add Unix Socket API
This commit is contained in:
Maik Jurischka
@@ -20,7 +20,11 @@ find_library(VIZIONSDK_LIBRARY
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)
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# Create executable
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add_executable(vizionStreamer main.cpp)
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add_executable(vizionStreamer
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main.cpp
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SocketServer.cpp
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CameraController.cpp
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)
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# Link VizionSDK library
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target_link_libraries(vizionStreamer PRIVATE ${VIZIONSDK_LIBRARY})
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295
CameraController.cpp
Normal file
295
CameraController.cpp
Normal file
@@ -0,0 +1,295 @@
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#include "CameraController.h"
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#include <sstream>
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#include <iostream>
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CameraController::CameraController(std::shared_ptr<VxCamera> camera)
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: camera_(camera), streaming_(false) {}
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std::string CameraController::processCommand(const std::string& jsonCommand) {
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std::lock_guard<std::mutex> lock(mutex_);
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// Simple JSON parsing (basic implementation)
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// Format: {"command":"name","params":{...}}
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size_t cmdPos = jsonCommand.find("\"command\"");
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if (cmdPos == std::string::npos) {
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return createErrorResponse("Missing command field");
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}
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size_t colonPos = jsonCommand.find(":", cmdPos);
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size_t quoteStart = jsonCommand.find("\"", colonPos);
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size_t quoteEnd = jsonCommand.find("\"", quoteStart + 1);
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if (quoteStart == std::string::npos || quoteEnd == std::string::npos) {
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return createErrorResponse("Invalid command format");
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}
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std::string command = jsonCommand.substr(quoteStart + 1, quoteEnd - quoteStart - 1);
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// Helper lambda to extract parameter value
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auto getParam = [&jsonCommand](const std::string& paramName) -> std::string {
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size_t pos = jsonCommand.find("\"" + paramName + "\"");
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if (pos == std::string::npos) return "";
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size_t colonPos = jsonCommand.find(":", pos);
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size_t valueStart = jsonCommand.find_first_not_of(" \t\n\r", colonPos + 1);
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if (jsonCommand[valueStart] == '\"') {
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size_t valueEnd = jsonCommand.find("\"", valueStart + 1);
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return jsonCommand.substr(valueStart + 1, valueEnd - valueStart - 1);
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} else {
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size_t valueEnd = jsonCommand.find_first_of(",}", valueStart);
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return jsonCommand.substr(valueStart, valueEnd - valueStart);
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}
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};
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// Route commands
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if (command == "set_format") {
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return handleSetFormat(getParam("width"), getParam("height"),
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getParam("framerate"), getParam("format"));
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} else if (command == "get_formats") {
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return handleGetFormats();
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} else if (command == "set_exposure") {
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return handleSetExposure(getParam("mode"), getParam("value"));
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} else if (command == "set_whitebalance") {
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return handleSetWhiteBalance(getParam("mode"), getParam("temperature"));
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} else if (command == "set_brightness") {
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return handleSetBrightness(getParam("value"));
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} else if (command == "set_contrast") {
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return handleSetContrast(getParam("value"));
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} else if (command == "set_saturation") {
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return handleSetSaturation(getParam("value"));
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} else if (command == "set_sharpness") {
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return handleSetSharpness(getParam("value"));
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} else if (command == "set_gamma") {
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return handleSetGamma(getParam("value"));
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} else if (command == "set_gain") {
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return handleSetGain(getParam("value"));
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} else if (command == "get_status") {
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return handleGetStatus();
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} else if (command == "start_stream") {
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return handleStartStream();
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} else if (command == "stop_stream") {
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return handleStopStream();
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} else {
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return createErrorResponse("Unknown command: " + command);
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}
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}
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std::string CameraController::handleSetFormat(const std::string& width, const std::string& height,
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const std::string& framerate, const std::string& format) {
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if (streaming_) {
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return createErrorResponse("Cannot change format while streaming");
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}
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try {
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VxFormat fmt;
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fmt.width = std::stoi(width);
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fmt.height = std::stoi(height);
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fmt.framerate = std::stoi(framerate);
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fmt.format = stringToFormat(format);
