/// <summary>
/// Wires up the various image processing components.
/// </summary>
protected virtual void ConfigurePipeline()
{
Console.WriteLine("Preparing pipeline.");
VideoCaptureHandler = new CircularBufferCaptureHandler(4000000, AppConfig.Get.LocalPath, "h264");
MotionCaptureHandler = new FrameBufferCaptureHandler();
SnapshotCaptureHandler = new FrameBufferCaptureHandler(directory: AppConfig.Get.LocalPath, extension: "jpg", fileDateTimeFormat: Program.FILENAME_DATE_FORMAT);
Splitter = new MMALSplitterComponent();
Resizer = new MMALIspComponent();
VideoEncoder = new MMALVideoEncoder();
SnapshotEncoder = new MMALImageEncoder(continuousCapture: true);
Resizer.ConfigureOutputPort <VideoPort>(0, new MMALPortConfig(MMALEncoding.RGB24, MMALEncoding.RGB24, width: 640, height: 480), MotionCaptureHandler);
VideoEncoder.ConfigureOutputPort(new MMALPortConfig(MMALEncoding.H264, MMALEncoding.I420, quality: 10, MMALVideoEncoder.MaxBitrateLevel4), VideoCaptureHandler);
SnapshotEncoder.ConfigureOutputPort(new MMALPortConfig(MMALEncoding.JPEG, MMALEncoding.I420, quality: 90), SnapshotCaptureHandler);
Cam.Camera.VideoPort.ConnectTo(Splitter);
Splitter.Outputs[0].ConnectTo(Resizer);
Splitter.Outputs[1].ConnectTo(VideoEncoder);
Splitter.Outputs[2].ConnectTo(SnapshotEncoder);
}
// motion without raw recording, decouple from onDetect event
static async Task motion(int totalSeconds, int recordSeconds, int sensitivity)
{
DeleteFiles(ramdiskPath, "*.h264");
DeleteFiles(ramdiskPath, "*.raw");
var cam = GetConfiguredCamera();
// No longer cut-and-paste from the MMALSharp wiki:
// The built-in MotionConfig "recordingTime" argument only applies to calling StartRecording
// on the motion buffer, which is RAW (and huge). That also means the onStopDetect action
// for cam.WithMotionDetection is not especially useful. So this variation doesn't record the
// RAW stream and instead uses a token timeout to terminate the recording.
// When using H.264 encoding we require key frames to be generated for the Circular buffer capture handler.
MMALCameraConfig.InlineHeaders = true;
Console.WriteLine("Preparing pipeline...");
using (var splitter = new MMALSplitterComponent())
{
// Two capture handlers are being used here, one for motion detection and the other to record a H.264 stream.
using var vidCaptureHandler = new CircularBufferCaptureHandler(4000000, "/media/ramdisk", "h264");
using var motionCircularBufferCaptureHandler = new CircularBufferCaptureHandler(4000000, "/media/ramdisk", "raw");
using var resizer = new MMALIspComponent();
using var vidEncoder = new MMALVideoEncoder();
using var renderer = new MMALVideoRenderer();
cam.ConfigureCameraSettings();
var splitterPortConfig = new MMALPortConfig(MMALEncoding.OPAQUE, MMALEncoding.I420, 0, 0, null);
var vidEncoderPortConfig = new MMALPortConfig(MMALEncoding.H264, MMALEncoding.I420, 0, MMALVideoEncoder.MaxBitrateLevel4, null);
// The ISP resizer is being used for better performance. Frame difference motion detection will only work if using raw video data. Do not encode to H.264/MJPEG.
// Resizing to a smaller image may improve performance, but ensure that the width/height are multiples of 32 and 16 respectively to avoid cropping.
