time get_frame_timestamp(struct frame*);
 
+#ifdef MOTION_FLAG_IN_FRAMES
 int get_frame_motion(struct frame*);
+#endif
 
 size_t get_frame_height(struct frame*);
 

examples/fakecapture.c

 #include <math.h>
+#ifndef NO_FAKE_MOTION
+#include "server_common.h"
+#endif
 #include <time.h>
 #include "fakecapture.h"
 
-#define DEBUG
+
+// compile-time options:
+// prefereably, set using -D<MACRONAME> in the Makefile
+// or on the command line
+//
+// define to enable debug output,
+// #define DEBUG
+//
+// define to use a short sequence of frames with numbers 1 -- 5,
+// undefine to use an actual film sequence (man in corridor)
+// #define SHORT_NUMBER_FRAME_SEQUENCE
+//
+// we need sockets for fake motion detection,
+// define to turn fake motion detection off
+// #define NO_FAKE_MOTION
+
+#ifdef SHORT_NUMBER_FRAME_SEQUENCE
+#define MEDIA_FRAME_STR "media/%d.jpg"
 #define START_FRAME 1
+#define NUM_FRAMES 5
+#else
+#define MEDIA_FRAME_STR "media/film%03d.jpg"
+#ifndef START_FRAME
+// to skip directly to the parts with motion,
+// define START_FRAME to (a bit less than) 86
+#define START_FRAME 1
+#endif
 #define NUM_FRAMES 247
+#endif
+
 #define FILEPATH_LENGTH 100
-static int frame_nr = START_FRAME;
 
+#ifndef NO_FAKE_MOTION
+// we need sockets for fake motion detection
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <netdb.h>
+#include <stdio.h>
+// #include <stdlib.h>
+// #include <unistd.h>
+#include <errno.h>
+// #include <string.h>  // for memcpy, memset, strlen
+
+static void fake_motion_detect(int frame_nr);
+static void fake_motion_init();
+static void fake_motion_free();
+int motionfd;
+struct hostent *motion_server;
+struct sockaddr_in motion_serv_addr;
+#endif
+
+
+// for portability with MacOs
 #ifdef __MACH__
 #define UNUSED_VALUE 1
 #define CLOCK_MONOTONIC UNUSED_VALUE
@@ -27,6 +77,10 @@ media_stream *
 capture_open_stream(const char *media_type, const char *media_props)
 {
     media_stream *res = malloc(sizeof(media_stream));
+    res->frame_nr = START_FRAME;
+#ifndef NO_FAKE_MOTION
+   fake_motion_init();
+#endif
     return res;
 }
 
@@ -36,11 +90,13 @@ capture_get_frame(media_stream *stream)
    int fd;
    char fname[FILEPATH_LENGTH];
    fname[FILEPATH_LENGTH - 1]='\0';
-   snprintf(fname, FILEPATH_LENGTH - 1, "media/film%03d.jpg", frame_nr++);
-   if(frame_nr > NUM_FRAMES) {
-      frame_nr = START_FRAME;
+   snprintf(fname, FILEPATH_LENGTH - 1, MEDIA_FRAME_STR, stream->frame_nr++);
+   if(stream->frame_nr > NUM_FRAMES) {
+      stream->frame_nr = START_FRAME;
    };
+#ifdef INFO
    printf("trying to open %s\n", fname);
+#endif
    fd = open(fname, O_RDONLY);
    if(fd < 0) {
        perror("fakecapture:capture_get_frame:open");
@@ -62,6 +118,10 @@ capture_get_frame(media_stream *stream)
        perror("Warning! fakecapture:capture_get_frame:close");
    }
 
+#ifndef NO_FAKE_MOTION
+   fake_motion_detect(stream->frame_nr);
+#endif
+
    return res;
 }
 
