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kvm/internal/native/cgo/video.c

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#define _POSIX_C_SOURCE 200809L
#include <unistd.h>
#include <time.h>
#include <rk_type.h>
#include <rk_mpi_venc.h>
#include <rk_mpi_sys.h>
#include <string.h>
#include <rk_debug.h>
#include <malloc.h>
#include <stdbool.h>
#include <rk_mpi_mb.h>
#include <fcntl.h>
#include <linux/videodev2.h>
#include <sys/ioctl.h>
#include <errno.h>
#include <unistd.h>
#include <stdatomic.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <rk_mpi_mmz.h>
#include <pthread.h>
#include <assert.h>
#include <sys/un.h>
#include <sys/socket.h>
#include "video.h"
#include "ctrl.h"
#include "log.h"
#define VIDEO_DEV "/dev/video0"
#define SUB_DEV "/dev/v4l-subdev2"
#define RK_ALIGN(x, a) (((x) + (a)-1) & ~((a)-1))
#define RK_ALIGN_2(x) RK_ALIGN(x, 2)
#define RK_ALIGN_16(x) RK_ALIGN(x, 16)
#define RK_ALIGN_32(x) RK_ALIGN(x, 32)
int sub_dev_fd = -1;
#define VENC_CHANNEL 0
MB_POOL memPool = MB_INVALID_POOLID;
bool should_exit = false;
float quality_factor = 1.0f;
static void *venc_read_stream(void *arg);
RK_U64 get_us()
{
struct timespec time = {0, 0};
clock_gettime(CLOCK_MONOTONIC, &time);
return (RK_U64)time.tv_sec * 1000000 + (RK_U64)time.tv_nsec / 1000; /* microseconds */
}
double calculate_bitrate(float bitrate_factor, int width, int height)
{
const int32_t base_bitrate_high = 2000;
const int32_t base_bitrate_low = 512;
double pixels = (double)width * height;
double ref_pixels = 1920.0 * 1080.0;
double scale_factor = pixels / ref_pixels;
int32_t base_bitrate = base_bitrate_low + (int32_t)((base_bitrate_high - base_bitrate_low) * bitrate_factor);
int32_t bitrate = (int32_t)(base_bitrate * scale_factor);
const int32_t min_bitrate = 100;
if (bitrate < min_bitrate)
{
bitrate = min_bitrate;
}
return bitrate;
}
static void populate_venc_attr(VENC_CHN_ATTR_S *stAttr, RK_U32 bitrate, RK_U32 max_bitrate, RK_U32 width, RK_U32 height)
{
memset(stAttr, 0, sizeof(VENC_CHN_ATTR_S));
stAttr->stRcAttr.enRcMode = VENC_RC_MODE_H264VBR;
stAttr->stRcAttr.stH264Vbr.u32BitRate = bitrate;
stAttr->stRcAttr.stH264Vbr.u32MaxBitRate = max_bitrate;
stAttr->stRcAttr.stH264Vbr.u32Gop = 60;
stAttr->stVencAttr.enType = RK_VIDEO_ID_AVC;
stAttr->stVencAttr.enPixelFormat = RK_FMT_YUV422_YUYV;
stAttr->stVencAttr.u32Profile = H264E_PROFILE_HIGH;
stAttr->stVencAttr.u32PicWidth = width;
stAttr->stVencAttr.u32PicHeight = height;
// stAttr->stVencAttr.u32VirWidth = (width + 15) & (~15);
// stAttr->stVencAttr.u32VirHeight = (height + 15) & (~15);
stAttr->stVencAttr.u32VirWidth = RK_ALIGN_2(width);
stAttr->stVencAttr.u32VirHeight = RK_ALIGN_2(height);
stAttr->stVencAttr.u32StreamBufCnt = 3;
stAttr->stVencAttr.u32BufSize = width * height * 3 / 2;
stAttr->stVencAttr.enMirror = MIRROR_NONE;
}
pthread_t *venc_read_thread = NULL;