var resizerPortConfig = new MMALPortConfig(MMALEncoding.RGB24, MMALEncoding.RGB24, 640, 480, 0, 0, 0, false, null);
splitter.ConfigureInputPort(new MMALPortConfig(MMALEncoding.OPAQUE, MMALEncoding.I420), cam.Camera.VideoPort, null);
splitter.ConfigureOutputPort(0, splitterPortConfig, null);
splitter.ConfigureOutputPort(1, splitterPortConfig, null);
resizer.ConfigureOutputPort <VideoPort>(0, resizerPortConfig, motionCircularBufferCaptureHandler);
vidEncoder.ConfigureInputPort(new MMALPortConfig(MMALEncoding.OPAQUE, MMALEncoding.I420), splitter.Outputs[1], null);
vidEncoder.ConfigureOutputPort(vidEncoderPortConfig, vidCaptureHandler);
cam.Camera.VideoPort.ConnectTo(splitter);
cam.Camera.PreviewPort.ConnectTo(renderer);
splitter.Outputs[0].ConnectTo(resizer);
splitter.Outputs[1].ConnectTo(vidEncoder);
Console.WriteLine("Camera warmup...");
await Task.Delay(2000);
Console.WriteLine($"Detecting motion for {totalSeconds} seconds with sensitivity threshold {sensitivity}...");
var cts = new CancellationTokenSource(TimeSpan.FromSeconds(totalSeconds));
// The recording duration doesn't matter; see notes at top of this method.
var motionConfig = new MotionConfig(TimeSpan.FromSeconds(10), sensitivity);
// Stephen Cleary says CTS disposal is unnecessary as long as you cancel! https://stackoverflow.com/a/19005066/152997
var startRecordingCTS = LocalPrepareToRecord();
await cam.WithMotionDetection(
motionCircularBufferCaptureHandler,
motionConfig,
// This callback will be invoked when motion has been detected.
() => {
// This has no effect if the token is already cancelled.
startRecordingCTS.Cancel();
})
.ProcessAsync(cam.Camera.VideoPort, cts.Token);
CancellationTokenSource LocalPrepareToRecord()
{
var cts = new CancellationTokenSource();
cts.Token.Register(LocalStartRecording);
return(cts);
}
async void LocalStartRecording()
{
Console.WriteLine($"Motion detected, recording {recordSeconds} seconds...");
motionCircularBufferCaptureHandler.DisableMotionDetection();
vidCaptureHandler.StartRecording();
vidEncoder.RequestIFrame();
// Prepare to record
// Stephen Cleary says CTS disposal is unnecessary as long as you cancel! https://stackoverflow.com/a/19005066/152997
var recordingCTS = new CancellationTokenSource();
// When the token expires, stop recording and re-enable capture
recordingCTS.Token.Register(LocalEndRecording);
// Start the clock
recordingCTS.CancelAfter(recordSeconds * 1000);
// Record until the duration passes or the overall motion detection token expires
await Task.WhenAny(new Task[]
{
cts.Token.AsTask(),
recordingCTS.Token.AsTask()
});
if (!recordingCTS.IsCancellationRequested)
{
recordingCTS.Cancel();
}
}
void LocalEndRecording()
{
Console.WriteLine("...recording stopped.");
startRecordingCTS = LocalPrepareToRecord();
motionCircularBufferCaptureHandler.EnableMotionDetection();
vidCaptureHandler.StopRecording();
vidCaptureHandler.Split();
}
}
// can't use the convenient fall-through using or MMALCamera.Cleanup
// throws: Argument is invalid. Unable to destroy component
cam.Cleanup();
Console.WriteLine("Exiting.");
}
// motion as in the wiki (records raw file)
static async Task motion_record_raw(int totalSeconds, int recordSeconds, int sensitivity)
{
DeleteFiles(ramdiskPath, "*.h264");
DeleteFiles(ramdiskPath, "*.raw");
var cam = GetConfiguredCamera();
// When using H.264 encoding we require key frames to be generated for the Circular buffer capture handler.
MMALCameraConfig.InlineHeaders = true;
Console.WriteLine("Preparing pipeline...");
using (var splitter = new MMALSplitterComponent())
{
// Two capture handlers are being used here, one for motion detection and the other to record a H.264 stream.
using var vidCaptureHandler = new CircularBufferCaptureHandler(4000000, "/media/ramdisk", "h264");
using var motionCircularBufferCaptureHandler = new CircularBufferCaptureHandler(4000000, "/media/ramdisk", "raw");
using var resizer = new MMALIspComponent();
using var vidEncoder = new MMALVideoEncoder();
using var renderer = new MMALVideoRenderer();
cam.ConfigureCameraSettings();
// The ISP resizer is being used for better performance. Frame difference motion detection will only work if using raw video data. Do not encode to H.264/MJPEG.
