miketsai
b2321fcdca
Replace 11 compile-time THR_* #defines with runtime float globals (g_thr_grass_roi, g_thr_*_collision, g_thr_*_alert) defined in stdc_post_process.c and exposed via extern in the header. - ini/host_stream.ini: add [detect] section with integer promille values - kp_firmware.c: read [detect] section at startup, log initial values - event_recorder.c: add 11 BLE SET handlers (THR_GRASS_ROI, THR_PERSON/CAR/TREE/BUNKER/POND_COL, THR_PERSON/CAR/TREE/BUNKER/POND_ALT) each with range validation (1-1000), runtime update, and INI persistence - app_header_init.c: rename log field mov= to moving= for clarity
627 lines
28 KiB
C
627 lines
28 KiB
C
/*
|
|
*******************************************************************************
|
|
* Copyright (c) 2010-2022 VATICS(KNERON) Inc. All rights reserved.
|
|
*
|
|
* +-----------------------------------------------------------------+
|
|
* | THIS SOFTWARE IS FURNISHED UNDER A LICENSE AND MAY ONLY BE USED |
|
|
* | AND COPIED IN ACCORDANCE WITH THE TERMS AND CONDITIONS OF SUCH |
|
|
* | A LICENSE AND WITH THE INCLUSION OF THE THIS COPY RIGHT NOTICE. |
|
|
* | THIS SOFTWARE OR ANY OTHER COPIES OF THIS SOFTWARE MAY NOT BE |
|
|
* | PROVIDED OR OTHERWISE MADE AVAILABLE TO ANY OTHER PERSON. THE |
|
|
* | OWNERSHIP AND TITLE OF THIS SOFTWARE IS NOT TRANSFERRED. |
|
|
* | |
|
|
* | THE INFORMATION IN THIS SOFTWARE IS SUBJECT TO CHANGE WITHOUT |
|
|
* | ANY PRIOR NOTICE AND SHOULD NOT BE CONSTRUED AS A COMMITMENT BY |
|
|
* | VATICS(KNERON) INC. |
|
|
* +-----------------------------------------------------------------+
|
|
*
|
|
*******************************************************************************
|
|
*/
|
|
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <signal.h>
|
|
#include <string.h>
|
|
#include <strings.h>
|
|
#include <sys/stat.h>
|
|
#include <sys/time.h>
|
|
#include <getopt.h>
|
|
#include <unistd.h>
|
|
#include <pthread.h>
|
|
#include <sys/resource.h>
|
|
|
|
#include <iniparser/iniparser.h>
|
|
#include <vmf/sync_shared_memory.h>
|
|
#include <vmf/ssm_info.h>
|
|
#include <vmf/video_display_mechanism.h>
|
|
#include <vmf_nnm_inference_app.h>
|
|
#include <vmf_nnm_fifoq_manager.h>
|
|
#include <linux/videodev2.h>
|
|
#include "application_init.h"
|
|
#include "kdp2_host_stream.h"
|
|
#include "fec_api.h"
|
|
#include "event_recorder.h"
|
|
#include "stdc_post_process.h"
|
|
#include "bt_uart.h"
|
|
#include "can_bus.h"
|
|
#include "buzzer.h"
|
|
#include "remote_ctrl.h"
|
|
#include "handshake.h"
|
|
|
|
//fifo queue buffer setting
|
|
#define IMAGE_BUFFER_COUNT 3
|
|
|
|
#define RESULT_BUFFER_COUNT 3
|
|
#define RESULT_BUFFER_SIZE 512 * 1024
|
|
|
|
|
|
#define HOST_STREAM_CONFIG_PATH "./ini/host_stream.ini"
|
|
|
|
extern void *kdp2_host_stream_image_thread(void *arg);
|
|
extern void *kdp2_host_update_result_thread(void *arg);
|
|
extern void *kdp2_host_video_thread(void *arg);
|
|
extern void *kdp2_host_roi_image_thread(void *arg);
|
|
extern void *kdp2_host_voc_thread(void *phandle);
|
|
|
|
extern int app_header_send_inference(uint32_t buf_addr, bool *bl_run_next_inference, void* arg, unsigned char* image_buffer, VMF_VSRC_SSM_OUTPUT_INFO_T* vsrc_ssm_info);
|
|
extern int app_header_recv_inference(uint32_t buf_addr, bool *bl_run_next_inference);
|
|
|
|
bool _blDispatchRunning = true; //VMF_NNM_Fifoq_Manager_Enqueue_Image_Thread: This thread control argument.
|
|
//true: keep running, false: this operation should only be invoked before terminating the process.
|
|
bool _blFifoqManagerRunning = true; //VMF_NNM_Inference_Image_Dispatcher_Thread: This thread control argument.
|
|
//true: keep running, false: this operation should only be invoked before terminating the process.
