SkadiLabs/vizionStreamer
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

add Unix Socket API

Browse Source
This commit is contained in:
Maik Jurischka
2025-12-12 10:46:49 +01:00
parent 2edffd5f76
commit fe0af4dc64
7 changed files with 1033 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
CMakeLists.txt
View File

@@ -20,7 +20,11 @@ find_library(VIZIONSDK_LIBRARY
) )
# Create executable # Create executable
add_executable(vizionStreamer main.cpp) add_executable(vizionStreamer
main.cpp
SocketServer.cpp
CameraController.cpp
)
# Link VizionSDK library # Link VizionSDK library
target_link_libraries(vizionStreamer PRIVATE ${VIZIONSDK_LIBRARY}) target_link_libraries(vizionStreamer PRIVATE ${VIZIONSDK_LIBRARY})

295
CameraController.cpp Normal file
View File

@@ -0,0 +1,295 @@
#include "CameraController.h"
#include <sstream>
#include <iostream>
CameraController::CameraController(std::shared_ptr<VxCamera> camera)
: camera_(camera), streaming_(false) {}
std::string CameraController::processCommand(const std::string& jsonCommand) {
std::lock_guard<std::mutex> lock(mutex_);
// Simple JSON parsing (basic implementation)
// Format: {"command":"name","params":{...}}
size_t cmdPos = jsonCommand.find("\"command\"");
if (cmdPos == std::string::npos) {
return createErrorResponse("Missing command field");
}
size_t colonPos = jsonCommand.find(":", cmdPos);
size_t quoteStart = jsonCommand.find("\"", colonPos);
size_t quoteEnd = jsonCommand.find("\"", quoteStart + 1);
if (quoteStart == std::string::npos || quoteEnd == std::string::npos) {
return createErrorResponse("Invalid command format");
}
std::string command = jsonCommand.substr(quoteStart + 1, quoteEnd - quoteStart - 1);
// Helper lambda to extract parameter value
auto getParam = [&jsonCommand](const std::string& paramName) -> std::string {
size_t pos = jsonCommand.find("\"" + paramName + "\"");
if (pos == std::string::npos) return "";
size_t colonPos = jsonCommand.find(":", pos);
size_t valueStart = jsonCommand.find_first_not_of(" \t\n\r", colonPos + 1);
if (jsonCommand[valueStart] == '\"') {
size_t valueEnd = jsonCommand.find("\"", valueStart + 1);
return jsonCommand.substr(valueStart + 1, valueEnd - valueStart - 1);
} else {
size_t valueEnd = jsonCommand.find_first_of(",}", valueStart);
return jsonCommand.substr(valueStart, valueEnd - valueStart);
}
};
// Route commands
if (command == "set_format") {
return handleSetFormat(getParam("width"), getParam("height"),
getParam("framerate"), getParam("format"));
} else if (command == "get_formats") {
return handleGetFormats();
} else if (command == "set_exposure") {
return handleSetExposure(getParam("mode"), getParam("value"));
} else if (command == "set_whitebalance") {
return handleSetWhiteBalance(getParam("mode"), getParam("temperature"));
} else if (command == "set_brightness") {
return handleSetBrightness(getParam("value"));
} else if (command == "set_contrast") {
return handleSetContrast(getParam("value"));
} else if (command == "set_saturation") {
return handleSetSaturation(getParam("value"));
} else if (command == "set_sharpness") {
return handleSetSharpness(getParam("value"));
} else if (command == "set_gamma") {
return handleSetGamma(getParam("value"));
} else if (command == "set_gain") {
return handleSetGain(getParam("value"));
} else if (command == "get_status") {
return handleGetStatus();
} else if (command == "start_stream") {
return handleStartStream();
} else if (command == "stop_stream") {
return handleStopStream();
} else {
return createErrorResponse("Unknown command: " + command);
}
}
std::string CameraController::handleSetFormat(const std::string& width, const std::string& height,
const std::string& framerate, const std::string& format) {
if (streaming_) {
return createErrorResponse("Cannot change format while streaming");
}
try {
VxFormat fmt;
fmt.width = std::stoi(width);
fmt.height = std::stoi(height);
fmt.framerate = std::stoi(framerate);
fmt.format = stringToFormat(format);
fmt.mediatypeIdx = 0;
if (VxSetFormat(camera_, fmt) != 0) {
return createErrorResponse("Failed to set format");
}
return createSuccessResponse("Format set successfully");
} catch (const std::exception& e) {
return createErrorResponse(std::string("Invalid parameters: ") + e.what());
}
}
std::string CameraController::handleGetFormats() {
std::vector<VxFormat> fmtList;
if (VxGetFormatList(camera_, fmtList) != 0) {
return createErrorResponse("Failed to get format list");
}
std::ostringstream oss;
oss << "{\"status\":\"success\",\"formats\":[";
for (size_t i = 0; i < fmtList.size(); i++) {
if (i > 0) oss << ",";
oss << "{\"width\":" << fmtList[i].width
<< ",\"height\":" << fmtList[i].height
<< ",\"framerate\":" << fmtList[i].framerate
<< ",\"format\":\"" << formatToString(fmtList[i].format) << "\"}";
}
oss << "]}";
return oss.str();
}
std::string CameraController::handleSetExposure(const std::string& mode, const std::string& value) {
try {
int flag = (mode == "auto") ? 1 : 0;
long expValue = value.empty() ? 0 : std::stol(value);
if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_EXPOSURE,
expValue, flag) != 0) {
return createErrorResponse("Failed to set exposure");
}