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fmt.mediatypeIdx = 0;
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if (VxSetFormat(camera_, fmt) != 0) {
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return createErrorResponse("Failed to set format");
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}
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return createSuccessResponse("Format set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleGetFormats() {
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std::vector<VxFormat> fmtList;
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if (VxGetFormatList(camera_, fmtList) != 0) {
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return createErrorResponse("Failed to get format list");
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}
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std::ostringstream oss;
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oss << "{\"status\":\"success\",\"formats\":[";
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for (size_t i = 0; i < fmtList.size(); i++) {
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if (i > 0) oss << ",";
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oss << "{\"width\":" << fmtList[i].width
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<< ",\"height\":" << fmtList[i].height
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<< ",\"framerate\":" << fmtList[i].framerate
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<< ",\"format\":\"" << formatToString(fmtList[i].format) << "\"}";
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}
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oss << "]}";
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return oss.str();
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}
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std::string CameraController::handleSetExposure(const std::string& mode, const std::string& value) {
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try {
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int flag = (mode == "auto") ? 1 : 0;
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long expValue = value.empty() ? 0 : std::stol(value);
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if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_EXPOSURE,
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expValue, flag) != 0) {
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return createErrorResponse("Failed to set exposure");
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}
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return createSuccessResponse("Exposure set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleSetWhiteBalance(const std::string& mode, const std::string& temperature) {
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try {
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int flag = (mode == "auto") ? 1 : 0;
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long tempValue = temperature.empty() ? 0 : std::stol(temperature);
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if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_WHITEBALANCE,
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tempValue, flag) != 0) {
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return createErrorResponse("Failed to set white balance");
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}
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return createSuccessResponse("White balance set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleSetBrightness(const std::string& value) {
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try {
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long val = std::stol(value);
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if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_BRIGHTNESS,
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val, 0) != 0) {
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return createErrorResponse("Failed to set brightness");
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}
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return createSuccessResponse("Brightness set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleSetContrast(const std::string& value) {
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try {
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long val = std::stol(value);
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if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_CONTRAST,
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val, 0) != 0) {
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return createErrorResponse("Failed to set contrast");
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}
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return createSuccessResponse("Contrast set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleSetSaturation(const std::string& value) {
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try {
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long val = std::stol(value);
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if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_SATURATION,
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val, 0) != 0) {
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return createErrorResponse("Failed to set saturation");
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}
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return createSuccessResponse("Saturation set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleSetSharpness(const std::string& value) {
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try {
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long val = std::stol(value);
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if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_SHARPNESS,
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val, 0) != 0) {
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return createErrorResponse("Failed to set sharpness");
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}
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return createSuccessResponse("Sharpness set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleSetGamma(const std::string& value) {
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try {
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long val = std::stol(value);
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if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_GAMMA,
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val, 0) != 0) {
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return createErrorResponse("Failed to set gamma");
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}
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return createSuccessResponse("Gamma set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleSetGain(const std::string& value) {
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try {
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long val = std::stol(value);
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if (VxSetUVCImageProcessing(camera_, VX_UVC_IMAGE_PROPERTIES::UVC_IMAGE_GAIN,
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val, 0) != 0) {
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return createErrorResponse("Failed to set gain");
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}
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return createSuccessResponse("Gain set successfully");
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} catch (const std::exception& e) {
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return createErrorResponse(std::string("Invalid parameters: ") + e.what());
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}
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}
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std::string CameraController::handleGetStatus() {
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std::ostringstream oss;
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oss << "{\"status\":\"success\",\"streaming\":" << (streaming_ ? "true" : "false") << "}";