volatile bool venc_running = false;
static int32_t venc_start(int32_t bitrate, int32_t max_bitrate, int32_t width, int32_t height)
{
int32_t ret;
VENC_CHN_ATTR_S stAttr;
populate_venc_attr(&stAttr, bitrate, max_bitrate, width, height);
ret = RK_MPI_VENC_CreateChn(VENC_CHANNEL, &stAttr);
if (ret < 0)
{
RK_LOGE("error RK_MPI_VENC_CreateChn, %d", ret);
return ret;
}
VENC_RECV_PIC_PARAM_S stRecvParam;
memset(&stRecvParam, 0, sizeof(VENC_RECV_PIC_PARAM_S));
stRecvParam.s32RecvPicNum = -1;
ret = RK_MPI_VENC_StartRecvFrame(VENC_CHANNEL, &stRecvParam);
if (ret < 0)
{
RK_LOGE("error RK_MPI_VENC_StartRecvFrame, %d", ret);
return ret;
}
venc_running = true;
venc_read_thread = malloc(sizeof(pthread_t));
if (pthread_create(venc_read_thread, NULL, venc_read_stream, NULL) != 0)
{
RK_LOGE("Failed to create venc_read_thread");
return RK_FAILURE;
}
return RK_SUCCESS;
}
static int32_t venc_stop()
{
venc_running = false;
int32_t ret;
ret = RK_MPI_VENC_StopRecvFrame(VENC_CHANNEL);
if (ret != RK_SUCCESS)
{
RK_LOGE("Failed to stop receiving frames for VENC_CHANNEL, error code: %d", ret);
return ret;
}
if (venc_read_thread != NULL)
{
pthread_join(*venc_read_thread, NULL);
free(venc_read_thread);
venc_read_thread = NULL;
}
ret = RK_MPI_VENC_DestroyChn(VENC_CHANNEL);
if (ret != RK_SUCCESS)
{
RK_LOGE("Failed to destroy VENC_CHANNEL, error code: %d", ret);
return ret;
}
return RK_SUCCESS;
}
struct buffer
{
struct v4l2_plane plane_buffer;
MB_BLK mb_blk;
};
const int input_buffer_count = 3;
static int32_t buf_init()
{
MB_POOL_CONFIG_S stMbPoolCfg;
memset(&stMbPoolCfg, 0, sizeof(MB_POOL_CONFIG_S));
stMbPoolCfg.u64MBSize = 1920 * 1080 * 3; // max resolution
stMbPoolCfg.u32MBCnt = input_buffer_count;
stMbPoolCfg.enAllocType = MB_ALLOC_TYPE_DMA;
stMbPoolCfg.bPreAlloc = RK_TRUE;
memPool = RK_MPI_MB_CreatePool(&stMbPoolCfg);
if (memPool == MB_INVALID_POOLID)
{
return -1;
}
log_info("created memory pool");
return RK_SUCCESS;
}
pthread_t *format_thread = NULL;
int video_init()
{
if (RK_MPI_SYS_Init() != RK_SUCCESS)
{
log_error("RK_MPI_SYS_Init failed");
return RK_FAILURE;
}
if (sub_dev_fd < 0)
{
sub_dev_fd = open(SUB_DEV, O_RDWR);
if (sub_dev_fd < 0)
{
log_error("failed to open control sub device %s: %s", SUB_DEV, strerror(errno));
return errno;
}
log_info("opened control sub device %s", SUB_DEV);
}
int32_t ret = buf_init();
if (ret != RK_SUCCESS)
{
log_error("buf_init failed with error: %d", ret);
return ret;
}
log_info("buf_init completed successfully");
format_thread = malloc(sizeof(pthread_t));
pthread_create(format_thread, NULL, run_detect_format, NULL);
return RK_SUCCESS;
}
// static int32_t venc_set_param(int32_t bitrate, int32_t max_bitrate, int32_t width, int32_t height)
// {
// VENC_CHN_ATTR_S stAttr;
// populate_venc_attr(&stAttr, bitrate, max_bitrate, width, height);
// VENC_CHN_PARAM_S stParam;