return createSuccessResponse("Exposure set successfully");
} catch (const std::exception& e) {
return createErrorResponse(std::string("Invalid parameters: ") + e.what());
}
}
std::string CameraController::handleSetWhiteBalance(const std::string& mode, const std::string& temperature) {
try {
int flag = (mode == "auto") ? 1 : 0;
long tempValue = temperature.empty() ? 0 : std::stol(temperature);
if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_WHITEBALANCE,
tempValue, flag) != 0) {
return createErrorResponse("Failed to set white balance");
}
return createSuccessResponse("White balance set successfully");
} catch (const std::exception& e) {
return createErrorResponse(std::string("Invalid parameters: ") + e.what());
}
}
std::string CameraController::handleSetBrightness(const std::string& value) {
try {
long val = std::stol(value);
if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_BRIGHTNESS,
val, 0) != 0) {
return createErrorResponse("Failed to set brightness");
}
return createSuccessResponse("Brightness set successfully");
} catch (const std::exception& e) {
return createErrorResponse(std::string("Invalid parameters: ") + e.what());
}
}
std::string CameraController::handleSetContrast(const std::string& value) {
try {
long val = std::stol(value);
if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_CONTRAST,
val, 0) != 0) {
return createErrorResponse("Failed to set contrast");
}
return createSuccessResponse("Contrast set successfully");
} catch (const std::exception& e) {
return createErrorResponse(std::string("Invalid parameters: ") + e.what());
}
}
std::string CameraController::handleSetSaturation(const std::string& value) {
try {
long val = std::stol(value);
if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_SATURATION,
val, 0) != 0) {
return createErrorResponse("Failed to set saturation");
}
return createSuccessResponse("Saturation set successfully");
} catch (const std::exception& e) {
return createErrorResponse(std::string("Invalid parameters: ") + e.what());
}
}
std::string CameraController::handleSetSharpness(const std::string& value) {
try {
long val = std::stol(value);
if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_SHARPNESS,
val, 0) != 0) {
return createErrorResponse("Failed to set sharpness");
}
return createSuccessResponse("Sharpness set successfully");
} catch (const std::exception& e) {
return createErrorResponse(std::string("Invalid parameters: ") + e.what());
}
}
std::string CameraController::handleSetGamma(const std::string& value) {
try {
long val = std::stol(value);
if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_GAMMA,
val, 0) != 0) {
return createErrorResponse("Failed to set gamma");
}
return createSuccessResponse("Gamma set successfully");
} catch (const std::exception& e) {
return createErrorResponse(std::string("Invalid parameters: ") + e.what());
}
}
std::string CameraController::handleSetGain(const std::string& value) {
try {
long val = std::stol(value);
if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_GAIN,
val, 0) != 0) {
return createErrorResponse("Failed to set gain");
}
return createSuccessResponse("Gain set successfully");
} catch (const std::exception& e) {
return createErrorResponse(std::string("Invalid parameters: ") + e.what());
}
}
std::string CameraController::handleGetStatus() {
std::ostringstream oss;
oss << "{\"status\":\"success\",\"streaming\":" << (streaming_ ? "true" : "false") << "}";
return oss.str();
}
std::string CameraController::handleStartStream() {
if (streaming_) {
return createErrorResponse("Already streaming");
}
if (VxStartStreaming(camera_) != 0) {
return createErrorResponse("Failed to start streaming");
}
streaming_ = true;
return createSuccessResponse("Streaming started");
}
std::string CameraController::handleStopStream() {
if (!streaming_) {
return createErrorResponse("Not streaming");
}
if (VxStopStreaming(camera_) != 0) {
return createErrorResponse("Failed to stop streaming");
}
streaming_ = false;
return createSuccessResponse("Streaming stopped");
}
VX_IMAGE_FORMAT CameraController::stringToFormat(const std::string& format) {
if (format == "YUY2") return VX_IMAGE_FORMAT::YUY2;
if (format == "UYVY") return VX_IMAGE_FORMAT::UYVY;
if (format == "NV12") return VX_IMAGE_FORMAT::NV12;
if (format == "MJPG") return VX_IMAGE_FORMAT::MJPG;
if (format == "BGR") return VX_IMAGE_FORMAT::BGR;
if (format == "RGB") return VX_IMAGE_FORMAT::RGB;
return VX_IMAGE_FORMAT::NONE;
}
std::string CameraController::formatToString(VX_IMAGE_FORMAT format) {
switch (format) {
case VX_IMAGE_FORMAT::YUY2: return "YUY2";
case VX_IMAGE_FORMAT::UYVY: return "UYVY";
case VX_IMAGE_FORMAT::NV12: return "NV12";
case VX_IMAGE_FORMAT::MJPG: return "MJPG";
case VX_IMAGE_FORMAT::BGR: return "BGR";
case VX_IMAGE_FORMAT::RGB: return "RGB";
default: return "NONE";
}
}
std::string CameraController::createErrorResponse(const std::string& error) {
return "{\"status\":\"error\",\"message\":\"" + error + "\"}";
}
std::string CameraController::createSuccessResponse(const std::string& message) {
if (message.empty()) {
return "{\"status\":\"success\"}";
}
return "{\"status\":\"success\",\"message\":\"" + message + "\"}";
}