@@ -141,4 +201,70 @@ void
 capture_close_stream(media_stream *stream)
 {
     free(stream);
+#ifndef NO_FAKE_MOTION
+   fake_motion_free();
+#endif
 }
+
+#ifndef NO_FAKE_MOTION
+#ifndef MOTION_PORT
+#define MOTION_PORT 9090
+#endif
+static void fake_motion_notify()
+{
+    char msg[100];
+    snprintf(msg, 100, "GET /motion?Message=%ld\n",time(0));
+#ifdef DEBUG
+    printf("fake_motion_notify: %s\n", msg);
+#endif
+    fake_motion_init();
+    if (connect(motionfd, (struct sockaddr*)&motion_serv_addr, sizeof(motion_serv_addr)) < 0) {
+	perror("ERROR connecting");
+    } else {
+	if(write_string(motionfd, msg) < 0){
+	    perror("ERROR writing to motion server");
+	}
+	close(motionfd);
+    }
+}
+
+static void fake_motion_detect(int frame_nr)
+{
+#ifdef SHORT_NUMBER_FRAME_SEQUENCE
+// START_FRAME 1
+// NUM_FRAMES 5
+    fake_motion_notify();
+#else
+// START_FRAME 55
+// NUM_FRAMES 247
+    if(frame_nr > 86 && frame_nr < 219 && (frame_nr % 5 == 0)){
+	fake_motion_notify();
+    }
+#endif
+
+}
+static void fake_motion_init()
+{
+    motionfd = socket(AF_INET, SOCK_STREAM, 0);
+    if (motionfd < 0) {
+	perror("creating motion socket");
+	//TODO: set error flag to avoid using motion
+    }
+    motion_server = gethostbyname("localhost");
+
+    if (motion_server == NULL) {
+	fprintf(stderr,"ERROR, motion_server name not found\n");
+    }
+    bzero((char *) &motion_serv_addr, sizeof(motion_serv_addr));
+    motion_serv_addr.sin_family = AF_INET;
+    bcopy((char *)motion_server->h_addr, (char *)&motion_serv_addr.sin_addr.s_addr, motion_server->h_length);
+    motion_serv_addr.sin_port = htons(MOTION_PORT);
+}
+static void fake_motion_free()
+{
+    //TODO: any more cleanup needed?
+    if (close(motionfd)) {
+	perror("closing motion socket");
+    }
+}
+#endif

examples/fakecapture.h

@@ -16,6 +16,7 @@
 typedef unsigned long long capture_time;
 
 struct _media_stream {
+    int frame_nr;
 };
 
 struct _media_frame {

examples/http_server.c

+#include "server_common.h"
 #include <sys/socket.h>
 #include <netinet/in.h>
 #include <stdio.h>
@@ -9,16 +10,24 @@
 #include <pthread.h>
 
 #define USE_CAMERA
-#define INFO
-#undef DEBUG
+
+// some diagnostic printouts
+// #define INFO
+
+// more diagnostic printouts
+// #undef DEBUG
 
 // the strncasecmp function is not in the ISO C standard
-#define USE_POSIX_FUNCTION
+// #define USE_POSIX_FUNCTION
 
 #ifdef USE_CAMERA
 #include "camera.h"
 #endif
 
+#ifndef MOTION_PORT
+#define MOTION_PORT 9090
+#endif
+
 #define BUFSIZE 50000
 struct client{
     int  connfd;
@@ -28,8 +37,29 @@ struct client{
     byte* frame_data;
 #endif
 };
+
+struct global_state {
+    int listenfd;
+    int running;
+    int quit;
+    pthread_t main_thread;
+    pthread_t client_thread;
+    pthread_t ui_thread;
+    pthread_t bg_thread;
+    struct pollfd pfd;
+    int motionfd;
+#ifdef USE_CAMERA
+    camera* cam;
+#endif
+};
+
+
 int client_write_string(struct client* client);
 int client_write_n(struct client* client, size_t n);
+void* serve_client(void *ctxt);
+void server_quit(struct global_state* s);
+void signal_to_bg_task();
+int is_running(struct global_state* state);
 
 /////////////// camera stuff
 
@@ -38,21 +68,29 @@ int client_write_n(struct client* client, size_t n);
 
 struct client;
 
-pthread_mutex_t global_mutex = PTHREAD_MUTEX_INITIALIZER;
-pthread_cond_t global_cond = PTHREAD_COND_INITIALIZER;
+static pthread_mutex_t global_mutex = PTHREAD_MUTEX_INITIALIZER;
+static pthread_cond_t global_cond = PTHREAD_COND_INITIALIZER;
 
 #ifdef USE_CAMERA
 
-int try_open_camera(struct client* client)
+int try_open_camera(struct global_state* state)
 {
-    client->cam = camera_open();
-    if (!client->cam){ // Check if null
+    state->cam = camera_open();
+    if (!state->cam){ // Check if null
         printf("axism3006v: Stream is null, can't connect to camera");
         return ERR_OPEN_STREAM;
     }
     return 0;
 }
 