|
|
extern bool _blRecvRunning;
|
|
extern bool _blResultRunning;
|
|
extern ssm_handle_t *gptSsmHandle;
|
|
extern int g_iTerminate;
|
|
unsigned int g_dwVocEnable = 0;
|
|
unsigned int g_dwVocPixFmt = 0;
|
|
unsigned int g_dwOnlyPerson = 0;
|
|
unsigned int g_dwDrawBoxEnable = 0;
|
|
unsigned int g_dwSegOverlayEnable = 0; /* 1: paint per-class colour overlay; 0: outline only */
|
|
unsigned int g_verbose_log = 0; /* 0=quiet, 1=per-frame class ratio log (web UI toggle) */
|
|
|
|
bool _blMainStanby = true;
|
|
DETECT_INFO g_atDrawInfo[MAX_RESULT_BOX];
|
|
unsigned int g_dwResultCounts = 0;
|
|
|
|
/* STDC segmentation map shared with draw-box thread */
|
|
uint8_t g_stdc_seg_map[STDC_SEG_MAP_MAX];
|
|
uint32_t g_stdc_seg_w = 0;
|
|
uint32_t g_stdc_seg_h = 0;
|
|
pthread_mutex_t g_stdc_seg_mutex = PTHREAD_MUTEX_INITIALIZER;
|
|
|
|
int loadConfig(HOST_STREAM_INIT_OPT_T* pHostStreamInit)
|
|
{
|
|
dictionary* ini = NULL;
|
|
const char* tmp = NULL;
|
|
struct stat info;
|
|
char search_str[30] = {0};
|
|
|
|
//! check file
|
|
if (0 != stat(HOST_STREAM_CONFIG_PATH, &info))
|
|
return -1;
|
|
|
|
if (!(info.st_mode & S_IFREG))
|
|
return -1;
|
|
|
|
printf("iniparser_load %s \n", HOST_STREAM_CONFIG_PATH);
|
|
ini = iniparser_load(HOST_STREAM_CONFIG_PATH);
|
|
|
|
tmp = iniparser_getstring(ini, "sensor:sensor_cfg", NULL);
|
|
if(tmp)
|
|
pHostStreamInit->pszSensorConfigPath = strdup(tmp);
|
|
|
|
tmp = iniparser_getstring(ini, "sensor:autoscene_config", NULL);
|
|
if(tmp /*&& (app_mode != VMF_VSRC_APP_MODE_DMA422TO420)*/) // Disable autoscene when app_mode == VMF_VSRC_APP_MODE_DMA422TO420
|
|
pHostStreamInit->pszAutoSceneConfigPath = strdup(tmp);
|
|
|
|
tmp = iniparser_getstring(ini, "sensor:fusion_cfg", NULL);
|
|
if(tmp)
|
|
pHostStreamInit->pszFusionConfigPath = strdup(tmp);
|
|
|
|
tmp = iniparser_getstring(ini, "sensor:fec_calibrate_path", NULL);
|
|
if(tmp)
|
|
pHostStreamInit->pszFecCalibratePath = strdup(tmp);
|
|
|
|
tmp = iniparser_getstring(ini, "sensor:fec_conf_path", NULL);
|
|
if(tmp)
|
|
pHostStreamInit->pszFecConfPath = strdup(tmp);
|
|
|
|
pHostStreamInit->dwFecMode = iniparser_getint(ini, "sensor:fec_mode", 0);
|
|
pHostStreamInit->dwFecAppType = iniparser_getint(ini, "sensor:initial_fec_app_type", 0);
|
|
pHostStreamInit->dwEisEnable = iniparser_getint(ini, "sensor:eis_enable", 0);
|
|
|
|
printf("[NNM] sensor_cfg: %s autoscene_config: %s \n", pHostStreamInit->pszSensorConfigPath, pHostStreamInit->pszAutoSceneConfigPath);
|
|
if(pHostStreamInit->pszFusionConfigPath){
|
|
printf("[NNM] fusion_cfg: %s\n", pHostStreamInit->pszFusionConfigPath);
|
|
}
|
|
printf("[NNM] fec_calibrate: %s fec_conf: %s \n", pHostStreamInit->pszFecCalibratePath, pHostStreamInit->pszFecConfPath);
|
|
|
|
pHostStreamInit->pszModelPath = strdup(iniparser_getstring(ini, "nnm:ModelPath", "nef/STDC_0520.nef"));
|
|
pHostStreamInit->dwInferenceStream = iniparser_getint(ini, "nnm:InferenceStream", 1);
|
|
pHostStreamInit->fThreshold = (float)iniparser_getdouble(ini, "nnm:Threshold", 0.5);
|
|
pHostStreamInit->dwModelId = iniparser_getint(ini, "nnm:ModelId", 32769);
|
|
pHostStreamInit->dwJobId = iniparser_getint(ini, "nnm:JobId", 200);
|
|
pHostStreamInit->fFps = (float)iniparser_getdouble(ini, "nnm:Fps", 25);
|
|
if (pHostStreamInit->fFps == 0) {
|
|
pHostStreamInit->fFps = 1;
|
|
printf("[Fps = 0], set a default fps %f.\n", pHostStreamInit->fFps);
|
|
}
|
|
pHostStreamInit->dwGetImageBufMode = iniparser_getint(ini, "nnm:GetImageBufMode", 0);
|
|
pHostStreamInit->bRoiEnable = iniparser_getint(ini, "nnm:RoiEnable", 0);
|
|
pHostStreamInit->dwRoiX = iniparser_getint(ini, "nnm:RoiX", 0);