41
CameraController.h Normal file
View File

@@ -0,0 +1,41 @@
#pragma once
#include <vizionsdk/VizionSDK.h>
#include <memory>
#include <string>
#include <mutex>
class CameraController {
public:
explicit CameraController(std::shared_ptr<VxCamera> camera);
// Process JSON command and return JSON response
std::string processCommand(const std::string& jsonCommand);
private:
// Command handlers
std::string handleSetFormat(const std::string& width, const std::string& height,
const std::string& framerate, const std::string& format);
std::string handleGetFormats();
std::string handleSetExposure(const std::string& mode, const std::string& value);
std::string handleSetWhiteBalance(const std::string& mode, const std::string& temperature);
std::string handleSetBrightness(const std::string& value);
std::string handleSetContrast(const std::string& value);
std::string handleSetSaturation(const std::string& value);
std::string handleSetSharpness(const std::string& value);
std::string handleSetGamma(const std::string& value);
std::string handleSetGain(const std::string& value);
std::string handleGetStatus();
std::string handleStartStream();
std::string handleStopStream();
// Helper functions
VX_IMAGE_FORMAT stringToFormat(const std::string& format);
std::string formatToString(VX_IMAGE_FORMAT format);
std::string createErrorResponse(const std::string& error);
std::string createSuccessResponse(const std::string& message = "");
std::shared_ptr<VxCamera> camera_;
std::mutex mutex_;
bool streaming_;
};

