Vehicle-cpp/hkpc/videoPro/main_12.12.cpp

//
// Created by alex on 18-12-8.
//
//
#include <opencv2/opencv.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <string>
#include <iostream>
#include <zconf.h>
#include <csignal>
#include <thread>
#include "MvGmslCamera.h"
#include <fstream>
#include <chrono>

#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <linux/videodev2.h>
#include <thread>
#include <time.h>

#define VIDEO_OUT "/dev/video8"

using namespace std::chrono;

using std::string;
sig_atomic_t exitRequested = 0;
uint camera_num = 6;

struct sync_out_a_cfg_client_t stCameraCfgSend = {};

char dev_node[32] = "/dev/video0";     /*不输入-d参数时，默认开启的第一个的设备*/
std::string camera_fmt_str = "UYVY";   /*默认采集的图像格式*/
std::string output_fmt_str = "BGRA32"; /*默认输出的图像格式，支持类型见README*/

// std::string output_fmt_str = "RGB8";

uint cam_w = 1920; /*不输入-s参数时。默认采集摄像头的分辨率*/
uint cam_h = 1080; /*不输入-s参数时。默认采集摄像头的分辨率*/

// true font 1          false back 0
bool MODEL = true;

/*屏幕输出的视频分辨率*/
// uint out_w = 960;
// uint out_h = 540;
// uint out_w = 320;
// uint out_h = 180;

uint64_t timestampbefore[8] = {0};         /*上一次采集图像时采集时间*/
uint64_t LinuxGetFrameTimeBefore[8] = {0}; /*上一次采集图像时的系统时间*/

void handler(int)
{
    std::cout << "will exit..." << std::endl;
    exitRequested = true;
}

std::string GetCurrentTimeStamp(int time_stamp_type = 0)
{
    std::chrono::system_clock::time_point now = std::chrono::system_clock::now();

    std::time_t now_time_t = std::chrono::system_clock::to_time_t(now);
    std::tm *now_tm = std::localtime(&now_time_t);

    char buffer[128];
    strftime(buffer, sizeof(buffer), "%F %T", now_tm);

    std::ostringstream ss;
    ss.fill('0');

    std::chrono::milliseconds ms;
    std::chrono::microseconds cs;
    std::chrono::nanoseconds ns;

    switch (time_stamp_type)
    {
    case 0:
        ss << buffer;
        break;
    case 1:
        ms = std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch()) % 1000;
        ss << buffer << ":" << ms.count();
        break;
    case 2:
        ms = std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch()) % 1000;
        cs = std::chrono::duration_cast<std::chrono::microseconds>(now.time_since_epoch()) % 1000000;
        ss << buffer << ":" << ms.count() << ":" << cs.count() % 1000;
        break;
    case 3:
        ms = std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch()) % 1000;
        cs = std::chrono::duration_cast<std::chrono::microseconds>(now.time_since_epoch()) % 1000000;
        ns = std::chrono::duration_cast<std::chrono::nanoseconds>(now.time_since_epoch()) % 1000000000;
        ss << buffer << ":" << ms.count() << ":" << cs.count() % 1000 << ":" << ns.count() % 1000;
        break;
    default:
        ss << buffer;
        break;
    }

    return ss.str();
}

//------------- F  1920 * 1080
cv::Mat meger;
uint meger_width = 2580;
uint meger_height = 960;
//                        0        1         2         3         4         5
int f_frame_size[] = {1920, 960, 1920, 960, 320, 180, 320, 180, 320, 180, 320, 180};

cv::Rect f_rectCenter = cv::Rect(330, 0, f_frame_size[0], f_frame_size[1]); // font frame_0

// cv::Rect f_rectCenterUp = cv::Rect(1130, 0, 320, 180); // back frame_1
cv::Rect f_rectCenterUp = cv::Rect(2260, 0, 320, 180);

cv::Rect f_rectLeftUp = cv::Rect(0, 390, 320, 180); // left frame_2
// cv::Rect frame2_rect = cv::Rect(60, 0, f_frame_size[4] - 120, f_frame_size[5]);

cv::Rect f_rectRightUp = cv::Rect(2260, 390, 320, 180); // right frame_3
// cv::Rect frame3_rect = cv::Rect(60, 0, f_frame_size[6] - 120, f_frame_size[7]);

cv::Mat frame_0, frame_1, frame_2, frame_3;
cv::Mat fCmeraMeger(cv::Mat outMat[])
{
    for (uint32_t i = 0; i < 4; i++)
    {
        cv::cvtColor(outMat[i], outMat[i], cv::COLOR_BGRA2RGB);
        switch (i)
        {
        case 0:
            frame_0 = outMat[i];
            break;
        case 1:
            // frame_1 = outMat[i](frame1_rect);
            frame_1 = outMat[i];
            resize(frame_1, frame_1, cv::Size(320, 180));
            break;
        case 2:
            frame_2 = outMat[i];
            // ROTATE_90_CLOCKWISE
            // ROTATE_180
            // ROTATE_90_COUNTERCLOCKWISE
            //cv::rotate(frame_2, frame_2, cv::ROTATE_90_COUNTERCLOCKWISE);
            break;
        case 3:
            frame_3 = outMat[i];
            //cv::rotate(frame_3, frame_3, cv::ROTATE_90_CLOCKWISE);
            break;
        default:
            break;
        }
    }

