diff --git a/components/vision/include/maix_uvc_stream.hpp b/components/vision/include/maix_uvc_stream.hpp new file mode 100644 index 00000000..aca90c24 --- /dev/null +++ b/components/vision/include/maix_uvc_stream.hpp @@ -0,0 +1,209 @@ +#ifndef __MAIX_UVC_STREAM_HPP +#define __MAIX_UVC_STREAM_HPP + +#include +#include + +using namespace std; + +#include "maix_err.hpp" +#include "maix_camera.hpp" +#include "maix_image.hpp" +#include "maix_basic.hpp" + +namespace maix::uvc +{ + /** + * cannot include it, because it brokes maixpy_wrapper.cpp:1027:38: error: expected unqualified-id before numeric constant + * 1027 | .value("SEEK_SET", fs::SEEK::SEEK_SET) + */ + // #include + #define O_RDWR 2 + #include + + #define atomic_load(ptr) __atomic_load_n(ptr, __ATOMIC_SEQ_CST) + #define atomic_store(ptr, value) __atomic_store_n(ptr, value, __ATOMIC_SEQ_CST) + + #define SHM_NAME "/uvc_shared_mem_yuyv" + #define MAX_FRAMEBUFFER_SIZE (1920 * 1080 * 3 / 2) + #define SHM_SIZE (2 + 2 * MAX_FRAMEBUFFER_SIZE) // 假设 RGB 图像大小为 1920x1080，额外的2字节用于双缓冲同步 + + typedef struct { + uint8_t current_buffer; // Current buffer (0 or 1) for the consumer to read + uint8_t consumer_reading; // Consumer is reading (0 or 1) + uint8_t buffer[2][MAX_FRAMEBUFFER_SIZE]; // Two buffers for video frames + } shared_mem_t; + + + // ⚠️ 辅助宏，限制值范围 + #define CLAMP(x, min, max) ((x) < (min) ? (min) : ((x) > (max) ? (max) : (x))) + + // 🔥 RGB 转 YUYV 函数 + static void rgb_to_yuyv_pixel(unsigned char r, unsigned char g, unsigned char b, unsigned char *y, unsigned char *u, unsigned char *v) { + *y = CLAMP(( 77 * r + 150 * g + 29 * b) >> 8, 0, 255); // Y 公式 + *u = CLAMP(((-43 * r - 85 * g + 128 * b) >> 8) + 128, 0, 255); // U 公式 + *v = CLAMP((( 128 * r - 107 * g - 21 * b) >> 8) + 128, 0, 255); // V 公式 + } + + // 🚀 将 RGB 数据拷贝到 YUYV 图 + static void copy_rgb_to_yuyv( + unsigned char *data, // 源 RGB 图像数据 (w1 * h1 * 3) + int w1, int h1, // 源 RGB 图像的宽高 + unsigned char *img_data, // 目标 YUYV 图像数据 (w2 * h2 * 2) + int w2, int h2, // 目标 YUYV 图像的宽高 + int x1, int y1 // 在目标图上绘制的起始位置 (x1, y1) + ) { + int start_x = CLAMP(x1, 0, w2 - 1); // 限制起始位置 + int start_y = CLAMP(y1, 0, h2 - 1); + int copy_width = CLAMP(w2 - start_x, 0, w1); // 计算可拷贝的宽度 + int copy_height = CLAMP(h2 - start_y, 0, h1); // 计算可拷贝的高度 + + // printf("Copying RGB (%dx%d) to YUYV (%dx%d) at (%d, %d)\n", w1, h1, w2, h2, x1, y1); + // printf("Copy region width: %d, height: %d\n", copy_width, copy_height); + + for (int row = 0; row < copy_height; row++) { + for (int col = 0; col < copy_width; col += 2) { + int src_index1 = (row * w1 + col) * 3; // RGB数据位置 (每像素 3 字节) + int src_index2 = (row * w1 + col + 1) * 3; // 第二个像素的位置 + + int dst_index = ((start_y + row) * w2 + (start_x + col)) * 2; // YUYV 位置 (每像素 2 字节) + + unsigned char r1 = data[src_index1 + 0]; + unsigned char g1 = data[src_index1 + 1]; + unsigned char b1 = data[src_index1 + 2]; + + unsigned char r2 = 0, g2 = 0, b2 = 0; + if (col + 1 < copy_width) { + r2 = data[src_index2 + 0]; + g2 = data[src_index2 + 1]; + b2 = data[src_index2 + 2]; + } + + unsigned char y0, u0, v0; + unsigned char y1; + rgb_to_yuyv_pixel(r1, g1, b1, &y0, &u0, &v0); // 第一个像素 + rgb_to_yuyv_pixel(r2, g2, b2, &y1, &u0, &v0); // 第二个像素 + + img_data[dst_index + 0] = y0; // Y0 + img_data[dst_index + 1] = u0; // U + img_data[dst_index + 2] = y1; // Y1 + img_data[dst_index + 3] = v0; // V + } + } + } + + + /** + * get_supported_formats function + * @maixpy maix.uvc.get_supported_formats + */ + std::vector