|
|
pHostStreamInit->dwRoiY = iniparser_getint(ini, "nnm:RoiY", 0);
|
|
pHostStreamInit->bDrawBoxEnable = iniparser_getint(ini, "nnm:DrawBoxEnable", 0);
|
|
pHostStreamInit->dwOnlyPerson = iniparser_getint(ini, "nnm:OnlyPerson", 0);
|
|
g_dwOnlyPerson = pHostStreamInit->dwOnlyPerson;
|
|
g_verbose_log = (unsigned int)iniparser_getint(ini, "nnm:verbose_log", 0);
|
|
g_dwSegOverlayEnable = (unsigned int)iniparser_getint(ini, "nnm:SegOverlayEnable", 0);
|
|
pHostStreamInit->dwDrawOnResize = iniparser_getint(ini, "nnm:DrawOnResize", 0);
|
|
if (pHostStreamInit->bDrawBoxEnable && (pHostStreamInit->dwInferenceStream == 0) && (pHostStreamInit->dwDrawOnResize == 0)) {
|
|
pHostStreamInit->dwDrawOnResize = 1;
|
|
printf("[Setting Error] Force enabled DrawOnResize \n");
|
|
}
|
|
|
|
if ((pHostStreamInit->dwDrawOnResize == 1) && (pHostStreamInit->dwInferenceStream != 0)) {
|
|
pHostStreamInit->dwDrawOnResize = 0;
|
|
printf("[Setting Error] Force disable DrawOnResize \n");
|
|
}
|
|
|
|
pHostStreamInit->dwNnmSource= iniparser_getint(ini, "nnm:NnmSource", 0);
|
|
pHostStreamInit->pszSsmName= strdup(iniparser_getstring(ini, "nnm:ssm_name", "vsrc_ssm_0"));
|
|
|
|
pHostStreamInit->dwEncodeStreamCount = iniparser_getint(ini, "streamer:StreamCount", 3);
|
|
pHostStreamInit->eMemType = iniparser_getint(ini, "streamer:MemType", 0);
|
|
pHostStreamInit->dwEncodeStreamCount = ( pHostStreamInit->dwEncodeStreamCount > MAX_STREAM )?MAX_STREAM:pHostStreamInit->dwEncodeStreamCount;
|
|
for (unsigned int i=0; i < MAX_STREAM; i++) {
|
|
snprintf(search_str, 30, "stream%u:Codec", i);
|
|
pHostStreamInit->tVEncoder[i].eCodecType = iniparser_getint(ini, search_str, 1);
|
|
snprintf(search_str, 30, "stream%u:QP", i);
|
|
pHostStreamInit->tVEncoder[i].dwQp = iniparser_getint(ini, search_str, 25);
|
|
snprintf(search_str, 30, "stream%u:FPS", i);
|
|
pHostStreamInit->tVEncoder[i].dwFps = iniparser_getint(ini, search_str, 25);
|
|
snprintf(search_str, 30, "stream%u:Bitrate", i);
|
|
pHostStreamInit->tVEncoder[i].dwBitrate = iniparser_getint(ini, search_str, 2000000);
|
|
snprintf(search_str, 30, "stream%u:Virt_I_Interval", i);
|
|
pHostStreamInit->tVEncoder[i].dwVirtIFrameInterval = iniparser_getint(ini, search_str, 0);
|
|
snprintf(search_str, 30, "stream%u:GOP", i);
|
|
pHostStreamInit->tVEncoder[i].dwGop = iniparser_getint(ini, search_str, 50);
|
|
snprintf(search_str, 30, "stream%u:PIQ", i);
|
|
pHostStreamInit->tVEncoder[i].dwPiq = iniparser_getint(ini, search_str, 0);
|
|
snprintf(search_str, 30, "stream%u:Width", i);
|
|
pHostStreamInit->tVEncoder[i].dwWidth = iniparser_getint(ini, search_str, 2560);
|
|
snprintf(search_str, 30, "stream%u:Height", i);
|
|
pHostStreamInit->tVEncoder[i].dwHeight = iniparser_getint(ini, search_str, 1920);
|
|
snprintf(search_str, 30, "stream%u:KeepFrameRatio", i);
|
|
pHostStreamInit->tVEncoder[i].dwKeepRatio = iniparser_getint(ini, search_str, 0);
|
|
snprintf(search_str, 30, "stream%u:EncodeBufferSize", i);
|
|
pHostStreamInit->tVEncoder[i].dwEncodeBufferSize = iniparser_getint(ini, search_str, 6291456);
|
|
snprintf(search_str, 30, "stream%u:EncodeBufferAmount", i);
|
|
pHostStreamInit->tVEncoder[i].dwEncodeBufferAmount = iniparser_getint(ini, search_str, 3);
|
|
}
|
|
|
|
pHostStreamInit->dwVocEnable = iniparser_getint(ini, "voc:voc_enable", 0);
|
|
g_dwVocEnable = pHostStreamInit->dwVocEnable;
|
|
pHostStreamInit->dwVocWidth = VMF_32_ALIGN(iniparser_getint(ini, "voc:VocWidth", -1));
|
|
pHostStreamInit->dwVocHeight = VMF_8_ALIGN(iniparser_getint(ini, "voc:VocHeight", -1));
|
|
|
|
/* ISP pipeline always outputs YM12 (planar YUV420, three separate planes).
