Initial commit.

chalmers-revere · Jun 9, 2018 · c94e571 · c94e571
commit c94e571
Show file tree

Hide file tree

Showing 8 changed files with 17,307 additions and 0 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -0,0 +1,119 @@
+# Copyright (C) 2018 Ola Benderius
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+cmake_minimum_required(VERSION 3.2)
+
+project(opendlv-ui-videostream)
+
+################################################################################
+# Defining the relevant versions of OpenDLV Standard Message Set and libcluon.
+set(OPENDLV_STANDARD_MESSAGE_SET opendlv-standard-message-set-v0.9.5.odvd)
+set(CLUON_COMPLETE cluon-complete-v0.0.99.hpp)
+
+################################################################################
+# Set the search path for .cmake files.
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}" ${CMAKE_MODULE_PATH})
+
+################################################################################
+# This project requires C++14 or newer.
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+# Strip unneeded symbols from binaries.
+set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -s")
+# Build a static binary.
+set(CMAKE_EXE_LINKER_FLAGS "-static-libgcc -static-libstdc++")
+# Add further warning levels.
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} \
+    -D_XOPEN_SOURCE=700 \
+    -D_FORTIFY_SOURCE=2 \
+    -O2 \
+    -fstack-protector \
+    -fomit-frame-pointer \
+    -pipe \
+    -pedantic -pedantic-errors \
+    -Werror \
+    -Weffc++ \
+    -Wall -Wextra -Wshadow -Wdeprecated \
+    -Wdiv-by-zero -Wfloat-equal -Wfloat-conversion -Wsign-compare -Wpointer-arith \
+    -Wuninitialized -Wunreachable-code \
+    -Wunused -Wunused-function -Wunused-label -Wunused-parameter -Wunused-but-set-parameter -Wunused-but-set-variable \
+    -Wunused-value -Wunused-variable -Wunused-result \
+    -Wmissing-field-initializers -Wmissing-format-attribute -Wmissing-include-dirs -Wmissing-noreturn")
+# Threads are necessary for linking the resulting binaries as UDPReceiver is running in parallel.
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+find_package(Threads REQUIRED)
+
+find_program(FOUND_CLUON cluon-msc)
+
+################################################################################
+# Find installed libcluon
+if(FOUND_CLUON)
+    message(STATUS "Libcluon: found at " ${FOUND_CLUON})
+    add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/cluon-msc
+        WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+        COMMAND ${CMAKE_COMMAND} -E create_symlink ${FOUND_CLUON} ${CMAKE_BINARY_DIR}/cluon-msc
+        COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_CURRENT_SOURCE_DIR}/src/${CLUON_COMPLETE} ${CMAKE_BINARY_DIR}/cluon-complete.hpp
+        COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_BINARY_DIR}/cluon-complete.hpp ${CMAKE_BINARY_DIR}/cluon-complete.cpp)
+else()
+################################################################################
+# Extract cluon-msc from cluon-complete.hpp.
+    message(STATUS "Libcluon: not found - generating cluon-msc from header file")
+    add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/cluon-msc
+        WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+        COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_CURRENT_SOURCE_DIR}/src/${CLUON_COMPLETE} ${CMAKE_BINARY_DIR}/cluon-complete.hpp
+        COMMAND ${CMAKE_COMMAND} -E create_symlink ${CMAKE_BINARY_DIR}/cluon-complete.hpp ${CMAKE_BINARY_DIR}/cluon-complete.cpp
+        COMMAND ${CMAKE_CXX_COMPILER} -o ${CMAKE_BINARY_DIR}/cluon-msc ${CMAKE_BINARY_DIR}/cluon-complete.cpp -std=c++14 -pthread -D HAVE_CLUON_MSC
+        DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/src/${CLUON_COMPLETE}) 
+endif()
+
+
+################################################################################
+# Generate opendlv-standard-message-set.{hpp,cpp} from ${OPENDLV_STANDARD_MESSAGE_SET} file.
+add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/opendlv-standard-message-set.cpp
+    WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+    COMMAND ${CMAKE_BINARY_DIR}/cluon-msc --cpp-sources --cpp-add-include-file=opendlv-standard-message-set.hpp --out=${CMAKE_BINARY_DIR}/opendlv-standard-message-set.cpp ${CMAKE_CURRENT_SOURCE_DIR}/src/${OPENDLV_STANDARD_MESSAGE_SET}
+    COMMAND ${CMAKE_BINARY_DIR}/cluon-msc --cpp-headers --out=${CMAKE_BINARY_DIR}/opendlv-standard-message-set.hpp ${CMAKE_CURRENT_SOURCE_DIR}/src/${OPENDLV_STANDARD_MESSAGE_SET}
+    DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/src/${OPENDLV_STANDARD_MESSAGE_SET} ${CMAKE_BINARY_DIR}/cluon-msc)
+# Add current build directory as include directory as it contains generated files.