// Resizing to a smaller image may improve performance, but ensure that the width/height are multiples of 32 and 16 respectively to avoid cropping.
var resizerPortConfig = new MMALPortConfig(MMALEncoding.RGB24, MMALEncoding.RGB24, 640, 480, 0, 0, 0, false, null);
var vidEncoderPortConfig = new MMALPortConfig(MMALEncoding.H264, MMALEncoding.I420, 0, MMALVideoEncoder.MaxBitrateLevel4, null);
var splitterPortConfig = new MMALPortConfig(MMALEncoding.OPAQUE, MMALEncoding.I420, 0, 0, null);
splitter.ConfigureInputPort(new MMALPortConfig(MMALEncoding.OPAQUE, MMALEncoding.I420), cam.Camera.VideoPort, null);
splitter.ConfigureOutputPort(0, splitterPortConfig, null);
splitter.ConfigureOutputPort(1, splitterPortConfig, null);
resizer.ConfigureOutputPort <VideoPort>(0, resizerPortConfig, motionCircularBufferCaptureHandler);
vidEncoder.ConfigureInputPort(new MMALPortConfig(MMALEncoding.OPAQUE, MMALEncoding.I420), splitter.Outputs[1], null);
vidEncoder.ConfigureOutputPort(vidEncoderPortConfig, vidCaptureHandler);
cam.Camera.VideoPort.ConnectTo(splitter);
cam.Camera.PreviewPort.ConnectTo(renderer);
splitter.Outputs[0].ConnectTo(resizer);
splitter.Outputs[1].ConnectTo(vidEncoder);
Console.WriteLine("Camera warmup...");
await Task.Delay(2000);
var cts = new CancellationTokenSource(TimeSpan.FromSeconds(totalSeconds));
var motionConfig = new MotionConfig(TimeSpan.FromSeconds(recordSeconds), sensitivity);
Console.WriteLine($"Detecting motion for {totalSeconds} seconds with sensitivity threshold {sensitivity}...");
await cam.WithMotionDetection(
motionCircularBufferCaptureHandler,
motionConfig,
// This callback will be invoked when motion has been detected.
() =>
{
Console.WriteLine($"Motion detected, recording {recordSeconds} seconds...");
// Stop motion detection while we are recording.
motionCircularBufferCaptureHandler.DisableMotionDetection();
// Start recording our H.264 video.
vidCaptureHandler.StartRecording();
motionCircularBufferCaptureHandler.StartRecording();
// Request a key frame to be immediately generated by the h.264 encoder.
vidEncoder.RequestIFrame();
},
// Invoked when motion handler recording-time expires
() =>
{
// We want to re-enable the motion detection.
motionCircularBufferCaptureHandler.EnableMotionDetection();
// Stop recording on our capture handlers.
motionCircularBufferCaptureHandler.StopRecording();
vidCaptureHandler.StopRecording();
// Optionally create new file for our next recording run (don't do the RAW file, we don't want it).
vidCaptureHandler.Split();
Console.WriteLine("...recording stopped.");
})
.ProcessAsync(cam.Camera.VideoPort, cts.Token);
}
// can't use the convenient fall-through using or MMALCamera.Cleanup
// throws: Argument is invalid. Unable to destroy component
cam.Cleanup();
Console.WriteLine("Exiting.");
}
public async Task UserProvidedPortName()
{
TestHelper.BeginTest("UserProvidedPortName");
TestHelper.SetConfigurationDefaults();
TestHelper.CleanDirectory("/home/pi/images/tests");
using (var imgCaptureHandler = new ImageStreamCaptureHandler("/home/pi/images/tests", "jpg"))
using (var imgCaptureHandler2 = new ImageStreamCaptureHandler("/home/pi/images/tests", "jpg"))
using (var imgCaptureHandler3 = new ImageStreamCaptureHandler("/home/pi/images/tests", "jpg"))
using (var imgCaptureHandler4 = new ImageStreamCaptureHandler("/home/pi/images/tests", "jpg"))
using (var imgEncoder = new MMALImageEncoder())
