From bd460939715865528886ce0446b423996976d689 Mon Sep 17 00:00:00 2001 From: Gaurav Gahlot Date: Tue, 10 Mar 2026 22:11:48 +0100 Subject: [PATCH 1/2] move udev-video-broker Signed-off-by: Gaurav Gahlot --- brokers/udev-video-broker/Cargo.lock | 3008 +++++++++++++++++ brokers/udev-video-broker/Cargo.toml | 24 + brokers/udev-video-broker/README.md | 24 + brokers/udev-video-broker/build.rs | 7 + brokers/udev-video-broker/proto/camera.proto | 18 + brokers/udev-video-broker/src/main.rs | 101 + brokers/udev-video-broker/src/util/camera.rs | 279 ++ .../src/util/camera_capturer.rs | 583 ++++ .../src/util/camera_service.rs | 110 + brokers/udev-video-broker/src/util/mod.rs | 3 + 10 files changed, 4157 insertions(+) create mode 100644 brokers/udev-video-broker/Cargo.lock create mode 100644 brokers/udev-video-broker/Cargo.toml create mode 100644 brokers/udev-video-broker/README.md create mode 100644 brokers/udev-video-broker/build.rs create mode 100644 brokers/udev-video-broker/proto/camera.proto 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"0.4.3" +prometheus = { version = "0.12.0", features = ["process"] } +prost = "0.12" +regex = "1" +tokio = { version = "1.0.1", features = ["time", "fs", "macros", "signal"] } +tonic = "0.10" +rscam = "0.5.5" + +[build-dependencies] +tonic-build = "0.10" diff --git a/brokers/udev-video-broker/README.md b/brokers/udev-video-broker/README.md new file mode 100644 index 0000000..82dd4eb --- /dev/null +++ b/brokers/udev-video-broker/README.md @@ -0,0 +1,24 @@ +# Udev USB Video Broker + +Sample broker for for Akri's [end to end demo](https://docs.akri.sh/demos/usb-camera-demo). +It pulls video frames from the USB camera with device node specified by the +environment variable named with `UDEV_DEVNODE_<6 digit digest>`. +Then, it serves these frames over a gRPC interface. +The [streaming application](../../apps/video-streaming-app/) provides an example +streaming service that displays frames served by this broker. + +## Running + +1. Install Rust and udev dependencies: + + ```sh + ./build/setup.sh + ``` + +2. Build and run, connecting to the USB camera at `/dev/video0`: + + ```sh + cd akri/samples/brokers/udev-video-broker + UDEV_DEVNODE_123456=/dev/video0 cargo run + ``` + diff --git a/brokers/udev-video-broker/build.rs b/brokers/udev-video-broker/build.rs new file mode 100644 index 0000000..178dc01 --- /dev/null +++ b/brokers/udev-video-broker/build.rs @@ -0,0 +1,7 @@ +fn main() { + tonic_build::configure() + .build_client(true) + .out_dir("./src/util") + .compile(&["./proto/camera.proto"], &["./proto"]) + .expect("failed to compile protos"); +} diff --git a/brokers/udev-video-broker/proto/camera.proto b/brokers/udev-video-broker/proto/camera.proto new file mode 100644 index 0000000..97454c0 --- /dev/null +++ b/brokers/udev-video-broker/proto/camera.proto @@ -0,0 +1,18 @@ +syntax = "proto3"; + +option csharp_namespace = "Camera"; + +package camera; + +service Camera { + rpc GetFrame (NotifyRequest) returns (NotifyResponse); +} + +message NotifyRequest { +} + +message NotifyResponse { + bytes frame = 1; + string camera = 2; +} + diff --git a/brokers/udev-video-broker/src/main.rs b/brokers/udev-video-broker/src/main.rs new file mode 100644 index 0000000..8dedcfe --- /dev/null +++ b/brokers/udev-video-broker/src/main.rs @@ -0,0 +1,101 @@ +mod util; +#[macro_use] +extern crate lazy_static; +use akri_shared::{ + akri::{API_NAMESPACE, metrics::run_metrics_server}, + os::env_var::{ActualEnvVarQuery, EnvVarQuery}, +}; +use log::{info, trace}; +use prometheus::IntCounter; +use regex::Regex; +use tokio::signal; +use util::{camera_capturer, camera_service}; + +lazy_static! { + pub static ref FRAME_COUNT_METRIC: IntCounter = + prometheus::register_int_counter!("akri_frame_count", "Akri Frame Count") + .expect("akri_frame_count cannot be created"); +} + +/// regular expression pattern of devnode environment variable id +pub const UDEV_DEVNODE_LABEL_ID_PATTERN: &str = "UDEV_DEVNODE_[A-F0-9]{6,6}$"; + +#[tokio::main] +async fn main() -> Result<(), Box> { + println!("{API_NAMESPACE} udev_broker ... env_logger::init"); + env_logger::try_init().unwrap(); + println!("{API_NAMESPACE} udev_broker ... env_logger::init finished"); + info!("{API_NAMESPACE} Udev Broker logging started"); + + tokio::spawn(async move { + run_metrics_server().await.unwrap(); + }); + + let env_var_query = ActualEnvVarQuery {}; + let devnode = get_video_devnode(&env_var_query); + + let camera_capturer = camera_capturer::build_and_start_camera_capturer(&devnode); + camera_service::serve(&devnode, camera_capturer) + .await + .unwrap(); + + trace!("Waiting for ctrl C shutdown signal"); + // Wait for exit signal + signal::ctrl_c().await?; + + trace!