// memset(&stParam, 0, sizeof(VENC_CHN_PARAM_S));
// RK_MPI_VENC_StopRecvFrame(VENC_CHANNEL);
// int32_t ret = RK_MPI_VENC_SetChnParam(VENC_CHANNEL, &stAttr);
// if (ret < 0)
// {
// RK_LOGE("error RK_MPI_VENC_SetChnParam, %d", ret);
// return ret;
// }
// VENC_RECV_PIC_PARAM_S stRecvParam;
// memset(&stRecvParam, 0, sizeof(VENC_RECV_PIC_PARAM_S));
// stRecvParam.s32RecvPicNum = -1;
// ret = RK_MPI_VENC_StartRecvFrame(VENC_CHANNEL, &stRecvParam);
// if (ret < 0)
// {
// RK_LOGE("error RK_MPI_VENC_StartRecvFrame, %d", ret);
// return ret;
// }
// return RK_SUCCESS;
// }
/**
* @brief Continuously reads encoded video streams and sends them over unix socket.
*
* @param arg Unused parameter (void pointer for thread compatibility)
* @return NULL Always returns NULL
*/
static void *venc_read_stream(void *arg)
{
(void)arg;
void *pData = RK_NULL;
int loopCount = 0;
int s32Ret;
VENC_STREAM_S stFrame;
stFrame.pstPack = malloc(sizeof(VENC_PACK_S));
while (venc_running)
{
// printf("RK_MPI_VENC_GetStream\n");
s32Ret = RK_MPI_VENC_GetStream(VENC_CHANNEL, &stFrame, 200); // blocks max 200ms
if (s32Ret == RK_SUCCESS)
{
RK_U64 nowUs = get_us();
// printf("chn:0, loopCount:%d enc->seq:%d wd:%d pts=%llu delay=%lldus\n",
// loopCount, stFrame.u32Seq, stFrame.pstPack->u32Len,
// stFrame.pstPack->u64PTS, nowUs - stFrame.pstPack->u64PTS);
pData = RK_MPI_MB_Handle2VirAddr(stFrame.pstPack->pMbBlk);
video_send_frame(pData, (ssize_t)stFrame.pstPack->u32Len);
s32Ret = RK_MPI_VENC_ReleaseStream(VENC_CHANNEL, &stFrame);
if (s32Ret != RK_SUCCESS)
{
log_error("RK_MPI_VENC_ReleaseStream fail %x", s32Ret);
}
loopCount++;
}
else
{
if (s32Ret == RK_ERR_VENC_BUF_EMPTY)
{
continue;
}
log_error("RK_MPI_VENC_GetStream fail %x", s32Ret);
break;
}
}
log_info("exiting venc_read_stream");
free(stFrame.pstPack);
return NULL;
}
uint32_t detected_width, detected_height;
bool detected_signal = false, streaming_flag = false;
pthread_t *streaming_thread = NULL;
void write_buffer_to_file(const uint8_t *buffer, size_t length, const char *filename)
{
FILE *file = fopen(filename, "wb");
fwrite(buffer, 1, length, file);
fclose(file);
}
void *run_video_stream(void *arg)
{
enum v4l2_buf_type type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
log_info("running video stream");
while (streaming_flag)
{
if (detected_signal == false)
{
usleep(100000);
continue;
}
int video_dev_fd = open(VIDEO_DEV, O_RDWR);
if (video_dev_fd < 0)
{
log_error("failed to open video capture device %s: %s", VIDEO_DEV, strerror(errno));
usleep(1000000);
continue;
}
log_info("opened video capture device %s", VIDEO_DEV);
uint32_t width = detected_width;
uint32_t height = detected_height;
struct v4l2_format fmt;
memset(&fmt, 0, sizeof(struct v4l2_format));
fmt.type = type;
fmt.fmt.pix_mp.width = width;
fmt.fmt.pix_mp.height = height;
fmt.fmt.pix_mp.pixelformat = V4L2_PIX_FMT_YUYV;
