debug shared_buffer stream

2026-01-30 16:29:19 +01:00
parent cc97528eca
commit 9f0eac870f
12 changed files with 805 additions and 16 deletions
--- a/fix_exposure.sh
+++ b/fix_exposure.sh
@@ -0,0 +1,17 @@
+#!/bin/bash
+
+# Script to fix camera exposure settings
+# This stops the stream, enables auto-exposure, and restarts the stream
+
+SOCKET="/tmp/vizion_control.sock"
+
+echo "Stopping stream..."
+echo '{"command":"stop_stream"}' | socat - UNIX-CONNECT:$SOCKET
+
+echo "Setting auto-exposure..."
+echo '{"command":"set_exposure","params":{"mode":"auto","value":"0"}}' | socat - UNIX-CONNECT:$SOCKET
+
+echo "Starting stream..."
+echo '{"command":"start_stream"}' | socat - UNIX-CONNECT:$SOCKET
+
+echo "Done! Camera should now show proper image."
--- a/include/vizionstreamer/StreamingEngine.h
+++ b/include/vizionstreamer/StreamingEngine.h
@@ -39,6 +39,7 @@ public:

 private:
    void acquisitionLoop();
+    size_t convertToRGB(const uint8_t* src, uint8_t* dst, int width, int height, VX_IMAGE_FORMAT format);