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return oss.str();
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}
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std::string CameraController::handleStartStream() {
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if (streaming_) {
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return createErrorResponse("Already streaming");
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}
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if (VxStartStreaming(camera_) != 0) {
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return createErrorResponse("Failed to start streaming");
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}
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streaming_ = true;
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return createSuccessResponse("Streaming started");
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}
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std::string CameraController::handleStopStream() {
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if (!streaming_) {
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return createErrorResponse("Not streaming");
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}
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if (VxStopStreaming(camera_) != 0) {
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return createErrorResponse("Failed to stop streaming");
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}
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streaming_ = false;
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return createSuccessResponse("Streaming stopped");
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}
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VX_IMAGE_FORMAT CameraController::stringToFormat(const std::string& format) {
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if (format == "YUY2") return VX_IMAGE_FORMAT::YUY2;
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if (format == "UYVY") return VX_IMAGE_FORMAT::UYVY;
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if (format == "NV12") return VX_IMAGE_FORMAT::NV12;
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if (format == "MJPG") return VX_IMAGE_FORMAT::MJPG;
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if (format == "BGR") return VX_IMAGE_FORMAT::BGR;
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if (format == "RGB") return VX_IMAGE_FORMAT::RGB;
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return VX_IMAGE_FORMAT::NONE;
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}
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std::string CameraController::formatToString(VX_IMAGE_FORMAT format) {
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switch (format) {
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case VX_IMAGE_FORMAT::YUY2: return "YUY2";
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case VX_IMAGE_FORMAT::UYVY: return "UYVY";
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case VX_IMAGE_FORMAT::NV12: return "NV12";
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case VX_IMAGE_FORMAT::MJPG: return "MJPG";
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case VX_IMAGE_FORMAT::BGR: return "BGR";
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case VX_IMAGE_FORMAT::RGB: return "RGB";
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default: return "NONE";
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}
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}
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std::string CameraController::createErrorResponse(const std::string& error) {
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return "{\"status\":\"error\",\"message\":\"" + error + "\"}";
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}
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std::string CameraController::createSuccessResponse(const std::string& message) {
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if (message.empty()) {
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return "{\"status\":\"success\"}";
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}
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return "{\"status\":\"success\",\"message\":\"" + message + "\"}";
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}
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41
CameraController.h
Normal file
41
CameraController.h
Normal file
@@ -0,0 +1,41 @@
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#pragma once
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#include <vizionsdk/VizionSDK.h>
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#include <memory>
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#include <string>
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#include <mutex>
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class CameraController {
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public:
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explicit CameraController(std::shared_ptr<VxCamera> camera);
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// Process JSON command and return JSON response
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std::string processCommand(const std::string& jsonCommand);
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private:
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// Command handlers
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std::string handleSetFormat(const std::string& width, const std::string& height,
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const std::string& framerate, const std::string& format);
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std::string handleGetFormats();
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std::string handleSetExposure(const std::string& mode, const std::string& value);
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std::string handleSetWhiteBalance(const std::string& mode, const std::string& temperature);
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std::string handleSetBrightness(const std::string& value);
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std::string handleSetContrast(const std::string& value);
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std::string handleSetSaturation(const std::string& value);
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std::string handleSetSharpness(const std::string& value);
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std::string handleSetGamma(const std::string& value);
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std::string handleSetGain(const std::string& value);
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std::string handleGetStatus();
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std::string handleStartStream();
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std::string handleStopStream();
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// Helper functions
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VX_IMAGE_FORMAT stringToFormat(const std::string& format);
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std::string formatToString(VX_IMAGE_FORMAT format);
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std::string createErrorResponse(const std::string& error);
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std::string createSuccessResponse(const std::string& message = "");
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std::shared_ptr<VxCamera> camera_;
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std::mutex mutex_;
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bool streaming_;
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};
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514
SOCKET_API.md
Normal file
514
SOCKET_API.md
Normal file
@@ -0,0 +1,514 @@
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# VizionStreamer Socket Control API
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VizionStreamer can be controlled via a Unix Domain Socket interface. This allows external applications to configure camera parameters and stream settings at runtime.