get_supported_formats() { + vector vec_str; + + vec_str.push_back(string("yuyv\t640x360")); + vec_str.push_back(string("mjpg\t640x360")); + vec_str.push_back(string("sadad\t1280x720")); + + return vec_str; + } + + /** + * UvcStreamer class + * @maixpy maix.uvc.UvcStreamer + */ + class UvcStreamer + { + public: + /** + * @brief Construct a new jpeg streamer object + * @note You can get the picture stream through http://host:port/stream, you can also get it through http://ip:port, and you can add personal style through set_html() at this time + * @param host http host + * @param port http port, default is 8000 + * @param client_number the max number of client + * @maixpy maix.uvc.UvcStreamer.__init__ + * @maixcdk maix.uvc.UvcStreamer.UvcStreamer + */ + UvcStreamer(unsigned index=0): _index(index), _using_jpeg(0) { + // 1. 打开共享内存 + int shm_fd = shm_open(SHM_NAME, O_RDWR, S_IRUSR | S_IWUSR); + if (shm_fd == -1) { + log::error("shm_open failed"); + exit(EXIT_FAILURE); + } + + // 2. 将共享内存映射到进程的地址空间 + void *shared_mem = mmap(NULL, SHM_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, shm_fd, 0); + close(shm_fd); + if (shared_mem == MAP_FAILED) { + log::error("mmap failed"); + exit(EXIT_FAILURE); + } + this->shm_ptr = (shared_mem_t *)shared_mem; // 传递原始指针 + } + ~UvcStreamer() { + munmap(this->shm_ptr, SHM_SIZE); + } + + /** + * @brief Write data to uvc + * @param img image object + * @return error code, err::ERR_NONE means success, others means failed + * @maixpy maix.uvc.UvcStreamer.show + */ + err::Err show(image::Image *img) { + uint8_t *img_fb= NULL; + + + log::error("_using_jpeg: %u\r\n", this->_using_jpeg); + if (!this->_using_jpeg) { + image::Image *img_rgb888 = img; + if (img->format() != image::Format::FMT_RGB888) + img_rgb888 = img->to_format(image::Format::FMT_RGB888); + + atomic_store(&shm_ptr->current_buffer, 0xef & (atomic_load(&shm_ptr->consumer_reading) ^ shm_ptr->current_buffer)); + img_fb = (uint8_t *)(shm_ptr->buffer[0xf & shm_ptr->current_buffer]); + copy_rgb_to_yuyv((unsigned char *)img_rgb888->data(),img_rgb888->width(), img_rgb888->height(), img_fb, 640, 360, 0, 0); + + if (img->format() != image::Format::FMT_RGB888) + delete img_rgb888; + } else { + image::Image *img_mjpg = img; + if (img->format() != image::Format::FMT_JPEG) + img_mjpg = img->to_jpeg(80); + + if (img_mjpg) { + // log::error("width: %d, height: %d, format: %d, data: %p, size: %d\r\n", img_mjpg->width(), img_mjpg->height(), img_mjpg->format(), img_mjpg->data(), img_mjpg->data_size()); + + atomic_store(&shm_ptr->current_buffer, 0x80 | (atomic_load(&shm_ptr->consumer_reading) ^ shm_ptr->current_buffer)); + img_fb = (uint8_t *)(shm_ptr->buffer[0xf & shm_ptr->current_buffer]) + 4; + ((uint32_t*)img_fb)[-1] = img_mjpg->data_size(); + memcpy(img_fb, img_mjpg->data(), img_mjpg->data_size()); + + // log::error("width: %d, height: %d, format: %d, to_addr: %p\r\n", img_rgb888->width(), img_rgb888->height(), img_rgb888->format(), img_fb); + if (img->format() != image::Format::FMT_JPEG) + delete img_mjpg; + } + } + return err::ERR_NONE; + } + + /** + * @brief use mjpg on uvc + * @param b using mjpg: 0 for NOT, others to use + * @return void + * @maixpy maix.uvc.UvcStreamer.use_mjpg + */ + void use_mjpg(uint32_t b=1) { + this->_using_jpeg = !!b; + } + + + private: + unsigned int _index; + unsigned int _using_jpeg; + shared_mem_t *shm_ptr; + }; +} // namespace maix::uvc + + +#endif // __MAIX_UVC_STREAM_HPP \ No newline at end of file