JeVois  1.10
JeVois Smart Embedded Machine Vision Toolkit
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1 // ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
2 //
3 // JeVois Smart Embedded Machine Vision Toolkit - Copyright (C) 2016 by Laurent Itti, the University of Southern
4 // California (USC), and iLab at USC. See http://iLab.usc.edu and http://jevois.org for information about this project.
5 //
6 // This file is part of the JeVois Smart Embedded Machine Vision Toolkit. This program is free software; you can
7 // redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software
8 // Foundation, version 2. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
9 // without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public
10 // License for more details. You should have received a copy of the GNU General Public License along with this program;
11 // if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
12 //
13 // Contact information: Laurent Itti - 3641 Watt Way, HNB-07A - Los Angeles, CA 90089-2520 - USA.
14 // Tel: +1 213 740 3527 - itti@pollux.usc.edu - http://iLab.usc.edu - http://jevois.org
15 // ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
16 /*! \file */
17 
18 #include <jevois/Core/Engine.H>
19 
20 #include <jevois/Core/Camera.H>
21 #include <jevois/Core/MovieInput.H>
22 
23 #include <jevois/Core/Gadget.H>
27 
28 #include <jevois/Core/Serial.H>
30 
31 #include <jevois/Core/Module.H>
35 
36 #include <jevois/Debug/Log.H>
37 #include <jevois/Util/Utils.H>
38 #include <jevois/Debug/SysInfo.H>
39 
40 #include <cmath> // for fabs
41 #include <fstream>
42 #include <algorithm>
43 #include <cstdlib> // for std::system()
44 #include <cstdio> // for std::remove()
45 
46 // On the older platform kernel, detect class is not defined:
47 #ifndef V4L2_CTRL_CLASS_DETECT
48 #define V4L2_CTRL_CLASS_DETECT 0x00a30000
49 #endif
50 
51 namespace
52 {
53  // Assign a short name to every V4L2 control, for use by getcam and setcam commands
54  struct shortcontrol { int id; char const * const shortname; };
55 
56  // All V4L2 controls
57  // From this: grep V4L2_CID v4l2-controls.h | awk '{ print " { " $2 ", \"\" }," }'
58  // then fill-in the short names.
59  static shortcontrol camcontrols[] = {
60  // In V4L2_CID_BASE class:
61  { V4L2_CID_BRIGHTNESS, "brightness" },
62  { V4L2_CID_CONTRAST, "contrast" },
63  { V4L2_CID_SATURATION, "saturation" },
64  { V4L2_CID_HUE, "hue" },
65  { V4L2_CID_AUDIO_VOLUME, "audiovol" },
66  { V4L2_CID_AUDIO_BALANCE, "audiobal" },
67  { V4L2_CID_AUDIO_BASS, "audiobass" },
68  { V4L2_CID_AUDIO_TREBLE, "audiotreble" },
69  { V4L2_CID_AUDIO_MUTE, "audiomute" },
70  { V4L2_CID_AUDIO_LOUDNESS, "audioloudness" },
71  { V4L2_CID_BLACK_LEVEL, "blacklevel" },
72  { V4L2_CID_AUTO_WHITE_BALANCE, "autowb" },
73  { V4L2_CID_DO_WHITE_BALANCE, "dowb" },
74  { V4L2_CID_RED_BALANCE, "redbal" },
75  { V4L2_CID_BLUE_BALANCE, "bluebal" },
76  { V4L2_CID_GAMMA, "gamma" },
77  { V4L2_CID_WHITENESS, "whiteness" },
78  { V4L2_CID_EXPOSURE, "exposure" },
79  { V4L2_CID_AUTOGAIN, "autogain" },
80  { V4L2_CID_GAIN, "gain" },
81  { V4L2_CID_HFLIP, "hflip" },
82  { V4L2_CID_VFLIP, "vflip" },
83  { V4L2_CID_POWER_LINE_FREQUENCY, "powerfreq" },
84  { V4L2_CID_HUE_AUTO, "autohue" },
85  { V4L2_CID_WHITE_BALANCE_TEMPERATURE, "wbtemp" },
86  { V4L2_CID_SHARPNESS, "sharpness" },
87  { V4L2_CID_BACKLIGHT_COMPENSATION, "backlight" },
88  { V4L2_CID_CHROMA_AGC, "chromaagc" },
89  { V4L2_CID_COLOR_KILLER, "colorkiller" },
90  { V4L2_CID_COLORFX, "colorfx" },
91  { V4L2_CID_AUTOBRIGHTNESS, "autobrightness" },
92  { V4L2_CID_BAND_STOP_FILTER, "bandfilter" },
93  { V4L2_CID_ROTATE, "rotate" },
94  { V4L2_CID_BG_COLOR, "bgcolor" },
95  { V4L2_CID_CHROMA_GAIN, "chromagain" },
96  { V4L2_CID_ILLUMINATORS_1, "illum1" },
97  { V4L2_CID_ILLUMINATORS_2, "illum2" },
98  { V4L2_CID_MIN_BUFFERS_FOR_CAPTURE, "mincapbuf" },
99  { V4L2_CID_MIN_BUFFERS_FOR_OUTPUT, "minoutbuf" },
100  { V4L2_CID_ALPHA_COMPONENT, "alphacompo" },
101  // This one is not defined in our older platform kernel:
102  //{ V4L2_CID_COLORFX_CBCR, "colorfxcbcr" },
103 
104  // In V4L2_CID_CAMERA_CLASS_BASE class
105  { V4L2_CID_EXPOSURE_AUTO, "autoexp" },
106  { V4L2_CID_EXPOSURE_ABSOLUTE, "absexp" },
107  { V4L2_CID_EXPOSURE_AUTO_PRIORITY, "exppri" },
108  { V4L2_CID_PAN_RELATIVE, "panrel" },
109  { V4L2_CID_TILT_RELATIVE, "tiltrel" },
110  { V4L2_CID_PAN_RESET, "panreset" },
111  { V4L2_CID_TILT_RESET, "tiltreset" },
112  { V4L2_CID_PAN_ABSOLUTE, "panabs" },
113  { V4L2_CID_TILT_ABSOLUTE, "tiltabs" },
114  { V4L2_CID_FOCUS_ABSOLUTE, "focusabs" },
115  { V4L2_CID_FOCUS_RELATIVE, "focusrel" },
116  { V4L2_CID_FOCUS_AUTO, "focusauto" },
117  { V4L2_CID_ZOOM_ABSOLUTE, "zoomabs" },
118  { V4L2_CID_ZOOM_RELATIVE, "zoomrel" },
119  { V4L2_CID_ZOOM_CONTINUOUS, "zoomcontinuous" },
120  { V4L2_CID_PRIVACY, "privacy" },
121  { V4L2_CID_IRIS_ABSOLUTE, "irisabs" },
122  { V4L2_CID_IRIS_RELATIVE, "irisrel" },
123 
124  // definition for this one seems to be in the kernel but missing somehow here:
125 #ifndef V4L2_CID_AUTO_N_PRESET_WHITE_BALANCE
126 #define V4L2_CID_AUTO_N_PRESET_WHITE_BALANCE (V4L2_CID_CAMERA_CLASS_BASE+20)
127 #endif
128  { V4L2_CID_AUTO_N_PRESET_WHITE_BALANCE, "presetwb" },
129 
130  // Those are not defined in our older platform kernel:
131  //{ V4L2_CID_AUTO_EXPOSURE_BIAS, "expbias" },
132  //{ V4L2_CID_WIDE_DYNAMIC_RANGE, "wdr" },
133  //{ V4L2_CID_IMAGE_STABILIZATION, "stabilization" },
134  //{ V4L2_CID_ISO_SENSITIVITY, "isosens" },
135  //{ V4L2_CID_ISO_SENSITIVITY_AUTO, "isosensauto" },
136  //{ V4L2_CID_EXPOSURE_METERING, "expmetering" },
137  //{ V4L2_CID_SCENE_MODE, "scene" },
138  //{ V4L2_CID_3A_LOCK, "3alock" },
139  //{ V4L2_CID_AUTO_FOCUS_START, "autofocusstart" },
140  //{ V4L2_CID_AUTO_FOCUS_STOP, "autofocusstop" },
141  //{ V4L2_CID_AUTO_FOCUS_STATUS, "autofocusstatus" },
142  //{ V4L2_CID_AUTO_FOCUS_RANGE, "autofocusrange" },
143  //{ V4L2_CID_PAN_SPEED, "panspeed" },
144  //{ V4L2_CID_TILT_SPEED, "tiltspeed" },
145 
146  // In V4L2_CID_FLASH_CLASS_BASE:
147  { V4L2_CID_FLASH_LED_MODE, "flashled" },
148  { V4L2_CID_FLASH_STROBE_SOURCE, "flashstrobesrc" },
149  { V4L2_CID_FLASH_STROBE, "flashstrobe" },
150  { V4L2_CID_FLASH_STROBE_STOP, "flashstrobestop" },
151  { V4L2_CID_FLASH_STROBE_STATUS, "flashstrovestat" },
152  { V4L2_CID_FLASH_TIMEOUT, "flashtimeout" },
153  { V4L2_CID_FLASH_INTENSITY, "flashintens" },
154  { V4L2_CID_FLASH_TORCH_INTENSITY, "flashtorch" },
155  { V4L2_CID_FLASH_INDICATOR_INTENSITY, "flashindintens" },
156  { V4L2_CID_FLASH_FAULT, "flashfault" },
157  { V4L2_CID_FLASH_CHARGE, "flashcharge" },
158  { V4L2_CID_FLASH_READY, "flashready" },
159 
160  // In V4L2_CID_JPEG_CLASS_BASE:
161  { V4L2_CID_JPEG_CHROMA_SUBSAMPLING, "jpegchroma" },
162  { V4L2_CID_JPEG_RESTART_INTERVAL, "jpegrestartint" },
163  { V4L2_CID_JPEG_COMPRESSION_QUALITY, "jpegcompression" },
164  { V4L2_CID_JPEG_ACTIVE_MARKER, "jpegmarker" },
165 
166  // In V4L2_CID_IMAGE_SOURCE_CLASS_BASE:
167  // Those are not defined in our older platform kernel:
168  //{ V4L2_CID_VBLANK, "vblank" },
169  //{ V4L2_CID_HBLANK, "hblank" },
170  //{ V4L2_CID_ANALOGUE_GAIN, "again" },
171  //{ V4L2_CID_TEST_PATTERN_RED, "testpatred" },
172  //{ V4L2_CID_TEST_PATTERN_GREENR, "testpatgreenr" },
173  //{ V4L2_CID_TEST_PATTERN_BLUE, "testpatblue" },
174  //{ V4L2_CID_TEST_PATTERN_GREENB, "testpatbreenb" },
175 
176  // In V4L2_CID_IMAGE_PROC_CLASS_BASE:
177  //{ V4L2_CID_LINK_FREQ, "linkfreq" },
178  //{ V4L2_CID_PIXEL_RATE, "pixrate" },
179  //{ V4L2_CID_TEST_PATTERN, "testpat" },
180 
181  // In V4L2_CID_DETECT_CLASS_BASE:
182  //{ V4L2_CID_DETECT_MD_MODE, "detectmode" },
183  //{ V4L2_CID_DETECT_MD_GLOBAL_THRESHOLD, "detectthresh" },
184  //{ V4L2_CID_DETECT_MD_THRESHOLD_GRID, "detectthreshgrid" },
185  //{ V4L2_CID_DETECT_MD_REGION_GRID, "detectregiongrid" },
186  };
187 
188  // Convert a long name to a short name:
189  std::string abbreviate(std::string const & longname)
190  {
191  std::string name(longname);
192  std::transform(name.begin(), name.end(), name.begin(), ::tolower);
193  name.erase(std::remove_if(name.begin(), name.end(), [](int c) { return !std::isalnum(c); }), name.end());
194  return name;
195  }
196 } // anonymous namespace
197 
198 
199 // ####################################################################################################
200 jevois::Engine::Engine(std::string const & instance) :
201  jevois::Manager(instance), itsMappings(), itsRunning(false), itsStreaming(false), itsStopMainLoop(false),
202  itsTurbo(false), itsManualStreamon(false), itsVideoErrors(false), itsFrame(0), itsNumSerialSent(0)
203 {
204  JEVOIS_TRACE(1);
205 
206 #ifdef JEVOIS_PLATFORM
207  // Start mass storage thread:
208  itsCheckingMassStorage.store(false); itsMassStorageMode.store(false);
209  itsCheckMassStorageFut = std::async(std::launch::async, &jevois::Engine::checkMassStorage, this);
210  while (itsCheckingMassStorage.load() == false) std::this_thread::sleep_for(std::chrono::milliseconds(5));
211 #endif
212 }
213 
214 // ####################################################################################################
215 jevois::Engine::Engine(int argc, char const* argv[], std::string const & instance) :
216  jevois::Manager(argc, argv, instance), itsMappings(), itsRunning(false), itsStreaming(false),
217  itsStopMainLoop(false), itsTurbo(false), itsManualStreamon(false), itsVideoErrors(false), itsFrame(0),
218  itsNumSerialSent(0)
219 {
220  JEVOIS_TRACE(1);
221 
222 #ifdef JEVOIS_PLATFORM
223  // Start mass storage thread:
224  itsCheckingMassStorage.store(false); itsMassStorageMode.store(false);
225  itsCheckMassStorageFut = std::async(std::launch::async, &jevois::Engine::checkMassStorage, this);
226  while (itsCheckingMassStorage.load() == false) std::this_thread::sleep_for(std::chrono::milliseconds(5));
227 #endif
228 }
229 
230 // ####################################################################################################
231 void jevois::Engine::onParamChange(jevois::engine::serialdev const & JEVOIS_UNUSED_PARAM(param),
232  std::string const & newval)
233 {
235 
236  // If we have a serial already, nuke it:
237  for (std::list<std::shared_ptr<UserInterface> >::iterator itr = itsSerials.begin(); itr != itsSerials.end(); ++itr)
238  if ((*itr)->instanceName() == "serial") itr = itsSerials.erase(itr);
239  removeComponent("serial", false);
240 
241  // Open the usb hardware (4-pin connector) serial port, if any:
242  if (newval.empty() == false)
243  try
244  {
245  std::shared_ptr<jevois::UserInterface> s;
246  if (newval == "stdio")
247  s = addComponent<jevois::StdioInterface>("serial");
248  else
249  {
250  s = addComponent<jevois::Serial>("serial", jevois::UserInterface::Type::Hard);
251  s->setParamVal("devname", newval);
252  }
253 
254  itsSerials.push_back(s);
255  LINFO("Using [" << newval << "] hardware (4-pin connector) serial port");
256  }
257  catch (...) { jevois::warnAndIgnoreException(); LERROR("Could not start hardware (4-pin connector) serial port"); }
258  else LINFO("No hardware (4-pin connector) serial port used");
259 }
260 
261 // ####################################################################################################
262 void jevois::Engine::onParamChange(jevois::engine::usbserialdev const & JEVOIS_UNUSED_PARAM(param),
263  std::string const & newval)
264 {
266 
267  // If we have a usbserial already, nuke it:
268  for (std::list<std::shared_ptr<UserInterface> >::iterator itr = itsSerials.begin(); itr != itsSerials.end(); ++itr)
269  if ((*itr)->instanceName() == "usbserial") itr = itsSerials.erase(itr);
270  removeComponent("usbserial", false);
271 
272  // Open the USB serial port, if any:
273  if (newval.empty() == false)
274  try
275  {
276  std::shared_ptr<jevois::UserInterface> s =
277  addComponent<jevois::Serial>("usbserial", jevois::UserInterface::Type::USB);
278  s->setParamVal("devname", newval);
279  itsSerials.push_back(s);
280  LINFO("Using [" << newval << "] USB serial port");
281  }
282  catch (...) { jevois::warnAndIgnoreException(); LERROR("Could not start USB serial port"); }
283  else LINFO("No USB serial port used");
284 }
285 
286 // ####################################################################################################
287 void jevois::Engine::onParamChange(jevois::engine::cpumode const & JEVOIS_UNUSED_PARAM(param),
288  jevois::engine::CPUmode const & newval)
289 {
290  std::ofstream ofs("/sys/devices/system/cpu/cpu0/cpufreq/scaling_governor");
291  if (ofs.is_open() == false)
292  {
293 #ifdef JEVOIS_PLATFORM
294  LERROR("Cannot set cpu frequency governor mode -- IGNORED");
295 #endif
296  return;
297  }
298 
299  switch (newval)
300  {
301  case engine::CPUmode::PowerSave: ofs << "powersave" << std::endl; break;
302  case engine::CPUmode::Conservative: ofs << "conservative" << std::endl; break;
303  case engine::CPUmode::OnDemand: ofs << "ondemand" << std::endl; break;
304  case engine::CPUmode::Interactive: ofs << "interactive" << std::endl; break;
305  case engine::CPUmode::Performance: ofs << "performance" << std::endl; break;
306  }
307 }
308 
309 // ####################################################################################################
310 void jevois::Engine::onParamChange(jevois::engine::cpumax const & JEVOIS_UNUSED_PARAM(param),
311  unsigned int const & newval)
312 {
313  std::ofstream ofs("/sys/devices/system/cpu/cpu0/cpufreq/scaling_max_freq");
314  if (ofs.is_open() == false)
315  {
316 #ifdef JEVOIS_PLATFORM
317  LERROR("Cannot set cpu max frequency -- IGNORED");
318 #endif
319  return;
320  }
321 
322  ofs << newval * 1000U << std::endl;
323 }
324 
325 // ####################################################################################################
326 void jevois::Engine::onParamChange(jevois::engine::videoerrors const & JEVOIS_UNUSED_PARAM(param),
327  bool const & newval)
328 {
329  itsVideoErrors.store(newval);
330 }
331 
332 // ####################################################################################################
334 {
335  // Set any initial parameters from global config file:
336  std::string const paramcfg = std::string(JEVOIS_CONFIG_PATH) + '/' + JEVOIS_MODULE_PARAMS_FILENAME;
337  std::ifstream ifs(paramcfg); if (ifs.is_open()) setParamsFromStream(ifs, paramcfg);
338 
339  // Run the Manager version. This parses the command line:
341 }
342 
343 // ####################################################################################################
345 {
346  // First make sure the manager gets to run this:
348 
349  // Prevent any setFormat() that may be requested, e.g., by the Inventor, as soon as it detects our gadget, until after
350  // we have completed running the initscript:
352 
353  // Freeze the serial port device names, their params, and camera and gadget too:
354  serialdev::freeze();
355  usbserialdev::freeze();
356  for (auto & s : itsSerials) s->freezeAllParams();
357  cameradev::freeze();
358  camerasens::freeze();
359  cameranbuf::freeze();
360  camturbo::freeze();
361  gadgetdev::freeze();
362  gadgetnbuf::freeze();
363  itsTurbo = camturbo::get();
364  multicam::freeze();
365  quietcmd::freeze();
366  python::freeze();
367 
368  // Grab the log messages, itsSerials is not going to change anymore now that the serial params are frozen:
369  jevois::logSetEngine(this);
370 
371  // Load our video mappings:
372  itsMappings = jevois::loadVideoMappings(camerasens::get(), itsDefaultMappingIdx);
373  LINFO("Loaded " << itsMappings.size() << " vision processing modes.");
374 
375  // Get python going, we need to do this here to avoid segfaults on platform when instantiating our first python
376  // module. This likely has to do with the fact that the python core is not very thread-safe, and setFormatInternal()
377  // in Engine, which instantiates python modules, will indeed be invoked from a different thread (the one that receives
378  // USB UVC events). Have a look at Python Thread State, Python Gobal Interpreter Lock, etc if interested:
379  if (python::get())
380  {
381  LINFO("Initalizing Python...");
382  jevois::pythonModuleSetEngine(this);
383  }
384 
385  // Instantiate a camera: If device names starts with "/dev/v", assume a hardware camera, otherwise a movie file:
386  std::string const camdev = cameradev::get();
387  if (jevois::stringStartsWith(camdev, "/dev/v"))
388  {
389  LINFO("Starting camera device " << camdev);
390 
391 #ifdef JEVOIS_PLATFORM
392  // Set turbo mode or not:
393  std::ofstream ofs("/sys/module/vfe_v4l2/parameters/turbo");
394  if (ofs.is_open())
395  {
396  if (itsTurbo) ofs << "1" << std::endl; else ofs << "0" << std::endl;
397  ofs.close();
398  }
399  else LERROR("Could not access VFE turbo parameter -- IGNORED");
400 #endif
401 
402  // Now instantiate the camera:
403  itsCamera.reset(new jevois::Camera(camdev, cameranbuf::get()));
404 
405 #ifndef JEVOIS_PLATFORM
406  // No need to confuse people with a non-working camreg param:
407  camreg::set(false);
408  camreg::freeze();
409 #endif
410  }
411  else
412  {
413  LINFO("Using movie input " << camdev << " -- issue a 'streamon' to start processing.");
414  itsCamera.reset(new jevois::MovieInput(camdev, cameranbuf::get()));
415 
416  // No need to confuse people with a non-working camreg param:
417  camreg::set(false);
418  camreg::freeze();
419  }
420 
421  // Instantiate a USB gadget: Note: it will want to access the mappings. If the user-selected video mapping has no usb
422  // out, do not instantiate a gadget:
423  int midx = videomapping::get();
424 
425  // The videomapping parameter is now disabled, users should use the 'setmapping' command once running:
426  videomapping::freeze();
427 
428  if (midx >= int(itsMappings.size()))
429  { LERROR("Mapping index " << midx << " out of range -- USING DEFAULT"); midx = -1; }
430 
431  if (midx < 0) midx = itsDefaultMappingIdx;
432 
433  // Always instantiate a gadget even if not used right now, may be used later:
434  std::string const gd = gadgetdev::get();
435  if (gd == "None")
436  {
437  LINFO("Using no USB video output.");
438  // No USB output and no display, useful for benchmarking only:
439  itsGadget.reset(new jevois::VideoOutputNone());
440  itsManualStreamon = true;
441  }
442  else if (jevois::stringStartsWith(gd, "/dev/"))
443  {
444  LINFO("Loading USB video driver " << gd);
445  // USB gadget driver:
446  itsGadget.reset(new jevois::Gadget(gd, itsCamera.get(), this, gadgetnbuf::get(), multicam::get()));
447  }
448  else if (gd.empty() == false)
449  {
450  LINFO("Saving output video to file " << gd);
451  // Non-empty filename, save to file:
452  itsGadget.reset(new jevois::MovieOutput(gd));
453  itsManualStreamon = true;
454  }
455  else
456  {
457  LINFO("Using display for video output");
458  // Local video display, for use on a host desktop:
459  itsGadget.reset(new jevois::VideoDisplay("jevois", gadgetnbuf::get()));
460  itsManualStreamon = true;
461  }
462 
463  // We are ready to run:
464  itsRunning.store(true);
465 
466  // Set initial format:
467  ///try { setFormatInternal(midx); } catch (...) { jevois::warnAndIgnoreException(); }
468 
469  // Run init script:
470  runScriptFromFile(JEVOIS_ENGINE_INIT_SCRIPT, nullptr, false);
471 }
472 
473 // ####################################################################################################
475 {
476  JEVOIS_TRACE(1);
477 
478  // Turn off stream if it is on:
479  streamOff();
480 
481  // Tell our run() thread to finish up:
482  itsRunning.store(false);
483 
484 #ifdef JEVOIS_PLATFORM
485  // Tell checkMassStorage() thread to finish up:
486  itsCheckingMassStorage.store(false);
487 #endif
488 
489  // Nuke our module as soon as we can, hopefully soon now that we turned off streaming and running:
490  {
493  itsModule.reset();
494 
495  // Gone, nuke the loader now:
496  itsLoader.reset();
497  }
498 
499  // Because we passed the camera as a raw pointer to the gadget, nuke the gadget first and then the camera:
500  itsGadget.reset();
501  itsCamera.reset();
502 
503 #ifdef JEVOIS_PLATFORM
504  // Will block until the checkMassStorage() thread completes:
505  if (itsCheckMassStorageFut.valid())
506  try { itsCheckMassStorageFut.get(); } catch (...) { jevois::warnAndIgnoreException(); }
507 #endif
508 
509  // Things should be quiet now, unhook from the logger (this call is not strictly thread safe):