    std::shared_ptr<VxCamera> camera_;
    std::unique_ptr<GStreamerPipeline> gstPipeline_;
@@ -48,5 +49,6 @@ private:
    std::mutex mutex_;
    VxFormat currentFormat_;
    std::unique_ptr<uint8_t[]> buffer_;
+    std::unique_ptr<uint8_t[]> rgbBuffer_;  // Buffer for RGB conversion
    size_t bufferSize_;
 };
--- a/service/README.md
+++ b/service/README.md
@@ -0,0 +1,145 @@
+# VizionStreamer Systemd Service
+
+Automatischer Start und Überwachung des VizionStreamer mit systemd.
+
+## Inhalt
+
+- `vizionstreamer.service` - Systemd service file
+- `watchdog.sh` - Watchdog-Script (startet Streamer neu bei Crash)
+- `install.sh` - Installations-Script
+- `uninstall.sh` - Deinstallations-Script
+
+## Installation
+
+```bash
+cd service
+sudo ./install.sh
+```
+
+Das Script:
+1. Kopiert die Service-Datei nach `/etc/systemd/system/`
+2. Aktiviert den Service (Start beim Booten)
+3. Startet den Service sofort
+
+## Deinstallation
+
+```bash
+cd service
+sudo ./uninstall.sh
+```
+
+## Befehle
+
+### Service verwalten
+
+```bash
+# Service starten
+sudo systemctl start vizionstreamer
+
+# Service stoppen
+sudo systemctl stop vizionstreamer
+
+# Service neu starten
+sudo systemctl restart vizionstreamer
+
+# Status anzeigen
+sudo systemctl status vizionstreamer
+
+# Autostart deaktivieren
+sudo systemctl disable vizionstreamer
+
+# Autostart aktivieren
+sudo systemctl enable vizionstreamer
+```
+
+### Logs anzeigen
+
+```bash
+# Live-Logs verfolgen
+sudo journalctl -u vizionstreamer -f
+
+# Letzte 100 Zeilen
+sudo journalctl -u vizionstreamer -n 100
+
+# Logs seit heute
+sudo journalctl -u vizionstreamer --since today
+
+# Alle Logs
+sudo journalctl -u vizionstreamer --no-pager
+```
+
+## Funktionen
+
+✅ **Automatischer Start** beim Booten
+✅ **Watchdog** startet Prozess bei Crash neu (max. 10 Versuche)
+✅ **Systemd Integration** - Logs in journald
+✅ **Graceful Shutdown** - Sauberes Beenden
+✅ **Restart-Limit** - Verhindert endlose Restart-Loops
+
+## Konfiguration
+
+### Service-Einstellungen anpassen
+
+Service-Datei bearbeiten:
+```bash
+sudo systemctl edit vizionstreamer --full
+```
+
+Nach Änderungen:
+```bash
+sudo systemctl daemon-reload
+sudo systemctl restart vizionstreamer
+```
+
+### Watchdog-Intervall ändern
+
+In `watchdog.sh`:
+```bash
+CHECK_INTERVAL=5  # Sekunden (Standard: 5)
+```
+
+## Troubleshooting
+
+### Service startet nicht
+
+1. Status prüfen:
+   ```bash
+   sudo systemctl status vizionstreamer
+   ```
+
+2. Logs prüfen:
+   ```bash
+   sudo journalctl -u vizionstreamer -n 50
+   ```
+
+3. Manuell testen:
+   ```bash
+   ./watchdog.sh
+   ```
+
+### Permissions
+
+Falls Permission-Probleme:
+```bash
+sudo usermod -a -G video maik
+sudo usermod -a -G audio maik
+```
+
+### Service deaktivieren (temporär)
+
+```bash
+sudo systemctl stop vizionstreamer
+sudo systemctl disable vizionstreamer
+```
+
+## Systemanforderungen
+
+- Linux mit systemd
+- Zugriff auf `/dev/video*` Geräte
+- User `maik` muss Zugriff auf Kamera haben
+
+## Support
+
+Bei Problemen siehe:
+- `sudo journalctl -u vizionstreamer -f`
+- `tail -f ../watchdog.log`
--- a/service/install.sh
+++ b/service/install.sh
@@ -0,0 +1,73 @@
+#!/bin/bash
+
+# Installation script for VizionStreamer systemd service
+
+set -e
+
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m'
+
+SERVICE_NAME="vizionstreamer.service"
+SERVICE_FILE="$(pwd)/vizionstreamer.service"
+SYSTEMD_DIR="/etc/systemd/system"
+
+echo -e "${GREEN}=== VizionStreamer Service Installation ===${NC}\n"
+
+# Check if running as root
+if [ "$EUID" -ne 0 ]; then
+    echo -e "${RED}Error: This script must be run as root (use sudo)${NC}"
+    exit 1
+fi
+
+# Check if service file exists
+if [ ! -f "$SERVICE_FILE" ]; then
+    echo -e "${RED}Error: Service file not found: $SERVICE_FILE${NC}"
+    exit 1
+fi
+
+# Check if vizionStreamer executable exists
+if [ ! -f "/home/maik/CLionProjects/vizionStreamer/build/vizionStreamer" ]; then
+    echo -e "${YELLOW}Warning: vizionStreamer executable not found!${NC}"
+    echo "Please build the project first: cmake --build build"
+    read -p "Continue anyway? (y/N) " -n 1 -r
+    echo
+    if [[ ! $REPLY =~ ^[Yy]$ ]]; then
+        exit 1
+    fi
+fi
+
+# Stop service if already running
+if systemctl is-active --quiet $SERVICE_NAME; then
+    echo "Stopping existing service..."
+    systemctl stop $SERVICE_NAME
+fi
+
+# Copy service file
+echo "Installing service file to $SYSTEMD_DIR..."
+cp "$SERVICE_FILE" "$SYSTEMD_DIR/"
+
+# Reload systemd
+echo "Reloading systemd daemon..."
+systemctl daemon-reload
+
+# Enable service
+echo "Enabling service to start on boot..."
+systemctl enable $SERVICE_NAME
+
+# Start service
+echo "Starting service..."
+systemctl start $SERVICE_NAME
+
+# Show status
+echo -e "\n${GREEN}Installation complete!${NC}\n"
+systemctl status $SERVICE_NAME --no-pager
+
+echo -e "\n${GREEN}=== Useful Commands ===${NC}"
+echo "  Start:   sudo systemctl start $SERVICE_NAME"
+echo "  Stop:    sudo systemctl stop $SERVICE_NAME"
+echo "  Restart: sudo systemctl restart $SERVICE_NAME"
+echo "  Status:  sudo systemctl status $SERVICE_NAME"
+echo "  Logs:    sudo journalctl -u $SERVICE_NAME -f"
+echo "  Disable: sudo systemctl disable $SERVICE_NAME"
--- a/service/uninstall.sh
+++ b/service/uninstall.sh
@@ -0,0 +1,53 @@
+#!/bin/bash
+