("Udev broker ending"); + Ok(()) +} + +/// This gets video devnode from environment variable else panics. +fn get_video_devnode(env_var_query: &impl EnvVarQuery) -> String { + trace!("get_video_devnode - getting devnode"); + + // query UDEV_DEVNODE_LABEL_ID prefix and use the first one found as device_devnode + lazy_static! { + static ref RE: Regex = Regex::new(UDEV_DEVNODE_LABEL_ID_PATTERN).unwrap(); + } + let device_devnodes = env_var_query + .get_env_vars() + .iter() + .filter_map(|(n, v)| { + if RE.is_match(n) { + Some(v.clone()) + } else { + None + } + }) + .collect::>(); + let device_devnode = device_devnodes + .first() + .expect("devnode not set in environment variable"); + + trace!("get_video_devnode - found devnode {device_devnode}"); + device_devnode.to_string() +} + +#[cfg(test)] +mod tests { + use super::*; + use akri_shared::os::env_var::MockEnvVarQuery; + + #[test] + fn test_get_devnode() { + let _ = env_logger::builder().is_test(true).try_init(); + + let mut mock_query = MockEnvVarQuery::new(); + const MOCK_DEVICE_PATH: &str = "/dev/video0"; + const MOCK_DEVICE_ENV_VAR_NAME: &str = "UDEV_DEVNODE_123456"; + mock_query + .expect_get_env_vars() + .times(1) + .returning(move || { + vec![( + MOCK_DEVICE_ENV_VAR_NAME.to_string(), + MOCK_DEVICE_PATH.to_string(), + )] + }); + + assert_eq!(MOCK_DEVICE_PATH.to_string(), get_video_devnode(&mock_query)); + } +} diff --git a/brokers/udev-video-broker/src/util/camera.rs b/brokers/udev-video-broker/src/util/camera.rs new file mode 100644 index 0000000..a1ee7fe --- /dev/null +++ b/brokers/udev-video-broker/src/util/camera.rs @@ -0,0 +1,279 @@ +// This file is @generated by prost-build. +#[allow(clippy::derive_partial_eq_without_eq)] +#[derive(Clone, PartialEq, ::prost::Message)] +pub struct NotifyRequest {} +#[allow(clippy::derive_partial_eq_without_eq)] +#[derive(Clone, PartialEq, ::prost::Message)] +pub struct NotifyResponse { + #[prost(bytes = "vec", tag = "1")] + pub frame: ::prost::alloc::vec::Vec, + #[prost(string, tag = "2")] + pub camera: ::prost::alloc::string::String, +} +/// Generated client implementations. +pub mod camera_client { + #![allow(unused_variables, dead_code, missing_docs, clippy::let_unit_value)] + use tonic::codegen::http::Uri; + use tonic::codegen::*; + #[derive(Debug, Clone)] + pub struct CameraClient { + inner: tonic::client::Grpc, + } + impl CameraClient { + /// Attempt to create a new client by connecting to a given endpoint. + pub async fn connect(dst: D) -> Result + where + D: TryInto, + D::Error: Into, + { + let conn = tonic::transport::Endpoint::new(dst)?.connect().await?; + Ok(Self::new(conn)) + } + } + impl CameraClient + where + T: tonic::client::GrpcService, + T::Error: Into, + T::ResponseBody: Body + Send + 'static, + ::Error: Into + Send, + { + pub fn new(inner: T) -> Self { + let inner = tonic::client::Grpc::new(inner); + Self { inner } + } + pub fn with_origin(inner: T, origin: Uri) -> Self { + let inner = tonic::client::Grpc::with_origin(inner, origin); + Self { inner } + } + pub fn with_interceptor( + inner: T, + interceptor: F, + ) -> CameraClient> + where + F: tonic::service::Interceptor, + T::ResponseBody: Default, + T: tonic::codegen::Service< + http::Request, + Response = http::Response< + >::ResponseBody, + >, + >, + >>::Error: + Into + Send + Sync, + { + CameraClient::new(InterceptedService::new(inner, interceptor)) + } + /// Compress requests with the given encoding. + /// + /// This requires the server to support it otherwise it might respond with an + /// error. + #[must_use] + pub fn send_compressed(mut self, encoding: CompressionEncoding) -> Self { + self.inner = self.inner.send_compressed(encoding); + self + } + /// Enable decompressing responses. + #[must_use] + pub fn accept_compressed(mut self, encoding: CompressionEncoding) -> Self { + self.inner = self.inner.accept_compressed(encoding); + self + } + /// Limits the maximum size of a decoded message. + /// + /// Default: `4MB` + #[must_use] + pub fn max_decoding_message_size(mut self, limit: usize) -> Self { + self.inner = self.inner.max_decoding_message_size(limit); + self + } + /// Limits the maximum size of an encoded message. + /// + /// Default: `usize::MAX` + #[must_use] + pub fn max_encoding_message_size(mut self, limit: usize) -> Self { + self.inner = self.inner.max_encoding_message_size(limit); + self + } + pub async fn get_frame( + &mut self, + request: impl tonic::IntoRequest, + ) -> std::result::Result, tonic::Status> { + self.inner.ready().await.map_err(|e| { + tonic::Status::new( + tonic::Code::Unknown, + format!