510  jevois::logSetEngine(nullptr);
511 }
512 
513 // ####################################################################################################
514 #ifdef JEVOIS_PLATFORM
515 void jevois::Engine::checkMassStorage()
516 {
517  itsCheckingMassStorage.store(true);
518 
519  while (itsCheckingMassStorage.load())
520  {
521  // Check from the mass storage gadget (with JeVois extension) whether the virtual USB drive is mounted by the
522  // host. If currently in mass storage mode and the host just ejected the virtual flash drive, resume normal
523  // operation. If not in mass-storage mode and the host mounted it, enter mass-storage mode (may happen if
524  // /boot/usbsdauto was selected):
525  std::ifstream ifs("/sys/devices/platform/sunxi_usb_udc/gadget/lun0/mass_storage_in_use");
526  if (ifs.is_open())
527  {
528  int inuse; ifs >> inuse;
529  if (itsMassStorageMode.load())
530  {
531  if (inuse == 0) stopMassStorageMode();
532  }
533  else
534  {
535  if (inuse) { JEVOIS_TIMED_LOCK(itsMtx); startMassStorageMode(); }
536  }
537  }
538  std::this_thread::sleep_for(std::chrono::milliseconds(500));
539  }
540 }
541 #endif
542 
543 // ####################################################################################################
545 {
546  JEVOIS_TRACE(2);
547 
549  itsCamera->streamOn();
550  itsGadget->streamOn();
551  itsStreaming.store(true);
552 }
553 
554 // ####################################################################################################
556 {
557  JEVOIS_TRACE(2);
558 
559  // First, tell both the camera and gadget to abort streaming, this will make get()/done()/send() throw:
560  itsGadget->abortStream();
561  itsCamera->abortStream();
562 
563  // Stop the main loop, which will flip itsStreaming to false and will make it easier for us to lock itsMtx:
564  LDEBUG("Stopping main loop...");
565  itsStopMainLoop.store(true);
566  while (itsStopMainLoop.load() && itsRunning.load()) std::this_thread::sleep_for(std::chrono::milliseconds(10));
567  LDEBUG("Main loop stopped.");
568 
569  // Lock up and stream off:
571  itsGadget->streamOff();
572  itsCamera->streamOff();
573 }
574 
575 // ####################################################################################################
577 {
578  JEVOIS_TRACE(2);
579 
580  LDEBUG("Set format number " << idx << " start...");
581 
582  if (idx >= itsMappings.size())
583  LFATAL("Requested mapping index " << idx << " out of range [0 .. " << itsMappings.size()-1 << ']');
584 
586  setFormatInternal(idx);
587  LDEBUG("Set format number " << idx << " done");
588 }
589 
590 // ####################################################################################################
591 void jevois::Engine::setFormatInternal(size_t idx)
592 {
593  // itsMtx should be locked by caller, idx should be valid:
594  JEVOIS_TRACE(2);
595 
596  jevois::VideoMapping const & m = itsMappings[idx];
597  setFormatInternal(m);
598 }
599 
600 // ####################################################################################################
601 void jevois::Engine::setFormatInternal(jevois::VideoMapping const & m, bool reload)
602 {
603  // itsMtx should be locked by caller, idx should be valid:
604  JEVOIS_TRACE(2);
605 
606  LINFO(m.str());
607  itsModuleConstructionError = "Unknown error while starting module " + m.modulename + " ...";
608 
609 #ifdef JEVOIS_PLATFORM
610  if (itsMassStorageMode.load())
611  LFATAL("Cannot setup video streaming while in mass-storage mode. Eject the USB drive on your host computer first.");
612 #endif
613 
614  // Set the format at the camera and gadget levels, unless we are just reloading:
615  if (reload == false)
616  {
617  itsCamera->setFormat(m);
618  itsGadget->setFormat(m);
619  }
620 
621  // Keep track of our current mapping:
622  itsCurrentMapping = m;
623 
624  // Nuke the processing module, if any, so we can also safely nuke the loader. We always nuke the module instance so we
625  // won't have any issues with latent state even if we re-use the same module but possibly with different input
626  // image resolution, etc:
627  if (itsModule)
628  try { removeComponent(itsModule); itsModule.reset(); } catch (...) { jevois::warnAndIgnoreException(); }
629 
630  // Reset our master frame counter on each module load:
631  itsFrame.store(0);
632 
633  // Instantiate the module. If the constructor throws, code is bogus, for example some syntax error in a python module
634  // that is detected at load time. We get the exception's error message for later display into video frames in the main
635  // loop, and mark itsModuleConstructionError:
636  try
637  {
638  // For python modules, we do not need a loader, we just instantiate our special python wrapper module instead:
639  std::string const sopath = m.sopath();
640  if (m.ispython)
641  {
642  if (python::get() == false) LFATAL("Python disabled, delete BOOT:nopython and restart to enable python");
643 
644  // Instantiate the python wrapper:
645  itsLoader.reset();
646  itsModule.reset(new jevois::PythonModule(m));
647  }
648  else
649  {
650  // C++ compiled module. We can re-use the same loader and avoid closing the .so if we will use the same module:
651  if (itsLoader.get() == nullptr || itsLoader->sopath() != sopath)
652  {
653  // Nuke our previous loader and free its resources if needed, then start a new loader:
654  LINFO("Instantiating dynamic loader for " << sopath);
655  itsLoader.reset(new jevois::DynamicLoader(sopath, true));
656  }
657 
658  // Check version match:
659  auto version_major = itsLoader->load<int()>(m.modulename + "_version_major");
660  auto version_minor = itsLoader->load<int()>(m.modulename + "_version_minor");
661  if (version_major() != JEVOIS_VERSION_MAJOR || version_minor() != JEVOIS_VERSION_MINOR)
662  LERROR("Module " << m.modulename << " in file " << sopath << " was build for JeVois v" << version_major() << '.'
663  << version_minor() << ", but running framework is v" << JEVOIS_VERSION_STRING << " -- TRYING ANYWAY");
664 
665  // Instantiate the new module:
666  auto create = itsLoader->load<std::shared_ptr<jevois::Module>(std::string const &)>(m.modulename + "_create");
667  itsModule = create(m.modulename); // Here we just use the class name as instance name
668  }
669 
670  // Add the module as a component to us. Keep this code in sync with Manager::addComponent():
671  {
672  // Lock up so we guarantee the instance name does not get robbed as we add the sub:
673  boost::unique_lock<boost::shared_mutex> ulck(itsSubMtx);
674 
675  // Then add it as a sub-component to us:
676  itsSubComponents.push_back(itsModule);
677  itsModule->itsParent = this;
678  itsModule->setPath(sopath.substr(0, sopath.rfind('/')));
679  }
680 
681  // Bring it to our runstate and load any extra params. NOTE: Keep this in sync with Component::init():
682  if (itsInitialized) itsModule->runPreInit();
683 
684  std::string const paramcfg = itsModule->absolutePath(JEVOIS_MODULE_PARAMS_FILENAME);
685  std::ifstream ifs(paramcfg); if (ifs.is_open()) itsModule->setParamsFromStream(ifs, paramcfg);
686 
687  if (itsInitialized) { itsModule->setInitialized(); itsModule->runPostInit(); }
688 
689  // And finally run any config script, sending any errors to USB (likely JeVois Inventor):
690  std::shared_ptr<jevois::UserInterface> ser;
691  for (auto & s : itsSerials) if (s->type() == jevois::UserInterface::Type::USB) { ser = s; break; }
692  runScriptFromFile(itsModule->absolutePath(JEVOIS_MODULE_SCRIPT_FILENAME), ser, false);
693 
694  LINFO("Module [" << m.modulename << "] loaded, initialized, and ready.");
695  itsModuleConstructionError.clear();
696  }
697  catch (...)
698  {
699  // Note: we do not nuke the module here, as the Inventor may need its path to fix some config files.
700  itsModuleConstructionError = jevois::warnAndIgnoreException();
701  LERROR("Module [" << m.modulename << "] startup error and not operational.");
702  }
703 }
704 
705 // ####################################################################################################
707 {
708  JEVOIS_TRACE(2);
709 
710  std::string pfx; // optional command prefix
711 
712  // Announce that we are ready to the hardware serial port, if any. Do not use sendSerial() here so we always issue
713  // this message irrespectively of the user serial preferences:
714  for (auto & s : itsSerials)
715  if (s->instanceName() == "serial")
716  try { s->writeString("INF READY JEVOIS " JEVOIS_VERSION_STRING); }
717  catch (...) { jevois::warnAndIgnoreException(); }
718 
719  while (itsRunning.load())
720  {
721  bool dosleep = true;
722 
723  if (itsStreaming.load())
724  {
725  // Lock up while we use the module:
727 
728  if (itsModuleConstructionError.empty() == false)
729  {
730  // If we have a module construction error, render it to an image and stream it over USB now (if we are doing USB
731  // and we want to see errors in the video stream):
732  if (itsCurrentMapping.ofmt && itsVideoErrors.load())
733  try
734  {
735  // Get an output image, draw error message, and send to host:
736  itsGadget->get(itsVideoErrorImage);
737  jevois::drawErrorImage(itsModuleConstructionError, itsVideoErrorImage);
738  itsGadget->send(itsVideoErrorImage);
739 
740  // Also get one camera frame to avoid accumulation of stale buffers:
741  (void)jevois::InputFrame(itsCamera, itsTurbo).get();
742  }
743  catch (...) { jevois::warnAndIgnoreException(); }
744  }
745  else if (itsModule)
746  {
747  // For standard modules, indicate frame start mark if user wants it:
748  jevois::StdModule * stdmod = dynamic_cast<jevois::StdModule *>(itsModule.get());
749  if (stdmod) stdmod->sendSerialMarkStart();
750 
751  // We have a module ready for action. Call its process function and handle any exceptions:
752  try
753  {
754  if (itsCurrentMapping.ofmt) // Process with USB outputs:
755  itsModule->process(jevois::InputFrame(itsCamera, itsTurbo),
756  jevois::OutputFrame(itsGadget, itsVideoErrors.load() ? &itsVideoErrorImage : nullptr));
757  else // Process with no USB outputs:
758  itsModule->process(jevois::InputFrame(itsCamera, itsTurbo));
759  dosleep = false;
760  }
761  catch (...)