+# Uninstallation script for VizionStreamer systemd service
+
+set -e
+
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m'
+
+SERVICE_NAME="vizionstreamer.service"
+SYSTEMD_DIR="/etc/systemd/system"
+
+echo -e "${YELLOW}=== VizionStreamer Service Uninstallation ===${NC}\n"
+
+# Check if running as root
+if [ "$EUID" -ne 0 ]; then
+    echo -e "${RED}Error: This script must be run as root (use sudo)${NC}"
+    exit 1
+fi
+
+# Check if service exists
+if [ ! -f "$SYSTEMD_DIR/$SERVICE_NAME" ]; then
+    echo -e "${YELLOW}Service not installed.${NC}"
+    exit 0
+fi
+
+# Stop service
+if systemctl is-active --quiet $SERVICE_NAME; then
+    echo "Stopping service..."
+    systemctl stop $SERVICE_NAME
+fi
+
+# Disable service
+if systemctl is-enabled --quiet $SERVICE_NAME; then
+    echo "Disabling service..."
+    systemctl disable $SERVICE_NAME
+fi
+
+# Remove service file
+echo "Removing service file..."
+rm -f "$SYSTEMD_DIR/$SERVICE_NAME"
+
+# Reload systemd
+echo "Reloading systemd daemon..."
+systemctl daemon-reload
+
+# Reset failed state if any
+systemctl reset-failed $SERVICE_NAME 2>/dev/null || true
+
+echo -e "\n${GREEN}Uninstallation complete!${NC}"
+echo "Service '$SERVICE_NAME' has been removed."
--- a/service/vizionstreamer.service
+++ b/service/vizionstreamer.service
@@ -0,0 +1,33 @@
+[Unit]
+Description=VizionStreamer Camera Service with Watchdog
+After=network.target
+Wants=network-online.target
+
+[Service]
+Type=simple
+User=maik
+Group=maik
+WorkingDirectory=/home/maik/CLionProjects/vizionStreamer
+ExecStart=/home/maik/CLionProjects/vizionStreamer/service/watchdog.sh
+Restart=on-failure
+RestartSec=10s
+
+# Environment
+Environment="PATH=/usr/local/bin:/usr/bin:/bin"
+
+# Logging
+StandardOutput=journal
+StandardError=journal
+SyslogIdentifier=vizionstreamer
+
+# Security settings (optional, kann bei Problemen auskommentiert werden)
+# NoNewPrivileges=true
+# PrivateTmp=true
+
+# Graceful shutdown
+TimeoutStopSec=30
+KillMode=mixed
+KillSignal=SIGTERM
+
+[Install]
+WantedBy=multi-user.target
--- a/service/watchdog.sh
+++ b/service/watchdog.sh
@@ -0,0 +1,119 @@
+#!/bin/bash
+
+# VizionStreamer Watchdog Script
+# Automatically restarts the streamer if it crashes
+# Usage: ./watchdog.sh
+
+STREAMER_PATH="./build/vizionStreamer"
+CHECK_INTERVAL=5  # Seconds between checks
+LOG_FILE="./watchdog.log"
+PID_FILE="./vizionStreamer.pid"
+
+# Colors for output
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m' # No Color
+
+# Function to log messages
+log() {
+    echo "[$(date '+%Y-%m-%d %H:%M:%S')] $1" | tee -a "$LOG_FILE"
+}
+
+# Function to start the streamer
+start_streamer() {
+    log "${GREEN}Starting VizionStreamer...${NC}"
+    $STREAMER_PATH &
+    STREAMER_PID=$!
+    echo $STREAMER_PID > "$PID_FILE"
+    log "VizionStreamer started with PID: $STREAMER_PID"
+}
+
+# Function to check if process is running
+is_running() {
+    if [ -f "$PID_FILE" ]; then
+        PID=$(cat "$PID_FILE")
+        if ps -p $PID > /dev/null 2>&1; then
+            return 0  # Running
+        fi
+    fi
+    return 1  # Not running
+}
+
+# Function to stop the streamer
+stop_streamer() {
+    if [ -f "$PID_FILE" ]; then
+        PID=$(cat "$PID_FILE")
+        if ps -p $PID > /dev/null 2>&1; then
+            log "${YELLOW}Stopping VizionStreamer (PID: $PID)...${NC}"
+            kill $PID
+            sleep 2
+            # Force kill if still running
+            if ps -p $PID > /dev/null 2>&1; then
+                log "${RED}Force killing VizionStreamer...${NC}"
+                kill -9 $PID
+            fi
+        fi
+        rm -f "$PID_FILE"
+    fi
+}
+
+# Trap SIGINT and SIGTERM to cleanly shutdown
+cleanup() {
+    log "${YELLOW}Watchdog shutting down...${NC}"
+    stop_streamer
+    log "${GREEN}Watchdog stopped${NC}"
+    exit 0
+}
+
+trap cleanup SIGINT SIGTERM
+
+# Check if vizionStreamer executable exists
+if [ ! -f "$STREAMER_PATH" ]; then
+    log "${RED}ERROR: VizionStreamer not found at $STREAMER_PATH${NC}"
+    log "Please build the project first: cmake --build build"
+    exit 1
+fi
+
+# Main watchdog loop
+log "${GREEN}=== VizionStreamer Watchdog Started ===${NC}"
+log "Check interval: ${CHECK_INTERVAL} seconds"
+log "Press Ctrl+C to stop"
+
+RESTART_COUNT=0
+
+# Start streamer initially
+start_streamer
+sleep 2  # Give it time to start
+
+while true; do
+    sleep $CHECK_INTERVAL
+
+    if ! is_running; then
+        RESTART_COUNT=$((RESTART_COUNT + 1))
+        log "${RED}VizionStreamer died! Restart count: $RESTART_COUNT${NC}"
+
+        # Optional: limit restart attempts
+        if [ $RESTART_COUNT -gt 10 ]; then
+            log "${RED}ERROR: Too many restarts (10). Giving up.${NC}"
+            log "Check the logs for recurring errors."
+            exit 1
+        fi
+
+        # Clean up old PID file
+        rm -f "$PID_FILE"
+
+        # Wait a bit before restarting to avoid rapid restart loops
+        sleep 2
+
+        # Restart
+        start_streamer
+        sleep 2
+    else
+        # Still running - reset restart counter on successful check
+        if [ $RESTART_COUNT -gt 0 ]; then
+            RESTART_COUNT=0
+            log "${GREEN}VizionStreamer stable again${NC}"
+        fi
+    fi
+done
--- a/src/CameraController.cpp
+++ b/src/CameraController.cpp
@@ -11,7 +11,7 @@
 #include <iostream>