+void close_camera(struct global_state* state)
+{
+    if(state->cam) {
+	camera_close(state->cam);
+	state->cam = NULL;
+    }
+}
+
 
 /* Sets up the packet structure in client->sendBuff.
  * This is a minimal HTTP header for an image/jpeg
@@ -65,7 +103,7 @@ int try_open_camera(struct client* client)
 ssize_t setup_packet(struct client* client, uint32_t frame_sz)
 {
     size_t header_size;
-    snprintf(client->sendBuff, sizeof(client->sendBuff), 
+    snprintf(client->sendBuff, sizeof(client->sendBuff),
             "HTTP/1.0 200 OK\nContent-Length: %d\nContent-Type: image/jpeg\n\n", frame_sz);
     header_size = strlen(client->sendBuff);
     if(header_size + frame_sz > sizeof(client->sendBuff)) {
@@ -73,16 +111,17 @@ ssize_t setup_packet(struct client* client, uint32_t frame_sz)
     }
     client->frame_data = client->sendBuff + header_size;
 #ifdef DEBUG
-    printf("Header size = %d\n", header_size);
+    printf("Header size = " FORMAT_FOR_SIZE_T "\n", header_size);
 #endif
     return header_size+frame_sz;
 }
+
 /* send packet with frame
  * returns 0 on success
  */
 int client_send_frame(struct client* client, frame* fr)
 {
-    // this should be a compile-time check
+    // this should really be a compile-time check, but that is complicated
 #ifndef DISABLE_SANITY_CHECKS
     if(sizeof(size_t) != sizeof(uint32_t)) {
         printf("sizeof(size_t)=%d, sizeof(uint32_t)=%d\n", sizeof(size_t), sizeof(uint32_t));
@@ -98,21 +137,19 @@ int client_send_frame(struct client* client, frame* fr)
     ssize_t packet_sz = setup_packet(client, frame_sz);
 
     if(packet_sz < 0) {
-        printf("Frame too big for send buffer(%d > %d), skipping.\n", frame_sz, sizeof(client->sendBuff));
+        printf("Frame too big for send buffer(" FORMAT_FOR_SIZE_T " > " FORMAT_FOR_SIZE_T "), skipping.\n", frame_sz, sizeof(client->sendBuff));
         result = 1;
     } else {
         int written;
-#ifdef INFO
-        printf("encode size (%X=%d) + data\n", frame_sz, frame_sz);
-#endif
 #ifdef DEBUG
-        printf("sizeof(size_t)=%d, sizeof(uint32_t)=%d\n", sizeof(size_t), sizeof(uint32_t));
+        printf("encode size:" FORMAT_FOR_SIZE_T "\n",  frame_sz);
+        printf("sizeof(size_t)=" FORMAT_FOR_SIZE_T ", sizeof(uint32_t)=" FORMAT_FOR_SIZE_T "\n", sizeof(size_t), sizeof(uint32_t));
 #endif
         memcpy(client->frame_data, data, frame_sz);
 
         written=client_write_n(client, packet_sz);
         if(written != packet_sz) {
-          printf("WARNING! packet_sz=%d, written=%d\n", packet_sz, written);
+          printf("WARNING! packet_sz=" FORMAT_FOR_SIZE_T ", written=%d\n", packet_sz, written);
           result = 3;
         } else {
           result = 0;
@@ -142,17 +179,7 @@ int try_get_frame(struct client* client)
 
 int client_write_string(struct client* client)
 {
-    size_t n = strlen(client->sendBuff);
-    size_t written = 0;
-    while (written < n) {
-        ssize_t tmp = write(client->connfd, client->sendBuff, n-written);
-        if (tmp < 0) {
-            perror("write_n ERROR");
-            return tmp;
-        }
-        written += tmp;
-    }
-    return written;
+  return write_string(client->connfd, client->sendBuff);
 }
 
 /*
@@ -163,16 +190,7 @@ int client_write_string(struct client* client)
  */
 int client_write_n(struct client* client, size_t n)
 {
-    size_t written = 0;
-    while (written < n) {
-        ssize_t tmp = write(client->connfd, client->sendBuff, n-written);
-        if (tmp < 0) {
-            perror("write_n ERROR");
-            return tmp;
-        }
-        written += tmp;
-    }