762  {
763  // Report exceptions to video if desired: We have to be extra careful here because the exception might have
764  // been called by the input frame (camera not streaming) or the output frame (gadget not streaming), in
765  // addition to exceptions thrown by the module:
766  if (itsCurrentMapping.ofmt && itsVideoErrors.load())
767  {
768  try
769  {
770  // If the module threw before get() or after send() on the output frame, get a buffer from the gadget:
771  if (itsVideoErrorImage.valid() == false)
772  itsGadget->get(itsVideoErrorImage); // could throw when streamoff
773 
774  // Report module exception to serlog and get it back as a string:
775  std::string errstr = jevois::warnAndIgnoreException();
776 
777  // Draw the error message into our video frame:
778  jevois::drawErrorImage(errstr, itsVideoErrorImage);
779  }
780  catch (...) { jevois::warnAndIgnoreException(); }
781 
782  try
783  {
784  // Send the error image over USB:
785  if (itsVideoErrorImage.valid()) itsGadget->send(itsVideoErrorImage); // could throw if gadget stream off
786  }
787  catch (...) { jevois::warnAndIgnoreException(); }
788 
789  // Invalidate the error image so it is clean for the next frame:
790  itsVideoErrorImage.invalidate();
791  }
792  else
793  {
794  // Report module exception to serlog, and ignore:
796  }
797  }
798 
799  // For standard modules, indicate frame start stop if user wants it:
800  if (stdmod) stdmod->sendSerialMarkStop();
801 
802  // Increment our master frame counter
803  ++ itsFrame;
804  itsNumSerialSent.store(0);
805  }
806  }
807 
808  if (itsStopMainLoop.load())
809  {
810  itsStreaming.store(false);
811  LDEBUG("-- Main loop stopped --");
812  itsStopMainLoop.store(false);
813  }
814 
815  if (dosleep)
816  {
817  LDEBUG("No processing module loaded or not streaming... Sleeping...");
818  std::this_thread::sleep_for(std::chrono::milliseconds(50));
819  }
820 
821  // Serial input handling. Note that readSome() and writeString() on the serial could throw. The code below is
822  // organized to catch all other exceptions, except for those, which are caught here at the first try level:
823  for (auto & s : itsSerials)
824  {
825  try
826  {
827  std::string str; bool parsed = false; bool success = false;
828 
829  if (s->readSome(str))
830  {
832 
833 
834  // If the command starts with our hidden command prefix, set the prefix, otherwise clear it:
835  if (jevois::stringStartsWith(str, JEVOIS_JVINV_PREFIX))
836  {
837  pfx = JEVOIS_JVINV_PREFIX;
838  str = str.substr(pfx.length());
839  }
840  else pfx.clear();
841 
842  // Try to execute this command. If the command is for us (e.g., set a parameter) and is correct,
843  // parseCommand() will return true; if it is for us but buggy, it will throw. If it is not recognized by us,
844  // it will return false and we should try sending it to the Module:
845  try { parsed = parseCommand(str, s, pfx); success = parsed; }
846  catch (std::exception const & e)
847  { s->writeString(pfx, std::string("ERR ") + e.what()); parsed = true; }
848  catch (...)
849  { s->writeString(pfx, "ERR Unknown error"); parsed = true; }
850 
851  if (parsed == false)
852  {
853  if (itsModule)
854  {
855  // Note: prefixing is currently not supported for modules, it is for the Engine only
856  try { itsModule->parseSerial(str, s); success = true; }
857  catch (std::exception const & me) { s->writeString(pfx, std::string("ERR ") + me.what()); }
858  catch (...) { s->writeString(pfx, "ERR Command [" + str + "] not recognized by Engine or Module"); }
859  }
860  else s->writeString(pfx, "ERR Unsupported command [" + str + "] and no module");
861  }
862 
863  // If success, let user know:
864  if (success && quietcmd::get() == false) s->writeString(pfx, "OK");
865  }
866  }
867  catch (...) { jevois::warnAndIgnoreException(); }
868  }
869  }
870 }
871 
872 // ####################################################################################################
873 void jevois::Engine::sendSerial(std::string const & str, bool islog)
874 {
875  // If not a log message, we may want to limit the number of serout messages that a module sends on each frame:
876  size_t slim = serlimit::get();
877  if (islog == false && slim)
878  {
879  if (itsNumSerialSent.load() >= slim) return; // limit reached, message dropped
880  ++itsNumSerialSent; // increment number of messages sent. It is reset in the main loop on each new frame.
881  }
882 
883  // Decide where to send this message based on the value of islog:
884  jevois::engine::SerPort p = islog ? serlog::get() : serout::get();
885 
886  switch (p)
887  {
888  case jevois::engine::SerPort::None:
889  break; // Nothing to send
890 
891  case jevois::engine::SerPort::All:
892  for (auto & s : itsSerials)
893  try { s->writeString(str); } catch (...) { jevois::warnAndIgnoreException(); }
894  break;
895 
896  case jevois::engine::SerPort::Hard:
897  for (auto & s : itsSerials)
898  if (s->type() == jevois::UserInterface::Type::Hard)
899  try { s->writeString(str); } catch (...) { jevois::warnAndIgnoreException(); }
900  break;
901 
902  case jevois::engine::SerPort::USB:
903  for (auto & s : itsSerials)
904  if (s->type() == jevois::UserInterface::Type::USB)
905  try { s->writeString(str); } catch (...) { jevois::warnAndIgnoreException(); }
906  break;
907  }
908 }
909 
910 // ####################################################################################################
912 { return itsFrame; }
913 
914 // ####################################################################################################
915 void jevois::Engine::writeCamRegister(unsigned short reg, unsigned short val)
916 {
917  itsCamera->writeRegister(reg, val);
918 }
919 // ####################################################################################################
920 unsigned short jevois::Engine::readCamRegister(unsigned short reg)
921 {
922  return itsCamera->readRegister(reg);
923 }
924 
925 // ####################################################################################################
926 void jevois::Engine::writeIMUregister(unsigned short reg, unsigned short val)
927 {
928  itsCamera->writeIMUregister(reg, val);
929 }
930 
931 // ####################################################################################################
932 unsigned short jevois::Engine::readIMUregister(unsigned short reg)
933 {
934  return itsCamera->readIMUregister(reg);
935 }
936 
937 // ####################################################################################################
939 {
940  return itsCurrentMapping;
941 }
942 
943 // ####################################################################################################
945 {
946  return itsMappings.size();
947 }
948 
949 // ####################################################################################################
951 {
952  if (idx >= itsMappings.size())
953  LFATAL("Index " << idx << " out of range [0 .. " << itsMappings.size()-1 << ']');
954 
955  return itsMappings[idx];
956 }
957 
958 // ####################################################################################################
959 size_t jevois::Engine::getVideoMappingIdx(unsigned int iformat, unsigned int iframe, unsigned int interval) const
960 {
961  // If the iformat or iframe is zero, that's probably a probe for the default mode, so return it:
962  if (iformat == 0 || iframe == 0) return itsDefaultMappingIdx;
963 
964  // If interval is zero, probably a driver trying to probe for our default interval, so return the first available one;
965  // otherwise try to find the desired interval and return the corresponding mapping:
966  if (interval)
967  {
968  float const fps = jevois::VideoMapping::uvcToFps(interval);
969  size_t idx = 0;
970 
971  for (jevois::VideoMapping const & m : itsMappings)
972  if (m.uvcformat == iformat && m.uvcframe == iframe && std::fabs(m.ofps - fps) < 0.1F) return idx;
973  else ++idx;
974 
975  LFATAL("No video mapping for iformat=" << iformat <<", iframe=" << iframe << ", interval=" << interval);
976  }
977  else
978  {
979  size_t idx = 0;
980 
981  for (jevois::VideoMapping const & m : itsMappings)
982  if (m.uvcformat == iformat && m.uvcframe == iframe) return idx;
983  else ++idx;
984 
985  LFATAL("No video mapping for iformat=" << iformat <<", iframe=" << iframe << ", interval=" << interval);
986  }
987 }
988 
989 // ####################################################################################################
992 
993 // ####################################################################################################
995 { return itsDefaultMappingIdx; }
996 
997 // ####################################################################################################
998 jevois::VideoMapping const &
999 jevois::Engine::findVideoMapping(unsigned int oformat, unsigned int owidth, unsigned int oheight,
1000  float oframespersec) const
1001 {
1002  for (jevois::VideoMapping const & m : itsMappings)
1003  if (m.match(oformat, owidth, oheight, oframespersec)) return m;
1004 
1005  LFATAL("Could not find mapping for output format " << jevois::fccstr(oformat) << ' ' <<
1006  owidth << 'x' << oheight << " @ " << oframespersec << " fps");
1007 }
1008 
1009 // ####################################################################################################
1010 std::string jevois::Engine::camctrlname(int id, char const * longname) const
1011 {
1012  for (size_t i = 0; i < sizeof camcontrols / sizeof camcontrols[0]; ++i)
1013  if (camcontrols[i].id == id) return camcontrols[i].shortname;
1014 
1015  // Darn, this control is not in our list, probably something exotic. Compute a name from the control's long name:
1016  return abbreviate(longname);
1017 }
1018 
1019 // ####################################################################################################
1020 int jevois::Engine::camctrlid(std::string const & shortname)
1021 {
1022  for (size_t i = 0; i < sizeof camcontrols / sizeof camcontrols[0]; ++i)
1023  if (shortname.compare(camcontrols[i].shortname) == 0) return camcontrols[i].id;
1024 
1025  // Not in our list, all right, let's find it then in the camera:
1026  struct v4l2_queryctrl qc = { };
1027  for (int cls = V4L2_CTRL_CLASS_USER; cls <= V4L2_CTRL_CLASS_DETECT; cls += 0x10000)
1028  {
1029  // Enumerate all controls in this class. Looks like there is some spillover between V4L2 classes in the V4L2
1030  // enumeration process, we end up with duplicate controls if we try to enumerate all the classes. Hence the
1031  // doneids set to keep track of the ones already reported:
1032  qc.id = cls | 0x900;
1033  while (true)
1034  {
1035  qc.id |= V4L2_CTRL_FLAG_NEXT_CTRL; unsigned int old_id = qc.id; bool failed = false;
1036  try
1037  {
1038  itsCamera->queryControl(qc);
1039  if (abbreviate(reinterpret_cast<char const *>(qc.name)) == shortname) return qc.id;
1040  }
1041  catch (...) { failed = true; }
1042 
1043  // With V4L2_CTRL_FLAG_NEXT_CTRL, the camera kernel driver is supposed to pass down the next valid control if
1044  // the requested one is not found, but some drivers do not honor that, so let's move on to the next control
1045  // manually if needed:
1046  qc.id |= V4L2_CTRL_FLAG_NEXT_CTRL;
1047  if (qc.id == old_id) { ++qc.id; if (qc.id > 100 + (cls | 0x900 | V4L2_CTRL_FLAG_NEXT_CTRL)) break; }
1048  else if (failed) break;
1049  }
1050  }
1051 
1052  LFATAL("Could not find control [" << shortname << "] in the camera");
1053 }
1054 
1055 // ####################################################################################################
1056 std::string jevois::Engine::camCtrlHelp(struct v4l2_queryctrl & qc, std::set<int> & doneids)
1057 {
1058  // See if we have this control:
1059  itsCamera->queryControl(qc);
1060  qc.id &= ~V4L2_CTRL_FLAG_NEXT_CTRL;