fmt.fmt.pix_mp.field = V4L2_FIELD_ANY;
if (ioctl(video_dev_fd, VIDIOC_S_FMT, &fmt) < 0)
{
perror("Set format fail");
usleep(100000); // Sleep for 100 milliseconds
close(video_dev_fd);
continue;
}
struct v4l2_buffer buf;
struct v4l2_requestbuffers req;
req.count = input_buffer_count;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
req.memory = V4L2_MEMORY_DMABUF;
if (ioctl(video_dev_fd, VIDIOC_REQBUFS, &req) < 0)
{
perror("VIDIOC_REQBUFS failed");
return errno;
}
log_info("VIDIOC_REQBUFS successful");
struct buffer buffers[3] = {};
log_info("allocated buffers");
for (int i = 0; i < input_buffer_count; i++)
{
struct v4l2_plane *planes_buffer = &buffers[i].plane_buffer;
memset(planes_buffer, 0, sizeof(struct v4l2_plane));
memset(&buf, 0, sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
buf.memory = V4L2_MEMORY_DMABUF;
buf.m.planes = planes_buffer;
buf.length = 1;
buf.index = i;
if (-1 == ioctl(video_dev_fd, VIDIOC_QUERYBUF, &buf))
{
perror("VIDIOC_QUERYBUF failed");
req.count = i;
return errno;
}
printf("VIDIOC_QUERYBUF successful for buffer %d\n", i);
printf("plane: length = %d\n", planes_buffer->length);
printf("plane: offset = %d\n", planes_buffer->m.mem_offset);
MB_BLK blk = RK_MPI_MB_GetMB(memPool, (planes_buffer)->length, RK_TRUE);
if (blk == NULL)
{
RK_LOGE("get mb blk failed!");
return -1;
}
printf("Got memory block for buffer %d\n", i);
buffers[i].mb_blk = blk;
RK_S32 buf_fd = (RK_MPI_MB_Handle2Fd(blk));
if (buf_fd < 0)
{
RK_LOGE("RK_MPI_MB_Handle2Fd failed!");
return -1;
}
printf("Converted memory block to file descriptor for buffer %d\n", i);
planes_buffer->m.fd = buf_fd;
}
for (int i = 0; i < input_buffer_count; ++i)
{
struct v4l2_buffer buf;
memset(&buf, 0, sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
buf.memory = V4L2_MEMORY_DMABUF;
buf.length = 1;
buf.index = i;
buf.m.planes = &buffers[i].plane_buffer;
if (ioctl(video_dev_fd, VIDIOC_QBUF, &buf) < 0)
{
perror("VIDIOC_QBUF failed");
return errno;
}
printf("VIDIOC_QBUF successful for buffer %d\n", i);
}
if (ioctl(video_dev_fd, VIDIOC_STREAMON, &type) < 0)
{
perror("VIDIOC_STREAMON failed");
goto cleanup;
}
struct v4l2_plane tmp_plane;
// Set VENC parameters
int32_t bitrate = calculate_bitrate(quality_factor, width, height);
RK_S32 ret = venc_start(bitrate, bitrate * 2, width, height);
if (ret != RK_SUCCESS)
{
log_error("Set VENC parameters failed with %#x", ret);
goto cleanup;
}
fd_set fds;
struct timeval tv;
int r;
uint32_t num = 0;
VIDEO_FRAME_INFO_S stFrame;
while (streaming_flag)
{
FD_ZERO(&fds);
FD_SET(video_dev_fd, &fds);
tv.tv_sec = 1;
tv.tv_usec = 0;
r = select(video_dev_fd + 1, &fds, NULL, NULL, &tv);
if (r == 0)
{
log_info("select timeout \n");
break;
}
if (r == -1)
{
if (errno == EINTR)
{
continue;
}
perror("select in video streaming");
break;
}
memset(&buf, 0, sizeof(buf));