("Service was not ready: {}", e.into()), + ) + })?; + let codec = tonic::codec::ProstCodec::default(); + let path = http::uri::PathAndQuery::from_static("/camera.Camera/GetFrame"); + let mut req = request.into_request(); + req.extensions_mut() + .insert(GrpcMethod::new("camera.Camera", "GetFrame")); + self.inner.unary(req, path, codec).await + } + } +} +/// Generated server implementations. +pub mod camera_server { + #![allow(unused_variables, dead_code, missing_docs, clippy::let_unit_value)] + use tonic::codegen::*; + /// Generated trait containing gRPC methods that should be implemented for use with CameraServer. + #[async_trait] + pub trait Camera: Send + Sync + 'static { + async fn get_frame( + &self, + request: tonic::Request, + ) -> std::result::Result, tonic::Status>; + } + #[derive(Debug)] + pub struct CameraServer { + inner: _Inner, + accept_compression_encodings: EnabledCompressionEncodings, + send_compression_encodings: EnabledCompressionEncodings, + max_decoding_message_size: Option, + max_encoding_message_size: Option, + } + struct _Inner(Arc); + impl CameraServer { + pub fn new(inner: T) -> Self { + Self::from_arc(Arc::new(inner)) + } + pub fn from_arc(inner: Arc) -> Self { + let inner = _Inner(inner); + Self { + inner, + accept_compression_encodings: Default::default(), + send_compression_encodings: Default::default(), + max_decoding_message_size: None, + max_encoding_message_size: None, + } + } + pub fn with_interceptor(inner: T, interceptor: F) -> InterceptedService + where + F: tonic::service::Interceptor, + { + InterceptedService::new(Self::new(inner), interceptor) + } + /// Enable decompressing requests with the given encoding. + #[must_use] + pub fn accept_compressed(mut self, encoding: CompressionEncoding) -> Self { + self.accept_compression_encodings.enable(encoding); + self + } + /// Compress responses with the given encoding, if the client supports it. + #[must_use] + pub fn send_compressed(mut self, encoding: CompressionEncoding) -> Self { + self.send_compression_encodings.enable(encoding); + self + } + /// Limits the maximum size of a decoded message. + /// + /// Default: `4MB` + #[must_use] + pub fn max_decoding_message_size(mut self, limit: usize) -> Self { + self.max_decoding_message_size = Some(limit); + self + } + /// Limits the maximum size of an encoded message. + /// + /// Default: `usize::MAX` + #[must_use] + pub fn max_encoding_message_size(mut self, limit: usize) -> Self { + self.max_encoding_message_size = Some(limit); + self + } + } + impl tonic::codegen::Service> for CameraServer + where + T: Camera, + B: Body + Send + 'static, + B::Error: Into + Send + 'static, + { + type Response = http::Response; + type Error = std::convert::Infallible; + type Future = BoxFuture; + fn poll_ready( + &mut self, + _cx: &mut Context<'_>, + ) -> Poll> { + Poll::Ready(Ok(())) + } + fn call(&mut self, req: http::Request) -> Self::Future { + let inner = self.inner.clone(); + match req.uri().path() { + "/camera.Camera/GetFrame" => { + #[allow(non_camel_case_types)] + struct GetFrameSvc(pub Arc); + impl tonic::server::UnaryService for GetFrameSvc { + type Response = super::NotifyResponse; + type Future = BoxFuture, tonic::Status>; + fn call( + &mut self, + request: tonic::Request, + ) -> Self::Future { + let inner = Arc::clone(&self.0); + let fut = + async move { ::get_frame(&inner, request).await }; + Box::pin(fut) + } + } + let accept_compression_encodings = self.accept_compression_encodings; + let send_compression_encodings = self.send_compression_encodings; + let max_decoding_message_size = self.max_decoding_message_size; + let max_encoding_message_size = self.max_encoding_message_size; + let inner = self.inner.clone(); + let fut = async move { + let inner = inner.0; + let method = GetFrameSvc(inner); + let codec = tonic::codec::ProstCodec::default(); + let mut grpc = tonic::server::Grpc::new(codec) + .apply_compression_config( + accept_compression_encodings, + send_compression_encodings, + ) + .apply_max_message_size_config( + max_decoding_message_size, + max_encoding_message_size, + ); + let res = grpc.unary(method, req).await; + Ok(res) + }; + Box::pin(fut) + } + _ => Box::pin(async move { + Ok(http::Response::builder() + .status(200) + .header("grpc-status", "12") + .header("content-type", "application/grpc") + .body(empty_body()) + .unwrap()) + }), + } + } + } + impl Clone for CameraServer { + fn clone(&self) -> Self { + let inner = self.inner.clone(); + Self { + inner, + accept_compression_encodings: self.accept_compression_encodings, + send_compression_encodings: self.send_compression_encodings, + max_decoding_message_size: self.max_decoding_message_size, + max_encoding_message_size: self.max_encoding_message_size, + } + } + } + impl Clone for _Inner { + fn clone(&self) -> Self { + Self(Arc::clone(&self.0)) + } + } + impl std::fmt::Debug for _Inner { + fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result { + write!