fix： 树莓派gstreamer pipeline报错
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5ccaca3743
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5fc78d7ef9
@ -102,8 +102,24 @@ impl CameraController {
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// 尝试拍摄测试帧以确保相机设置正确
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info!("Testing camera by capturing a test frame...");
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// 使用已打开的相机实例直接捕获一帧，而不是创建新的流
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match camera.capture_test_frame() {
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// 为测试帧创建一个新的临时相机实例，而不是使用主实例
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let test_frame_result = {
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info!("Creating temporary camera instance for test frame");
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let mut test_camera = OpenCVCamera::open(&self.settings.device)
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.context("Failed to open temporary camera for test frame")?;
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// 应用最小必要设置
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let _ = test_camera.set_format(self.settings.resolution);
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// 捕获测试帧
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let result = test_camera.capture_test_frame();
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// test_camera将在此作用域结束时自动释放
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result
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};
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// 处理测试帧结果
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match test_frame_result {
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Ok(_) => {
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info!("Successfully captured test frame - camera is working correctly");
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},
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@ -134,6 +150,9 @@ impl CameraController {
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}
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}
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// 给设备一点时间完全释放资源
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tokio::time::sleep(tokio::time::Duration::from_millis(500)).await;
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self.camera = Some(camera);
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info!("Camera initialized successfully");
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@ -158,9 +177,66 @@ impl CameraController {
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.as_mut()
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.ok_or_else(|| anyhow::anyhow!("Camera not initialized"))?;
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// 先释放当前相机实例，以确保没有资源冲突
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self.camera = None;
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// 等待一小段时间以确保资源被完全释放
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tokio::time::sleep(tokio::time::Duration::from_millis(500)).await;
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// 重新创建相机实例
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let mut new_camera = match OpenCVCamera::open(&self.settings.device) {
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Ok(camera) => camera,
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Err(e) => {
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error!("Failed to reopen camera for streaming: {}", e);
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// 尝试使用不同的方法打开相机
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let device_busy = e.to_string().contains("busy") || e.to_string().contains("已被占用");
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if device_busy {
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warn!("Camera device is busy. Attempting to force release the device...");
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// 使用v4l2-ctl尝试重置设备
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if let Ok(device_path) = extract_device_path(&self.settings.device) {
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info!("Trying to reset device: {}", device_path);
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match std::process::Command::new("v4l2-ctl")
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.args(&["--device", &device_path, "--set-ctrl=power_line_frequency=0"])
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.output()
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{
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Ok(_) => info!("Device reset command sent to {}", device_path),
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Err(e) => warn!("Failed to reset device: {}", e)
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};
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// 等待设备重置
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tokio::time::sleep(tokio::time::Duration::from_millis(1000)).await;
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// 再次尝试打开设备
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match OpenCVCamera::open(&self.settings.device) {
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Ok(camera) => {
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info!("Successfully reopened camera after reset");
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camera
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},
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Err(e) => {
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error!("Still failed to open camera after reset: {}", e);
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return Err(anyhow::anyhow!("Failed to open camera for streaming: {}", e));
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}
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}
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} else {
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return Err(anyhow::anyhow!("Failed to extract device path from: {}", self.settings.device));
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}
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} else {
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return Err(anyhow::anyhow!("Failed to open camera for streaming: {}", e));
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}
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}
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};
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// 应用基本设置
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let _ = new_camera.set_format(self.settings.resolution);
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let _ = new_camera.set_fps(self.settings.fps);
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// Start the camera streaming
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info!("Starting camera streaming with device: {}", self.settings.device);
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let stream_result = camera.start_streaming();
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let stream_result = new_camera.start_streaming();
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let mut stream = match stream_result {
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Ok(stream) => stream,
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@ -176,38 +252,24 @@ impl CameraController {
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// 在树莓派上但没有使用GStreamer pipeline，尝试使用pipeline重新初始化
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warn!("Running on Raspberry Pi without GStreamer pipeline. Attempting to reinitialize camera with GStreamer...");
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// 关闭当前相机
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self.camera = None;
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// 创建更简单的GStreamer pipeline
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let pipeline = "v4l2src ! videoconvert ! appsink".to_string();
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let pipeline = format!("v4l2src device={} ! videoconvert ! appsink",
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extract_device_path(&self.settings.device).unwrap_or("/dev/video0".to_string()));
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info!("Trying simple GStreamer pipeline: {}", pipeline);
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info!("Trying GStreamer pipeline: {}", pipeline);
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self.settings.device = pipeline;
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// 重新初始化相机
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match OpenCVCamera::open(&self.settings.device) {
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Ok(mut camera) => {