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE;
buf.memory = V4L2_MEMORY_DMABUF;
buf.m.planes = &tmp_plane;
buf.length = 1;
if (ioctl(video_dev_fd, VIDIOC_DQBUF, &buf) < 0)
{
perror("VIDIOC_DQBUF failed");
break;
}
// printf("got frame, bytesused = %d\n", tmp_plane.bytesused);
memset(&stFrame, 0, sizeof(VIDEO_FRAME_INFO_S));
MB_BLK blk = RK_NULL;
blk = RK_MPI_MMZ_Fd2Handle(tmp_plane.m.fd);
assert(blk != RK_NULL);
stFrame.stVFrame.pMbBlk = blk;
stFrame.stVFrame.u32Width = width;
stFrame.stVFrame.u32Height = height;
// stFrame.stVFrame.u32VirWidth = (width + 15) & (~15);
// stFrame.stVFrame.u32VirHeight = (height + 15) & (~15);
stFrame.stVFrame.u32VirWidth = RK_ALIGN_2(width);
stFrame.stVFrame.u32VirHeight = RK_ALIGN_2(height);
stFrame.stVFrame.u32TimeRef = num; // frame number
stFrame.stVFrame.u64PTS = get_us();
stFrame.stVFrame.enPixelFormat = RK_FMT_YUV422_YUYV;
stFrame.stVFrame.u32FrameFlag |= 0;
stFrame.stVFrame.enCompressMode = COMPRESS_MODE_NONE;
bool retried = false;
// if (num == 100) {
// RK_VOID *pData = RK_MPI_MB_Handle2VirAddr(stFrame.stVFrame.pMbBlk);
// if (pData) {
// size_t frameSize = tmp_plane.bytesused; // Use the actual size reported by the driver
// write_buffer_to_file(pData, frameSize, "/userdata/banana.raw");
// printf("Frame 100 written to /userdata/banana.raw\n");
// } else {
// printf("Failed to get virtual address for frame 100\n");
// }
// }
retry_send_frame:
if (RK_MPI_VENC_SendFrame(VENC_CHANNEL, &stFrame, 2000) != RK_SUCCESS)
{
if (retried == true)
{
RK_LOGE("RK_MPI_VENC_SendFrame retry failed");
}
else
{
RK_LOGE("RK_MPI_VENC_SendFrame failed,retrying");
retried = true;
usleep(1000llu);
goto retry_send_frame;
}
}
num++;
if (ioctl(video_dev_fd, VIDIOC_QBUF, &buf) < 0)
printf("failture VIDIOC_QBUF\n");
}
cleanup:
if (ioctl(video_dev_fd, VIDIOC_STREAMOFF, &type) < 0)
{
perror("VIDIOC_STREAMOFF failed");
}
venc_stop();
for (int i = 0; i < input_buffer_count; i++)
{
if (buffers[i].mb_blk != NULL)
{
RK_MPI_MB_ReleaseMB((buffers + i)->mb_blk);
}
}
close(video_dev_fd);
}
return NULL;
}
void video_shutdown()
{
if (should_exit == true)
{
printf("shutting down in progress already\n");
return;
}
video_stop_streaming();
// if (buffers != NULL) {
// for (int i = 0; i < input_buffer_count; i++) {
// if ((buffers + i)->mb_blk != NULL) {
// RK_MPI_MB_ReleaseMB((buffers + i)->mb_blk);
// }
// free((buffers + i)->planes_buffer);
// }
// free(buffers);
// }
should_exit = true;
if (sub_dev_fd > 0)
{
shutdown(sub_dev_fd, SHUT_RDWR);
// close(sub_dev_fd);
printf("Closed sub_dev_fd\n");
}
if (memPool != MB_INVALID_POOLID)
{
RK_MPI_MB_DestroyPool(memPool);
}
printf("Destroyed memory pool\n");
// if (format_thread != NULL) {
// pthread_join(*format_thread, NULL);
// free(format_thread);
// format_thread = NULL;
// }
// printf("Joined format detection thread\n");
}
// TODO: mutex?