(f, "{:?}", self.0) + } + } + impl tonic::server::NamedService for CameraServer { + const NAME: &'static str = "camera.Camera"; + } +} diff --git a/brokers/udev-video-broker/src/util/camera_capturer.rs b/brokers/udev-video-broker/src/util/camera_capturer.rs new file mode 100644 index 0000000..43a7469 --- /dev/null +++ b/brokers/udev-video-broker/src/util/camera_capturer.rs @@ -0,0 +1,583 @@ +use akri_shared::os::env_var::{ActualEnvVarQuery, EnvVarQuery}; +use log::trace; +use rscam::Camera as RsCamera; +use rscam::Config; + +/// Frames per second environment variable id +const FRAMES_PER_SECOND: &str = "FRAMES_PER_SECOND"; +/// Resolution width environment variable id +const RESOLUTION_WIDTH: &str = "RESOLUTION_WIDTH"; +/// Resolution height environment variable id +const RESOLUTION_HEIGHT: &str = "RESOLUTION_HEIGHT"; +/// Image format environment variable id +const FORMAT: &str = "FORMAT"; +/// Default is 1 fps +const DEFAULT_FRAMES_PER_SECOND: u32 = 10; +/// Default resolution width, which is also the default for rscam. +const DEFAULT_RESOLUTION_WIDTH: u32 = 640; +/// Default resolution height, which is also the default for rscam. +const DEFAULT_RESOLUTION_HEIGHT: u32 = 480; +/// Default format, which is also the default for rscam. +const DEFAULT_FORMAT: &str = "MJPG"; + +pub type Resolution = (u32, u32); +pub type Interval = (u32, u32); + +/// This builds a rscamera from a specified devnode. Then, it gets desired format, resolution, and interval/fps settings from environment variables. +/// If the environment variables are not set, it will try to use default settings. If the camera does not support the defaults, the first supported setting will be used. +/// Finally, its starts the camera capturer with the selected settings and returns this camera. +pub fn build_and_start_camera_capturer(devnode: &str) -> RsCamera { + trace!("build_and_start_camera_capturer - entered"); + let mut camera_capturer = RsCamera::new(devnode).unwrap(); + let env_var_query = ActualEnvVarQuery {}; + // Get camera formats and convert them from [u8] to String so can compare them with env and default format + let format_options: Vec = camera_capturer + .formats() + .map(|wformat| { + std::str::from_utf8(&wformat.unwrap().format) + .unwrap() + .to_string() + }) + .collect(); + let format_string = get_format(&env_var_query, format_options); + let format = &format_string.as_bytes(); + let resolution_info = camera_capturer.resolutions(format).unwrap(); + let resolution = get_resolution(&env_var_query, resolution_info); + let interval_info = camera_capturer.intervals(format, resolution).unwrap(); + let interval = get_interval(&env_var_query, interval_info); + trace!("build_and_start_camera_capturer - before starting camera"); + camera_capturer + .start(&Config { + interval, + resolution, + format, + ..Default::default() + }) + .unwrap(); + trace!("build_and_start_camera_capturer - after starting camera"); + camera_capturer +} + +/// This gets the image format from an environment variable. If not set, it will use default. If default is not supported, uses first supported format. +fn get_format(env_var_query: &impl EnvVarQuery, format_options: Vec) -> String { + let format_to_find = match env_var_query.get_env_var(FORMAT) { + Ok(format) => format, + Err(_) => { + trace!("get_format - format not set ... trying to use {DEFAULT_FORMAT:?}"); + DEFAULT_FORMAT.to_string() + } + }; + + if !format_options.contains(&format_to_find) { + if !format_options.contains(&DEFAULT_FORMAT.to_string()) { + trace!( + "get_format - camera does not support {:?} format, using {:?} format", + DEFAULT_FORMAT, format_options[0] + ); + format_options[0].clone() + } else { + trace!("get_format - using default {DEFAULT_FORMAT:?} format"); + DEFAULT_FORMAT.to_string() + } + } else { + trace!("get_format - using {format_to_find:?} format"); + format_to_find + } +} + +/// This gets the desired interval/frames per second from an environment variable. If not set, it will use default. If default is not supported, uses first supported interval. +fn get_interval(env_var_query: &impl EnvVarQuery, interval_info: rscam::IntervalInfo) -> Interval { + let fps_to_validate = match env_var_query.get_env_var(FRAMES_PER_SECOND) { + Ok(res) => res.parse().unwrap(), + Err(_) => { + trace!("main - frames per second not set ... trying to use 10"); + DEFAULT_FRAMES_PER_SECOND + } + }; + let interval_to_validate = (1, fps_to_validate); + + let interval_options = get_interval_options(interval_info); + + // If the camera does not support env var interval or default, use first interval option + if !interval_options.contains(&interval_to_validate) { + trace!