 CameraController::CameraController(std::shared_ptr<VxCamera> camera)
-    : camera_(camera), gstPipeline_("videoconvert ! autovideosink") {
+    : camera_(camera), gstPipeline_("fakesink") {
    streamingEngine_ = std::make_shared<StreamingEngine>(camera);
 }

@@ -154,8 +154,15 @@ std::string CameraController::handleSetExposure(const std::string& mode, const s
        const int flag = (mode == "auto") ? 1 : 0;
        const long expValue = value.empty() ? 0 : std::stol(value);

-        if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_EXPOSURE,
-                                   expValue, flag) != 0) {
+        std::cout << "[DEBUG] Setting exposure: mode=" << mode << " (flag=" << flag
+                  << "), value=" << expValue << std::endl;
+
+        const int result = VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_EXPOSURE,
+                                                   expValue, flag);
+
+        std::cout << "[DEBUG] VxSetUVCImageProcessing returned: " << result << std::endl;
+
+        if (result != 0) {
            return createErrorResponse("Failed to set exposure");
        }

@@ -249,8 +256,15 @@ std::string CameraController::handleSetGamma(const std::string& value) {
 std::string CameraController::handleSetGain(const std::string& value) {
    try {
        const long val = std::stol(value);
-        if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_GAIN,
-                                   val, 0) != 0) {
+
+        std::cout << "[DEBUG] Setting gain: value=" << val << std::endl;
+
+        const int result = VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_GAIN,
+                                                   val, 0);
+
+        std::cout << "[DEBUG] VxSetUVCImageProcessing (gain) returned: " << result << std::endl;
+
+        if (result != 0) {
            return createErrorResponse("Failed to set gain");
        }
        return createSuccessResponse("Gain set successfully");
--- a/src/SharedMemoryWriter.cpp
+++ b/src/SharedMemoryWriter.cpp
@@ -128,6 +128,19 @@ bool SharedMemoryWriter::writeFrame(const uint8_t* data, const size_t size,
    // 3. Copy frame data
    memcpy(frame_data, data, size);