void video_start_streaming()
{
if (streaming_thread != NULL)
{
log_info("video streaming already started");
return;
}
streaming_thread = malloc(sizeof(pthread_t));
assert(streaming_thread != NULL);
streaming_flag = true;
pthread_create(streaming_thread, NULL, run_video_stream, NULL);
}
void video_stop_streaming()
{
if (streaming_thread != NULL)
{
streaming_flag = false;
pthread_join(*streaming_thread, NULL);
free(streaming_thread);
streaming_thread = NULL;
log_info("video streaming stopped");
}
}
void *run_detect_format(void *arg)
{
struct v4l2_event_subscription sub;
struct v4l2_event ev;
struct v4l2_dv_timings dv_timings;
memset(&sub, 0, sizeof(sub));
sub.type = V4L2_EVENT_SOURCE_CHANGE;
if (ioctl(sub_dev_fd, VIDIOC_SUBSCRIBE_EVENT, &sub) == -1)
{
log_error("cannot subscribe to event");
perror("Cannot subscribe to event");
goto exit;
}
while (!should_exit)
{
memset(&dv_timings, 0, sizeof(dv_timings));
if (ioctl(sub_dev_fd, VIDIOC_QUERY_DV_TIMINGS, &dv_timings) != 0)
{
detected_signal = false;
if (errno == ENOLINK)
{
// No timings could be detected because no signal was found.
log_info("HDMI status: no signal");
video_report_format(false, "no_signal", 0, 0, 0);
}
else if (errno == ENOLCK)
{
// The signal was unstable and the hardware could not lock on to it.
log_info("HDMI status: no lock");
video_report_format(false, "no_lock", 0, 0, 0);
}
else if (errno == ERANGE)
{
// Timings were found, but they are out of range of the hardware capabilities.
printf("HDMI status: out of range\n");
video_report_format(false, "out_of_range", 0, 0, 0);
}
else
{
perror("error VIDIOC_QUERY_DV_TIMINGS");
sleep(1);
continue;
}
}
else
{
log_info("Active width: %d", dv_timings.bt.width);
log_info("Active height: %d", dv_timings.bt.height);
double frames_per_second = (double)dv_timings.bt.pixelclock /
((dv_timings.bt.height + dv_timings.bt.vfrontporch + dv_timings.bt.vsync +
dv_timings.bt.vbackporch) *
(dv_timings.bt.width + dv_timings.bt.hfrontporch + dv_timings.bt.hsync +
dv_timings.bt.hbackporch));
log_info("Frames per second: %.2f fps", frames_per_second);
detected_width = dv_timings.bt.width;
detected_height = dv_timings.bt.height;
detected_signal = true;
video_report_format(true, NULL, detected_width, detected_height, frames_per_second);
if (streaming_flag == true)
{
log_info("restarting on going video streaming");
video_stop_streaming();
video_start_streaming();
}
}
memset(&ev, 0, sizeof(ev));
if (ioctl(sub_dev_fd, VIDIOC_DQEVENT, &ev) != 0)
{
log_error("failed to VIDIOC_DQEVENT");
perror("failed to VIDIOC_DQEVENT");
break;
}
log_info("New event of type %u", ev.type);
if (ev.type != V4L2_EVENT_SOURCE_CHANGE)
{
continue;
}
log_info("source change detected!");
}
exit:
close(sub_dev_fd);
return NULL;
}
void video_set_quality_factor(float factor)
{
quality_factor = factor;
// TODO: update venc bitrate without stopping streaming
if (streaming_flag == true)
{
log_info("restarting on going video streaming due to quality factor change");
video_stop_streaming();
video_start_streaming();
}
}
float video_get_quality_factor() {
return quality_factor;
}
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