pref: 增加开启摄像头失败重试功能

CMakeLists.txt

@@ -11,6 +11,8 @@ set(main main.cc
 set(LOGC logc/log.c)
 set(TOML tomlc99/toml.c)
 
+# 设置彩色日志输出
+add_definitions(-DLOG_USE_COLOR)
 
 # 查找并添加 OpenCV 的头文件目录
 set(OpenCV_DIR ${CMAKE_SOURCE_DIR}/opencv-mobile-4.9.0-armlinux/lib/cmake/opencv4)
@@ -19,6 +21,9 @@ find_package(OpenCV REQUIRED)
 set(ZMQ zmq)
 set(PTHREAD pthread)
 
+message("copy config file")
+file(COPY config.toml DESTINATION ./)
+
 message(STATUS "    version: ${OpenCV_VERSION}")
 message(STATUS "    include path: ${OpenCV_INCLUDE_DIRS}")
 include_directories(${OpenCV_INCLUDE_DIRS})

capture.cc

@@ -9,30 +9,72 @@
 #include "logc/log.h"
 #include <unistd.h>
 
-capture::capture(int camera_index, int zmq_port, int width_set, int height_set, int fps_set)
+void adjustImageTemperature(cv::Mat &img, float scale)
+{
+    // 分离通道
+    std::vector<cv::Mat> channels;
+    split(img, channels);
+
+    // 增加蓝色通道和绿色通道的值，减少红色通道的值
+    channels[0] = channels[0] * scale; // 蓝色通道
+    channels[1] = channels[1] * scale; // 绿色通道
+    channels[2] = channels[2] / scale; // 红色通道
+
+    // 合并通道
+    merge(channels, img);
+}
+
+capture::capture(int camera_index, int zmq_port, int width_set, int height_set, int fps_set, bool _flip)
 {
     index = camera_index;
     port = zmq_port;
     width = width_set;
     height = height_set;
     fps = fps_set;
+    flip = _flip;
 
-    log_info("trying open camera %d", index);
+    log_info("尝试开启摄像头 %d", index);
 
     cap = new cv::VideoCapture(index, cv::CAP_V4L2);
+
+    sleep(2); // 等待两秒进行构造
+
     cap->set(cv::CAP_PROP_FRAME_WIDTH, width);
     cap->set(cv::CAP_PROP_FRAME_HEIGHT, height);
     cap->set(cv::CAP_PROP_FPS, fps);
 
-    if (!cap->isOpened())
+    // if (10 == camera_index)
+    // {
+    //     int fourcc = cv::VideoWriter::fourcc('M', 'J', 'P', 'G'); // 例如，使用 MJPG 编码
+    //     // 设置输出视频的分辨率和帧率，与输入视频一致或根据需要调整
+    //     cv::Size frameSize = cv::Size((int)cap->get(cv::CAP_PROP_FRAME_WIDTH),
+    //                                   (int)cap->get(cv::CAP_PROP_FRAME_HEIGHT));
+    //     int fps = (int)cap->get(cv::CAP_PROP_FPS);
+    //     writer = new cv::VideoWriter("/home/evan/Workplace/project_capture/capture.avi", fourcc, fps, frameSize, true);
+    // }
+
+    int cnt = 1;
+    for (int i = 20; i > 0; i--)
     {
-        log_error("Error opening video stream in %d", index);
+        if (cap->isOpened())
+        {
+            status = true;
+            break;
+        }
+
+        log_error("开启摄像头 %d 失败，重试中", index);
+        cap->open(index, cv::CAP_V4L2);
+        usleep(100000);
         status = false;
     }
+
+    if (status)
+    {
+        log_info("开启摄像头 %d 成功", index);
+    }
     else
     {
-        log_info("Successful opening video stream in %d", index);
+        log_fatal("开启摄像头 %d 十次重试后失败", index);
-        status = true;
     }
 
     context = new zmq::context_t(1);
@@ -42,7 +84,7 @@ capture::capture(int camera_index, int zmq_port, int width_set, int height_set,
     char zmq_bind_port[10] = {0};
     sprintf(zmq_bind_port, "%d", port);
     strcat(zmq_bind_addr, zmq_bind_port);
-    log_info("set camera %d zmq address test %s", index, zmq_bind_addr);
+    log_info("设置 %d zmq 地址 %s", index, zmq_bind_addr);
     socket->bind(zmq_bind_addr);
 }
 