1061 
1062  // If we have already done this control, just return an empty string:
1063  if (doneids.find(qc.id) != doneids.end()) return std::string(); else doneids.insert(qc.id);
1064 
1065  // Control exists, let's also get its current value:
1066  struct v4l2_control ctrl = { }; ctrl.id = qc.id;
1067  itsCamera->getControl(ctrl);
1068 
1069  // Print out some description depending on control type:
1070  std::ostringstream ss;
1071  ss << "- " << camctrlname(qc.id, reinterpret_cast<char const *>(qc.name));
1072 
1073  switch (qc.type)
1074  {
1075  case V4L2_CTRL_TYPE_INTEGER:
1076  ss << " [int] min=" << qc.minimum << " max=" << qc.maximum << " step=" << qc.step
1077  << " def=" << qc.default_value << " curr=" << ctrl.value;
1078  break;
1079 
1080  //case V4L2_CTRL_TYPE_INTEGER64:
1081  //ss << " [int64] value=" << ctrl.value64;
1082  //break;
1083 
1084  //case V4L2_CTRL_TYPE_STRING:
1085  //ss << " [str] min=" << qc.minimum << " max=" << qc.maximum << " step=" << qc.step
1086  // << " curr=" << ctrl.string;
1087  //break;
1088 
1089  case V4L2_CTRL_TYPE_BOOLEAN:
1090  ss << " [bool] default=" << qc.default_value << " curr=" << ctrl.value;
1091  break;
1092 
1093  // This one is not supported by the older kernel on platform:
1094  //case V4L2_CTRL_TYPE_INTEGER_MENU:
1095  //ss << " [intmenu] min=" << qc.minimum << " max=" << qc.maximum
1096  // << " def=" << qc.default_value << " curr=" << ctrl.value;
1097  //break;
1098 
1099  case V4L2_CTRL_TYPE_BUTTON:
1100  ss << " [button]";
1101  break;
1102 
1103  case V4L2_CTRL_TYPE_BITMASK:
1104  ss << " [bitmask] max=" << qc.maximum << " def=" << qc.default_value << " curr=" << ctrl.value;
1105  break;
1106 
1107  case V4L2_CTRL_TYPE_MENU:
1108  {
1109  struct v4l2_querymenu querymenu = { };
1110  querymenu.id = qc.id;
1111  ss << " [menu] values ";
1112  for (querymenu.index = qc.minimum; querymenu.index <= (unsigned int)qc.maximum; ++querymenu.index)
1113  {
1114  try { itsCamera->queryMenu(querymenu); } catch (...) { strcpy((char *)(querymenu.name), "fixme"); }
1115  ss << querymenu.index << ':' << querymenu.name << ' ';
1116  }
1117  ss << "curr=" << ctrl.value;
1118  }
1119  break;
1120 
1121  default:
1122  ss << "[unknown type]";
1123  }
1124 
1125  if (qc.flags & V4L2_CTRL_FLAG_DISABLED) ss << " [DISABLED]";
1126 
1127  return ss.str();
1128 }
1129 
1130 // ####################################################################################################
1131 std::string jevois::Engine::camCtrlInfo(struct v4l2_queryctrl & qc, std::set<int> & doneids)
1132 {
1133  // See if we have this control:
1134  itsCamera->queryControl(qc);
1135  qc.id &= ~V4L2_CTRL_FLAG_NEXT_CTRL;
1136 
1137  // If we have already done this control, just return an empty string:
1138  if (doneids.find(qc.id) != doneids.end()) return std::string(); else doneids.insert(qc.id);
1139 
1140  // Control exists, let's also get its current value:
1141  struct v4l2_control ctrl = { }; ctrl.id = qc.id;
1142  itsCamera->getControl(ctrl);
1143 
1144  // Print out some description depending on control type:
1145  std::ostringstream ss;
1146  ss << camctrlname(qc.id, reinterpret_cast<char const *>(qc.name));
1147 
1148  if (qc.flags & V4L2_CTRL_FLAG_DISABLED) ss << " D ";
1149 
1150  switch (qc.type)
1151  {
1152  case V4L2_CTRL_TYPE_INTEGER:
1153  ss << " I " << qc.minimum << ' ' << qc.maximum << ' ' << qc.step
1154  << ' ' << qc.default_value << ' ' << ctrl.value;
1155  break;
1156 
1157  //case V4L2_CTRL_TYPE_INTEGER64:
1158  //ss << " J " << ctrl.value64;
1159  //break;
1160 
1161  //case V4L2_CTRL_TYPE_STRING:
1162  //ss << " S " << qc.minimum << ' ' << qc.maximum << ' ' << qc.step << ' ' << ctrl.string;
1163  //break;
1164 
1165  case V4L2_CTRL_TYPE_BOOLEAN:
1166  ss << " B " << qc.default_value << ' ' << ctrl.value;
1167  break;
1168 
1169  // This one is not supported by the older kernel on platform:
1170  //case V4L2_CTRL_TYPE_INTEGER_MENU:
1171  //ss << " N " << qc.minimum << ' ' << qc.maximum << ' ' << qc.default_value << ' ' << ctrl.value;
1172  //break;
1173 
1174  case V4L2_CTRL_TYPE_BUTTON:
1175  ss << " U";
1176  break;
1177 
1178  case V4L2_CTRL_TYPE_BITMASK:
1179  ss << " K " << qc.maximum << ' ' << qc.default_value << ' ' << ctrl.value;
1180  break;
1181 
1182  case V4L2_CTRL_TYPE_MENU:
1183  {
1184  struct v4l2_querymenu querymenu = { };
1185  querymenu.id = qc.id;
1186  ss << " M " << qc.default_value << ' ' << ctrl.value;
1187  for (querymenu.index = qc.minimum; querymenu.index <= (unsigned int)qc.maximum; ++querymenu.index)
1188  {
1189  try { itsCamera->queryMenu(querymenu); } catch (...) { strcpy((char *)(querymenu.name), "fixme"); }
1190  ss << ' ' << querymenu.index << ':' << querymenu.name << ' ';
1191  }
1192  }
1193  break;
1194 
1195  default:
1196  ss << 'X';
1197  }
1198 
1199  return ss.str();
1200 }
1201 
1202 #ifdef JEVOIS_PLATFORM
1203 // ####################################################################################################
1204 void jevois::Engine::startMassStorageMode()
1205 {
1206  // itsMtx must be locked by caller
1207 
1208  if (itsMassStorageMode.load()) { LERROR("Already in mass-storage mode -- IGNORED"); return; }
1209 
1210  // Nuke any module and loader so we have nothing loaded that uses /jevois:
1211  if (itsModule) { removeComponent(itsModule); itsModule.reset(); }
1212  if (itsLoader) itsLoader.reset();
1213 
1214  // Unmount /jevois:
1215  if (std::system("sync")) LERROR("Disk sync failed -- IGNORED");
1216  if (std::system("mount -o remount,ro /jevois")) LERROR("Failed to remount /jevois read-only -- IGNORED");
1217 
1218  // Now set the backing partition in mass-storage gadget:
1219  std::ofstream ofs(JEVOIS_USBSD_SYS);
1220  if (ofs.is_open() == false) LFATAL("Cannot setup mass-storage backing file to " << JEVOIS_USBSD_SYS);
1221  ofs << JEVOIS_USBSD_FILE << std::endl;
1222 
1223  LINFO("Exported JEVOIS partition of microSD to host computer as virtual flash drive.");
1224  itsMassStorageMode.store(true);
1225 }
1226 
1227 // ####################################################################################################
1228 void jevois::Engine::stopMassStorageMode()
1229 {
1230  //itsMassStorageMode.store(false);
1231  LINFO("JeVois virtual USB drive ejected by host -- REBOOTING");
1232  reboot();
1233 }
1234 
1235 // ####################################################################################################
1236 void jevois::Engine::reboot()
1237 {
1238  if (std::system("sync")) LERROR("Disk sync failed -- IGNORED");
1239  itsCheckingMassStorage.store(false);
1240  itsRunning.store(false);
1241 
1242  // Hard reset to avoid possible hanging during module unload, etc:
1243  if ( ! std::ofstream("/proc/sys/kernel/sysrq").put('1')) LERROR("Cannot trigger hard reset -- please unplug me!");
1244  if ( ! std::ofstream("/proc/sysrq-trigger").put('s')) LERROR("Cannot trigger hard reset -- please unplug me!");
1245  if ( ! std::ofstream("/proc/sysrq-trigger").put('b')) LERROR("Cannot trigger hard reset -- please unplug me!");
1246  std::terminate();
1247 }
1248 #endif
1249 
1250 // ####################################################################################################
1251 void jevois::Engine::cmdInfo(std::shared_ptr<UserInterface> s, bool showAll, std::string const & pfx)
1252 {
1253  s->writeString(pfx, "help - print this help message");
1254  s->writeString(pfx, "help2 - print compact help message about current vision module only");
1255  s->writeString(pfx, "info - show system information including CPU speed, load and temperature");
1256  s->writeString(pfx, "setpar <name> <value> - set a parameter value");
1257  s->writeString(pfx, "getpar <name> - get a parameter value(s)");
1258  s->writeString(pfx, "runscript <filename> - run script commands in specified file");
1259  s->writeString(pfx, "setcam <ctrl> <val> - set camera control <ctrl> to value <val>");
1260  s->writeString(pfx, "getcam <ctrl> - get value of camera control <ctrl>");
1261 
1262  if (showAll || camreg::get())
1263  {
1264  s->writeString(pfx, "setcamreg <reg> <val> - set raw camera register <reg> to value <val>");
1265  s->writeString(pfx, "getcamreg <reg> - get value of raw camera register <reg>");
1266  s->writeString(pfx, "setimureg <reg> <val> - set raw IMU register <reg> to value <val>");
1267  s->writeString(pfx, "getimureg <reg> - get value of raw IMU register <reg>");
1268  }
1269 
1270  s->writeString(pfx, "listmappings - list all available video mappings");
1271  s->writeString(pfx, "setmapping <num> - select video mapping <num>, only possible while not streaming");
1272  s->writeString(pfx, "setmapping2 <CAMmode> <CAMwidth> <CAMheight> <CAMfps> <Vendor> <Module> - set no-USB-out "
1273  "video mapping defined on the fly, while not streaming");
1274  s->writeString(pfx, "reload - reload and reset the current module");
1275 
1276  if (showAll || itsCurrentMapping.ofmt == 0 || itsManualStreamon)
1277  {
1278  s->writeString(pfx, "streamon - start camera video streaming");
1279  s->writeString(pfx, "streamoff - stop camera video streaming");
1280  }
1281 
1282  s->writeString(pfx, "ping - returns 'ALIVE'");
1283  s->writeString(pfx, "serlog <string> - forward string to the serial port(s) specified by the serlog parameter");
1284  s->writeString(pfx, "serout <string> - forward string to the serial port(s) specified by the serout parameter");
1285 
1286  if (showAll)
1287  {
1288  // Hide machine-oriented commands by default
1289  s->writeString(pfx, "caminfo - returns machine-readable info about camera parameters");
1290  s->writeString(pfx, "cmdinfo [all] - returns machine-readable info about Engine commands");
1291  s->writeString(pfx, "modcmdinfo - returns machine-readable info about Module commands");
1292  s->writeString(pfx, "paraminfo [hot|mod|modhot] - returns machine-readable info about parameters");
1293  s->writeString(pfx, "serinfo - returns machine-readable info about serial settings (serout serlog serstyle serprec serstamp)");
1294  s->writeString(pfx, "fileget <filepath> - get a file from JeVois to the host. Use with caution!");
1295  s->writeString(pfx, "fileput <filepath> - put a file from the host to JeVois. Use with caution!");
1296  }
1297 
1298 #ifdef JEVOIS_PLATFORM
1299  s->writeString(pfx, "usbsd - export the JEVOIS partition of the microSD card as a virtual USB drive");
1300 #endif
1301  s->writeString(pfx, "sync - commit any pending data write to microSD");
1302  s->writeString(pfx, "date [date and time] - get or set the system date and time");
1303 
1304  s->writeString(pfx, "shell <string> - execute <string> as a shell command. Use with caution!");
1305 
1306 #ifdef JEVOIS_PLATFORM
1307  s->writeString(pfx, "restart - restart the JeVois smart camera");
1308 #else
1309  s->writeString(pfx, "quit - quit this program");
1310 #endif
1311 }
1312 
1313 // ####################################################################################################
1314 void jevois::Engine::modCmdInfo(std::shared_ptr<UserInterface> s, std::string const & pfx)
1315 {
1316  if (itsModule)
1317  {
1318  std::stringstream css; itsModule->supportedCommands(css);
1319  for (std::string line; std::getline(css, line); /* */) s->writeString(pfx, line);
1320  }
1321 }
1322 
1323 // ####################################################################################################
1324 bool jevois::Engine::parseCommand(std::string const & str, std::shared_ptr<UserInterface> s, std::string const & pfx)
1325 {
1326  // itsMtx should be locked by caller
1327 
1328  std::string errmsg;
1329 
1330  // Note: ModemManager on Ubuntu sends this on startup, kill ModemManager to avoid:
1331  // 41 54 5e 53 51 50 4f 52 54 3f 0d 41 54 0d 41 54 0d 41 54 0d 7e 00 78 f0 7e 7e 00 78 f0 7e
1332  //
1333  // AT^SQPORT?
