nuclear@2: #include <stdio.h>
nuclear@2: #include <stdlib.h>
nuclear@2: #include <string.h>
nuclear@2: #include <errno.h>
nuclear@2: #include <signal.h>
nuclear@2: #include <pthread.h>
nuclear@2: #include <wcam.h>
nuclear@2: #include "srv.h"
nuclear@2: 
nuclear@2: void *frame_proc(void *arg);
nuclear@2: int save_image(const char *fname, unsigned char *pixels, int xsz, int ysz);
nuclear@2: void sighandler(int s);
nuclear@2: 
nuclear@2: int fd;
nuclear@2: int width = 640;
nuclear@2: int height = 480;
nuclear@2: int framerate = 30;
nuclear@2: unsigned char *frame;
nuclear@2: int done;
nuclear@2: int frame_available;
nuclear@2: pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
nuclear@2: pthread_cond_t condvar = PTHREAD_COND_INITIALIZER;
nuclear@2: 
nuclear@2: int main(int argc, char **argv)
nuclear@2: {
nuclear@2: 	char *devfile = "/dev/video0";
nuclear@2: 	pthread_t thread;
nuclear@2: 
nuclear@2: 	if(argv[1]) {
nuclear@2: 		devfile = argv[1];
nuclear@2: 	}
nuclear@2: 
nuclear@2: 	signal(SIGINT, sighandler);
nuclear@2: 	signal(SIGQUIT, sighandler);
nuclear@2: 	signal(SIGSEGV, sighandler);
nuclear@2: 
nuclear@2: 	if(srv_init(2828) == -1) {
nuclear@2: 		return 1;
nuclear@2: 	}
nuclear@2: 
nuclear@2: 	if(!(frame = malloc(width * height * 4))) {
nuclear@2: 		perror("failed to allocate frame");
nuclear@2: 		return 1;
nuclear@2: 	}
nuclear@2: 
nuclear@2: 	if((fd = wcam_open(devfile, width, height, framerate)) == -1) {
nuclear@2: 		fprintf(stderr, "failed to open video device: %s\n", devfile);
nuclear@2: 		return 1;
nuclear@2: 	}
nuclear@2: 	wcam_start(fd);
nuclear@2: 
nuclear@2: 	if(pthread_create(&thread, 0, frame_proc, 0) == -1) {
nuclear@2: 		fprintf(stderr, "failed to create frame processing thread\n");
nuclear@2: 		return 1;
nuclear@2: 	}
nuclear@2: 
nuclear@2: 	while(!done) {
nuclear@2: 		int i, res;
nuclear@2: 		int *sock = srv_sockets();
nuclear@2: 		int num_sockets = srv_num_sockets();
nuclear@2: 		int maxfd = srv_max_socket();
nuclear@2: 		fd_set rdset;
nuclear@2: 
nuclear@2: 		if(fd > maxfd) maxfd = fd;
nuclear@2: 
nuclear@2: 		FD_ZERO(&rdset);
nuclear@2: 		FD_SET(fd, &rdset);
nuclear@2: 
nuclear@2: 		for(i=0; i<num_sockets; i++) {
nuclear@2: 			FD_SET(sock[i], &rdset);
nuclear@2: 		}
nuclear@2: 
nuclear@2: 		while((res = select(maxfd + 1, &rdset, 0, 0, 0)) == -1 && errno == EINTR);
nuclear@2: 		if(res == -1) {
nuclear@2: 			fprintf(stderr, "unexpected failure while waiting for I/O\n");
nuclear@2: 			break;
nuclear@2: 		}
nuclear@2: 
nuclear@2: 		if(FD_ISSET(fd, &rdset)) {
nuclear@2: 			wcam_wait(fd);
nuclear@2: 			pthread_mutex_lock(&mutex);
nuclear@2: 			frame_available = 1;
nuclear@2: 			pthread_mutex_unlock(&mutex);
nuclear@2: 			pthread_cond_signal(&condvar);
nuclear@2: 		}
nuclear@2: 
nuclear@2: 		for(i=0; i<num_sockets; i++) {
nuclear@2: 			if(FD_ISSET(sock[i], &rdset)) {
nuclear@2: 				srv_handle(sock[i]);
nuclear@2: 			}
nuclear@2: 		}
nuclear@2: 	}
nuclear@2: 
nuclear@2: 	frame_available = 1;
nuclear@2: 	pthread_cond_signal(&condvar);
nuclear@2: 	pthread_join(thread, 0);
nuclear@2: 	free(frame);
nuclear@2: 	wcam_stop(fd);
nuclear@2: 	wcam_close(fd);
nuclear@2: 	return 0;
nuclear@2: }
nuclear@2: 
nuclear@2: void *frame_proc(void *arg)
nuclear@2: {
nuclear@2: 	for(;;) {
nuclear@2: 		pthread_mutex_lock(&mutex);
nuclear@2: 		while(!frame_available) {
nuclear@2: 			pthread_cond_wait(&condvar, &mutex);
nuclear@2: 		}
nuclear@2: 		frame_available = 0;
nuclear@2: 		pthread_mutex_unlock(&mutex);
nuclear@2: 
nuclear@2: 		if(done) break;
nuclear@2: 
nuclear@2: 		wcam_read_frame_rgb(fd, frame);
nuclear@2: 		save_image("output.ppm", frame, width, height);
nuclear@2: 	}
nuclear@2: 	return 0;
nuclear@2: }
nuclear@2: 
nuclear@2: int save_image(const char *fname, unsigned char *pixels, int xsz, int ysz)
nuclear@2: {
nuclear@2: 	int i, num_pixels = xsz * ysz;
nuclear@2: 	FILE *fp = fopen(fname, "wb");
nuclear@2: 	if(!fp) return -1;
nuclear@2: 
nuclear@2: 	fprintf(fp, "P6\n%d %d\n255\n", xsz, ysz);
nuclear@2: 	for(i=0; i<num_pixels; i++) {
nuclear@2: 		fputc(*pixels++, fp);
nuclear@2: 		fputc(*pixels++, fp);
nuclear@2: 		fputc(*pixels++, fp);
nuclear@2: 		++pixels;
nuclear@2: 	}
nuclear@2: 	fclose(fp);
nuclear@2: 	return 0;
nuclear@2: }
nuclear@2: 
nuclear@2: void sighandler(int s)
nuclear@2: {
nuclear@2: 	done = 1;
nuclear@2: }