@@ -50,63 +92,82 @@ void capture::start(void)
 {
     if (this->is_open())
     {
-        log_info("start camera %d capture thread", index);
+        log_info("开启摄像头 %d 采集和应答线程", index);
-        thread = new std::thread(&capture::run, this);
+        // FIXME request 启动后若 capture 尚未读取到有效帧，则会断言
+        thread_capture = new std::thread(&capture::get, this);
+        sleep(1);
+        thread_request = new std::thread(&capture::req, this);
     }
     else
     {
-        log_error("camera %d have not been inited, exit", index);
+        log_error("摄像头 %d 未成功初始化，跳过", index);
     }
 }
 
-void capture::run(void)
+void capture::get(void)
 {
     cv::Mat dst;
     while (1)
     {
-        zmq::message_t msg_temp;
+        *cap >> dst;
-        socket->recv(&msg_temp);
+        if (dst.empty())
-        *cap >> frame;
-        if (frame.empty())
         {
-            log_error("empty frame");
+            log_error("摄像头 %d 读取到空帧，尝试销毁后重启", index);
-            break;
+
+            cap->release();
+            // delete cap;
+
+            cap = new cv::VideoCapture(index, cv::CAP_V4L2);
+            cap->set(cv::CAP_PROP_FRAME_WIDTH, width);
+            cap->set(cv::CAP_PROP_FRAME_HEIGHT, height);
+            cap->set(cv::CAP_PROP_FPS, fps);
+
+            log_warn("摄像头 %d 重新构造完成\r\n", index);
+            *cap >> dst;
         }
 
+        // if(nullptr != writer){
+        //     writer->write(dst);
+        // }
+
         // 确保图像是连续的
-        if (!frame.isContinuous())
+        if (!dst.isContinuous())
         {
-            frame = frame.clone().reshape(1, frame.total());
+            dst = dst.clone().reshape(1, dst.total());
         }
 
-        cv::cvtColor(frame, dst, cv::COLOR_BGR2RGB);
+        // 中心翻转处理
+        if (flip)
+        {
+            cv::flip(dst, dst, -1);
+        }
 
-        // cv::imshow(zmq_bind_addr, frame);
+        // adjustImageTemperature(dst, 1.2);
 
+        // 将图像转换为 rgb
+        cv::cvtColor(dst, frame, cv::COLOR_BGR2RGB);
+
+        // 在这里添加一些延迟，以控制帧率
+        cv::waitKey(1);
+    }
+}
+
+void capture::req(void)
+{
+    zmq::message_t msg_temp;
+    while (1)
+    {
+        socket->recv(&msg_temp);
         // 将帧编码后发送
         std::vector<uchar>
             buff;
-        cv::imencode(".jpg", dst, buff);
+        cv::imencode(".jpg", frame, buff);
         zmq::message_t message(buff.size());
         memcpy(message.data(), buff.data(), buff.size());
         socket->send(message, zmq::send_flags::none);
-
-        // 发送帧的元数据（宽度、高度、类型等）
-        // 这里简单起见，只发送宽度和高度（假设类型为 CV_8UC3）
-        // zmq::message_t header_msg(sizeof(int) * 2);
-        // int *header_data = static_cast<int *>(header_msg.data());
-        // header_data[0] = frame.cols;
-        // header_data[1] = frame.rows;
-        // socket.send(header_msg, zmq::send_flags::sndmore);
-
-        // 发送帧数据
-        // zmq::message_t frame_msg((size_t)frame.total() * frame.elemSize());
-        // memcpy(frame_msg.data(), frame.data, frame.total() * frame.elemSize());
-        // socket->send(frame_msg, zmq::send_flags::none);
-        // 在这里添加一些延迟，以控制帧率
-        cv::waitKey(1);
-        // usleep(20000);
     }
+
+    log_error("capture exit");
 }
 
 bool capture::is_open(void)

capture.h

@@ -15,16 +15,21 @@ public:
     int height;
     int fps;
     bool status = false;
+    bool flip = false;
     char zmq_bind_addr[40] = "tcp://*:";
-    std::thread *thread;
+
+    std::thread *thread_capture;
+    std::thread *thread_request;
     cv::VideoCapture *cap;
     cv::Mat frame;
     zmq::context_t *context;
     zmq::socket_t *socket;
+    cv::VideoWriter *writer = nullptr;
 