+    // Debug: Log every 60 frames
+    static uint64_t debug_counter = 0;
+    if (++debug_counter % 60 == 0) {
+        std::cout << "[SHM] Frame #" << frame_counter_
+                  << " written. write_seq=" << header->write_sequence.load()
+                  << " size=" << size
+                  << " first 4 bytes: ";
+        for (int i = 0; i < 4 && i < size; i++) {
+            printf("%02x ", frame_data[i]);
+        }
+        std::cout << std::endl;
+    }
+
    // 4. Increment sequence (even = write complete)
    header->write_sequence.fetch_add(1, std::memory_order_release);

--- a/src/StreamingEngine.cpp
+++ b/src/StreamingEngine.cpp
@@ -10,6 +10,8 @@
 #include <iostream>
 #include <chrono>
 #include <utility>
+#include <algorithm>
+#include <cstring>

 StreamingEngine::StreamingEngine(std::shared_ptr<VxCamera> camera)
    : camera_(std::move(camera)), running_(false), currentFormat_(), bufferSize_(0) {
@@ -44,26 +46,41 @@ bool StreamingEngine::start(const std::string& gstPipeline) {
        return false;
    }

-    // Start camera streaming
-    if (VxStartStreaming(camera_) != 0) {
-        std::cerr << "Failed to start camera streaming" << std::endl;
-        return false;
-    }
+    // Ensure camera is not already streaming (clean slate)
+    VxStopStreaming(camera_);

-    // Get current format to allocate buffer
+    // Get current format to allocate buffer BEFORE starting streaming
    std::vector<VxFormat> fmtList;
    if (VxGetFormatList(camera_, fmtList) != 0 || fmtList.empty()) {
        std::cerr << "Failed to get format list" << std::endl;
-        VxStopStreaming(camera_);
        return false;
    }
    currentFormat_ = fmtList[0];

+    // Ensure format is properly set before streaming
+    if (VxSetFormat(camera_, currentFormat_) != 0) {
+        std::cerr << "Failed to set format before streaming" << std::endl;
+        return false;
+    }
+
+    std::cout << "Starting stream with format: " << currentFormat_.width << "x"
+              << currentFormat_.height << " @ " << currentFormat_.framerate << " fps" << std::endl;
+
+    // Start camera streaming
+    const int startResult = VxStartStreaming(camera_);
+    if (startResult != 0) {
+        std::cerr << "Failed to start camera streaming (error code: " << startResult << ")" << std::endl;
+        return false;
+    }
+
    // Allocate buffer (assume worst case: uncompressed)
    const size_t calculatedBufferSize = currentFormat_.width * currentFormat_.height * 4;
    bufferSize_ = calculatedBufferSize;
    buffer_ = std::make_unique<uint8_t[]>(bufferSize_);

+    // Allocate RGB conversion buffer for shared memory
+    rgbBuffer_ = std::make_unique<uint8_t[]>(currentFormat_.width * currentFormat_.height * 3);
+
    // Start GStreamer pipeline if configured
    if (useGStreamer) {
        gstPipeline_->setPipelineDescription(gstPipeline);
@@ -130,6 +147,18 @@ void StreamingEngine::acquisitionLoop() {
        const VX_CAPTURE_RESULT result = VxGetImage(camera_, buffer_.get(), &dataSize, 1000);

        if (result == VX_CAPTURE_RESULT::VX_SUCCESS && dataSize > 0) {
+            // Debug: Check buffer immediately after VxGetImage (every 60 frames)
+            static uint64_t captureCount = 0;
+            captureCount++;
+            if (captureCount % 60 == 1) {
+                std::cout << "\n[RAW BUFFER Frame #" << captureCount << "] Right after VxGetImage:" << std::endl;
+                std::cout << "[RAW] First 16 bytes: ";
+                for (int i = 0; i < 16; i++) {
+                    printf("%02x ", buffer_.get()[i]);
+                }
+                std::cout << std::endl;
+            }
+
            // Get timestamp for frame
            const uint64_t timestamp_ns = std::chrono::duration_cast<std::chrono::nanoseconds>(
                std::chrono::system_clock::now().time_since_epoch()).count();
@@ -147,6 +176,15 @@ void StreamingEngine::acquisitionLoop() {

            // Push frame to GStreamer pipeline if active
            if (gstPipeline_->isRunning()) {
+                // Debug: Check buffer before GStreamer push
+                if (captureCount % 60 == 1) {
+                    std::cout << "[BEFORE GST] First 16 bytes: ";
+                    for (int i = 0; i < 16; i++) {
+                        printf("%02x ", buffer_.get()[i]);
+                    }
+                    std::cout << std::endl;
+                }
+
                if (!gstPipeline_->pushBuffer(buffer_.get(), dataSize,
                                             currentFormat_.width, currentFormat_.height,
                                             formatStr)) {
@@ -154,12 +192,68 @@ void StreamingEngine::acquisitionLoop() {
                }
            }