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## Socket Connection
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- **Socket Path**: `/tmp/vizion_control.sock`
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- **Protocol**: Unix Domain Socket (SOCK_STREAM)
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- **Message Format**: JSON
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## Command Format
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All commands follow this JSON structure:
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```json
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{
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"command": "command_name",
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"params": {
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"param1": "value1",
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"param2": "value2"
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}
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}
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```
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## Response Format
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All responses follow this JSON structure:
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**Success Response:**
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```json
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{
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"status": "success",
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"message": "Optional success message"
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}
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```
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**Error Response:**
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```json
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{
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"status": "error",
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"message": "Error description"
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}
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```
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## Available Commands
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||||
### 1. Get Available Formats
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||||
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Retrieve all supported video formats.
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|
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**Command:**
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||||
```json
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{
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"command": "get_formats"
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}
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```
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|
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**Response:**
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||||
```json
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{
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"status": "success",
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"formats": [
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{
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||||
"width": 1920,
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"height": 1080,
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"framerate": 30,
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"format": "YUY2"
|
||||
},
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||||
{
|
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"width": 1280,
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"height": 720,
|
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"framerate": 60,
|
||||
"format": "MJPG"
|
||||
}
|
||||
]
|
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}
|
||||
```
|
||||
|
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**Supported Formats:** YUY2, UYVY, NV12, MJPG, BGR, RGB
|
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|
||||
---
|
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|
||||
### 2. Set Video Format
|
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|
||||
Change the video format (resolution, framerate, pixel format).
|
||||
|
||||
**Note:** Cannot be changed while streaming is active.
|
||||
|
||||
**Command:**
|
||||
```json
|
||||
{
|
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"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
111
SocketServer.cpp
Normal 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
29
SocketServer.h
Normal 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
56
main.cpp
@@ -1,9 +1,22 @@
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
#include <csignal>
|
||||
#include <atomic>
|
||||
#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() {
|
||||
// Setup signal handlers for clean shutdown
|
||||
signal(SIGINT, signalHandler);
|
||||
signal(SIGTERM, signalHandler);
|
||||
|
||||
// List available cameras
|
||||
std::vector<std::string> devList;
|
||||
@@ -26,7 +39,7 @@ int main() {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Get and set format
|
||||
// Get and set default format
|
||||
std::vector<VxFormat> fmtList;
|
||||
if (VxGetFormatList(cam, fmtList) != 0) {
|
||||
std::cout << "Failed to get format list" << std::endl;
|
||||
@@ -40,31 +53,38 @@ int main() {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Start streaming
|
||||
if (VxStartStreaming(cam) != 0) {
|
||||
std::cout << "Failed to start streaming" << std::endl;
|
||||
std::cout << "Initial format: " << fmtList[0].width << "x" << fmtList[0].height
|
||||
<< " @ " << fmtList[0].framerate << " fps" << 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);
|
||||
return -1;
|
||||
}
|
||||
|
||||
// Capture 5 frames
|
||||
std::shared_ptr<uint8_t[]> buffer(new uint8_t[fmtList[0].width * fmtList[0].height * 3]);
|
||||
int dataSize;
|
||||
std::cout << "\nVizion Streamer is running." << std::endl;
|
||||
std::cout << "Control socket: " << socketPath << std::endl;
|
||||
std::cout << "Press Ctrl+C to exit.\n" << std::endl;
|
||||
|
||||
for (int i = 0; i < 5; i++) {
|
||||
VX_CAPTURE_RESULT result = VxGetImage(cam, buffer.get(), &dataSize, 1000);
|
||||
if (result == VX_CAPTURE_RESULT::VX_SUCCESS) {
|
||||
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;
|
||||
}
|
||||
// Main loop - keep running until signaled to stop
|
||||
while (g_running) {
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
}
|
||||
|
||||
// Cleanup
|
||||
VxStopStreaming(cam);
|
||||
std::cout << "Shutting down..." << std::endl;
|
||||
server.stop();
|
||||
VxClose(cam);
|
||||
|
||||
std::cout << "Shutdown complete." << std::endl;
|
||||
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.
|
||||
}
|
||||
Reference in New Issue
Block a user