514
SOCKET_API.md Normal file
View File

@@ -0,0 +1,514 @@
# VizionStreamer Socket Control API
VizionStreamer can be controlled via a Unix Domain Socket interface. This allows external applications to configure camera parameters and stream settings at runtime.
## Socket Connection
- **Socket Path**: `/tmp/vizion_control.sock`
- **Protocol**: Unix Domain Socket (SOCK_STREAM)
- **Message Format**: JSON
## Command Format
All commands follow this JSON structure:
```json
{
"command": "command_name",
"params": {
"param1": "value1",
"param2": "value2"
}
}
```
## Response Format
All responses follow this JSON structure:
**Success Response:**
```json
{
"status": "success",
"message": "Optional success message"
}
```
**Error Response:**
```json
{
"status": "error",
"message": "Error description"
}
```
## Available Commands
### 1. Get Available Formats
Retrieve all supported video formats.
**Command:**
```json
{
"command": "get_formats"
}
```
**Response:**
```json
{
"status": "success",
"formats": [
{
"width": 1920,
"height": 1080,
"framerate": 30,
"format": "YUY2"
},
{
"width": 1280,
"height": 720,
"framerate": 60,
"format": "MJPG"
}
]
}
```
**Supported Formats:** YUY2, UYVY, NV12, MJPG, BGR, RGB
---
### 2. Set Video Format
Change the video format (resolution, framerate, pixel format).
**Note:** Cannot be changed while streaming is active.
**Command:**
```json
{
"command": "set_format",
"params": {
"width": "1920",
"height": "1080",
"framerate": "30",
"format": "YUY2"
}
}
```
**Response:**
```json
{
"status": "success",
"message": "Format set successfully"
}
```
---
### 3. Start Streaming
Start video streaming from the camera.
**Command:**
```json
{
"command": "start_stream"
}
```
**Response:**
```json
{
"status": "success",
"message": "Streaming started"
}
```
---
### 4. Stop Streaming
Stop video streaming.
**Command:**
```json
{
"command": "stop_stream"
}
```
**Response:**
```json
{
"status": "success",
"message": "Streaming stopped"
}
```
---
### 5. Get Status
Get current streaming status.
**Command:**
```json
{
"command": "get_status"
}
```
**Response:**
```json
{
"status": "success",
"streaming": true
}
```
---
### 6. Set Exposure
Configure camera exposure settings.
**Command:**
```json
{
"command": "set_exposure",
"params": {
"mode": "manual",
"value": "100"
}
}
```
**Parameters:**
- `mode`: "auto" or "manual"
- `value`: Exposure value (only used in manual mode)
**Response:**
```json
{
"status": "success",
"message": "Exposure set successfully"
}
```
---
### 7. Set White Balance
Configure white balance settings.
**Command:**
```json
{
"command": "set_whitebalance",
"params": {
"mode": "auto",
"temperature": "4500"
}
}
```
**Parameters:**
- `mode`: "auto" or "manual"
- `temperature`: Color temperature in Kelvin (only used in manual mode)
**Response:**
```json
{
"status": "success",
"message": "White balance set successfully"
}
```
---
### 8. Set Brightness
Adjust camera brightness.
**Command:**
```json
{
"command": "set_brightness",
"params": {
"value": "50"
}
}
```
**Response:**
```json
{
"status": "success",
"message": "Brightness set successfully"
}
```
---
### 9. Set Contrast
Adjust camera contrast.
**Command:**
```json
{
"command": "set_contrast",
"params": {
"value": "32"
}
}
```
**Response:**
```json
{
"status": "success",
"message": "Contrast set successfully"
}
```
---
### 10. Set Saturation
Adjust color saturation.
**Command:**
```json
{
"command": "set_saturation",
"params": {
"value": "64"
}
}
```
**Response:**
```json
{
"status": "success",
"message": "Saturation set successfully"
}
```
---
### 11. Set Sharpness
Adjust image sharpness.
**Command:**
```json
{
"command": "set_sharpness",
"params": {
"value": "3"
}
}
```
**Response:**
```json
{
"status": "success",
"message": "Sharpness set successfully"
}
```
---
### 12. Set Gamma
Adjust gamma correction.
**Command:**
```json
{
"command": "set_gamma",
"params": {
"value": "100"
}
}
```
**Response:**
```json