|
|
* The VOC (HDMI) display input must match. Hardcode YM12 to match SDK reference. */
|
|
(void)iniparser_getstring(ini, "voc:PixFmt", "YM12");
|
|
g_dwVocPixFmt = v4l2_fourcc('Y', 'M', '1', '2');
|
|
printf("[VOC] PixFmt: YM12 (0x%08X)\n", g_dwVocPixFmt);
|
|
|
|
if(pHostStreamInit->dwEisEnable == 1) {
|
|
FILE *fDeviceBufferEnable = NULL;
|
|
if (pHostStreamInit->dwFecMode != FEC_MODE_1O && pHostStreamInit->dwFecMode != FEC_MODE_1R ) {
|
|
printf("EIS mode does NOT support mode %u [Disable EIS]\n", pHostStreamInit->dwFecMode);
|
|
pHostStreamInit->dwEisEnable = 0;
|
|
}
|
|
fDeviceBufferEnable = fopen(IMU_CONFIG_PATH,"r");
|
|
if(!fDeviceBufferEnable) {
|
|
printf("[streamer] Cannot read %s in EIS mode. [Disable EIS]\n", IMU_CONFIG_PATH);
|
|
pHostStreamInit->dwEisEnable = 0;
|
|
}
|
|
if (fDeviceBufferEnable)
|
|
fclose(fDeviceBufferEnable);
|
|
}
|
|
|
|
printf("[NNM] Model: %s ImageWidth: %d ImageHeight: %d Threshold: %f Fps: %f \n", pHostStreamInit->pszModelPath, pHostStreamInit->tVEncoder[pHostStreamInit->dwInferenceStream].dwWidth, pHostStreamInit->tVEncoder[pHostStreamInit->dwInferenceStream].dwHeight, pHostStreamInit->fThreshold, pHostStreamInit->fFps);
|
|
printf("[NNM] Model: %s dwModelId: %d dwJobId: %d \n", pHostStreamInit->pszModelPath, pHostStreamInit->dwModelId, pHostStreamInit->dwJobId);
|
|
/* --- [event] section: violation event recording + upload --- */
|
|
{
|
|
int ev_enable = iniparser_getint(ini, "event:enable", 0);
|
|
const char *bt_dev = iniparser_getstring(ini, "event:bt_uart_dev", "/dev/ttyS1");
|
|
int bt_at_probe = iniparser_getint(ini, "event:bt_at_probe", 0);
|
|
const char *aresx_ver = iniparser_getstring(ini, "event:aresx_version", "1.0.0");
|
|
const char *ev_up = iniparser_getstring(ini, "event:upload_url", "http://192.168.0.114:8081/api/upload");
|
|
const char *ev_sd = iniparser_getstring(ini, "event:sd_path", "/tmp/sdcard/events");
|
|
int ev_max_mb = iniparser_getint(ini, "event:sd_max_mb", 7168);
|
|
int ev_delay = iniparser_getint(ini, "event:upload_delay_ms", 60000);
|
|
int ev_dev = iniparser_getint(ini, "event:upload_dev", 0);
|
|
|
|
/* device_id (event:device_id): raw Kn chip number string, e.g. "0xCE7B562C".
|
|
* bt_name (event:bt_name): BLE broadcast name derived from kn, e.g. "AresX-562C".
|
|
*
|
|
* First-boot (device_id empty): get kn, build both strings, mark need_ini_save.