    // cv::Mat f_meger = cv::Mat::zeros(meger_height, meger_width, frame_0.type());

    frame_0.copyTo(meger(f_rectCenter));
    frame_1.copyTo(meger(f_rectCenterUp));
    frame_2.copyTo(meger(f_rectLeftUp));
    frame_3.copyTo(meger(f_rectRightUp));

    return meger;
}

// uint meger_width = 1060;
// uint meger_height = 550;
//-------R 1902 * 852 //font_0   back_1    left_2   right_3    cha1_4    cha2_5
int r_frame_size[] = {1920, 960, 1920, 960, 320, 180, 320, 180, 320, 180, 320, 180};

cv::Rect r_rectCenterUp = cv::Rect(2260, 0, 320, 180);
// cv::Rect r_rectCenterUp = cv::Rect(1130, 0, 320, 180); // font frame_0

cv::Rect r_rectCenter = cv::Rect(330, 0, r_frame_size[2], r_frame_size[3]); // back frame_1

cv::Rect r_rectRightDown = cv::Rect(2260, 560, 320, 180); // left frame_2
// cv::Rect r_frame2_rect = cv::Rect(60, 0, r_frame_size[4] - 120, r_frame_size[5]);

cv::Rect r_rectLeftDown = cv::Rect(0, 560, 320, 180); // right frame_3
// cv::Rect r_frame3_rect = cv::Rect(60, 0, r_frame_size[6] - 120, r_frame_size[7]);

cv::Rect r_rectRightUp = cv::Rect(2260, 280, r_frame_size[8], r_frame_size[9]); // chabao left frame_4

cv::Rect r_rectLeftUp = cv::Rect(0, 280, r_frame_size[10], r_frame_size[11]); // chabao right frame_5

cv::Mat r_frame_0, r_frame_1, r_frame_2, r_frame_3, r_frame_4, r_frame_5;
cv::Mat rCmeraMeger(cv::Mat outMat[])
{
    for (uint32_t i = 0; i < camera_num; i++)
    {
        cv::cvtColor(outMat[i], outMat[i], cv::COLOR_BGRA2RGB);
        switch (i)
        {
        case 0:
            // r_frame_0 = outMat[i](r_frame0_rect);
            r_frame_0 = outMat[i];
            resize(r_frame_0, r_frame_0, cv::Size(320, 180));
            break;
        case 1:
            r_frame_1 = outMat[i];
            break;
        case 2:
            r_frame_2 = outMat[i];
            //cv::rotate(r_frame_2, r_frame_2, cv::ROTATE_90_CLOCKWISE);
            break;
        case 3:
            r_frame_3 = outMat[i];
            //cv::rotate(r_frame_3, r_frame_3, cv::ROTATE_90_COUNTERCLOCKWISE);
            break;
        case 4:
            r_frame_4 = outMat[i];
            break;
        case 5:
            r_frame_5 = outMat[i];
            break;
        default:
            break;
        }
    }

    // cv::Mat f_meger = cv::Mat::zeros(meger_height, meger_width, frame_0.type());

    
    r_frame_1.copyTo(meger(r_rectCenter));
    r_frame_0.copyTo(meger(r_rectCenterUp));
    r_frame_2.copyTo(meger(r_rectRightDown));
    r_frame_3.copyTo(meger(r_rectLeftDown));
    r_frame_4.copyTo(meger(r_rectRightUp));
    r_frame_5.copyTo(meger(r_rectLeftUp));

    return meger;
}

// 线程
std::ifstream inFile;
char c;
bool current_model = false;

void thread_1()
{
    while (1)
    {
        sleep(0.1);
        try
        {
            std::ifstream inFile("/tmp/vedioFront", std::ios::in | std::ios::binary);
            if (!inFile)
            {
                // std::cout << "error" << std::endl;
                // return 0;
            }
            else
            {
                inFile.get(c);
                inFile.close();
                current_model = c - '0';
            }
        }
        catch (const std::exception &e)
        {
            std::cerr << e.what() << '\n';
        }
    }
}