{
"status": "success",
"message": "Gamma set successfully"
}
```
---
### 13. Set Gain
Adjust camera gain.
**Command:**
```json
{
"command": "set_gain",
"params": {
"value": "0"
}
}
```
**Response:**
```json
{
"status": "success",
"message": "Gain set successfully"
}
```
---
## Usage Examples
### Using `socat`
```bash
# Get available formats
echo '{"command":"get_formats"}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
# Set video format
echo '{"command":"set_format","params":{"width":"1920","height":"1080","framerate":"30","format":"YUY2"}}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
# Start streaming
echo '{"command":"start_stream"}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
# Set exposure to auto
echo '{"command":"set_exposure","params":{"mode":"auto"}}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
# Set brightness
echo '{"command":"set_brightness","params":{"value":"50"}}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
# Get status
echo '{"command":"get_status"}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
# Stop streaming
echo '{"command":"stop_stream"}' | socat - UNIX-CONNECT:/tmp/vizion_control.sock
```
### Using `nc` (netcat with Unix socket support)
```bash
echo '{"command":"get_formats"}' | nc -U /tmp/vizion_control.sock
```
### Using Python
```python
import socket
import json
def send_command(command, params=None):
sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
sock.connect('/tmp/vizion_control.sock')
cmd = {"command": command}
if params:
cmd["params"] = params
sock.send(json.dumps(cmd).encode())
response = sock.recv(4096).decode()
sock.close()
return json.loads(response)
# Examples
print(send_command("get_formats"))
print(send_command("set_format", {
"width": "1920",
"height": "1080",
"framerate": "30",
"format": "YUY2"
}))
print(send_command("set_exposure", {"mode": "auto"}))
print(send_command("start_stream"))
```
### Using C++
```cpp
#include <sys/socket.h>
#include <sys/un.h>
#include <unistd.h>
#include <string>
#include <iostream>
std::string sendCommand(const std::string& command) {
int sock = socket(AF_UNIX, SOCK_STREAM, 0);
struct sockaddr_un addr;
memset(&addr, 0, sizeof(addr));
addr.sun_family = AF_UNIX;
strcpy(addr.sun_path, "/tmp/vizion_control.sock");
connect(sock, (struct sockaddr*)&addr, sizeof(addr));
send(sock, command.c_str(), command.length(), 0);
char buffer[4096];
int bytesRead = recv(sock, buffer, sizeof(buffer) - 1, 0);
buffer[bytesRead] = '\0';
close(sock);
return std::string(buffer);
}
// Example usage
int main() {
std::cout << sendCommand(R"({"command":"get_formats"})") << std::endl;
std::cout << sendCommand(R"({"command":"set_brightness","params":{"value":"50"}})") << std::endl;
return 0;
}
```
## Parameter Value Ranges
The valid ranges for camera parameters depend on the specific camera model. You can query the camera capabilities through the VizionSDK API or experimentally determine valid ranges.
**Typical ranges (camera-dependent):**
- Brightness: 0-255
- Contrast: 0-255
- Saturation: 0-255
- Sharpness: 0-255
- Gamma: 72-500
- Gain: 0-100
- Exposure: 1-10000 (in auto mode, value is ignored)
- White Balance Temperature: 2800-6500 Kelvin
## Error Handling
Always check the `status` field in the response:
```python
response = send_command("set_format", {...})
if response["status"] == "error":
print(f"Command failed: {response['message']}")
else:
print("Command successful")
```
## Thread Safety
The socket server handles one client connection at a time. Commands are processed sequentially with mutex protection to ensure thread safety with the camera operations.
## Notes
- The socket file is automatically created when VizionStreamer starts
- The socket file is removed when VizionStreamer exits cleanly
- Format changes require streaming to be stopped first
- Some parameters may not be supported on all camera models
- Invalid parameter values will return an error response