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// 基本配置
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let _ = camera.set_format(self.settings.resolution);
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let _ = camera.set_fps(self.settings.fps);
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self.camera = Some(camera);
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// 使用 Box::pin 来解决递归 async 调用问题
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return Box::pin(self.start_capture_impl()).await;
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},
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Err(e) => {
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error!("Failed to reinitialize camera with GStreamer: {}", e);
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return Err(anyhow::anyhow!("Camera streaming failed on Raspberry Pi: {}", e));
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}
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}
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}
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return Err(anyhow::anyhow!("Failed to start camera streaming: {}", e));
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}
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};
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// 保存新的相机实例
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self.camera = Some(new_camera);
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// 先保存一个测试帧副本
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let test_frame = match stream.capture_frame() {
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Ok(frame) => {
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@ -580,6 +642,40 @@ impl CameraController {
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}
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}
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/// 从设备字符串中提取/dev/video设备路径
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fn extract_device_path(device_str: &str) -> Result<String, anyhow::Error> {
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// 如果是简单的/dev/video路径，直接返回
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if device_str.starts_with("/dev/video") {
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return Ok(device_str.to_string());
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}
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// 如果是GStreamer pipeline，尝试提取device参数
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if device_str.contains("v4l2src") && device_str.contains("device=") {
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// 匹配device=/dev/videoX 格式
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if let Some(start_idx) = device_str.find("device=") {
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let device_part = &device_str[start_idx + 7..]; // "device=".len() == 7
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// 如果device路径用引号括起来
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if device_part.starts_with('"') || device_part.starts_with('\'') {
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let quote = device_part.chars().next().unwrap();
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if let Some(end_idx) = device_part[1..].find(quote) {
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return Ok(device_part[1..=end_idx].to_string());
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}
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}
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// 否则找到下一个空格或感叹号
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else if let Some(end_idx) = device_part.find(|c| c == ' ' || c == '!') {
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return Ok(device_part[..end_idx].to_string());
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} else {
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// 如果没有终止符，假设它是整个剩余部分
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return Ok(device_part.to_string());
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}
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}
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}
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// 没找到设备路径，返回默认值
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Err(anyhow::anyhow!("Could not extract device path from: {}", device_str))
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}
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impl Drop for CameraController {
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fn drop(&mut self) {
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info!("Cleaning up camera controller resources");
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@ -243,6 +243,9 @@ impl OpenCVCamera {
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info!("Using resolution from GStreamer pipeline (cannot be changed at runtime)");
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}
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// 等待一小段时间让摄像头设置生效
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std::thread::sleep(std::time::Duration::from_millis(100));
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// 尝试读取实际分辨率
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let actual_width = match self.capture.get(videoio::CAP_PROP_FRAME_WIDTH) {
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Ok(w) if w > 0.0 => w as u32,
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@ -430,6 +433,21 @@ impl OpenCVCamera {
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/// Stop streaming from the camera
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pub fn stop_streaming(&mut self) -> Result<()> {
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// 尝试重置或释放相机资源，以避免下次打开时出现"设备忙"的错误
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// 对于V4L2设备，可以尝试通过v4l2-ctl重置设备
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if self.device.starts_with("/dev/video") {
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// 记录日志但继续执行，不要因为这个失败而中断
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match std::process::Command::new("v4l2-ctl")
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.args(&["--device", &self.device, "--set-ctrl=power_line_frequency=0"])
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.output()
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{
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Ok(_) => info!("Successfully reset V4L2 device: {}", self.device),
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Err(e) => warn!("Failed to reset V4L2 device (non-critical): {}", e)
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}
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}
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// 在GStreamer pipeline中，这可能不那么重要
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self.is_streaming = false;
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info!("Stopped camera streaming");
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Ok(())
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@ -498,3 +516,25 @@ impl Drop for OpenCVCaptureStream {
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debug!("OpenCV capture stream dropped");
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}
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}
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impl Drop for OpenCVCamera {
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fn drop(&mut self) {
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debug!("OpenCV camera dropping, releasing resources");
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// 在释放资源前尝试执行一些清理操作
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if self.is_streaming {
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if let Err(e) = self.stop_streaming() {
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warn!("Error stopping camera during drop: {}", e);
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}
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}
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// VideoCapture在超出作用域时会自动释放，但我们可以尝试显式释放
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if self.device.starts_with("/dev/video") {
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let _ = std::process::Command::new("v4l2-ctl")
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.args(&["--device", &self.device, "--set-ctrl=power_line_frequency=0"])
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.output();
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}
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debug!("OpenCV camera resources released");
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}
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}
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