using (var imgEncoder2 = new MMALImageEncoder())
using (var imgEncoder3 = new MMALImageEncoder())
using (var imgEncoder4 = new MMALImageEncoder())
using (var splitter = new MMALSplitterComponent())
using (var isp1 = new MMALIspComponent())
using (var isp2 = new MMALIspComponent())
using (var isp3 = new MMALIspComponent())
using (var isp4 = new MMALIspComponent())
using (var nullSink = new MMALNullSinkComponent())
{
Fixture.MMALCamera.ConfigureCameraSettings();
var portConfig = new MMALPortConfig(MMALEncoding.JPEG, MMALEncoding.I420, quality: 90, userPortName: "Image encoder 1");
var portConfig2 = new MMALPortConfig(MMALEncoding.JPEG, MMALEncoding.I420, quality: 90, userPortName: "Image encoder 2");
var portConfig3 = new MMALPortConfig(MMALEncoding.JPEG, MMALEncoding.I420, quality: 90, userPortName: "Image encoder 3");
var portConfig4 = new MMALPortConfig(MMALEncoding.JPEG, MMALEncoding.I420, quality: 90, userPortName: "Image encoder 4");
var splitterConfig = new MMALPortConfig(MMALEncoding.I420, MMALEncoding.I420);
var resizeConfig = new MMALPortConfig(MMALEncoding.I420, MMALEncoding.I420, width: 1280, height: 720);
var resizeConfig2 = new MMALPortConfig(MMALEncoding.I420, MMALEncoding.I420, width: 1024, height: 720);
var resizeConfig3 = new MMALPortConfig(MMALEncoding.I420, MMALEncoding.I420, width: 640, height: 480);
var resizeConfig4 = new MMALPortConfig(MMALEncoding.I420, MMALEncoding.I420, width: 620, height: 310);
// Create our component pipeline.
splitter.ConfigureOutputPort <SplitterStillPort>(0, splitterConfig, null);
splitter.ConfigureOutputPort <SplitterStillPort>(1, splitterConfig, null);
splitter.ConfigureOutputPort <SplitterStillPort>(2, splitterConfig, null);
splitter.ConfigureOutputPort <SplitterStillPort>(3, splitterConfig, null);
isp1.ConfigureOutputPort(resizeConfig, null);
isp2.ConfigureOutputPort(resizeConfig2, null);
isp3.ConfigureOutputPort(resizeConfig3, null);
isp4.ConfigureOutputPort(resizeConfig4, null);
imgEncoder.ConfigureOutputPort(portConfig, imgCaptureHandler);
imgEncoder2.ConfigureOutputPort(portConfig2, imgCaptureHandler2);
imgEncoder3.ConfigureOutputPort(portConfig3, imgCaptureHandler3);
imgEncoder4.ConfigureOutputPort(portConfig4, imgCaptureHandler4);
Fixture.MMALCamera.Camera.StillPort.ConnectTo(splitter);
Fixture.MMALCamera.Camera.PreviewPort.ConnectTo(nullSink);
splitter.Outputs[0].ConnectTo(isp1);
splitter.Outputs[1].ConnectTo(isp2);
splitter.Outputs[2].ConnectTo(isp3);
splitter.Outputs[3].ConnectTo(isp4);
isp1.Outputs[0].ConnectTo(imgEncoder);
isp2.Outputs[0].ConnectTo(imgEncoder2);
isp3.Outputs[0].ConnectTo(imgEncoder3);
isp4.Outputs[0].ConnectTo(imgEncoder4);
// Camera warm up time
await Task.Delay(2000);
await Fixture.MMALCamera.ProcessAsync(Fixture.MMALCamera.Camera.StillPort);
Fixture.CheckAndAssertFilepath(imgCaptureHandler.GetFilepath());
Fixture.CheckAndAssertFilepath(imgCaptureHandler2.GetFilepath());
Fixture.CheckAndAssertFilepath(imgCaptureHandler3.GetFilepath());
Fixture.CheckAndAssertFilepath(imgCaptureHandler4.GetFilepath());
}
}
public async Task TakeMultiplePicturesFromSplitterComponent()
{
// This test relies on an ISP component being connected between a splitter component output port
// and an image encoder input port. If the ISP component is not used as a go-between, the splitter
// component appears to only accept 1 of its output ports being connected to an image encoder. I believe
// this may be a firmware restriction.