( + "get_interval - camera does not support {:?} interval, using {:?} interval", + interval_to_validate, interval_options[0] + ); + interval_options[0] + } else { + trace!("get_interval - using {interval_to_validate:?} interval"); + interval_to_validate + } +} + +/// This gets the intervals supported by the camera +fn get_interval_options(interval_info: rscam::IntervalInfo) -> Vec { + match interval_info { + rscam::IntervalInfo::Discretes(interval_options) => interval_options, + rscam::IntervalInfo::Stepwise { min, max, step } => { + let mut interval_options: Vec<(u32, u32)> = Vec::new(); + let width_step = step.0; + let height_step = step.1; + let min_width = min.0; + let min_height = min.1; + let max_height = max.1; + let steps = (max_height - min_height) / height_step; + for step_num in 0..steps { + let curr_width = min_width + step_num * width_step; + let curr_height = min_height + step_num * height_step; + interval_options.push((curr_width, curr_height)); + } + interval_options + } + } +} + +/// This calls a function to get the desired resolution from an environment variable. If not set, it will use default. If default is not supported, uses first supported resolution. +fn get_resolution( + env_var_query: &impl EnvVarQuery, + resolution_info: rscam::ResolutionInfo, +) -> Resolution { + let env_var_resolution = get_env_var_resolution(env_var_query); + + let resolution_to_validate = match env_var_resolution { + Some(res) => res, + None => (DEFAULT_RESOLUTION_WIDTH, DEFAULT_RESOLUTION_HEIGHT), + }; + + let resolution_options = get_resolution_options(resolution_info); + + // If the camera does not support env var resolution or default, use first resolution + if !resolution_options.contains(&resolution_to_validate) { + trace!( + "get_resolution - camera does not support {:?} resolution, using {:?} resolution", + resolution_to_validate, resolution_options[0] + ); + resolution_options[0] + } else { + trace!("get_resolution - using resolution {resolution_to_validate:?}"); + resolution_to_validate + } +} + +/// This gets the desired resolution from an environment variable else returns None. +fn get_env_var_resolution(env_var_query: &impl EnvVarQuery) -> Option { + let width = match env_var_query.get_env_var(RESOLUTION_WIDTH) { + Ok(res) => res.parse().unwrap(), + Err(_) => { + trace!("get_env_var_resolution - resolution width not set"); + return None; + } + }; + let height = match env_var_query.get_env_var(RESOLUTION_HEIGHT) { + Ok(res) => res.parse().unwrap(), + Err(_) => { + trace!("get_env_var_resolution - resolution height not set"); + return None; + } + }; + Some((width, height)) +} + +/// This gets the resolutions supported by the camera. +fn get_resolution_options(resolution_info: rscam::ResolutionInfo) -> Vec { + match resolution_info { + rscam::ResolutionInfo::Discretes(resolution_options) => resolution_options, + rscam::ResolutionInfo::Stepwise { min, max, step } => { + let mut resolution_options: Vec<(u32, u32)> = Vec::new(); + let width_step = step.0; + let height_step = step.1; + let min_width = min.0; + let min_height = min.1; + let max_width = max.0; + let steps = (max_width - min_width) / width_step; + for step_num in 0..steps { + let curr_width = min_width + step_num * width_step; + let curr_height = min_height + step_num * height_step; + resolution_options.push((curr_width, curr_height)); + } + resolution_options + } + } +} + +#[cfg(test)] +mod tests { + use super::*; + use akri_shared::os::env_var::MockEnvVarQuery; + use std::env::VarError; + + #[test] + fn test_get_format() { + let _ = env_logger::builder().is_test(true).try_init(); + + let mut mock_query = MockEnvVarQuery::new(); + const MOCK_FORMAT: &str = "YUYV"; + let mut format_options: Vec = + vec!["OTHER".to_string(), "YUYV".to_string(), "MJPG".to_string()]; + + // Test when env var set and camera supports that format + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == FORMAT) + .returning(move |_| Ok(MOCK_FORMAT.to_string())); + assert_eq!( + "YUYV".to_string(), + get_format(&mock_query, format_options.clone()) + ); + + // Test when env var not set but camera supports default + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == FORMAT) + .returning(move |_| Err(VarError::NotPresent)); + + assert_eq!( + "MJPG".to_string(), + get_format(&mock_query, format_options.clone()) + ); + + // Test when env var not set and camera does not support default + format_options.pop(); + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == FORMAT) + .returning(move |_| Err(VarError::NotPresent)); + assert_eq!("OTHER".to_string(), get_format(&mock_query, format_options)); + + // Test when env var set and camera does not support format nor the default one + let minimal_format_options: Vec = vec!