+include_directories(SYSTEM ${CMAKE_BINARY_DIR})
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src)
+
+set(LIBRARIES Threads::Threads)
+
+if(UNIX)
+    if(NOT "${CMAKE_SYSTEM_NAME}" STREQUAL "Darwin")
+        find_package(LibRT REQUIRED)
+        set(LIBRARIES ${LIBRARIES} ${LIBRT_LIBRARIES})
+        include_directories(SYSTEM ${LIBRT_INCLUDE_DIR})
+    endif()
+endif()
+
+find_package(OpenCV REQUIRED)
+include_directories(SYSTEM ${OpenCV_INCLUDE_DIRS})
+set(LIBRARIES ${LIBRARIES} ${OpenCV_LIBS})
+
+################################################################################
+# Gather all object code first to avoid double compilation.
+add_library(${PROJECT_NAME}-core OBJECT ${CMAKE_BINARY_DIR}/opendlv-standard-message-set.cpp)
+
+################################################################################
+# Create executable.
+add_executable(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/src/${PROJECT_NAME}.cpp $<TARGET_OBJECTS:${PROJECT_NAME}-core>)
+target_link_libraries(${PROJECT_NAME} ${LIBRARIES})
+
+################################################################################
+# Install executable.
+install(TARGETS ${PROJECT_NAME} DESTINATION bin COMPONENT ${PROJECT_NAME})
diff --git a/Dockerfile.amd64 b/Dockerfile.amd64
@@ -0,0 +1,49 @@
+# Copyright (C) 2018 Ola Benderius
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+FROM alpine:3.7 as builder
+MAINTAINER Ola Benderius "ola.benderius@chalmers.se"
+RUN echo http://dl-4.alpinelinux.org/alpine/edge/main > /etc/apk/repositories && \
+    echo http://dl-4.alpinelinux.org/alpine/edge/community >> /etc/apk/repositories && \
+    echo http://dl-4.alpinelinux.org/alpine/edge/testing >> /etc/apk/repositories && \
+    apk update && \
+    apk --no-cache add \
+        cmake \
+        g++ \
+        opencv \
+        opencv-dev \
+        make
+ADD . /opt/sources
+WORKDIR /opt/sources
+RUN mkdir build && \
+    cd build && \
+    cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/tmp .. && \
+    make && make install
+
+
+FROM alpine:3.7
+MAINTAINER Ola Benderius "ola.benderius@chalmers.se"
+
+RUN echo http://dl-4.alpinelinux.org/alpine/edge/main > /etc/apk/repositories && \
+    echo http://dl-4.alpinelinux.org/alpine/edge/community >> /etc/apk/repositories && \
+    echo http://dl-4.alpinelinux.org/alpine/edge/testing >> /etc/apk/repositories && \
+    apk update && \
+    apk --no-cache add \
+        opencv-libs \
+        libcanberra-gtk3
+
+WORKDIR /usr/bin
+COPY --from=builder /tmp/bin .
+ENTRYPOINT ["/usr/bin/opendlv-ui-videostream"]
diff --git a/Dockerfile.armhf b/Dockerfile.armhf
@@ -0,0 +1,42 @@
+# Copyright (C) 2018 Ola Benderius
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+
+FROM resin/armv7hf-debian:buster as builder
+RUN [ "cross-build-start" ]
+RUN apt-get update -y && apt-get install -y apt-utils
+RUN apt-get install -y libopencv-dev libopencv-core-dev libopencv-highgui-dev
+RUN apt-get install -y cmake g++ make 
+
+ADD . /opt/sources
+WORKDIR /opt/sources
+RUN mkdir build && \
+    cd build && \
+    cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/tmp .. && \
+    make && make install
+
+RUN [ "cross-build-end" ]
+
+
+FROM resin/armv7hf-debian:buster
+RUN [ "cross-build-start" ]
+RUN apt-get update -y && apt-get install -y apt-utils
+RUN apt-get install -y libopencv-dev libopencv-core-dev libopencv-highgui-dev
+
+WORKDIR /usr/bin
+COPY --from=builder /tmp/bin .
+CMD ["/usr/bin/opendlv-ui-videostream"]
+
+RUN [ "cross-build-end" ]
diff --git a/FindLibRT.cmake b/FindLibRT.cmake
@@ -0,0 +1,121 @@
+# You may redistribute this program and/or modify it under the terms of
+# the GNU General Public License as published by the Free Software Foundation,
+# either version 3 of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+if(NOT LIBRT_FOUND)
+
+    IF(${CMAKE_C_COMPILER} MATCHES "arm")
+        # We are on ARM.
+        find_path(LIBRT_INCLUDE_DIR
+            NAMES
+                time.h
+            PATHS
+                ${LIBRTDIR}/include/
+        )
+
+        find_file(
+            LIBRT_LIBRARIES librt.a
+            PATHS
+                ${LIBRTDIR}/lib/
+                /usr/lib/arm-linux-gnueabihf/
+                /usr/lib/arm-linux-gnueabi/
+        )
+        set (LIBRT_DYNAMIC "Using static library.")