|
|
* AT-probe flow (bt_at_probe==1): bt_set_module_name runs inside bt_uart_init();
|
|
* after it returns, persist bt_name + device_id and set bt_at_probe=0. */
|
|
const char *device_id_ini = iniparser_getstring(ini, "event:device_id", "");
|
|
char device_id[32]; /* raw kn number, e.g. "0xCE7B562C" */
|
|
char bt_name[32]; /* derived BLE name, e.g. "AresX-562C" */
|
|
int need_ini_save = 0;
|
|
|
|
if (!device_id_ini || !*device_id_ini) {
|
|
uint32_t kn = VMF_NNM_Get_Kn_Number();
|
|
snprintf(device_id, sizeof(device_id), "0x%08X", kn);
|
|
snprintf(bt_name, sizeof(bt_name), "AresX-%04X", (unsigned)(kn & 0xFFFF));
|
|
printf("[BT] auto device_id=%s bt_name=%s\n", device_id, bt_name);
|
|
iniparser_set(ini, "event:device_id", device_id);
|
|
iniparser_set(ini, "event:bt_name", bt_name);
|
|
need_ini_save = 1;
|
|
} else {
|
|
snprintf(device_id, sizeof(device_id), "%s", device_id_ini);
|
|
const char *bt_name_ini = iniparser_getstring(ini, "event:bt_name", "BT-24");
|
|
snprintf(bt_name, sizeof(bt_name), "%s", bt_name_ini);
|
|
printf("[BT] device_id=%s bt_name=%s (from INI)\n", device_id, bt_name);
|
|
}
|
|
|
|
/* Order matters: set_identity BEFORE init so s_bt_name is ready
|
|
* when bt_uart_probe_and_upgrade() calls bt_set_module_name(). */
|
|
bt_uart_set_identity(aresx_ver, bt_name);
|
|
bt_uart_init(bt_dev, bt_at_probe);
|
|
|
|
/* After AT probe+upgrade: persist bt_name, disable at_probe for next boot. */
|
|
if (bt_at_probe) {
|
|
iniparser_set(ini, "event:bt_name", bt_name);
|
|
iniparser_set(ini, "event:bt_at_probe", "0");
|
|
need_ini_save = 1;
|
|
}
|
|
|
|
if (need_ini_save) {
|
|
/* Use sed in-place replacement to update ONLY the specific keys we need to
|
|
* persist. This preserves the original file structure, all other sections,
|
|
* inline comments, and avoids iniparser_dump_ini stripping all comments and
|
|
* potentially producing an unreadable flat-format output on some iniparser
|
|
* versions.
|
|
*
|
|
* Pattern: match the key at the start of a line (with optional spaces around
|
|
* '='), replace the value part. The sed expression targets the [event] block
|
|
* values by their key names — safe because these keys only appear once. */
|
|
char cmd[512];
|
|
int rc = 0;
|
|
|
|
/* device_id */
|
|
snprintf(cmd, sizeof(cmd),
|
|
"sed -i 's|^device_id[[:space:]]*=.*|device_id = %s|' %s",
|
|
device_id, HOST_STREAM_CONFIG_PATH);
|
|
rc |= system(cmd);
|
|
|
|
/* bt_name */
|
|
snprintf(cmd, sizeof(cmd),
|
|
"sed -i 's|^bt_name[[:space:]]*=.*|bt_name = %s|' %s",
|
|
bt_name, HOST_STREAM_CONFIG_PATH);
|
|
rc |= system(cmd);
|
|
|
|
/* bt_at_probe → 0 (only when we just ran the AT probe) */
|
|
if (bt_at_probe) {
|
|
snprintf(cmd, sizeof(cmd),
|
|
"sed -i 's|^bt_at_probe[[:space:]]*=.*|bt_at_probe = 0|' %s",
|
|
HOST_STREAM_CONFIG_PATH);
|
|
rc |= system(cmd);
|
|
}
|
|
|
|
if (rc == 0)
|
|
printf("[BT] INI persisted via sed: bt_name=%s device_id=%s bt_at_probe=%d\n",
|
|
bt_name, device_id, bt_at_probe ? 0 : bt_at_probe);
|
|
else
|
|
printf("[BT] WARNING: sed INI update returned %d (%s)\n", rc, HOST_STREAM_CONFIG_PATH);
|
|
}
|
|
|
|
int ev_spd_normal = iniparser_getint(ini, "can:speed_normal", 240);
|
|
int ev_spd_alert = iniparser_getint(ini, "can:speed_alert", 35);
|
|
int ev_spd_stop = iniparser_getint(ini, "can:speed_stop", 10);
|
|
event_recorder_init(ev_up, ev_sd, ev_max_mb, ev_delay, ev_enable, device_id, ev_dev,
|
|
ev_spd_normal, ev_spd_alert, ev_spd_stop);
|
|
}
|
|
|
|
/* --- [detect] section: runtime-tunable detection thresholds --- */
|
|
{
|
|