["OTHER".to_string(), "BLAH".to_string()]; + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == FORMAT) + .returning(move |_| Ok(MOCK_FORMAT.to_string())); + // Should choose first one + assert_eq!( + "OTHER".to_string(), + get_format(&mock_query, minimal_format_options) + ); + } + + #[test] + fn test_get_interval_stepwise() { + let _ = env_logger::builder().is_test(true).try_init(); + + let mut mock_query = MockEnvVarQuery::new(); + const MOCK_INTERVAL: &str = "3"; + + // Test when env var set and camera supports that interval + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == FRAMES_PER_SECOND) + .returning(move |_| Ok(MOCK_INTERVAL.to_string())); + assert_eq!( + (1, 3), + get_interval( + &mock_query, + rscam::IntervalInfo::Stepwise { + min: (1, 1), + max: (1, 30), + step: (0, 2), + } + ) + ); + + // Test when env var not set but camera supports default + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == FRAMES_PER_SECOND) + .returning(move |_| Err(VarError::NotPresent)); + + assert_eq!( + (1, 10), + get_interval( + &mock_query, + rscam::IntervalInfo::Stepwise { + min: (1, 1), + max: (1, 30), + step: (0, 9), + } + ) + ); + + // Test when env var not set and camera does not support default + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == FRAMES_PER_SECOND) + .returning(move |_| Err(VarError::NotPresent)); + + assert_eq!( + // returns slowest interval + (1, 1), + get_interval( + &mock_query, + rscam::IntervalInfo::Stepwise { + min: (1, 1), + max: (1, 30), + step: (0, 2), + } + ) + ); + // Test when env var set and camera does not support that interval nor the default one + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == FRAMES_PER_SECOND) + .returning(move |_| Ok(MOCK_INTERVAL.to_string())); + assert_eq!( + (1, 1), + get_interval( + &mock_query, + rscam::IntervalInfo::Stepwise { + min: (1, 1), + max: (1, 30), + step: (0, 5), + } + ) + ); + } + + #[test] + fn test_get_interval_discrete() { + let _ = env_logger::builder().is_test(true).try_init(); + + let mut mock_query = MockEnvVarQuery::new(); + const MOCK_INTERVAL: &str = "3"; + // Test when env var set and camera supports that interval + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == FRAMES_PER_SECOND) + .returning(move |_| Ok(MOCK_INTERVAL.to_string())); + assert_eq!( + (1, 3), + get_interval( + &mock_query, + rscam::IntervalInfo::Discretes(vec![(1, 1), (1, 3), (1, 5)]) + ) + ); + + // Test when env var not set but camera supports default + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == FRAMES_PER_SECOND) + .returning(move |_| Err(VarError::NotPresent)); + + assert_eq!( + (1, 10), + get_interval( + &mock_query, + rscam::IntervalInfo::Discretes(vec![(1, 1), (1, 3), (1, 10)]) + ) + ); + + // Test when env var not set and camera does not support default + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == FRAMES_PER_SECOND) + .returning(move |_| Err(VarError::NotPresent)); + + assert_eq!( + // returns slowest interval + (1, 1), + get_interval( + &mock_query, + rscam::IntervalInfo::Discretes(vec![(1, 1), (1, 3), (1, 5)]) + ) + ); + + // Test when env var set and camera does not support that interval nor the default one + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == FRAMES_PER_SECOND) + .returning(move |_| Ok(MOCK_INTERVAL.to_string())); + assert_eq!( + (1, 1), + get_interval( + &mock_query, + rscam::IntervalInfo::Discretes(vec![(1, 1), (1, 2), (1, 5)]) + ) + ); + } + + #[test] + fn test_get_resolution_stepwise() { + let _ = env_logger::builder().is_test(true).try_init(); + + let mut mock_query = MockEnvVarQuery::new(); + const MOCK_RESOLUTION_WIDTH: &str = "424"; + const MOCK_RESOLUTION_HEIGHT: &str = "240"; + + // Test when env var set and camera supports that interval + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == RESOLUTION_WIDTH) + .returning(move |_| Ok(MOCK_RESOLUTION_WIDTH.to_string())); + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == RESOLUTION_HEIGHT) + .returning(move |_| Ok(MOCK_RESOLUTION_HEIGHT.to_string())); + assert_eq!( + (424, 240), + get_resolution( + &mock_query, + rscam::ResolutionInfo::Stepwise { + min: (224, 140), + max: (1280, 800), + step: (200, 100), + } + ) + ); + + // Test when env var not set but camera supports default + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == RESOLUTION_WIDTH) + .returning(move |_| Err(VarError::NotPresent)); + assert_eq!( + (DEFAULT_RESOLUTION_WIDTH, DEFAULT_RESOLUTION_HEIGHT), // (640, 480) + get_resolution( + &mock_query, + rscam::ResolutionInfo::Stepwise { + min: (440, 280), + max: (1280, 800), + step: (200, 200), + } + ) + ); + + // Test when env var not set and camera does not support default + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == RESOLUTION_WIDTH) + .returning(move |_| Err(VarError::NotPresent)); + assert_eq!