/*demo程序主函数，分别打开n个窗口，并通过反复分别调用GetImageCvMat和GetImagePtr接口获取图像和时间戳在窗口中显示*/
int main(int argc, char *argv[])
{
    // open output device
    int output = open(VIDEO_OUT, O_RDWR);
    if (output < 0)
    {
        std::cerr << "ERROR: could not open output device!\n"
                  << strerror(errno);
        return -2;
    }

    // configure params for output device
    struct v4l2_format vid_format;
    memset(&vid_format, 0, sizeof(vid_format));
    vid_format.type = V4L2_BUF_TYPE_VIDEO_OUTPUT;

    if (ioctl(output, VIDIOC_G_FMT, &vid_format) < 0)
    {
        std::cerr << "ERROR: unable to get video format!\n"
                  << strerror(errno);
        return -1;
    }

    // output to video8
    size_t framesize = meger_width * meger_height * 3;
    vid_format.fmt.pix.width = meger_width;
    vid_format.fmt.pix.height = meger_height;
    vid_format.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB24;

    vid_format.fmt.pix.sizeimage = framesize;
    vid_format.fmt.pix.field = V4L2_FIELD_NONE;

    if (ioctl(output, VIDIOC_S_FMT, &vid_format) < 0)
    {
        std::cerr << "ERROR: unable to set video format!\n"
                  << strerror(errno);
        return -1;
    }

    camera_context_t ctx[8] = {};
    stCameraCfgSend.async_camera_num = 0;
    stCameraCfgSend.async_freq = 0;
    stCameraCfgSend.async_camera_bit_draw = 0;
    stCameraCfgSend.sync_camera_num = 8;
    stCameraCfgSend.sync_freq = 30;
    stCameraCfgSend.sync_camera_bit_draw = 0xff;

    // setenv("CHECK_TIME","0",0);
    char dev_node_tmp = dev_node[10];
    for (int i = 0; i < camera_num; i++)
    {
        dev_node[10] = dev_node_tmp + i;
        ctx[i].dev_node = dev_node;
        ctx[i].camera_fmt_str = camera_fmt_str;
        ctx[i].output_fmt_str = output_fmt_str;
        ctx[i].cam_w = cam_w;
        ctx[i].cam_h = cam_h;
        ctx[i].out_w = f_frame_size[i * 2];
        ctx[i].out_h = f_frame_size[i * 2 + 1];
    }

    miivii::MvGmslCamera mvcam(ctx, camera_num, stCameraCfgSend);

    std::string windowName("DisplayCamera ");

    cv::Mat outMat[camera_num];
    uint8_t *outbuf[camera_num];
    cv::Mat imgbuf[camera_num];
    signal(SIGINT, &handler);
    bool quit = false;
    uint64_t timestamp;

    // background
    meger = cv::imread("./base.jpg");
    cv::cvtColor(meger, meger, cv::COLOR_BGRA2RGB);
    resize(meger, meger, cv::Size(meger_width, meger_height));

    uint8_t camera_no = dev_node[10] - 0x30;
    cv::Mat mege_frame;
    int count = 1;

    meger = cv::imread("./base.jpg");
    cv::cvtColor(meger, meger, cv::COLOR_BGRA2RGB);
    resize(meger, meger, cv::Size(meger_width, meger_height));

    bool is_open_file = false;

    // 读取文件
    std::thread file_thread(thread_1);
    file_thread.detach();

    // clock_t start = clock();
    // int count_frame = 0;
    while (!quit)
    {
        if (exitRequested)
        {
            quit = true;
            break;
        }

        /*use cv data to get image*/
        if (mvcam.GetImageCvMat(outMat, timestamp, camera_no))
        {
            if (current_model != MODEL)
            {
                meger = cv::imread("./base.jpg");
                cv::cvtColor(meger, meger, cv::COLOR_BGRA2RGB);
                resize(meger, meger, cv::Size(meger_width, meger_height));
                MODEL = current_model;
            }

            if (MODEL)
            {
                mege_frame = fCmeraMeger(outMat);
            }
            else
            {
                mege_frame = rCmeraMeger(outMat);
            }

            cv::putText(mege_frame, GetCurrentTimeStamp(0), cv::Point(350, 30), cv::FONT_HERSHEY_SIMPLEX, 0.8, cv::Scalar(255, 255, 255), 2);

            // write frame to output device
            size_t written = write(output, mege_frame.data, framesize);

            // count_frame++;
            
            if (written < 0)
            {
                std::cerr << "ERROR: could not write to output device!\n";
                close(output);
                break;
            }
        }
        else
        {
            std::cerr << "Can't get image form camera." << std::endl;
        }

        if (cv::waitKey(1) == 27)
        { // Wait for 'esc' key press to exit
            break;
        }

        sleep(0.002);
    }

    close(output);
    return 0;
}