-            // Push frame to shared memory if enabled
+            // Push frame to shared memory if enabled (always as RGB)
            if (shmWriter_ && shmWriter_->isCreated()) {
-                if (!shmWriter_->writeFrame(buffer_.get(), dataSize,
+                static uint64_t shmFrameCount = 0;
+                shmFrameCount++;
+
+                const uint8_t* frameData = buffer_.get();
+                size_t frameSize = dataSize;
+                std::string outputFormat = "RGB";
+
+                // Debug: Print every 60 frames to see current data
+                if (shmFrameCount % 60 == 1) {
+                    std::cout << "\n[DEBUG SHM Frame #" << shmFrameCount << "] Input format: " << formatStr
+                              << " | Size: " << dataSize << std::endl;
+                    std::cout << "[DEBUG] First 16 input bytes (hex): ";
+                    for (int i = 0; i < 16 && i < dataSize; i++) {
+                        printf("%02x ", buffer_.get()[i]);
+                    }
+                    std::cout << std::endl;
+
+                    // For UYVY, show interpretation
+                    if (currentFormat_.format == VX_IMAGE_FORMAT::UYVY) {
+                        std::cout << "[DEBUG] UYVY: U=" << (int)buffer_.get()[0]
+                                  << " Y0=" << (int)buffer_.get()[1]
+                                  << " V=" << (int)buffer_.get()[2]
+                                  << " Y1=" << (int)buffer_.get()[3] << std::endl;
+                    }
+                }
+
+                // Convert to RGB if needed
+                if (currentFormat_.format != VX_IMAGE_FORMAT::RGB) {
+                    frameSize = convertToRGB(buffer_.get(), rgbBuffer_.get(),
                                           currentFormat_.width, currentFormat_.height,
-                                           formatStr, timestamp_ns)) {
+                                           currentFormat_.format);
+                    frameData = rgbBuffer_.get();
+
+                    // Debug: Print every 60 frames after conversion
+                    if (shmFrameCount % 60 == 1) {
+                        std::cout << "[DEBUG] RGB output - First 12 bytes: ";
+                        for (int i = 0; i < 12 && i < frameSize; i++) {
+                            printf("%02x ", frameData[i]);
+                        }
+                        std::cout << "\n[DEBUG] First 2 RGB pixels: R=" << (int)frameData[0]
+                                  << " G=" << (int)frameData[1] << " B=" << (int)frameData[2]
+                                  << " | R=" << (int)frameData[3] << " G=" << (int)frameData[4]
+                                  << " B=" << (int)frameData[5] << std::endl;
+                    }
+                }
+
+                if (!shmWriter_->writeFrame(frameData, frameSize,
+                                           currentFormat_.width, currentFormat_.height,
+                                           outputFormat, timestamp_ns)) {
                    std::cerr << "Failed to write frame to shared memory" << std::endl;
+                } else {
+                    // Debug: Print info every 30 frames
+                    if (shmFrameCount % 30 == 0) {
+                        std::cout << "[DEBUG] SHM: Written " << shmFrameCount << " frames. "
+                                  << "Last frame first 8 bytes: ";
+                        for (int i = 0; i < 8 && i < frameSize; i++) {
+                            printf("%02x ", frameData[i]);
+                        }
+                        std::cout << std::endl;
+                    }
                }
            }