g_thr_grass_roi = iniparser_getint(ini, "detect:thr_grass_roi", 750) / 1000.0f;
|
|
g_thr_person_collision = iniparser_getint(ini, "detect:thr_person_col", 100) / 1000.0f;
|
|
g_thr_car_collision = iniparser_getint(ini, "detect:thr_car_col", 200) / 1000.0f;
|
|
g_thr_tree_collision = iniparser_getint(ini, "detect:thr_tree_col", 200) / 1000.0f;
|
|
g_thr_bunker_collision = iniparser_getint(ini, "detect:thr_bunker_col", 200) / 1000.0f;
|
|
g_thr_pond_collision = iniparser_getint(ini, "detect:thr_pond_col", 200) / 1000.0f;
|
|
g_thr_person_alert = iniparser_getint(ini, "detect:thr_person_alt", 100) / 1000.0f;
|
|
g_thr_car_alert = iniparser_getint(ini, "detect:thr_car_alt", 100) / 1000.0f;
|
|
g_thr_tree_alert = iniparser_getint(ini, "detect:thr_tree_alt", 200) / 1000.0f;
|
|
g_thr_bunker_alert = iniparser_getint(ini, "detect:thr_bunker_alt", 100) / 1000.0f;
|
|
g_thr_pond_alert = iniparser_getint(ini, "detect:thr_pond_alt", 100) / 1000.0f;
|
|
printf("[FW] detect thresholds: grass=%.3f p_col=%.3f c_col=%.3f t_col=%.3f"
|
|
" p_alt=%.3f c_alt=%.3f\n",
|
|
g_thr_grass_roi, g_thr_person_collision, g_thr_car_collision,
|
|
g_thr_tree_collision, g_thr_person_alert, g_thr_car_alert);
|
|
}
|
|
|
|
/* --- [can] section: MCP2515 CAN bus via J15 SPI connector --- */
|
|
{
|
|
int can_enable = iniparser_getint(ini, "can:enable", 0);
|
|
const char *can_spidev = iniparser_getstring(ini, "can:spidev", "/dev/spidev1.0");
|
|
int can_speed = iniparser_getint(ini, "can:speed_kbps", 250);
|
|
int can_id_raw = iniparser_getint(ini, "can:can_id", 0x100);
|
|
if (can_enable)
|
|
can_bus_init(can_spidev, can_speed, (uint32_t)can_id_raw);
|
|
}
|
|
buzzer_init();
|
|
if (remote_ctrl_init() != 0)
|
|
printf("[FW] WARNING: remote_ctrl_init failed, remote disabled\n");
|
|
|
|
iniparser_freedict(ini);
|
|
return 0;
|
|
}
|
|
|
|
void sig_kill(int signo)
|
|
{
|
|
printf("receive SIGNAL: %d\n", signo);
|
|
|
|
if(gptSsmHandle)//get image sensor yuv data on HICO/HOST mode
|
|
SSM_Reader_Wakeup(gptSsmHandle);
|
|
|
|
_blMainStanby = false;
|
|
_blDispatchRunning = false;
|
|
_blRecvRunning = false; //kdp2_host_stream_image_thread
|
|
_blResultRunning = false; //kdp2_host_update_result_thread
|
|
g_iTerminate = 1;
|
|
|
|
_blFifoqManagerRunning = false;
|
|
|
|
VMF_NNM_Fifoq_Manager_Wakeup();
|
|
|
|
if (SIGSEGV == signo) {
|
|
#ifdef DEBUG
|
|
struct rlimit rlim, rlim_new;
|
|
printf("Dump stack start...ulimit -c unlimited\n");
|
|
if (getrlimit(RLIMIT_CORE, &rlim) == 0) {
|
|
rlim_new.rlim_cur = rlim_new.rlim_max = RLIM_INFINITY;
|
|
if (setrlimit(RLIMIT_CORE, &rlim_new) != 0) {
|
|
rlim_new.rlim_cur = rlim_new.rlim_max = rlim.rlim_max;
|
|
(void) setrlimit(RLIMIT_CORE, &rlim_new);
|
|
}
|
|
}
|
|
system("echo /tmp/core.%e.%p.%t > /proc/sys/kernel/core_pattern");
|
|
printf("Dump stack end...\n");
|
|
#endif
|
|
|
|
fflush(stdout);
|
|
signal(SIGSEGV, SIG_DFL);
|
|
raise(SIGSEGV);
|
|
}
|
|
printf("sig_kill end\n");
|
|
}
|
|
|
|
void print_usage(char* argv[])
|
|
{
|
|
printf("Usage 1, setting by ini: %s, default auto load [%s] \r\n", argv[0], HOST_STREAM_CONFIG_PATH);
|
|
}
|
|
|
|
int parse_argument(int argc, char* argv[], HOST_STREAM_INIT_OPT_T* pHostStreamInit) {
|
|
int ch;
|
|
|
|
while ((ch = getopt(argc, argv, "c:a:m:i:j:w:h:t:f:")) != -1)
|
|
{
|
|
switch(ch)
|
|
{
|
|
case 'c':
|
|
pHostStreamInit->pszSensorConfigPath = strdup(optarg);
|
|
printf("SensorConfigPath = %s\n", pHostStreamInit->pszSensorConfigPath);
|
|
break;
|
|
|
|
case 'a':
|
|
pHostStreamInit->pszAutoSceneConfigPath = strdup(optarg);
|
|
printf("AutoSceneConfigPath = %s\n", pHostStreamInit->pszAutoSceneConfigPath);