1334  // AT
1335  // AT
1336  // AT
1337  // ~
1338  //
1339  // then later on it insists on trying to mess with us, issuing things like AT, AT+CGMI, AT+GMI, AT+CGMM, AT+GMM,
1340  // AT%IPSYS?, ATE0, ATV1, etc etc
1341 
1342  switch (str.length())
1343  {
1344  case 0:
1345  LDEBUG("Ignoring empty string"); return true;
1346  break;
1347 
1348  case 1:
1349  if (str[0] == '~') { LDEBUG("Ignoring modem config command [~]"); return true; }
1350 
1351  // If the string starts with "#", then just print it out on the serlog port(s). We use this to allow debug messages
1352  // from the arduino to be printed out to the user:
1353  if (str[0] == '#') { sendSerial(str, true); return true; }
1354  break;
1355 
1356  default: // length is 2 or more:
1357 
1358  // Ignore any command that starts with a '~':
1359  if (str[0] == '~') { LDEBUG("Ignoring modem config command [" << str << ']'); return true; }
1360 
1361  // Ignore any command that starts with "AT":
1362  if (str[0] == 'A' && str[1] == 'T') { LDEBUG("Ignoring AT command [" << str <<']'); return true; }
1363 
1364  // If the string starts with "#", then just print it out on the serlog port(s). We use this to allow debug messages
1365  // in the arduino to be printed out to the user:
1366  if (str[0] == '#') { sendSerial(str, true); return true; }
1367 
1368  // Get the first word, i.e., the command:
1369  size_t const idx = str.find(' '); std::string cmd, rem;
1370  if (idx == str.npos) cmd = str; else { cmd = str.substr(0, idx); if (idx < str.length()) rem = str.substr(idx+1); }
1371 
1372  // ----------------------------------------------------------------------------------------------------
1373  if (cmd == "help")
1374  {
1375  // Show all commands, first ours, as supported below:
1376  s->writeString(pfx, "GENERAL COMMANDS:");
1377  s->writeString(pfx, "");
1378  cmdInfo(s, false, pfx);
1379  s->writeString(pfx, "");
1380 
1381  // Then the module's custom commands, if any:
1382  if (itsModule)
1383  {
1384  s->writeString(pfx, "MODULE-SPECIFIC COMMANDS:");
1385  s->writeString(pfx, "");
1386  modCmdInfo(s, pfx);
1387  s->writeString(pfx, "");
1388  }
1389 
1390  // Get the help message for our parameters and write it out line by line so the serial fixes the line endings:
1391  std::stringstream pss; constructHelpMessage(pss);
1392  for (std::string line; std::getline(pss, line); /* */) s->writeString(pfx, line);
1393 
1394  // Show all camera controls
1395  s->writeString(pfx, "AVAILABLE CAMERA CONTROLS:");
1396  s->writeString(pfx, "");
1397 
1398  struct v4l2_queryctrl qc = { }; std::set<int> doneids;
1399  for (int cls = V4L2_CTRL_CLASS_USER; cls <= V4L2_CTRL_CLASS_DETECT; cls += 0x10000)
1400  {
1401  // Enumerate all controls in this class. Looks like there is some spillover between V4L2 classes in the V4L2
1402  // enumeration process, we end up with duplicate controls if we try to enumerate all the classes. Hence the
1403  // doneids set to keep track of the ones already reported:
1404  qc.id = cls | 0x900; unsigned int old_id;
1405  while (true)
1406  {
1407  qc.id |= V4L2_CTRL_FLAG_NEXT_CTRL; old_id = qc.id; bool failed = false;
1408  try { std::string hlp = camCtrlHelp(qc, doneids); if (hlp.empty() == false) s->writeString(pfx, hlp); }
1409  catch (...) { failed = true; }
1410 
1411  // The camera kernel driver is supposed to pass down the next valid control if the requested one is not
1412  // found, but some drivers do not honor that, so let's move on to the next control manually if needed:
1413  qc.id |= V4L2_CTRL_FLAG_NEXT_CTRL;
1414  if (qc.id == old_id) { ++qc.id; if (qc.id > 100 + (cls | 0x900 | V4L2_CTRL_FLAG_NEXT_CTRL)) break; }
1415  else if (failed) break;
1416  }
1417  }
1418 
1419  return true;
1420  }
1421 
1422  // ----------------------------------------------------------------------------------------------------
1423  if (cmd == "caminfo")
1424  {
1425  // Machine-readable list of camera parameters:
1426  struct v4l2_queryctrl qc = { }; std::set<int> doneids;
1427  for (int cls = V4L2_CTRL_CLASS_USER; cls <= V4L2_CTRL_CLASS_DETECT; cls += 0x10000)
1428  {
1429  // Enumerate all controls in this class. Looks like there is some spillover between V4L2 classes in the V4L2
1430  // enumeration process, we end up with duplicate controls if we try to enumerate all the classes. Hence the
1431  // doneids set to keep track of the ones already reported:
1432  qc.id = cls | 0x900; unsigned int old_id;
1433  while (true)
1434  {
1435  qc.id |= V4L2_CTRL_FLAG_NEXT_CTRL; old_id = qc.id; bool failed = false;
1436  try { std::string hlp = camCtrlInfo(qc, doneids); if (hlp.empty() == false) s->writeString(pfx, hlp); }
1437  catch (...) { failed = true; }
1438 
1439  // The camera kernel driver is supposed to pass down the next valid control if the requested one is not
1440  // found, but some drivers do not honor that, so let's move on to the next control manually if needed:
1441  qc.id |= V4L2_CTRL_FLAG_NEXT_CTRL;
1442  if (qc.id == old_id) { ++qc.id; if (qc.id > 100 + (cls | 0x900 | V4L2_CTRL_FLAG_NEXT_CTRL)) break; }
1443  else if (failed) break;
1444  }
1445  }
1446 
1447  return true;
1448  }
1449 
1450  // ----------------------------------------------------------------------------------------------------
1451  if (cmd == "cmdinfo")
1452  {
1453  bool showAll = (rem == "all") ? true : false;
1454  cmdInfo(s, showAll, pfx);
1455  return true;
1456  }
1457 
1458  // ----------------------------------------------------------------------------------------------------
1459  if (cmd == "modcmdinfo")
1460  {
1461  modCmdInfo(s, pfx);
1462  return true;
1463  }
1464 
1465  // ----------------------------------------------------------------------------------------------------
1466  if (cmd == "paraminfo")
1467  {
1468  std::map<std::string, std::string> categs;
1469  bool skipFrozen = (rem == "hot" || rem == "modhot") ? true : false;
1470 
1471  if (rem == "mod" || rem == "modhot")
1472  {
1473  // Report only on our module's parameter, if any:
1474  if (itsModule) itsModule->paramInfo(s, categs, skipFrozen, instanceName(), pfx);
1475  }
1476  else
1477  {
1478  // Report on all parameters:
1479  paramInfo(s, categs, skipFrozen, "", pfx);
1480  }
1481 
1482  return true;
1483  }
1484 
1485  // ----------------------------------------------------------------------------------------------------
1486  if (cmd == "serinfo")
1487  {
1488  std::string info = getParamStringUnique("serout") + ' ' + getParamStringUnique("serlog");
1489  if (auto mod = dynamic_cast<jevois::StdModule *>(itsModule.get()))
1490  info += ' ' + mod->getParamStringUnique("serstyle") + ' ' + mod->getParamStringUnique("serprec") +
1491  ' ' + mod->getParamStringUnique("serstamp");
1492  else info += " - - -";
1493 
1494  s->writeString(pfx, info);
1495 
1496  return true;
1497  }
1498 
1499  // ----------------------------------------------------------------------------------------------------
1500  if (cmd == "help2")
1501  {
1502  if (itsModule)
1503  {
1504  // Start with the module's commands:
1505  std::stringstream css; itsModule->supportedCommands(css);
1506  s->writeString(pfx, "MODULE-SPECIFIC COMMANDS:");
1507  s->writeString(pfx, "");
1508  for (std::string line; std::getline(css, line); /* */) s->writeString(pfx, line);
1509  s->writeString(pfx, "");
1510 
1511  // Now the parameters for that module (and its subs) only:
1512  s->writeString(pfx, "MODULE PARAMETERS:");
1513  s->writeString(pfx, "");
1514 
1515  // Keep this in sync with Manager::constructHelpMessage():
1516  std::unordered_map<std::string, // category:description
1517  std::unordered_map<std::string, // --name (type) default=[def]
1518  std::vector<std::pair<std::string, // component name
1519  std::string // current param value
1520  > > > > helplist;
1521  itsModule->populateHelpMessage("", helplist);
1522 
1523  if (helplist.empty())
1524  s->writeString(pfx, "None.");
1525  else
1526  {
1527  for (auto const & c : helplist)
1528  {
1529  // Print out the category name and description
1530  s->writeString(pfx, c.first);
1531 
1532  // Print out the parameter details
1533  for (auto const & n : c.second)
1534  {
1535  std::vector<std::string> tok = jevois::split(n.first, "[\\r\\n]+");
1536  bool first = true;
1537  for (auto const & t : tok)
1538  {
1539  // Add current value info to the first thing we write (which is name, default, etc)
1540  if (first)
1541  {
1542  auto const & v = n.second;
1543  if (v.size() == 1) // only one component using this param
1544  {
1545  if (v[0].second.empty())
1546  s->writeString(pfx, t); // only one comp, and using default val
1547  else
1548  s->writeString(pfx, t + " current=[" + v[0].second + ']'); // using non-default val
1549  }
1550  else if (v.size() > 1) // several components using this param with possibly different values
1551  {
1552  std::string sss = t + " current=";
1553  for (auto const & pp : v)
1554  if (pp.second.empty() == false) sss += '[' + pp.first + ':' + pp.second + "] ";
1555  s->writeString(pfx, sss);
1556  }
1557  else s->writeString(pfx, t); // no non-default value(s) to report
1558 
1559  first = false;
1560  }
1561 
1562  else // just write out the other lines (param description)
1563  s->writeString(pfx, t);
1564  }
1565  }
1566  s->writeString(pfx, "");
1567  }
1568  }
1569  }
1570  else
1571  s->writeString(pfx, "No module loaded.");
1572 
1573  return true;
1574  }
1575 
1576  // ----------------------------------------------------------------------------------------------------
1577  if (cmd == "info")
1578  {
1579  s->writeString(pfx, "INFO: JeVois " JEVOIS_VERSION_STRING);
1580  s->writeString(pfx, "INFO: " + jevois::getSysInfoVersion());
1581  s->writeString(pfx, "INFO: " + jevois::getSysInfoCPU());
1582  s->writeString(pfx, "INFO: " + jevois::getSysInfoMem());
1583  if (itsModule) s->writeString(pfx, "INFO: " + itsCurrentMapping.str());
1584  else s->writeString(pfx, "INFO: " + jevois::VideoMapping().str());
1585  return true;
1586  }
1587 
1588  // ----------------------------------------------------------------------------------------------------
1589  if (cmd == "setpar")
1590  {
1591  size_t const remidx = rem.find(' ');
1592  if (remidx != rem.npos)
1593  {
1594  std::string const desc = rem.substr(0, remidx);
1595  if (remidx < rem.length())
1596  {
1597  std::string const val = rem.substr(remidx+1);
1598  setParamString(desc, val);
1599  return true;
1600  }
1601  }
1602  errmsg = "Need to provide a parameter name and a parameter value in setpar";
1603  }
1604 
1605  // ----------------------------------------------------------------------------------------------------
1606  if (cmd == "getpar")
1607  {
1608  auto vec = getParamString(rem);
1609  for (auto const & p : vec) s->writeString(pfx, p.first + ' ' + p.second);
1610  return true;
1611  }
1612 
1613  // ----------------------------------------------------------------------------------------------------
1614  if (cmd == "setcam")
1615  {
1616  std::istringstream ss(rem); std::string ctrl; int val; ss >> ctrl >> val;
1617  struct v4l2_control c = { }; c.id = camctrlid(ctrl); c.value = val;
1618  itsCamera->setControl(c);
1619  return true;
1620  }
1621 
1622  // ----------------------------------------------------------------------------------------------------
1623  if (cmd == "getcam")
1624  {
1625  struct v4l2_control c = { }; c.id = camctrlid(rem);
1626  itsCamera->getControl(c);
1627  s->writeString(pfx, rem + ' ' + std::to_string(c.value));
1628  return true;
1629  }
1630 
1631  // ----------------------------------------------------------------------------------------------------
1632  if (cmd == "setcamreg")
1633  {
1634  if (camreg::get())
1635  {
1636  // Read register and value as strings, then std::stoi to convert to int, supports 0x (and 0 for octal, caution)
1637  std::istringstream ss(rem); std::string reg, val; ss >> reg >> val;
1638  itsCamera->writeRegister(std::stoi(reg, nullptr, 0), std::stoi(val, nullptr, 0));
1639  return true;
1640  }
1641  errmsg = "Access to camera registers is disabled, enable with: setpar camreg true";
