Microsoft Life Cam streaming on a pcduino
Streaming from the PCDuino.
First Install VLC
sudo apt-get install vlc
The following commands use v4l2 interface and are transcoded to a real time streaming protocol.
Here are four commands for vlc.
cvlc v4l2:// :v4l2-vdev="/dev/video0" --sout '#transcode{vcodec=xvid,vb=400,width=240,heigh=180,acodec=mp4a,ab=32 ,channels=2,samplerate=22100}:duplicate{dst=std{access=http{mime=video/x-ms-wmv},mux=asf,dst=:8082/stream.wmv}}' --no-sout-audio
cvlc v4l2:// :v4l2-vdev="/dev/video0" --sout="#transcode{vcodec=xvid,vb=800,width=240,height=180}:rtp{mux=ts,dst=192.168.0.11,port=5004,sdp=rtsp://192.168.0.11:8080/test.sdp}}"
cvlc v4l2:// :v4l2-vdev="/dev/video0" :v4l2-width=160 :v4l2-height=120 --no-sout-audio --sout '#transcode{vcodec=xvid,vb=200,fps=1,width=160,height=120}:rtp{proto=udp,mux=ts,sdp=rtsp://192.168.0.11:4444/test.sdp}' --loop --ttl 1
This is the LOW latency command:
cvlc -vvv v4l2:///dev/video0:chroma=mjpg:width=160:height=120:fps=5 --live-caching=10 --no-audio --sout '#transcode{vcodec=yuv2,acodec=none,vb=0,width=160,height=120}:rtp{access=udp,mux=ts,url=192.168.0.11,sdp=rtsp://192.168.0.11:4444/test.sdp}' --ttl 1
The Java Controller
The following image contains a putty.exe console to the rover. The Java Controller and VLC receiving the stream video.
The java source code for the Controllers.
import java.awt.*;
import java.awt.event.*;
import javax.swing.*;
import javax.swing.event.*;
import java.util.Hashtable;
import java.io.*;
import java.net.*;
/*
* Copyright (c) 1995, 2008, Oracle and/or its affiliates. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* - Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* - Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* - Neither the name of Oracle or the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
* IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
* PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
* LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/*
* TCPClient.java requires all the files in the images/doggy
* directory.
*/
public class TCPClient extends JPanel
implements ActionListener,
WindowListener,
ChangeListener {
//Set up animation parameters.
// static final int FPS_MIN = 0;
// static final int FPS_MAX = 30;
// static final int FPS_INIT = 15; //initial frames per second
// int frameNumber = 0;
// int NUM_FRAMES = 14;
// ImageIcon[] images = new ImageIcon[NUM_FRAMES];
// int delay;
//Timer timer;
// boolean frozen = false;
DataOutputStream outToServer;
Socket clientSocket;
int fps,fps4;
JTextField textField;
JButton connect,reverse;
JSlider framesPerSecond,turn;
//This label uses ImageIcon to show the doggy pictures.
// JLabel picture;
public TCPClient() {
super(new GridLayout(4,1));
fps=0;fps4=0;
clientSocket=null;
//delay = 1000 / FPS_INIT;
//text field
textField = new JTextField("192.168.0.11",20);
connect=new JButton("Connect");
reverse=new JButton("Reverse");
// textField.addActionListener(this);
connect.addActionListener(this);
reverse.addActionListener(this);
//Create the slider.
framesPerSecond = new JSlider(JSlider.VERTICAL,
-5,5, 0);
framesPerSecond.addChangeListener(this);
framesPerSecond.setMajorTickSpacing(1);
framesPerSecond.setPaintTicks(true);
//Create the label table.
Hashtable<Integer, JLabel> labelTable = new Hashtable<Integer, JLabel>();
//PENDING: could use images, but we don't have any good ones.
labelTable.put(new Integer( 0 ),
new JLabel("Stop") );
//new JLabel(createImageIcon("images/stop.gif")) );
labelTable.put(new Integer( 127 ),
new JLabel("Slow") );
//new JLabel(createImageIcon("images/slow.gif")) );
labelTable.put(new Integer(255 ),
new JLabel("Fast") );
//new JLabel(createImageIcon("images/fast.gif")) );
framesPerSecond.setLabelTable(labelTable);
framesPerSecond.setPaintLabels(true);
framesPerSecond.setBorder(
BorderFactory.createEmptyBorder(0,0,0,10));
turn = new JSlider(JSlider.HORIZONTAL,-5,5, 0);
turn.addChangeListener(this);
turn.setMajorTickSpacing(1);
turn.setPaintTicks(true);
//Put everything together.