+
+        if (NOT LIBRT_LIBRARIES)
+            find_library(
+                LIBRT_LIBRARIES rt
+                PATHS
+                    ${LIBRTDIR}/lib/
+                    /usr/lib/arm-linux-gnueabihf/
+                    /usr/lib/arm-linux-gnueabi/
+            )
+            set (LIBRT_DYNAMIC "Using dynamic library.")
+        endif (NOT LIBRT_LIBRARIES)
+    ELSE()
+        IF("${CMAKE_SIZEOF_VOID_P}" STREQUAL "8")
+            # We are on x86_64.
+            find_path(LIBRT_INCLUDE_DIR
+                NAMES
+                    time.h
+                PATHS
+                    ${LIBRTDIR}/include/
+            )
+
+            find_file(
+                LIBRT_LIBRARIES librt.a
+                PATHS
+                    ${LIBRTDIR}/lib/
+                    /usr/lib/x86_64-linux-gnu/
+                    /usr/local/lib64/
+                    /usr/lib64/
+                    /usr/lib/
+            )
+            set (LIBRT_DYNAMIC "Using static library.")
+
+            if (NOT LIBRT_LIBRARIES)
+                find_library(
+                    LIBRT_LIBRARIES rt
+                    PATHS
+                        ${LIBRTDIR}/lib/
+                        /usr/lib/x86_64-linux-gnu/
+                        /usr/local/lib64/
+                        /usr/lib64/
+                        /usr/lib/
+                )
+                set (LIBRT_DYNAMIC "Using dynamic library.")
+            endif (NOT LIBRT_LIBRARIES)
+        ELSE()
+            # We are on x86.
+            find_path(LIBRT_INCLUDE_DIR
+                NAMES
+                    time.h
+                PATHS
+                    ${LIBRTDIR}/include/
+            )
+
+            find_file(
+                LIBRT_LIBRARIES librt.a
+                PATHS
+                    ${LIBRTDIR}/lib/
+                    /usr/lib/i386-linux-gnu/
+                    /usr/local/lib/
+                    /usr/lib/
+            )
+            set (LIBRT_DYNAMIC "Using static library.")
+
+            if (NOT LIBRT_LIBRARIES)
+                find_library(
+                    LIBRT_LIBRARIES rt
+                    PATHS
+                        ${LIBRTDIR}/lib/
+                        /usr/lib/i386-linux-gnu/
+                        /usr/local/lib/
+                        /usr/lib/
+                )
+                set (LIBRT_DYNAMIC "Using dynamic library.")
+            endif (NOT LIBRT_LIBRARIES)
+        ENDIF()
+    ENDIF()
+
+    if (LIBRT_INCLUDE_DIR AND LIBRT_LIBRARIES)
+        set (LIBRT_FOUND TRUE)
+    endif (LIBRT_INCLUDE_DIR AND LIBRT_LIBRARIES)
+
+    if (LIBRT_FOUND)
+        message(STATUS "Found librt: ${LIBRT_INCLUDE_DIR}, ${LIBRT_LIBRARIES} ${LIBRT_DYNAMIC}")
+    else (LIBRT_FOUND)
+        if (Librt_FIND_REQUIRED)
+            message (FATAL_ERROR "Could not find librt, try to setup LIBRT_PREFIX accordingly")
+        endif (Librt_FIND_REQUIRED)
+    endif (LIBRT_FOUND)
+
+endif (NOT LIBRT_FOUND)
diff --git a/README.md b/README.md
@@ -0,0 +1,47 @@
+# opendlv-ui-videostream
+
+This repository provides the source code to hook into a shared memory video
+stream and send it over a conference. The image will be encoded in JPEG format,
+and sent as the ImageReading message from the Standard message set.
+
+## Usage
+This microservice is created automatically on new releases, via Docker's public registry:
+
+* [x86_64](https://hub.docker.com/r/chalmersrevere/opendlv-ui-videostream-amd64/tags/)
+* [armhf](https://hub.docker.com/r/chalmersrevere/opendlv-ui-videostream-armhf/tags/)
+
+To run this microservice using our pre-built Docker multi-arch images, 
+simply start it as:
+
+```
+docker run \
+           --rm \
+           -ti \
+           --init \
+           -v /dev/shm:/dev/shm \
+           --ulimit memlock=4000000:4000000 \
+           opendlv-ui-videostream \
+               --cid=111 \
+               --freq=5
+               --name=camera0 \
+               --width=1024 \
+               --height=768 \
+               --bpp=24 \
+               --scaled-width=256
+               --scaled-height=192
+```
+
+## Build from sources
+To build this software, you need cmake, C++14 or newer, and make. Having these
+preconditions, just run `cmake` and `make` as follows:
+
+```
+mkdir build && cd build
+cmake -D CMAKE_BUILD_TYPE=Release ..
+make && make install
+```
+
+
+## License
+
+* This project is released under the terms of the GNU GPLv3 License