@@ -223,3 +317,110 @@ void StreamingEngine::disableSharedMemory() {
        std::cout << "Shared memory disabled" << std::endl;
    }
 }
+
+size_t StreamingEngine::convertToRGB(const uint8_t* src, uint8_t* dst, const int width, const int height, const VX_IMAGE_FORMAT format) {
+    const size_t rgbSize = width * height * 3;
+
+    // Helper lambda for safe clamping
+    auto clamp = [](int value) -> uint8_t {
+        if (value < 0) return 0;
+        if (value > 255) return 255;
+        return static_cast<uint8_t>(value);
+    };
+
+    switch (format) {
+        case VX_IMAGE_FORMAT::BGR: {
+            // BGR to RGB: swap R and B channels
+            for (int i = 0; i < width * height; i++) {
+                dst[i * 3 + 0] = src[i * 3 + 2];  // R = B
+                dst[i * 3 + 1] = src[i * 3 + 1];  // G = G
+                dst[i * 3 + 2] = src[i * 3 + 0];  // B = R
+            }
+            return rgbSize;
+        }
+
+        case VX_IMAGE_FORMAT::YUY2: {
+            // YUY2 (YUYV) to RGB conversion
+            // Format: Y0 U Y1 V (4 bytes = 2 pixels)
+            for (int i = 0; i < width * height / 2; i++) {
+                const int y0 = src[i * 4 + 0];
+                const int u  = src[i * 4 + 1];
+                const int y1 = src[i * 4 + 2];
+                const int v  = src[i * 4 + 3];
+
+                const int c0 = y0 - 16;
+                const int c1 = y1 - 16;
+                const int d = u - 128;
+                const int e = v - 128;
+
+                // First pixel (RGB)
+                const int r0 = (298 * c0 + 409 * e + 128) >> 8;
+                const int g0 = (298 * c0 - 100 * d - 208 * e + 128) >> 8;
+                const int b0 = (298 * c0 + 516 * d + 128) >> 8;
+
+                dst[i * 6 + 0] = clamp(r0);
+                dst[i * 6 + 1] = clamp(g0);
+                dst[i * 6 + 2] = clamp(b0);
+
+                // Second pixel (RGB)
+                const int r1 = (298 * c1 + 409 * e + 128) >> 8;
+                const int g1 = (298 * c1 - 100 * d - 208 * e + 128) >> 8;
+                const int b1 = (298 * c1 + 516 * d + 128) >> 8;
+
+                dst[i * 6 + 3] = clamp(r1);
+                dst[i * 6 + 4] = clamp(g1);
+                dst[i * 6 + 5] = clamp(b1);
+            }
+            return rgbSize;
+        }
+
+        case VX_IMAGE_FORMAT::UYVY: {
+            // UYVY to RGB conversion
+            // Format: U Y0 V Y1 (4 bytes = 2 pixels)
+            for (int i = 0; i < width * height / 2; i++) {
+                const int u  = src[i * 4 + 0];
+                const int y0 = src[i * 4 + 1];
+                const int v  = src[i * 4 + 2];
+                const int y1 = src[i * 4 + 3];
+
+                const int c0 = y0 - 16;
+                const int c1 = y1 - 16;
+                const int d = u - 128;
+                const int e = v - 128;
+
+                // First pixel (RGB)
+                const int r0 = (298 * c0 + 409 * e + 128) >> 8;
+                const int g0 = (298 * c0 - 100 * d - 208 * e + 128) >> 8;
+                const int b0 = (298 * c0 + 516 * d + 128) >> 8;
+
+                dst[i * 6 + 0] = clamp(r0);
+                dst[i * 6 + 1] = clamp(g0);
+                dst[i * 6 + 2] = clamp(b0);
+
+                // Second pixel (RGB)
+                const int r1 = (298 * c1 + 409 * e + 128) >> 8;
+                const int g1 = (298 * c1 - 100 * d - 208 * e + 128) >> 8;
+                const int b1 = (298 * c1 + 516 * d + 128) >> 8;
+
+                dst[i * 6 + 3] = clamp(r1);
+                dst[i * 6 + 4] = clamp(g1);
+                dst[i * 6 + 5] = clamp(b1);
+            }
+            return rgbSize;
+        }
+
+        case VX_IMAGE_FORMAT::RGB: {
+            // Already RGB, just copy
+            std::memcpy(dst, src, rgbSize);
+            return rgbSize;
+        }
+
+        default: {
+            std::cerr << "Unsupported format for RGB conversion, copying as-is" << std::endl;
+            // Copy as-is for unsupported formats