1642  }
1643 
1644  // ----------------------------------------------------------------------------------------------------
1645  if (cmd == "getcamreg")
1646  {
1647  if (camreg::get())
1648  {
1649  unsigned int val = itsCamera->readRegister(std::stoi(rem, nullptr, 0));
1650  std::ostringstream os; os << std::hex << val;
1651  s->writeString(pfx, os.str());
1652  return true;
1653  }
1654  errmsg = "Access to camera registers is disabled, enable with: setpar camreg true";
1655  }
1656 
1657  // ----------------------------------------------------------------------------------------------------
1658  if (cmd == "setimureg")
1659  {
1660  if (camreg::get())
1661  {
1662  // Read register and value as strings, then std::stoi to convert to int, supports 0x (and 0 for octal, caution)
1663  std::istringstream ss(rem); std::string reg, val; ss >> reg >> val;
1664  itsCamera->writeIMUregister(std::stoi(reg, nullptr, 0), std::stoi(val, nullptr, 0));
1665  return true;
1666  }
1667  errmsg = "Access to camera's IMU registers is disabled, enable with: setpar camreg true";
1668  }
1669 
1670  // ----------------------------------------------------------------------------------------------------
1671  if (cmd == "getimureg")
1672  {
1673  if (camreg::get())
1674  {
1675  unsigned int val = itsCamera->readIMUregister(std::stoi(rem, nullptr, 0));
1676  std::ostringstream os; os << std::hex << val;
1677  s->writeString(pfx, os.str());
1678  return true;
1679  }
1680  errmsg = "Access to camera's IMU registers is disabled, enable with: setpar camreg true";
1681  }
1682 
1683  // ----------------------------------------------------------------------------------------------------
1684  if (cmd == "listmappings")
1685  {
1686  s->writeString(pfx, "AVAILABLE VIDEO MAPPINGS:");
1687  s->writeString(pfx, "");
1688  for (size_t idx = 0; idx < itsMappings.size(); ++idx)
1689  {
1690  std::string idxstr = std::to_string(idx);
1691  if (idxstr.length() < 5) idxstr = std::string(5 - idxstr.length(), ' ') + idxstr; // pad to 5-char long
1692  s->writeString(pfx, idxstr + " - " + itsMappings[idx].str());
1693  }
1694  return true;
1695  }
1696 
1697  // ----------------------------------------------------------------------------------------------------
1698  if (cmd == "setmapping")
1699  {
1700  size_t const idx = std::stoi(rem);
1701 
1702  if (itsStreaming.load() && itsCurrentMapping.ofmt)
1703  errmsg = "Cannot set mapping while streaming: Stop your webcam program on the host computer first.";
1704  else if (idx >= itsMappings.size())
1705  errmsg = "Requested mapping index " + std::to_string(idx) + " out of range [0 .. " +
1706  std::to_string(itsMappings.size()-1) + ']';
1707  else
1708  {
1709  try
1710  {
1711  setFormatInternal(idx);
1712  return true;
1713  }
1714  catch (std::exception const & e) { errmsg = "Error parsing or setting mapping [" + rem + "]: " + e.what(); }
1715  catch (...) { errmsg = "Error parsing or setting mapping [" + rem + ']'; }
1716  }
1717  }
1718 
1719  // ----------------------------------------------------------------------------------------------------
1720  if (cmd == "setmapping2")
1721  {
1722  if (itsStreaming.load() && itsCurrentMapping.ofmt)
1723  errmsg = "Cannot set mapping while streaming: Stop your webcam program on the host computer first.";
1724  else
1725  {
1726  try
1727  {
1728  jevois::VideoMapping m; std::istringstream full("NONE 0 0 0.0 " + rem); full >> m;
1729  setFormatInternal(m);
1730  return true;
1731  }
1732  catch (std::exception const & e) { errmsg = "Error parsing or setting mapping [" + rem + "]: " + e.what(); }
1733  catch (...) { errmsg = "Error parsing or setting mapping [" + rem + ']'; }
1734  }
1735  }
1736 
1737  // ----------------------------------------------------------------------------------------------------
1738  if (cmd == "reload")
1739  {
1740  setFormatInternal(itsCurrentMapping, true);
1741  return true;
1742  }
1743 
1744  // ----------------------------------------------------------------------------------------------------
1745  if (itsCurrentMapping.ofmt == 0 || itsManualStreamon)
1746  {
1747  if (cmd == "streamon")
1748  {
1749  // keep this in sync with streamOn(), modulo the fact that here we are already locked:
1750  itsCamera->streamOn();
1751  itsGadget->streamOn();
1752  itsStreaming.store(true);
1753  return true;
1754  }
1755 
1756  if (cmd == "streamoff")
1757  {
1758  // keep this in sync with streamOff(), modulo the fact that here we are already locked:
1759  itsGadget->abortStream();
1760  itsCamera->abortStream();
1761 
1762  itsStreaming.store(false);
1763 
1764  itsGadget->streamOff();
1765  itsCamera->streamOff();
1766  return true;
1767  }
1768  }
1769 
1770  // ----------------------------------------------------------------------------------------------------
1771  if (cmd == "ping")
1772  {
1773  s->writeString(pfx, "ALIVE");
1774  return true;
1775  }
1776 
1777  // ----------------------------------------------------------------------------------------------------
1778  if (cmd == "serlog")
1779  {
1780  sendSerial(rem, true);
1781  return true;
1782  }
1783 
1784  // ----------------------------------------------------------------------------------------------------
1785  if (cmd == "serout")
1786  {
1787  sendSerial(rem, false);
1788  return true;
1789  }
1790 
1791  // ----------------------------------------------------------------------------------------------------
1792 #ifdef JEVOIS_PLATFORM
1793  if (cmd == "usbsd")
1794  {
1795  if (itsStreaming.load())
1796  {
1797  errmsg = "Cannot export microSD over USB while streaming: ";
1798  if (itsCurrentMapping.ofmt) errmsg += "Stop your webcam program on the host computer first.";
1799  else errmsg += "Issue a 'streamoff' command first.";
1800  }
1801  else
1802  {
1803  startMassStorageMode();
1804  return true;
1805  }
1806  }
1807 #endif
1808 
1809  // ----------------------------------------------------------------------------------------------------
1810  if (cmd == "sync")
1811  {
1812  if (std::system("sync")) errmsg = "Disk sync failed";
1813  else return true;
1814  }
1815 
1816  // ----------------------------------------------------------------------------------------------------
1817  if (cmd == "date")
1818  {
1819  std::string dat = jevois::system("/bin/date " + rem);
1820  s->writeString(pfx, "date now " + dat.substr(0, dat.size()-1)); // skip trailing newline
1821  return true;
1822  }
1823 
1824  // ----------------------------------------------------------------------------------------------------
1825  if (cmd == "runscript")
1826  {
1827  std::string const fname = itsModule ? itsModule->absolutePath(rem) : rem;
1828 
1829  try { runScriptFromFile(fname, s, true); return true; }
1830  catch (...) { errmsg = "Script " + fname + " execution failed"; }
1831  }
1832 
1833  // ----------------------------------------------------------------------------------------------------
1834  if (cmd == "shell")
1835  {
1836  std::string ret = jevois::system(rem, true);
1837  std::vector<std::string> rvec = jevois::split(ret, "\n");
1838  for (std::string const & r : rvec) s->writeString(pfx, r);
1839  return true;
1840  }
1841 
1842  // ----------------------------------------------------------------------------------------------------
1843  if (cmd == "fileget")
1844  {
1845  std::shared_ptr<jevois::Serial> ser = std::dynamic_pointer_cast<jevois::Serial>(s);
1846  if (!ser)
1847  errmsg = "File transfer only supported over USB or Hard serial ports";
1848  else
1849  {
1850  std::string const abspath = itsModule ? itsModule->absolutePath(rem) : rem;
1851  ser->fileGet(abspath);
1852  return true;
1853  }
1854  }
1855 
1856  // ----------------------------------------------------------------------------------------------------
1857  if (cmd == "fileput")
1858  {
1859  std::shared_ptr<jevois::Serial> ser = std::dynamic_pointer_cast<jevois::Serial>(s);
1860  if (!ser)
1861  errmsg = "File transfer only supported over USB or Hard serial ports";
1862  else
1863  {
1864  std::string const abspath = itsModule ? itsModule->absolutePath(rem) : rem;
1865  ser->filePut(abspath);
1866  if (std::system("sync")) { } // quietly ignore any errors on sync
1867  return true;
1868  }
1869  }
1870 
1871 #ifdef JEVOIS_PLATFORM
1872  // ----------------------------------------------------------------------------------------------------
1873  if (cmd == "restart")
1874  {
1875  s->writeString(pfx, "Restart command received - bye-bye!");
1876 
1877  if (itsStreaming.load())
1878  s->writeString(pfx, "ERR Video streaming is on - you should quit your video viewer before rebooting");
1879 
1880  if (std::system("sync")) s->writeString(pfx, "ERR Disk sync failed -- IGNORED");
1881 
1882  // Turn off the SD storage if it is there:
1883  std::ofstream(JEVOIS_USBSD_SYS).put('\n'); // ignore errors
1884 
1885  if (std::system("sync")) s->writeString(pfx, "ERR Disk sync failed -- IGNORED");
1886 
1887  // Hard reboot:
1888  this->reboot();
1889  return true;
1890  }
1891  // ----------------------------------------------------------------------------------------------------
1892 #else
1893  // ----------------------------------------------------------------------------------------------------
1894  if (cmd == "quit")
1895  {
1896  s->writeString(pfx, "Quit command received - bye-bye!");
1897  itsGadget->abortStream();
1898  itsCamera->abortStream();
1899  itsStreaming.store(false);
1900  itsGadget->streamOff();
1901  itsCamera->streamOff();
1902  itsRunning.store(false);
1903  return true;
1904  }
1905  // ----------------------------------------------------------------------------------------------------
1906 #endif
1907  }
1908 
1909  // If we make it here, we did not parse the command. If we have an error message, that means we had started parsing
1910  // the command but it was buggy, so let's throw. Otherwise, we just return false to indicate that we did not parse
1911  // this command and maybe it is for the Module:
1912  if (errmsg.size()) throw std::runtime_error("Command error [" + str + "]: " + errmsg);
1913  return false;
1914 }
1915 
1916 // ####################################################################################################
1917 void jevois::Engine::runScriptFromFile(std::string const & filename, std::shared_ptr<jevois::UserInterface> ser,
1918  bool throw_no_file)
1919 {
1920  // itsMtx should be locked by caller
1921 
1922  // Try to find the file:
1923  std::ifstream ifs(filename);
1924  if (!ifs) { if (throw_no_file) LFATAL("Could not open file " << filename); else return; }
1925 
1926  // We need to identify a serial to send any errors to, if none was given to us. Let's use the one in serlog, or, if
1927  // none is specified there, the first available serial:
1928  if (!ser)
1929  {
1930  if (itsSerials.empty()) LFATAL("Need at least one active serial to run script");
1931  switch (serlog::get())
1932  {
1933  case jevois::engine::SerPort::Hard:
1934  for (auto & s : itsSerials) if (s->type() == jevois::UserInterface::Type::Hard) { ser = s; break; }
1935  break;
1936 
1937  case jevois::engine::SerPort::USB:
1938  for (auto & s : itsSerials) if (s->type() == jevois::UserInterface::Type::USB) { ser = s; break; }
1939  break;
1940 
1941  default: break;
1942  }
1943  if (!ser) ser = itsSerials.front();
1944  }
1945 
1946  // Ok, run the script, plowing through any errors:
1947  size_t linenum = 0;
1948  for (std::string line; std::getline(ifs, line); /* */)
1949  {
1950  ++linenum;
1951 
1952  // Strip any extra whitespace at end, which could be a CR if the file was edited in Windows:
1953  line = jevois::strip(line);
1954 
1955  // Skip comments and empty lines:
1956  if (line.length() == 0 || line[0] == '#') continue;
1957 
1958  // Go and parse that line:
1959  try
1960  {
1961  bool parsed = false;
1962  try { parsed = parseCommand(line, ser); }
1963  catch (std::exception const & e)
1964  { ser->writeString("ERR " + filename + ':' + std::to_string(linenum) + ": " + e.what()); }
1965  catch (...)