TestHelper.BeginTest("TakeMultiplePicturesFromSplitterComponent");
TestHelper.SetConfigurationDefaults();
TestHelper.CleanDirectory("/home/pi/images/tests");
using (var imgCaptureHandler = new ImageStreamCaptureHandler("/home/pi/images/tests", "jpg"))
using (var imgCaptureHandler2 = new ImageStreamCaptureHandler("/home/pi/images/tests", "jpg"))
using (var imgCaptureHandler3 = new ImageStreamCaptureHandler("/home/pi/images/tests", "jpg"))
using (var imgCaptureHandler4 = new ImageStreamCaptureHandler("/home/pi/images/tests", "jpg"))
using (var imgEncoder = new MMALImageEncoder())
using (var imgEncoder2 = new MMALImageEncoder())
using (var imgEncoder3 = new MMALImageEncoder())
using (var imgEncoder4 = new MMALImageEncoder())
using (var splitter = new MMALSplitterComponent())
using (var isp1 = new MMALIspComponent())
using (var isp2 = new MMALIspComponent())
using (var isp3 = new MMALIspComponent())
using (var isp4 = new MMALIspComponent())
using (var nullSink = new MMALNullSinkComponent())
{
Fixture.MMALCamera.ConfigureCameraSettings();
var portConfig = new MMALPortConfig(MMALEncoding.JPEG, MMALEncoding.I420, quality: 90);
var portConfig2 = new MMALPortConfig(MMALEncoding.JPEG, MMALEncoding.I420, quality: 90);
var portConfig3 = new MMALPortConfig(MMALEncoding.JPEG, MMALEncoding.I420, quality: 90);
var portConfig4 = new MMALPortConfig(MMALEncoding.JPEG, MMALEncoding.I420, quality: 90);
var splitterConfig = new MMALPortConfig(MMALEncoding.I420, MMALEncoding.I420);
var resizeConfig = new MMALPortConfig(MMALEncoding.I420, MMALEncoding.I420, width: 1280, height: 720);
var resizeConfig2 = new MMALPortConfig(MMALEncoding.I420, MMALEncoding.I420, width: 1024, height: 720);
var resizeConfig3 = new MMALPortConfig(MMALEncoding.I420, MMALEncoding.I420, width: 640, height: 480);
var resizeConfig4 = new MMALPortConfig(MMALEncoding.I420, MMALEncoding.I420, width: 620, height: 310);
// Create our component pipeline.
splitter.ConfigureOutputPort <SplitterStillPort>(0, splitterConfig, null);
splitter.ConfigureOutputPort <SplitterStillPort>(1, splitterConfig, null);
splitter.ConfigureOutputPort <SplitterStillPort>(2, splitterConfig, null);
splitter.ConfigureOutputPort <SplitterStillPort>(3, splitterConfig, null);
isp1.ConfigureOutputPort(resizeConfig, null);
isp2.ConfigureOutputPort(resizeConfig2, null);
isp3.ConfigureOutputPort(resizeConfig3, null);
isp4.ConfigureOutputPort(resizeConfig4, null);
imgEncoder.ConfigureOutputPort(portConfig, imgCaptureHandler);
imgEncoder2.ConfigureOutputPort(portConfig2, imgCaptureHandler2);
imgEncoder3.ConfigureOutputPort(portConfig3, imgCaptureHandler3);
imgEncoder4.ConfigureOutputPort(portConfig4, imgCaptureHandler4);
Fixture.MMALCamera.Camera.StillPort.ConnectTo(splitter);
Fixture.MMALCamera.Camera.PreviewPort.ConnectTo(nullSink);
splitter.Outputs[0].ConnectTo(isp1);
splitter.Outputs[1].ConnectTo(isp2);
splitter.Outputs[2].ConnectTo(isp3);
splitter.Outputs[3].ConnectTo(isp4);
isp1.Outputs[0].ConnectTo(imgEncoder);
isp2.Outputs[0].ConnectTo(imgEncoder2);
isp3.Outputs[0].ConnectTo(imgEncoder3);
isp4.Outputs[0].ConnectTo(imgEncoder4);
// Camera warm up time
await Task.Delay(2000);
await Fixture.MMALCamera.ProcessAsync(Fixture.MMALCamera.Camera.StillPort);
Fixture.CheckAndAssertFilepath(imgCaptureHandler.GetFilepath());
Fixture.CheckAndAssertFilepath(imgCaptureHandler2.GetFilepath());
Fixture.CheckAndAssertFilepath(imgCaptureHandler3.GetFilepath());
Fixture.CheckAndAssertFilepath(imgCaptureHandler4.GetFilepath());
}
}