|
|
break;
|
|
|
|
case 'm':
|
|
pHostStreamInit->pszModelPath = strdup(optarg);
|
|
printf("ModelPath = %s\n", pHostStreamInit->pszModelPath);
|
|
break;
|
|
|
|
case 'i':
|
|
pHostStreamInit->dwModelId = atoi(optarg);
|
|
break;
|
|
|
|
case 'j':
|
|
pHostStreamInit->dwJobId = atoi(optarg);
|
|
break;
|
|
|
|
case 't':
|
|
pHostStreamInit->fThreshold = atof(optarg);
|
|
break;
|
|
|
|
case 'f':
|
|
pHostStreamInit->fFps = atof(optarg);
|
|
break;
|
|
|
|
default:
|
|
print_usage(argv);
|
|
return -1;
|
|
}
|
|
}
|
|
|
|
if (NULL == pHostStreamInit->pszModelPath ) {
|
|
print_usage(argv);
|
|
|
|
return -1;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
void free_stream_init(HOST_STREAM_INIT_OPT_T* pHostStreamInit) {
|
|
if (pHostStreamInit->pszSensorConfigPath){
|
|
free(pHostStreamInit->pszSensorConfigPath);
|
|
pHostStreamInit->pszSensorConfigPath = NULL;
|
|
}
|
|
|
|
if (pHostStreamInit->pszFusionConfigPath){
|
|
free(pHostStreamInit->pszFusionConfigPath);
|
|
pHostStreamInit->pszFusionConfigPath = NULL;
|
|
}
|
|
|
|
if (pHostStreamInit->pszAutoSceneConfigPath){
|
|
free(pHostStreamInit->pszAutoSceneConfigPath);
|
|
pHostStreamInit->pszAutoSceneConfigPath = NULL;
|
|
}
|
|
|
|
if (pHostStreamInit->pszFecCalibratePath){
|
|
free(pHostStreamInit->pszFecCalibratePath);
|
|
pHostStreamInit->pszFecCalibratePath = NULL;
|
|
}
|
|
|
|
if (pHostStreamInit->pszFecConfPath){
|
|
free(pHostStreamInit->pszFecConfPath);
|
|
pHostStreamInit->pszFecConfPath = NULL;
|
|
}
|
|
|
|
if (pHostStreamInit->pszModelPath){
|
|
free(pHostStreamInit->pszModelPath);
|
|
pHostStreamInit->pszModelPath = NULL;
|
|
}
|
|
|
|
if (pHostStreamInit->pszSsmName){
|
|
free(pHostStreamInit->pszSsmName);
|
|
pHostStreamInit->pszSsmName = NULL;
|
|
}
|
|
}
|
|
|
|
int main (int argc, char* argv[])
|
|
{
|
|
/* Force line-buffered stdout so printf output appears immediately even
|
|
* when piped to tee (e.g. ./firmware 2>&1 | tee /tmp/fw.log).
|
|
* Without this, the pipe triggers full-buffering and log appears in chunks. */
|
|
setvbuf(stdout, NULL, _IOLBF, 0);
|
|
setvbuf(stderr, NULL, _IOLBF, 0);
|
|
|
|
uint32_t major, minor, patch, build;
|
|
pthread_t thread_f = 0;
|
|
|
|
VMF_NNM_Get_Version(&major, &minor, &patch, &build);
|
|
uint32_t kn_number = VMF_NNM_Get_Kn_Number();
|
|
|
|
/* Derive and print BLE handshake key for startup verification.
|
|
* Expected: 58 48 c8 ff b2 eb b1 b8 69 92 b5 20 48 8d 1d 61 */
|
|
{
|
|
uint8_t hs_key[HANDSHAKE_KEY_LEN];
|
|
handshake_derive_key(hs_key);
|
|
printf("[INIT] handshake key: ");
|
|
handshake_print_key(hs_key);
|
|
}
|
|
|
|
printf("\n\n**********************************************************\n");
|
|
printf("Kneron Firmware\n");
|
|
printf("Ver. %d.%d.%d.%d\n", major, minor, patch, build);
|
|
printf("Build Time: %s %s\n", __DATE__, __TIME__);
|
|
printf("Kn Number = 0x%08x\n",kn_number);
|
|
printf("**********************************************************\n");
|
|
printf("HOST STREAM mode \n");
|
|
//pthread_t task_infcb_handle; //kmdw_inference_result_handler_callback_thread;
|
|
pthread_t task_inf_data_handle; //VMF_NNM_Inference_Image_Dispatcher_Thread;
|
|
pthread_t task_stream_image_handle; // <-> kdp2_host_stream_image_thread; //pthread_t task_usb_recv_handle; // <-> kdp2_usb_companion_image_thread;
|
|
pthread_t task_update_result_handle; // <-> kdp2_host_update_result_thread; //pthread_t task_usb_send_handle; // <-> kdp2_usb_companion_result_thread;
|
|
|
|
pthread_t task_buf_mgr_handle;
|
|
pthread_t task_video_mgr_handle;
|
|
pthread_t task_roi_image_handle;