111
SocketServer.cpp Normal file
View File

@@ -0,0 +1,111 @@
#include "SocketServer.h"
#include <sys/socket.h>
#include <sys/un.h>
#include <unistd.h>
#include <cstring>
#include <iostream>
SocketServer::SocketServer(const std::string& socketPath)
: socketPath_(socketPath), serverFd_(-1), running_(false) {}
SocketServer::~SocketServer() {
stop();
}
bool SocketServer::start(CommandCallback callback) {
if (running_) {
return false;
}
commandCallback_ = callback;
// Remove existing socket file if it exists
unlink(socketPath_.c_str());
// Create Unix domain socket
serverFd_ = socket(AF_UNIX, SOCK_STREAM, 0);
if (serverFd_ < 0) {
std::cerr << "Failed to create socket" << std::endl;
return false;
}
// Bind socket
struct sockaddr_un addr;
memset(&addr, 0, sizeof(addr));
addr.sun_family = AF_UNIX;
strncpy(addr.sun_path, socketPath_.c_str(), sizeof(addr.sun_path) - 1);
if (bind(serverFd_, (struct sockaddr*)&addr, sizeof(addr)) < 0) {
std::cerr << "Failed to bind socket: " << strerror(errno) << std::endl;
close(serverFd_);
return false;
}
// Listen for connections
if (listen(serverFd_, 5) < 0) {
std::cerr << "Failed to listen on socket" << std::endl;
close(serverFd_);
unlink(socketPath_.c_str());
return false;
}
running_ = true;
serverThread_ = std::make_unique<std::thread>(&SocketServer::serverLoop, this);
std::cout << "Socket server started on " << socketPath_ << std::endl;
return true;
}
void SocketServer::stop() {
if (!running_) {
return;
}
running_ = false;
// Close server socket to unblock accept()
if (serverFd_ >= 0) {
shutdown(serverFd_, SHUT_RDWR);
close(serverFd_);
serverFd_ = -1;
}
// Wait for server thread to finish
if (serverThread_ && serverThread_->joinable()) {
serverThread_->join();
}
unlink(socketPath_.c_str());
std::cout << "Socket server stopped" << std::endl;
}
void SocketServer::serverLoop() {
while (running_) {
int clientFd = accept(serverFd_, nullptr, nullptr);
if (clientFd < 0) {
if (running_) {
std::cerr << "Accept failed: " << strerror(errno) << std::endl;
}
continue;
}
handleClient(clientFd);
close(clientFd);
}
}
void SocketServer::handleClient(int clientFd) {
char buffer[4096];
ssize_t bytesRead = recv(clientFd, buffer, sizeof(buffer) - 1, 0);
if (bytesRead > 0) {
buffer[bytesRead] = '\0';
std::string command(buffer);
// Call the command callback
std::string response = commandCallback_(command);
// Send response back to client
send(clientFd, response.c_str(), response.length(), 0);
}
}

