/*
* Copyright (c) 2019 TOYOTA MOTOR CORPORATION
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "logsave.h"
#include <QDateTime>
#include <QDir>
#include <sys/wait.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/ioctl.h>
#include <opencv2/imgproc.hpp>
#include <linux/videodev2.h>
#include <QDebug>
#include <QCoreApplication>
const QString LogSaveImpl::TripPre = "Trip_";
const QString LogSaveImpl::SegPre = "Seg_";
const QString LogSaveImpl::FolderAudio = "AUDIO";
const QString LogSaveImpl::FolderVideo = "VIDEO";
const QString LogSaveImpl::FolderCAN = "CAN";
const QString LogSaveImpl::FolderTouch = "TOUCH";
const QString LogSaveImpl::FolderOther = "OTHER";
const QString LogSaveImpl::RootFolder = "LogDataFile";
const std::string LogSaveImpl::DumpUtilsExec = "/usr/bin/candump";
const std::string LogSaveImpl::AudioMixerExec = "/usr/bin/amixer";
const std::string LogSaveImpl::AudioUtilsExec = "/usr/bin/arecord";
const std::string LogSaveImpl::VideoUtilsExec = std::string(getenv("AFM_APP_INSTALL_DIR")) + "/bin/videoutils";
const std::string LogSaveImpl::TouchRecUtilsExec = std::string(getenv("AFM_APP_INSTALL_DIR")) + "/bin/tsrecorder";
LogSaveImpl::LogSaveImpl(QObject *parent):QObject(parent)
{
// videoDevice["None"] = "10";
// videoDevice["Front"] = "1";
// videoDevice["Right"] = "2";
// videoDevice["Left"] = "3";
// videoDevice["Rear"] = "4";
logFolders[FolderAudio] = "";
logFolders[FolderVideo] = "";
logFolders[FolderCAN] = "";
logFolders[FolderOther] = "";
logFolders[FolderTouch] = "";
rootPath = QDir::homePath() + "/" + RootFolder;
QDir rootdir(rootPath);
if(!rootdir.exists())
{
if(!rootdir.mkdir(rootPath))
{
rootPath = "/tmp";
}
}
dumpUtils = -1;
audioMixer = -1;
audioUtils = -1;
videoUtils = -1;
touchRecUtils = -1;
}
LogSaveImpl::~LogSaveImpl()
{
saveStop();
}
void LogSaveImpl::setVideoProperty(QStringList properties)
{
if(properties.length() < 4)
{
return;
}
// videoUtilsArg["-d"] = videoDevice[properties[0]];
videoUtilsArg["-d"] = properties[0].remove("/dev/video");
videoUtilsArg["-r"] = (properties[1] != "0" ? properties[1] : "30");
videoUtilsArg["-w"] = (properties[2] != "0" ? properties[2] : "640");
videoUtilsArg["-h"] = (properties[3] != "0" ? properties[3] : "480");
videoUtilsArg["-f"] = logFolders[FolderVideo] + QDateTime::currentDateTime().toString("yyyy_MM_dd_hh_mm_ss") + ".avi";
}
void LogSaveImpl::setCANProperty()
{
dumpUtilsArg["-L"] = logFolders[FolderCAN] + QDateTime::currentDateTime().toString("yyyy_MM_dd_hh_mm_ss") + ".log";
}
void LogSaveImpl::setTouchProperty()
{
touchRecUtilsArg["-f"] = logFolders[FolderTouch] + QDateTime::currentDateTime().toString("yyyy_MM_dd_hh_mm_ss") + ".touch";
}
void LogSaveImpl::setAudioProperty(QString sps)
{
audioUtilsArg["-r"] = (sps != "0" ? sps : "44100");
audioUtilsArg["-f"] = logFolders[FolderAudio] + QDateTime::currentDateTime().toString("yyyy_MM_dd_hh_mm_ss") + ".wav";
}
bool LogSaveImpl::saveStart(bool can, bool touch, bool video, bool audio)
{
qDebug("touch:%d", touch);
if(video)
{
qDebug("-d:%s", videoUtilsArg["-d"].toStdString().c_str());
videoUtils = fork();
switch(videoUtils)
{
case 0:
execl(VideoUtilsExec.c_str(), basename(VideoUtilsExec.c_str()),
"-d", videoUtilsArg["-d"].toStdString().c_str(),
"-w", videoUtilsArg["-w"].toStdString().c_str(),
"-h", videoUtilsArg["-h"].toStdString().c_str(),
"-r", videoUtilsArg["-r"].toStdString().c_str(),
"-f", videoUtilsArg["-f"].toStdString().c_str(),
"-c", "MP42",
(char *)NULL);
break;
default:
break;
}
}
if(can)
{
int fd;
dumpUtils = fork();
switch(dumpUtils)
{
case 0:
fd = open(dumpUtilsArg["-L"].toStdString().c_str(), O_CREAT | O_WRONLY, 0666);
dup2(fd, 1);
close(fd); /* fd は以後不要なので close() */
execl(DumpUtilsExec.c_str(), basename(DumpUtilsExec.c_str()), "vcan0", "-L", (char *)NULL);
