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Merge branch 'master' of https://github.com/huskyroboticsteam/Orpheus
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| Original file line number | Diff line number | Diff line change |
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@@ -14,4 +14,6 @@ packages | |
| .vs/ | ||
| *.csproj.user | ||
| *.suo | ||
| *.pdb | ||
| *.pdb | ||
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| *.o | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,3 @@ | ||
| device-scanner | ||
| server | ||
| server-wrapper |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,30 @@ | ||
| CPP= g++ | ||
| CFLAGS= -g -Wall -Wpedantic -std=c++14 | ||
| GSFLAGS= `pkg-config --cflags --libs gstreamer-1.0` -lgstrtspserver-1.0 | ||
| HEADERS= | ||
| DEV= device-scanner | ||
| SERVER= server-wrapper | ||
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| all: $(DEV) $(SERVER) | ||
| rm *.o | ||
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| debug: $(DEV)_debug $(SERVER)_debug | ||
| rm *.o | ||
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| server: $(HEADERS) server.cpp | ||
| $(CPP) -O3 -c server.cpp $(GSFLAGS) $(CFLAGS) | ||
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| server-wrapper: $(HEADERS) $(SERVER).cpp server | ||
| $(CPP) -O3 $(SERVER).cpp -o $(SERVER) server.o $(GSFLAGS) $(CFLAGS) | ||
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| device-scanner: $(HEADERS) $(DEV).cpp | ||
| $(CPP) -O3 $(DEV).cpp -o $(DEV) $(GSFLAGS) $(CFLAGS) | ||
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| server-wrapper_debug: $(HEADERS) $(SERVER).cpp server | ||
| $(CPP) -ggdb -D DEBUG $(SERVER).cpp -o $(SERVER) $(GSFLAGS) $(CFLAGS) | ||
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| device-scanner_debug: $(HEADERS) $(DEV).cpp | ||
| $(CPP) -ggdb -D DEBUG $(DEV).cpp -o $(DEV) $(GSFLAGS) $(CFLAGS) | ||
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| clean: | ||
| rm $(DEV) $(SERVER) |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,2 @@ | ||
| Expects gstreamer and appropriate plugins to be installed based on pipeline. | ||
| Expects gst-rtsp-server to be installed. |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,90 @@ | ||
| #include <stdio.h> | ||
| #include <stdlib.h> | ||
| #include <signal.h> | ||
| #include <gst/gst.h> | ||
| #include <unistd.h> | ||
| #include <cstring> | ||
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||
| #ifdef DEBUG | ||
| void structure_fields(const GstStructure *device) | ||
| { | ||
| gint n_fields = gst_structure_n_fields(device); | ||
| for (int i = 0; i < n_fields; i++) | ||
| { | ||
| const gchar *name; | ||
| name = gst_structure_nth_field_name(device, i); | ||
| g_print("%s:\n%s\n", name, gst_structure_get_string(device, name)); | ||
| } | ||
| } | ||
| #endif | ||
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| GstDeviceMonitor *device_monitor(void) | ||
| { | ||
| GstDeviceMonitor *monitor; | ||
| GstBus *bus; | ||
| GstCaps *caps; | ||
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| // starts the monitor for the devices | ||
| monitor = gst_device_monitor_new (); | ||
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| // starts the bus for the monitor | ||
| bus = gst_device_monitor_get_bus (monitor); | ||
| gst_object_unref (bus); | ||
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| // adds a filter to scan for only video devices | ||
| caps = gst_caps_new_empty_simple ("video/x-raw"); | ||
| gst_device_monitor_add_filter (monitor, "Video/Source", caps); | ||
| gst_caps_unref (caps); | ||
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| gst_device_monitor_start (monitor); | ||
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| return monitor; | ||
| } | ||
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| int main(int argc, char *argv[]) | ||
| { | ||
| GstDeviceMonitor *monitor; | ||
| GList *dev; | ||
| GMainLoop *loop; | ||
| gst_init(&argc, &argv); | ||
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| // create the monitor | ||
| monitor = device_monitor(); | ||
| dev = gst_device_monitor_get_devices(monitor); | ||
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| // loop for the lists | ||
| GList *cur = g_list_first(dev); | ||
| while(cur != NULL) | ||
| { | ||
| GstDevice * devi = (GstDevice *) cur->data; | ||
| GstStructure * type = gst_device_get_properties(devi); | ||
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| #ifdef DEBUG | ||
| structure_fields(type); | ||
| #endif | ||
| const char * name = gst_device_get_display_name(devi); | ||
| const char * path = gst_structure_get_string(type, "device.path"); | ||
| g_print("Device-Scanner > Starting process for %s camera at %s\n", name, path); | ||
| int mypid = fork(); | ||
| if(mypid == 0) | ||
| { | ||
| int ret; | ||
| if (strcmp(name, "ZED") == 0) | ||
| { | ||
| ret = execl("../zed_depth/zed_depth", argv[0]); | ||
| } | ||
| else | ||
| { | ||
| ret = execl("./server-wrapper", argv[0], name, path, NULL); | ||
| } | ||
| return ret; // Shouldn't reach this line | ||
| } | ||
| cur = g_list_next(cur); | ||
| } | ||
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| loop = g_main_loop_new(NULL, FALSE); | ||
| g_main_loop_run(loop); | ||
| g_main_loop_unref(loop); | ||
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| return 0; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,7 @@ | ||
| #include "server.h" | ||
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| int | ||
| main (int argc, char *argv[]) | ||
| { | ||
| return start_server(argc, argv); | ||
| } |
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