135 lines
2.3 KiB
Go
135 lines
2.3 KiB
Go
//go:build rpicamera
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// +build rpicamera
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package rpicamera
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import (
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_ "embed"
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"fmt"
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"strconv"
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"github.com/aler9/gortsplib/pkg/h264"
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)
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//go:embed exe/exe
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var exeContent []byte
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type RPICamera struct {
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onData func([][]byte)
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exe *embeddedExe
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pipe *pipe
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waitDone chan error
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readerDone chan error
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}
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func New(
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params Params,
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onData func([][]byte),
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) (*RPICamera, error) {
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pipe, err := newPipe()
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if err != nil {
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return nil, err
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}
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env := []string{
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"PIPE_FD=" + strconv.FormatInt(int64(pipe.writeFD), 10),
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"CAMERA_ID=" + strconv.FormatInt(int64(params.CameraID), 10),
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"WIDTH=" + strconv.FormatInt(int64(params.Width), 10),
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"HEIGHT=" + strconv.FormatInt(int64(params.Height), 10),
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"FPS=" + strconv.FormatInt(int64(params.FPS), 10),
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"IDR_PERIOD=" + strconv.FormatInt(int64(params.IDRPeriod), 10),
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"BITRATE=" + strconv.FormatInt(int64(params.Bitrate), 10),
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"PROFILE=" + params.Profile,
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"LEVEL=" + params.Level,
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}
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exe, err := newEmbeddedExe(exeContent, env)
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if err != nil {
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pipe.close()
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return nil, err
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}
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waitDone := make(chan error)
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go func() {
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waitDone <- exe.cmd.Wait()
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}()
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readerDone := make(chan error)
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go func() {
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readerDone <- func() error {
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buf, err := pipe.read()
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if err != nil {
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return err
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}
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switch buf[0] {
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case 'e':
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return fmt.Errorf(string(buf[1:]))
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case 'r':
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return nil
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default:
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return fmt.Errorf("unexpected output from pipe (%c)", buf[0])
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}
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}()
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}()
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select {
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case <-waitDone:
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exe.close()
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pipe.close()
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<-readerDone
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return nil, fmt.Errorf("process exited unexpectedly")
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case err := <-readerDone:
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if err != nil {
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exe.close()
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<-waitDone
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pipe.close()
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return nil, err
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}
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}
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readerDone = make(chan error)
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go func() {
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readerDone <- func() error {
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for {
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buf, err := pipe.read()
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if err != nil {
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return err
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}
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if buf[0] != 'b' {
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return fmt.Errorf("unexpected output from pipe (%c)", buf[0])
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}
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buf = buf[1:]
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nalus, err := h264.AnnexBUnmarshal(buf)
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if err != nil {
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return err
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}
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onData(nalus)
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}
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}()
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}()
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return &RPICamera{
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onData: onData,
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exe: exe,
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pipe: pipe,
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waitDone: waitDone,
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readerDone: readerDone,
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}, nil
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}
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func (c *RPICamera) Close() {
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c.exe.close()
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<-c.waitDone
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c.pipe.close()
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<-c.readerDone
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}
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