( + (160, 120), + get_resolution( + &mock_query, + rscam::ResolutionInfo::Stepwise { + min: (160, 120), + max: (1280, 800), + step: (100, 100), + } + ) + ); + + // Test when env var set and camera does not support that interval nor the default one + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == RESOLUTION_WIDTH) + .returning(move |_| Ok(MOCK_RESOLUTION_WIDTH.to_string())); + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == RESOLUTION_HEIGHT) + .returning(move |_| Ok(MOCK_RESOLUTION_HEIGHT.to_string())); + assert_eq!( + (160, 120), + get_resolution( + &mock_query, + rscam::ResolutionInfo::Stepwise { + min: (160, 120), + max: (1280, 800), + step: (100, 100), + } + ) + ); + } + + #[test] + fn test_get_resolution_discrete() { + let _ = env_logger::builder().is_test(true).try_init(); + + let mut mock_query = MockEnvVarQuery::new(); + const MOCK_RESOLUTION_WIDTH: &str = "424"; + const MOCK_RESOLUTION_HEIGHT: &str = "240"; + + // Test when env var set and camera supports that interval + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == RESOLUTION_WIDTH) + .returning(move |_| Ok(MOCK_RESOLUTION_WIDTH.to_string())); + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == RESOLUTION_HEIGHT) + .returning(move |_| Ok(MOCK_RESOLUTION_HEIGHT.to_string())); + assert_eq!( + (424, 240), + get_resolution( + &mock_query, + rscam::ResolutionInfo::Discretes(vec!((200, 100), (424, 240), (1000, 800))) + ) + ); + + // Test when env var not set but camera supports default + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == RESOLUTION_WIDTH) + .returning(move |_| Err(VarError::NotPresent)); + assert_eq!( + (DEFAULT_RESOLUTION_WIDTH, DEFAULT_RESOLUTION_HEIGHT), // (640, 480) + get_resolution( + &mock_query, + rscam::ResolutionInfo::Discretes(vec!( + (200, 100), + (424, 240), + (640, 480), + (1000, 800) + )) + ) + ); + + // Test when env var not set and camera does not support default + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == RESOLUTION_WIDTH) + .returning(move |_| Err(VarError::NotPresent)); + assert_eq!( + (200, 100), + get_resolution( + &mock_query, + rscam::ResolutionInfo::Discretes(vec!((200, 100), (450, 240), (1000, 800))) + ) + ); + + // Test when env var set and camera does not support that interval nor the default one + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == RESOLUTION_WIDTH) + .returning(move |_| Ok(MOCK_RESOLUTION_WIDTH.to_string())); + mock_query + .expect_get_env_var() + .times(1) + .withf(move |name: &str| name == RESOLUTION_HEIGHT) + .returning(move |_| Ok(MOCK_RESOLUTION_HEIGHT.to_string())); + assert_eq!( + (200, 100), + get_resolution( + &mock_query, + rscam::ResolutionInfo::Discretes(vec!((200, 100), (500, 250), (1000, 800))) + ) + ); + } +} diff --git a/brokers/udev-video-broker/src/util/camera_service.rs b/brokers/udev-video-broker/src/util/camera_service.rs new file mode 100644 index 0000000..0bb059a --- /dev/null +++ b/brokers/udev-video-broker/src/util/camera_service.rs @@ -0,0 +1,110 @@ +use super::super::FRAME_COUNT_METRIC; +use super::camera::{ + NotifyRequest, NotifyResponse, + camera_client::CameraClient, + camera_server::{Camera, CameraServer}, +}; +use log::{info, trace}; +use rscam::Camera as RsCamera; +use std::{ + net::SocketAddr, + time::{Duration, SystemTime, UNIX_EPOCH}, +}; + +pub const CAMERA_SERVICE_SERVER_ADDRESS: &str = "0.0.0.0"; +pub const CAMERA_SERVICE_TEST_LOCALHOST: &str = "127.0.0.1"; +pub const CAMERA_SERVICE_PORT: &str = "8083"; + +/// gRPC service that serves frames from camera at `devnode` on request. +pub struct CameraService { + /// v4l2 wrapper for grabbing frames from udev camera + camera_capturer: RsCamera, + /// device node of camera (ie /dev/video0) + devnode: String, +} + +#[tonic::async_trait] +impl Camera for CameraService { + /// This gets a frame from the RsCamera and returns it. + async fn get_frame( + &self, + _request: tonic::Request, + ) -> Result, tonic::Status> { + trace!("CameraService.get_frame grpc request"); + FRAME_COUNT_METRIC.inc(); + Ok(tonic::Response::new(NotifyResponse { + frame: { + let frame = self.camera_capturer.capture().unwrap(); + (frame[..]).to_vec() + }, + camera: self.devnode.clone(), + })) + } +} + +/// This creates camera server +pub async fn serve(devnode: &str, camera_capturer: RsCamera) -> Result<(), String> { + info!("Entered serve for camera service"); + let camera_service = CameraService { + camera_capturer, + devnode: devnode.to_string(), + }; + let service = CameraServer::new(camera_service); + + let addr_str = format!