add(framesPerSecond);
add(turn);
add(connect);
add(reverse);
add(textField);
setBorder(BorderFactory.createEmptyBorder(10,10,10,10));
}
//////////////////////////////////////////////////////////////////////////////////////////////////
/** Add a listener for window events. */
void addWindowListener(Window w) {
w.addWindowListener(this);
}
//React to window events.
public void windowIconified(WindowEvent e) {
// stopAnimation();
}
public void windowDeiconified(WindowEvent e) {
// startAnimation();
}
public void windowOpened(WindowEvent e) {}
public void windowClosing(WindowEvent e) { try
{
clientSocket.close();
}
catch( IOException ioe) {} }
public void windowClosed(WindowEvent e) {}
public void windowActivated(WindowEvent e) {}
public void windowDeactivated(WindowEvent e) {}
/////////////////////////////////////////////////////////////////////////////////////////STATECHANGE///////////////////////////////////
/** Listen to the slider. */
public void stateChanged(ChangeEvent e) {
if(clientSocket!=null){
if( e.getSource()==framesPerSecond){
JSlider source = (JSlider)e.getSource();
int fps2 = (int)source.getValue();
if(fps!=fps2){
String outstring;
//outstring=(char)fps;
try
{
outstring="A"+new String(Integer.toString(fps2*10));
outstring+="\n";
System.out.println(fps2);
outToServer.writeBytes(outstring);
}
catch( IOException ioe) {System.out.println("ERROR");}
fps=fps2;
}
}
else if( e.getSource()==turn){
if(fps==0){
JSlider source = (JSlider)e.getSource();
int fps3 = (int)source.getValue();
if(fps4!=fps3){
String outstring;
try
{
outstring="C"+new String(Integer.toString(fps3));
outstring+="\n";
System.out.println(outstring);
outToServer.writeBytes(outstring);
}
catch( IOException ioe) {System.out.println("ERROR");}
fps4=fps3;
}
}
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////ACTIONPERFORMED/////////////////////////////
//Called when the Timer fires.
public void actionPerformed(ActionEvent e) {
if( e.getSource()==connect){
try
{
if(clientSocket!=null)clientSocket.close();
clientSocket = new Socket(textField.getText(), 5000);
outToServer = new DataOutputStream(clientSocket.getOutputStream());
}
catch(IOException ioe){ clientSocket=null;}
}
else if( e.getSource()==reverse){
try
{
System.out.print("Reverse");
System.out.println(fps);
if(fps==0) {
System.out.println("Send");
outToServer.writeBytes("R\n");
}}
catch(IOException ioe){ clientSocket=null;}
}
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/**
* Create the GUI and show it. For thread safety,
* this method should be invoked from the
* event-dispatching thread.
*/
public static void main(String[] args) {
//BufferedReader inFromServer = new BufferedReader(new InputStreamReader(clientSocket.getInputStream()));
//sentence = inFromUser.readLine();
//outToServer.writeBytes(sentence + '\n');
// modifiedSentence = inFromServer.readLine();
//System.out.println("FROM SERVER: " + modifiedSentence);
/* Turn off metal's use of bold fonts */
UIManager.put("swing.boldMetal", Boolean.FALSE);
//Schedule a job for the event-dispatching thread:
JFrame frame = new JFrame("SliderDemo");
frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
TCPClient animator = new TCPClient();
//Add content to the window.
frame.add(animator, BorderLayout.CENTER);
//Display the window.
frame.pack();
frame.setVisible(true);
}
}
The PCDuino Code for the Motor Control.
download this https://github.com/pcduino/c_environment to compile.