|
|
|
|
int ret = KP_SUCCESS;
|
|
HOST_STREAM_INIT_OPT_T HostStreamInit; //for host stream mode/thread
|
|
uint32_t ImageBufferSize = 0;
|
|
|
|
memset(&HostStreamInit, 0, sizeof(HOST_STREAM_INIT_OPT_T));
|
|
pthread_mutex_init(&HostStreamInit.tSuspendpMutex, NULL);
|
|
pthread_cond_init(&HostStreamInit.tSuspendCond, NULL);
|
|
|
|
// Always load config from ini to get encoder settings
|
|
if(0 != loadConfig(&HostStreamInit)) {
|
|
goto EXIT;
|
|
}
|
|
|
|
// Command-line arguments override ini settings
|
|
if(argc > 1) {
|
|
if(parse_argument(argc, argv, &HostStreamInit) < 0) {
|
|
goto EXIT;
|
|
}
|
|
}
|
|
ImageBufferSize = HostStreamInit.tVEncoder[HostStreamInit.dwInferenceStream].dwWidth * HostStreamInit.tVEncoder[HostStreamInit.dwInferenceStream].dwHeight * 2;
|
|
|
|
//! register signal
|
|
signal(SIGTERM, sig_kill);
|
|
signal(SIGKILL, sig_kill);
|
|
signal(SIGINT, sig_kill);
|
|
|
|
//SIGSEGV
|
|
struct sigaction sa;
|
|
memset(&sa, 0, sizeof(struct sigaction));
|
|
sigemptyset(&sa.sa_mask);
|
|
sa.sa_handler = sig_kill;
|
|
sa.sa_flags = SA_SIGINFO|SA_RESETHAND; // Reset signal handler to system default after signal triggered
|
|
sigaction(SIGSEGV, &sa, NULL);
|
|
|
|
printf("[%s] app_initialize \n", __func__);
|
|
app_initialize();
|
|
HostStreamInit.ptDmaInfo = dma2d_init();
|
|
if(HostStreamInit.ptDmaInfo == NULL){
|
|
goto EXIT;
|
|
}
|
|
|
|
printf("[DBG] Before VMF_NNM_Load_Model_From_File: %s\n", HostStreamInit.pszModelPath);
|
|
VMF_NNM_Load_Model_From_File(HostStreamInit.pszModelPath);
|
|
printf("[DBG] After VMF_NNM_Load_Model_From_File\n");
|
|
|
|
VMF_NNM_Fifoq_Manager_Allocate_Buffer(IMAGE_BUFFER_COUNT, ImageBufferSize, RESULT_BUFFER_COUNT, RESULT_BUFFER_SIZE);
|
|
printf("[DBG] After AllocateBuffer, ImageBufferSize=%u\n", ImageBufferSize);
|
|
|
|
pthread_create(&task_stream_image_handle, NULL, kdp2_host_stream_image_thread, &HostStreamInit);
|
|
pthread_create(&task_update_result_handle, NULL, kdp2_host_update_result_thread, &HostStreamInit);
|
|
if(!HostStreamInit.dwNnmSource && HostStreamInit.dwEncodeStreamCount > 0)
|
|
pthread_create(&task_video_mgr_handle, NULL, kdp2_host_video_thread, &HostStreamInit);
|
|
if (HostStreamInit.bRoiEnable)
|
|
pthread_create(&task_roi_image_handle, NULL, kdp2_host_roi_image_thread, &HostStreamInit);
|
|
|
|
pthread_create(&task_buf_mgr_handle, NULL, VMF_NNM_Fifoq_Manager_Enqueue_Image_Thread, &_blFifoqManagerRunning);
|
|
pthread_create(&task_inf_data_handle, NULL, VMF_NNM_Inference_Image_Dispatcher_Thread, &_blDispatchRunning);
|
|
if(HostStreamInit.dwVocEnable)
|
|
pthread_create(&thread_f, NULL, kdp2_host_voc_thread, &HostStreamInit);
|
|
|
|
pthread_join(task_stream_image_handle, NULL);
|
|
pthread_join(task_update_result_handle, NULL);
|
|
if(!HostStreamInit.dwNnmSource && HostStreamInit.dwEncodeStreamCount > 0)
|
|
pthread_join(task_video_mgr_handle, NULL);
|
|
if (HostStreamInit.bRoiEnable)
|
|
pthread_join(task_roi_image_handle, NULL);
|
|
|
|
pthread_join(task_buf_mgr_handle, NULL);
|
|
pthread_join(task_inf_data_handle, NULL);
|
|
|
|
app_destroy(); //VMF_NNM_Inference_App_Destroy();
|
|
VMF_NNM_Fifoq_Manager_Release_All_Buffer();
|
|
ret = 0;
|
|
|
|
EXIT:
|
|
printf("%s free\n", __func__);
|
|
remote_ctrl_cleanup();
|
|
|
|
free_fec_def_str();
|
|
free_stream_init(&HostStreamInit);
|
|
if(HostStreamInit.ptDmaInfo)
|
|
dma2d_release(HostStreamInit.ptDmaInfo);
|
|
|
|
pthread_mutex_destroy(&HostStreamInit.tSuspendpMutex);
|
|
pthread_cond_destroy(&HostStreamInit.tSuspendCond);
|
|
|
|
printf("%s end\n", __func__);
|
|
return ret;
|
|
}
|