29
SocketServer.h Normal file
View File

@@ -0,0 +1,29 @@
#pragma once
#include <string>
#include <functional>
#include <thread>
#include <atomic>
#include <memory>
class SocketServer {
public:
using CommandCallback = std::function<std::string(const std::string&)>;
explicit SocketServer(const std::string& socketPath);
~SocketServer();
bool start(CommandCallback callback);
void stop();
bool isRunning() const { return running_; }
private:
void serverLoop();
void handleClient(int clientFd);
std::string socketPath_;
int serverFd_;
std::atomic<bool> running_;
std::unique_ptr<std::thread> serverThread_;
CommandCallback commandCallback_;
};

56
main.cpp
View File

@@ -1,9 +1,22 @@
#include <iostream> #include <iostream>
#include <memory> #include <memory>
#include <csignal>
#include <atomic>
#include <vizionsdk/VizionSDK.h> #include <vizionsdk/VizionSDK.h>
#include "SocketServer.h"
#include "CameraController.h"
std::atomic<bool> g_running(true);
void signalHandler(int signal) {
std::cout << "\nReceived signal " << signal << ", shutting down..." << std::endl;
g_running = false;
}
// TIP To <b>Run</b> code, press <shortcut actionId="Run"/> or click the <icon src="AllIcons.Actions.Execute"/> icon in the gutter.
int main() { int main() {
// Setup signal handlers for clean shutdown
signal(SIGINT, signalHandler);
signal(SIGTERM, signalHandler);
// List available cameras // List available cameras
std::vector<std::string> devList; std::vector<std::string> devList;
@@ -26,7 +39,7 @@ int main() {
return -1; return -1;
} }
// Get and set format // Get and set default format
std::vector<VxFormat> fmtList; std::vector<VxFormat> fmtList;
if (VxGetFormatList(cam, fmtList) != 0) { if (VxGetFormatList(cam, fmtList) != 0) {
std::cout << "Failed to get format list" << std::endl; std::cout << "Failed to get format list" << std::endl;
@@ -40,31 +53,38 @@ int main() {
return -1; return -1;
} }
// Start streaming std::cout << "Initial format: " << fmtList[0].width << "x" << fmtList[0].height
if (VxStartStreaming(cam) != 0) { << " @ " << fmtList[0].framerate << " fps" << std::endl;
std::cout << "Failed to start streaming" << std::endl;
// Create camera controller
auto controller = std::make_shared<CameraController>(cam);
// Start Unix domain socket server
const std::string socketPath = "/tmp/vizion_control.sock";
SocketServer server(socketPath);
if (!server.start([controller](const std::string& cmd) {
return controller->processCommand(cmd);
})) {
std::cout << "Failed to start socket server" << std::endl;
VxClose(cam); VxClose(cam);
return -1; return -1;
} }
// Capture 5 frames std::cout << "\nVizion Streamer is running." << std::endl;
std::shared_ptr<uint8_t[]> buffer(new uint8_t[fmtList[0].width * fmtList[0].height * 3]); std::cout << "Control socket: " << socketPath << std::endl;
int dataSize; std::cout << "Press Ctrl+C to exit.\n" << std::endl;
for (int i = 0; i < 5; i++) { // Main loop - keep running until signaled to stop
VX_CAPTURE_RESULT result = VxGetImage(cam, buffer.get(), &dataSize, 1000); while (g_running) {
if (result == VX_CAPTURE_RESULT::VX_SUCCESS) { std::this_thread::sleep_for(std::chrono::milliseconds(100));
std::cout << "Successfully captured frame " << i + 1 << " of size: " << dataSize << " bytes" << std::endl;
} else {
std::cout << "Failed to capture frame " << i + 1 << std::endl;
break;
}
} }
// Cleanup // Cleanup
VxStopStreaming(cam); std::cout << "Shutting down..." << std::endl;
server.stop();
VxClose(cam); VxClose(cam);
std::cout << "Shutdown complete." << std::endl;
return 0; return 0;
// TIP See CLion help at <a href="https://www.jetbrains.com/help/clion/">jetbrains.com/help/clion/</a>. Also, you can try interactive lessons for CLion by selecting 'Help | Learn IDE Features' from the main menu.
} }