-    capture(int camera_index, int zmq_port, int width_set = 320, int height_set = 240, int fps_set = 20);
+    capture(int camera_index, int zmq_port, int width_set = 320, int height_set = 240, int fps_set = 20, bool flip = false);
     void start(void);
-    void run(void);
+    void get(void);
+    void req(void);
     bool is_open(void);
 };
 

config.toml

@@ -1,10 +1,10 @@
 [server]
 
-server_0_index = 0
+server_0_index = 10
 server_0_port = 5555
 
-server_1_index = 2
+server_1_index = 15
 server_1_port = 5556
 
-server_2_index = 4
+server_2_index = 20
 server_2_port = 5557

main.cc

@@ -8,14 +8,17 @@
 #include "tomlc99/toml.h"
 #include "capture.h"
 
-#define config_file_path "../config.toml"
+#define config_file_path "config.toml"
 
 int main(int argc, char **argv)
 {
     FILE *fp;
     char errbuf[200];
 
-    fp = fopen(config_file_path, "r");
+    char config_path[200];
+    sprintf(config_path, "%s/%s", getcwd(NULL, 0), config_file_path);
+    log_info("[capture] 从以下路径加载配置：%s", config_path);
+    fp = fopen(config_path, "r");
     if (!fp)
     {
         log_error("can not open conifg file");
@@ -38,60 +41,20 @@ int main(int argc, char **argv)
 
     toml_datum_t server_0_index = toml_int_in(server, "server_0_index");
     toml_datum_t server_1_index = toml_int_in(server, "server_1_index");
-    toml_datum_t server_2_index = toml_int_in(server, "server_2_index");
+    // toml_datum_t server_2_index = toml_int_in(server, "server_2_index");
     toml_datum_t server_0_port = toml_int_in(server, "server_0_port");
     toml_datum_t server_1_port = toml_int_in(server, "server_1_port");
-    toml_datum_t server_2_port = toml_int_in(server, "server_2_port");
+    // toml_datum_t server_2_port = toml_int_in(server, "server_2_port");
 
     capture cap0(server_0_index.u.i, server_0_port.u.i);
-    capture cap1(server_1_index.u.i, server_1_port.u.i, 320, 240, 25);
+    capture cap1(server_1_index.u.i, server_1_port.u.i, 320, 240, 60, true);
-    capture cap2(server_2_index.u.i, server_2_port.u.i);
+    // capture cap2(server_2_index.u.i, server_2_port.u.i, 640, 480);
 
     cap0.start();
     cap1.start();
-    cap2.start();
+    // cap2.start();
 
-    while (1)
+    cap1.thread_request->join();
-    {
+    
-        usleep(1);
-    }
-    // while (true)
-    // {
-    // cap >> frame;
-    // if (frame.empty())
-    // {
-    //     std::cerr << "Empty frame" << std::endl;
-    //     break;
-    // }
-
-    // // 确保图像是连续的
-    // if (!frame.isContinuous())
-    // {
-    //     frame = frame.clone().reshape(1, frame.total());
-    // }
-
-    // // std::cout << frame.cols << ":" << frame.rows << std::endl;
-
-    // // cv::imshow("realtime", frame);
-
-    // // 发送帧的元数据（宽度、高度、类型等）
-    // // 这里简单起见，只发送宽度和高度（假设类型为 CV_8UC3）
-    // zmq::message_t header_msg(sizeof(int) * 2);
-    // int *header_data = static_cast<int *>(header_msg.data());
-    // header_data[0] = frame.cols;
-    // header_data[1] = frame.rows;
-    // // socket.send(header_msg, zmq::send_flags::sndmore);
-
-    // // 发送帧数据
-    // zmq::message_t frame_msg((size_t)frame.total() * frame.elemSize());
-    // memcpy(frame_msg.data(), frame.data, frame.total() * frame.elemSize());
-    // socket.send(frame_msg, zmq::send_flags::none);
-    // // 在这里添加一些延迟，以控制帧率
-    // cv::waitKey(1);
-    // }
-
-    // // 关闭视频捕获和 ZMQ 套接字
-    // cap.release();
-    // socket.close();
     return 0;
 }