you can add this script to your startup by:
make the following file '/etc/init/rover.conf' with the following contents:
start on started networking
task
exec /home/linaro/Arduino/c_environment-master/output/test/linker_led_test
Use these commands to start the rover:
sudo start rover
To Stop:
sudo stop rover
Status:
sudo status rover
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
sudo start rover
To Stop:
sudo stop rover
Status:
sudo status rover
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////
C source code:
/*
* LED test program
* The LED will be controlled by TCP socket
* This program serves an example of TCP socket server
*
*The TCP socket code is adpoted from : http://www.thegeekstuff.com/2011/12/c-socket-programming/
*
* Please use linker kit LED module,and install it on D2 D3 V G postion
*
* Jingfeng Liu
*
* 5/4/2013
*
*/
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <errno.h>
#include <string.h>
#include <sys/types.h>
#include <time.h>
#include <core.h>
int dirA = 12;
int dirB = 13; // not used in this example
int speedA = 3;
int speedB = 11; // not used in this example
int listenfd = 0, connfd = 0;
int n;
struct sockaddr_in serv_addr;
char sendBuff[1025];
time_t ticks;
/**
* readline() - read an entire line from a file descriptor until a newline.
* functions returns the number of characters read but not including the
* null character.
**/
int readline(int fd, char *str, int maxlen)
{
int n; /* no. of chars */
int readcount; /* no. characters read */
char c;
for (n = 1; n < maxlen; n++) {
/* read 1 character at a time */
readcount = read(fd, &c, 1); /* store result in readcount */
if (readcount == 1) /* 1 char read? */
{
*str = c; /* copy character to buffer */
str++; /* increment buffer index */
if (c == '\n') /* is it a newline character? */
break; /* then exit for loop */
}
//else if (readcount == 0) /* no character read? */
// {
// if (n == 1) /* no character read? */
// return (0); /* then return 0 */
// else
// break; /* else simply exit loop */
// }
else
return (-1); /* error in read() */
}
*str=0; /* null-terminate the buffer */
return (n); /* return number of characters read */
} /* readline() */
void setup()
{
pinMode (dirA, OUTPUT);
pinMode (dirB, OUTPUT);
pinMode (speedA, OUTPUT);
pinMode (speedB, OUTPUT);
digitalWrite(speedA,LOW);
digitalWrite(speedB,LOW);
listenfd = socket(AF_INET, SOCK_STREAM, 0);
memset(&serv_addr, '0', sizeof(serv_addr));
memset(sendBuff, '0', sizeof(sendBuff));
serv_addr.sin_family = AF_INET;
serv_addr.sin_addr.s_addr = htonl(INADDR_ANY);
serv_addr.sin_port = htons(5000);
bind(listenfd, (struct sockaddr*)&serv_addr, sizeof(serv_addr));
listen(listenfd, 10);
connfd = accept(listenfd, (struct sockaddr*)NULL, NULL);
printf("connected\n");
}
void loop()
{
// ticks = time(NULL);
// snprintf(sendBuff, sizeof(sendBuff), "Jingfeng Liu%.24s\r\n", ctime(&ticks));
// write(connfd, sendBuff, strlen(sendBuff));
n=readline(connfd,sendBuff,8);
// n = read(connfd, sendBuff, strlen(sendBuff) );
printf("%d:",n);
if(n>0)
{
printf("%s",sendBuff);
if(sendBuff[0]=='B'){
digitalWrite(speedA,LOW);
digitalWrite(speedB,LOW);
}
else if(sendBuff[0]=='C'){
char *p=sendBuff;p++;
int k=strtol(p,&p,10);
if(k<0){
digitalWrite(dirA,HIGH);
digitalWrite(dirB,HIGH);
}
else {
digitalWrite(dirA,LOW);
digitalWrite(dirB,LOW);
}
analogWrite(speedA,abs(k)*10);
analogWrite(speedB,abs(k)*10);
}
else if(sendBuff[0]=='A')
{
char *p=sendBuff;
p++;
int j=strtol(p,&p,10);
printf("%d\n",j);
if(j<0){
digitalWrite (dirA, HIGH);
digitalWrite(dirB,LOW);
}
else {
digitalWrite (dirA,LOW);
digitalWrite(dirB,HIGH);
}
analogWrite(speedB,abs(j));
analogWrite (speedA,abs(j));
// delay(100);
}
}
else { //reconnect
digitalWrite(speedA,LOW);
digitalWrite(speedB,LOW);
connfd = accept(listenfd, (struct sockaddr*)NULL, NULL);
printf("connected\n");
}
// close(connfd);
// sleep(1);
}