break;
default:
break;
}
}
if(touch)
{
qDebug() << "current file" << TouchRecUtilsExec.c_str();
touchRecUtils = fork();
qDebug("touchRecUtils:%d", touchRecUtils);
switch(touchRecUtils)
{
case 0:
qDebug("TouchRecUtilsExec:%s", touchRecUtilsArg["-f"].toStdString().c_str());
execl(TouchRecUtilsExec.c_str(), basename(TouchRecUtilsExec.c_str()), "-f", touchRecUtilsArg["-f"].toStdString().c_str(), (char *)NULL);
break;
default:
break;
}
}
if(audio)
{
// Set volume
audioMixer = fork();
switch(audioMixer)
{
case 0:
execl(AudioMixerExec.c_str(), basename(AudioMixerExec.c_str()), "-D", "hw:ak4613", "cset", "name='DVC In Capture Volume'", "100%", (char*)NULL);
break;
default:
break;
}
if(audioMixer > 0)
{
waitpid(audioMixer, NULL, 0);
}
// Set mute off
audioMixer = fork();
switch(audioMixer)
{
case 0:
execl(AudioMixerExec.c_str(), basename(AudioMixerExec.c_str()), "-D", "hw:ak4613", "cset", "name='DVC In Mute Switch'", "off", (char*)NULL);
break;
default:
break;
}
if(audioMixer > 0)
{
waitpid(audioMixer, NULL, 0);
}
// Start record
audioUtils = fork();
switch(audioUtils)
{
case 0:
execl(AudioUtilsExec.c_str(), basename(AudioUtilsExec.c_str()), "-c", "2", "-f", "S24_LE", "-r", audioUtilsArg["-r"].toStdString().c_str(), "-t", "wav", "-D", "hw:ak4613", audioUtilsArg["-f"].toStdString().c_str(), (char*)NULL);
break;
default:
break;
}
}
return true;
}
void LogSaveImpl::saveStop()
{
if((videoUtils > 0) && (kill(videoUtils, SIGUSR1) == 0))
{
waitpid(videoUtils, NULL, 0);
}
if((dumpUtils > 0) && (kill(dumpUtils, SIGUSR1) == 0))
{
waitpid(dumpUtils, NULL, 0);
}
if((audioUtils > 0) && (kill(audioUtils, SIGKILL) == 0))
{
waitpid(audioUtils, NULL, 0);
}
if((touchRecUtils > 0) && (kill(touchRecUtils, SIGKILL) == 0))
{
waitpid(touchRecUtils, NULL, 0);
}
}
bool LogSaveImpl::createLogFolders()
{
bool result = false;
if(createSegFolder())
{
QString path;
QDir dir;
result = true;
for(std::map<QString,QString>::iterator it = logFolders.begin(); it != logFolders.end(); it++)
{
path = currentSeg + "/" + it->first;
if(!dir.exists(path) && !dir.mkdir(path))
{
it->second = "";
}
else
{
it->second = path + "/";
}
}
}
return result;
}
bool LogSaveImpl::createTripFolder()
{
currentTrip = "";
if(!rootPath.isEmpty())
{
QDir tripdir;
currentTrip = rootPath + "/" + TripPre + QDateTime::currentDateTime().toString("yyyyMMdd_hhmmss");
if(!tripdir.exists(currentTrip) && !tripdir.mkdir(currentTrip))
{
currentTrip = "";
}
}
if(currentTrip.isEmpty())
{
return false;
}
else
{
return true;
}
}
bool LogSaveImpl::createSegFolder()
{
currentSeg = "";
if(!currentTrip.isEmpty())
{
QDir segdir;
currentSeg = currentTrip + "/" + SegPre + QDateTime::currentDateTime().toString("yyyyMMdd_hhmmss");
if(!segdir.exists(currentSeg) && !segdir.mkdir(currentSeg))
{
currentSeg = "";
}
}
if(currentSeg.isEmpty())
{
return false;
}
else
{
return true;
}
}
void LogSaveImpl::enumerateCameras() {
int maxID = 11;
for (int idx = 0; idx <maxID; idx++){
std::stringstream no;
no << "/dev/video" << idx;
int fd = open(no.str().c_str(), O_RDWR);
if (fd != -1){
struct v4l2_capability cap;
if (ioctl(fd,VIDIOC_QUERYCAP,&cap) != -1){
if ((cap.capabilities & (V4L2_CAP_VIDEO_CAPTURE | V4L2_CAP_STREAMING)) == (V4L2_CAP_VIDEO_CAPTURE | V4L2_CAP_STREAMING)){
qDebug("cap.driver %s, cap.card %s, cap.bus_info %s", (char*)(cap.driver), (char*)(cap.card), (char*)(cap.bus_info));
if(strcmp((char*)cap.driver, "uvcvideo") == 0)
{
cameras.push_back(no.str().c_str()); // vector of all available cameras
}
}
}
close(fd);
}
}
}
QVariantList LogSaveImpl::cameradevs() const{
return cameras;
}
int LogSaveImpl::cameraCnt() {
return cameras.length();
}
QString LogSaveImpl::getCurrentTrip()
{
return currentTrip;
}
QString LogSaveImpl::getCurrentSeg()
{
return currentSeg;
}