fix： 树莓派gstreamer pipeline报错
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@ -102,21 +102,8 @@ 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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// 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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// 直接使用已打开的主相机实例捕获测试帧，避免同时打开两个相机实例
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let test_frame_result = camera.capture_test_frame();
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// 处理测试帧结果
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match test_frame_result {
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@ -177,66 +164,23 @@ 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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// 使用已有的相机实例，避免资源冲突
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let camera_ref = self
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.camera
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.as_mut()
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.ok_or_else(|| anyhow::anyhow!("Camera not initialized"))?;
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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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// 确保相机没有在流式传输
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if camera_ref.is_streaming() {
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camera_ref.stop_streaming()?;
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// 等待资源释放
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tokio::time::sleep(tokio::time::Duration::from_millis(300)).await;
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}
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// Start the camera streaming
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// 直接使用现有实例启动流
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info!("Starting camera streaming with device: {}", self.settings.device);
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let stream_result = new_camera.start_streaming();
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let stream_result = camera_ref.start_streaming();
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let mut stream = match stream_result {
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Ok(stream) => stream,
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@ -377,57 +377,31 @@ impl OpenCVCamera {
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info!("Using GStreamer pipeline streaming approach");
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}
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// Create a separate VideoCapture for the stream to avoid concurrent access issues
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let device = self.device.clone();
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let stream_capture_result = Self::create_capture_from_path(&device);
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// 重要改变：尝试直接使用当前相机的VideoCapture实例来捕获帧
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// 这样可以避免同时打开两个引用同一相机的VideoCapture实例
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info!("Using existing camera instance for streaming");
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let mut stream_capture = match stream_capture_result {
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Ok(cap) => cap,
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Err(e) => {
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error!("Failed to create stream capture: {}", e);
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if is_gstreamer_pipeline {
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error!("GStreamer pipeline error. This could indicate:");
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error!("1. GStreamer is not properly installed");
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error!("2. Pipeline syntax is incorrect");
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error!("3. The specified video device doesn't exist");
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error!("4. OpenCV was not compiled with GStreamer support");
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}
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return Err(anyhow!("Failed to create stream capture: {}", e));
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}
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};
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// Apply the same settings if not using a GStreamer pipeline
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// (GStreamer pipeline already has configuration in the pipeline string)
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if !is_gstreamer_pipeline {
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// 尝试设置分辨率，但不抛出失败异常
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if let Err(e) = stream_capture.set(videoio::CAP_PROP_FRAME_WIDTH, self.width as f64) {
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warn!("Failed to set stream width (non-critical): {}", e);
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}
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if let Err(e) = stream_capture.set(videoio::CAP_PROP_FRAME_HEIGHT, self.height as f64) {
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warn!("Failed to set stream height (non-critical): {}", e);
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}
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// 捕获一个测试帧，确保相机能正常工作
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let mut test_frame = core::Mat::default();
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if !self.capture.read(&mut test_frame)? {
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return Err(anyhow!("Failed to read test frame from camera"));
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}
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// 确保流被正确打开
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match stream_capture.is_opened() {
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Ok(is_open) => {
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if !is_open {
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return Err(anyhow!("Failed to open camera stream - camera reports not opened"));
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}
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},
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Err(e) => {
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return Err(anyhow!("Failed to check if camera stream is open: {}", e));
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}
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if test_frame.empty() {
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return Err(anyhow!("Test frame is empty"));
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}
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info!("Test frame captured successfully, size: {}x{}", test_frame.cols(), test_frame.rows());
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// 直接使用现有的capture创建流
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self.is_streaming = true;
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info!("Started camera streaming successfully");
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info!("Camera streaming started successfully using existing capture");
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// 创建共享相机实例的流
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Ok(OpenCVCaptureStream {
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capture: stream_capture,
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// 由于只有一个实例可以访问摄像头，我们需要使用Arc+Mutex来共享访问
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capture: self.capture.clone(),
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device: self.device.clone(),
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})
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}
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@ -494,6 +468,7 @@ impl OpenCVCamera {
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/// Wrapper around OpenCV VideoCapture for streaming
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pub struct OpenCVCaptureStream {
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capture: videoio::VideoCapture,
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device: String,
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}
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impl OpenCVCaptureStream {
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@ -514,6 +489,14 @@ impl OpenCVCaptureStream {
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impl Drop for OpenCVCaptureStream {
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fn drop(&mut self) {
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debug!("OpenCV capture stream dropped");
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// 尝试重置设备以便下次能正常访问
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if self.device.starts_with("/dev/video") {
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debug!("Attempting to reset video device on stream drop: {}", self.device);
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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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}
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}
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