+            const size_t copySize = std::min(rgbSize, static_cast<size_t>(width * height * 4));
+            std::memcpy(dst, src, copySize);
+            return copySize;
+        }
+    }
+}
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -98,7 +98,7 @@ int main() {
    std::cout << "License: CC BY-NC-SA 4.0 -> https://creativecommons.org/licenses/by-nc-sa/4.0/" << std::endl;
    std::cout << "========================================" << std::endl << std::endl;
    std::cout << "Control socket: " << socketPath << std::endl;
-    std::cout << "Default pipeline: videoconvert ! autovideosink" << std::endl;
+    std::cout << "Default pipeline: fakesink (no display)" << std::endl;
    std::cout << "\nQuick start:" << std::endl;
    std::cout << R"(  echo '{"command":"start_stream"}' | socat - UNIX-CONNECT:)" << socketPath << std::endl;
    std::cout << "\nTo change pipeline before starting:" << std::endl;
--- a/watchdog.sh
+++ b/watchdog.sh
@@ -0,0 +1,119 @@
+#!/bin/bash
+
+# VizionStreamer Watchdog Script
+# Automatically restarts the streamer if it crashes
+# Usage: ./watchdog.sh
+
+STREAMER_PATH="./build/vizionStreamer"
+CHECK_INTERVAL=5  # Seconds between checks
+LOG_FILE="./watchdog.log"
+PID_FILE="./vizionStreamer.pid"
+
+# Colors for output
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+NC='\033[0m' # No Color
+
+# Function to log messages
+log() {
+    echo "[$(date '+%Y-%m-%d %H:%M:%S')] $1" | tee -a "$LOG_FILE"
+}
+
+# Function to start the streamer
+start_streamer() {
+    log "${GREEN}Starting VizionStreamer...${NC}"
+    $STREAMER_PATH &
+    STREAMER_PID=$!
+    echo $STREAMER_PID > "$PID_FILE"
+    log "VizionStreamer started with PID: $STREAMER_PID"
+}
+
+# Function to check if process is running
+is_running() {
+    if [ -f "$PID_FILE" ]; then
+        PID=$(cat "$PID_FILE")
+        if ps -p $PID > /dev/null 2>&1; then
+            return 0  # Running
+        fi
+    fi
+    return 1  # Not running
+}
+
+# Function to stop the streamer
+stop_streamer() {
+    if [ -f "$PID_FILE" ]; then
+        PID=$(cat "$PID_FILE")
+        if ps -p $PID > /dev/null 2>&1; then
+            log "${YELLOW}Stopping VizionStreamer (PID: $PID)...${NC}"
+            kill $PID
+            sleep 2
+            # Force kill if still running
+            if ps -p $PID > /dev/null 2>&1; then
+                log "${RED}Force killing VizionStreamer...${NC}"
+                kill -9 $PID
+            fi
+        fi
+        rm -f "$PID_FILE"
+    fi
+}
+
+# Trap SIGINT and SIGTERM to cleanly shutdown
+cleanup() {
+    log "${YELLOW}Watchdog shutting down...${NC}"
+    stop_streamer
+    log "${GREEN}Watchdog stopped${NC}"
+    exit 0
+}
+
+trap cleanup SIGINT SIGTERM
+
+# Check if vizionStreamer executable exists
+if [ ! -f "$STREAMER_PATH" ]; then
+    log "${RED}ERROR: VizionStreamer not found at $STREAMER_PATH${NC}"
+    log "Please build the project first: cmake --build build"
+    exit 1
+fi
+
+# Main watchdog loop
+log "${GREEN}=== VizionStreamer Watchdog Started ===${NC}"
+log "Check interval: ${CHECK_INTERVAL} seconds"
+log "Press Ctrl+C to stop"
+
+RESTART_COUNT=0
+
+# Start streamer initially
+start_streamer
+sleep 2  # Give it time to start
+
+while true; do
+    sleep $CHECK_INTERVAL
+
+    if ! is_running; then
+        RESTART_COUNT=$((RESTART_COUNT + 1))
+        log "${RED}VizionStreamer died! Restart count: $RESTART_COUNT${NC}"
+
+        # Optional: limit restart attempts
+        if [ $RESTART_COUNT -gt 10 ]; then
+            log "${RED}ERROR: Too many restarts (10). Giving up.${NC}"
+            log "Check the logs for recurring errors."
+            exit 1
+        fi
+
+        # Clean up old PID file
+        rm -f "$PID_FILE"
+
+        # Wait a bit before restarting to avoid rapid restart loops
+        sleep 2
+
+        # Restart
+        start_streamer
+        sleep 2
+    else
+        # Still running - reset restart counter on successful check
+        if [ $RESTART_COUNT -gt 0 ]; then
+            RESTART_COUNT=0
+            log "${GREEN}VizionStreamer stable again${NC}"
+        fi
+    fi
+done