1966  { ser->writeString("ERR " + filename + ':' + std::to_string(linenum) + ": Bogus command ["+line+"] ignored"); }
1967 
1968  if (parsed == false)
1969  {
1970  if (itsModule)
1971  {
1972  try { itsModule->parseSerial(line, ser); }
1973  catch (std::exception const & me)
1974  { ser->writeString("ERR " + filename + ':' + std::to_string(linenum) + ": " + me.what()); }
1975  catch (...)
1976  { ser->writeString("ERR " + filename + ':' + std::to_string(linenum)+": Bogus command ["+line+"] ignored"); }
1977  }
1978  else ser->writeString("ERR Unsupported command [" + line + "] and no module");
1979  }
1980  }
1981  catch (...) { jevois::warnAndIgnoreException(); }
1982  }
1983 }
#define LDEBUG(msg)
Convenience macro for users to print out console or syslog messages, DEBUG level. ...
Definition: Log.H:155
std::string warnAndIgnoreException()
Convenience function to catch an exception, issue some LERROR (depending on type), and ignore it.
Definition: Log.C:211
float ofps
output frame rate in frames/sec
Definition: VideoMapping.H:48
std::string strip(std::string const &str)
Strip white space (including CR, LF, tabs, etc) from the end of a string.
Definition: Utils.C:180
size_t getVideoMappingIdx(unsigned int iformat, unsigned int iframe, unsigned int interval) const
Get the video mapping index for a given UVC iformat, iframe and interval.
Definition: Engine.C:959
size_t numVideoMappings() const
Return the number of video mappings.
Definition: Engine.C:944
unsigned int uvcformat
USB-UVC format number (1-based)
Definition: VideoMapping.H:55
void drawErrorImage(std::string const &errmsg, RawImage &videoerrimg)
Display an error message into a RawImage.
Definition: Log.C:244
Class to open shared object (.so) files and load functions contained in them.
Definition: DynamicLoader.H:69
Exception-safe wrapper around a raw camera input frame.
Definition: Module.H:57
size_t itsDefaultMappingIdx
Index of default mapping.
Definition: Engine.H:384
std::vector< std::string > setParamString(std::string const &paramdescriptor, std::string const &val)
Set a parameter value, by string.
Definition: Component.C:347
void postInit() override
Override of Manager::postInit()
Definition: Engine.C:344
std::shared_ptr< VideoInput > itsCamera
Our camera.
Definition: Engine.H:388
#define V4L2_CTRL_CLASS_DETECT
Definition: Engine.C:48
void streamOff()
Stop streaming on video from camera, processing, and USB.
Definition: Engine.C:555
void preInit() override
Calls parseCommandLine()
Definition: Manager.C:49
void preInit() override
Override of Manager::preInit()
Definition: Engine.C:333
std::unique_ptr< DynamicLoader > itsLoader
Our module loader.
Definition: Engine.H:391
void writeCamRegister(unsigned short reg, unsigned short val)
Write a value of one of the camera&#39;s registers.
Definition: Engine.C:915
std::atomic< bool > itsStreaming
True when we are streaming video.
Definition: Engine.H:395
Manager of a hierarchy of Component objects.
Definition: Manager.H:73
void streamOn()
Start streaming on video from camera, processing, and USB.
Definition: Engine.C:544
unsigned int ofmt
output pixel format, or 0 for no output over USB
Definition: VideoMapping.H:45
VideoMapping const & findVideoMapping(unsigned int oformat, unsigned int owidth, unsigned int oheight, float oframespersec) const
Find the VideoMapping that has the given output specs, or throw if not found.
Definition: Engine.C:999
#define JEVOIS_TIMED_LOCK(mtx)
Helper macro to create a timed_lock_guard object.
Definition: Log.H:299
std::vector< VideoMapping > itsMappings
All our mappings from videomappings.cfg.
Definition: Engine.H:385
#define success()
void invalidate()
Invalidate the image by zero&#39;ing out the pointer to pixel buffer and the dims and format...
Definition: RawImage.C:42
RawImage const & get(bool casync=false) const
Get the next captured camera image.
Definition: Module.C:51
void mainLoop()
Main loop: grab, process, send over USB. Should be called by main application thread.
Definition: Engine.C:706
#define JEVOIS_TRACE(level)
Trace object.
Definition: Log.H:267
std::string modulename
Name of the Module that will process this mapping.
Definition: VideoMapping.H:60
Video output to a movie file, using OpenCV video encoding.
Definition: MovieOutput.H:33
std::string getSysInfoVersion()
Get O.S. version info.
Definition: SysInfo.C:72
Interface to a serial port.
Definition: Serial.H:84
void sendSerial(std::string const &str, bool islog=false)
Send a string to all serial ports.
Definition: Engine.C:873
bool parseCommand(std::string const &str, std::shared_ptr< UserInterface > s, std::string const &pfx="")
Parse a user command received over serial port.
Definition: Engine.C:1324
std::string str() const
Convenience function to print out the whole mapping in a human-friendly way.
Definition: VideoMapping.C:87
size_t frameNum() const
Get frame number.
Definition: Engine.C:911
void writeIMUregister(unsigned short reg, unsigned short val)
Write a value to one of the camera&#39;s IMU registers.
Definition: Engine.C:926
bool valid() const
Check whether the image has a valid pixel buffer.
Definition: RawImage.C:46
void removeComponent(std::shared_ptr< Comp > &component)
Remove a top-level Component from the Manager, by shared_ptr.
Definition: ManagerImpl.H:100
std::shared_ptr< VideoOutput > itsGadget
Our gadget.
Definition: Engine.H:389
void constructHelpMessage(std::ostream &out) const
Constructs a help message from all parameters in the model, and outputs it to &#39;out&#39;.
Definition: Manager.C:82
#define LERROR(msg)
Convenience macro for users to print out console or syslog messages, ERROR level. ...
Definition: Log.H:193
std::string getParamStringUnique(std::string const &paramdescriptor) const
Get a parameter value by string, simple version assuming only one parameter match.
Definition: Component.C:390
std::string sopath() const
Return the full absolute path and file name of the module&#39;s .so or .py file.
Definition: VideoMapping.C:30
VideoMapping itsCurrentMapping
Current video mapping, may not match any in itsMappings if setmapping2 used.
Definition: Engine.H:386
static float uvcToFps(unsigned int interval)
Convert from USB/UVC interval to fps.
Definition: VideoMapping.C:45
VideoMapping const & getVideoMapping(size_t idx) const
Allow access to our video mappings which are parsed from file at construction.
Definition: Engine.C:950
~Engine()
Destructor.
Definition: Engine.C:474
std::string getSysInfoCPU()
Get CPU info: frequency, thermal, load.
Definition: SysInfo.C:38
JeVois camera driver class - grabs frames from a Video4Linux camera sensor.
Definition: Camera.H:64
void logSetEngine(Engine *e)
Set an Engine so that all log messages will be forwarded to its serial ports.
Definition: Log.C:114
Simple struct to hold video mapping definitions for the processing Engine.
Definition: VideoMapping.H:43
std::string system(std::string const &cmd, bool errtoo=true)
Execute a command and grab stdout output to a string.
Definition: Utils.C:248
VideoMapping const & getCurrentVideoMapping() const
Get the current video mapping.
Definition: Engine.C:938
unsigned short readCamRegister(unsigned short reg)
Read a value from one of the camera&#39;s registers.
Definition: Engine.C:920
std::atomic< bool > itsStopMainLoop
Flag used to stop the main loop.
Definition: Engine.H:396
void onParamChange(engine::cameradev const &param, std::string const &newval)
Parameter callback.
bool stringStartsWith(std::string const &str, std::string const &prefix)
Return true if str starts with prefix (including if both strings are equal)
Definition: Utils.C:166
std::string fccstr(unsigned int fcc)
Convert a V4L2 four-cc code (V4L2_PIX_FMT_...) to a 4-char string.
Definition: Utils.C:39
unsigned int uvcframe
USB UVC frame number (1-based)
Definition: VideoMapping.H:56
unsigned short readIMUregister(unsigned short reg)
Read a value from one of the camera&#39;s IMU registers.
Definition: Engine.C:932
void sendSerialMarkStop()
Send a message MARK STOP to indicate the end of processing.
Definition: Module.C:759
JeVois gadget driver - exposes a uvcvideo interface to host computer connected over USB...
Definition: Gadget.H:65
#define LFATAL(msg)
Convenience macro for users to print out console or syslog messages, FATAL level. ...
Definition: Log.H:212
Movie input, can be used as a replacement for Camera to debug algorithms using a fixed video sequence...
Definition: MovieInput.H:35
size_t getDefaultVideoMappingIdx() const
Allow access to the default video mapping index.
Definition: Engine.C:994
std::istream & setParamsFromStream(std::istream &is, std::string const &absfile)
Set some parameters from an open stream.
Definition: Component.C:452
virtual void paramInfo(std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")
Get machine-oriented descriptions of all parameters.
Definition: Component.C:522
Video output to local screen.
Definition: VideoDisplay.H:34
Wrapper module to allow users to develop new modules written in Python.
Definition: PythonModule.H:189
std::vector< std::pair< std::string, std::string > > getParamString(std::string const &paramdescriptor) const
Get a parameter value, by string.
Definition: Component.C:374
Base class for a module that supports standardized serial messages.
Definition: Module.H:476
void runScriptFromFile(std::string const &filename, std::shared_ptr< UserInterface > ser, bool throw_no_file)
Run a script from file.
Definition: Engine.C:1917
std::string to_string(T const &val)
Convert from type to string.
Definition: UtilsImpl.H:58
bool match(unsigned int oformat, unsigned int owidth, unsigned int oheight, float oframespersec) const
Return true if this VideoMapping&#39;s output format is a match to the given output parameters.
Definition: VideoMapping.C:306
std::timed_mutex itsMtx
Mutex to protect our internals.
Definition: Engine.H:398
Exception-safe wrapper around a raw image to be sent over USB.
Definition: Module.H:145
VideoMapping const & getDefaultVideoMapping() const
Allow access to the default video mapping.
Definition: Engine.C:990
bool ispython
True if the module is written in Python; affects behavior of sopath() only.
Definition: VideoMapping.H:62
void postInit() override
Checks for the –help flag.
Definition: Manager.C:58
std::string const & instanceName() const
The instance name of this component.
Definition: Component.C:49
std::string getSysInfoMem()
Get memory info.
Definition: SysInfo.C:64
void setFormat(size_t idx)
Callback for when the user selects a new output video format.
Definition: Engine.C:576
#define LINFO(msg)
Convenience macro for users to print out console or syslog messages, INFO level.
Definition: Log.H:176
std::atomic< bool > itsRunning
True when we are running.
Definition: Engine.H:394
void sendSerialMarkStart()
Send a message MARK START to indicate the beginning of processing.
Definition: Module.C:751
std::shared_ptr< Module > itsModule
Our current module.
Definition: Engine.H:392
No-op VideoOutput derivative for when there is no video output.
Engine(std::string const &instance)
Constructor.
Definition: Engine.C:200
std::vector< std::string > split(std::string const &input, std::string const &regex="\+")
Split string into vector of tokens using a regex to specify what to split on; default regex splits by...
Definition: Utils.C:142
#define V4L2_CID_AUTO_N_PRESET_WHITE_BALANCE