("{CAMERA_SERVICE_SERVER_ADDRESS}:{CAMERA_SERVICE_PORT}"); + let addr: SocketAddr = match addr_str.parse() { + Ok(sock) => sock, + Err(e) => { + return Err(format!("Unable to parse socket: {e:?}")); + } + }; + + tokio::task::spawn(async move { + trace!("Entered Server::builder task (addr: {})", &addr); + tonic::transport::Server::builder() + .add_service(service) + .serve(addr) + .await + .expect("couldn't build server"); + trace!("Exit Server::builder task"); + }); + + trace!("Wait for server to start up by polling its existence"); + // Test that server is running, trying for at most 10 seconds + // Similar to grpc.timeout, which is yet to be implemented for tonic + // See issue: https://github.com/hyperium/tonic/issues/75 + let mut connected = false; + let start = SystemTime::now() + .duration_since(UNIX_EPOCH) + .expect("Time went backwards") + .as_secs(); + let start_plus_10 = start + 10; + + while (SystemTime::now() + .duration_since(UNIX_EPOCH) + .expect("Time went backwards") + .as_secs() + < start_plus_10) + && !connected + { + let client_addr_str = + format!("http://{CAMERA_SERVICE_TEST_LOCALHOST}:{CAMERA_SERVICE_PORT}"); + connected = match CameraClient::connect(client_addr_str).await { + Ok(_) => { + trace!("Connected to server, stop polling"); + true + } + Err(e) => { + trace!("Unable to connect to server, continue polling: {e:?}"); + tokio::time::sleep(Duration::from_secs(1)).await; + false + } + }; + } + + if !connected { + Err(format!("Could not connect to Camera server {}", &addr_str)) + } else { + Ok(()) + } +} diff --git a/brokers/udev-video-broker/src/util/mod.rs b/brokers/udev-video-broker/src/util/mod.rs new file mode 100644 index 0000000..76e7c19 --- /dev/null +++ b/brokers/udev-video-broker/src/util/mod.rs @@ -0,0 +1,3 @@ +pub mod camera; +pub mod camera_capturer; +pub mod camera_service; From df659c65e354071ac9e740d3039bf53c36e5c2c3 Mon Sep 17 00:00:00 2001 From: Gaurav Gahlot Date: Wed, 11 Mar 2026 08:28:41 +0100 Subject: [PATCH 2/2] build setup Signed-off-by: Gaurav Gahlot --- .../build-rust-broker-containers.yml | 86 +++++++++++++++++++ .gitignore | 7 ++ Makefile | 16 ++-- build/brokers/Dockerfile.rust | 31 +++++++ 4 files changed, 135 insertions(+), 5 deletions(-) create mode 100644 .github/workflows/build-rust-broker-containers.yml create mode 100644 .gitignore create mode 100644 build/brokers/Dockerfile.rust diff --git a/.github/workflows/build-rust-broker-containers.yml b/.github/workflows/build-rust-broker-containers.yml new file mode 100644 index 0000000..a3fcb42 --- /dev/null +++ b/.github/workflows/build-rust-broker-containers.yml @@ -0,0 +1,86 @@ +name: Build Rust Broker Containers + +on: + push: + branches: [ main ] + paths: + - .github/workflows/build-rust-broker-containers.yml + - build/brokers/Dockerfile.rust + - brokers/** + - version.txt + pull_request: + branches: [ main ] + paths: + - .github/workflows/build-rust-broker-containers.yml + - build/brokers/Dockerfile.rust + - brokers/** + - version.txt + release: + types: + - published + +jobs: + build-brokers: + runs-on: ubuntu-latest + timeout-minutes: 50 + + # Allow GITHUB_TOKEN to push to GHCR + permissions: + contents: read + packages: write + + strategy: + matrix: + component: + - udev-video-broker + + steps: + - name: Checkout the head commit of the branch + uses: actions/checkout@v4 + with: + persist-credentials: false + + - name: Get version.txt + id: version-string + run: | + echo "version=$(cat version.txt)" >> $GITHUB_OUTPUT + + - name: Set up QEMU + uses: docker/setup-qemu-action@v3 + + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v3 + + - name: Login to GitHub Container Registry + if: github.event_name == 'push' || github.event_name == 'release' + uses: docker/login-action@v3 + with: + registry: ghcr.io + username: ${{ github.repository_owner }} + password: ${{ secrets.GITHUB_TOKEN }} + + - name: Docker meta + uses: docker/metadata-action@v5 + id: meta + with: + images: ghcr.io/project-akri/examples/${{ matrix.component }} + labels: | + org.opencontainers.image.title=akri-${{ matrix.component }} + org.opencontainers.image.description=Akri Broker + tags: | + type=ref,event=pr + type=semver,pattern=v{{version}} + type=semver,pattern=v{{major}}.{{minor}} + type=raw,value=v${{ steps.version-string.outputs.version }}-dev,enable=${{ github.event_name != 'release' }} + + - name: Build and push + uses: docker/build-push-action@v5 + with: + context: brokers/${{ matrix.component }} + push: ${{ github.event_name != 'pull_request' }} + build-args: | + EXTRA_CARGO_ARGS=--release + tags: ${{ steps.meta.outputs.tags }} + labels: ${{ steps.meta.outputs.labels }} + file: build/brokers/Dockerfile.rust + platforms: linux/amd64,linux/arm64,linux/arm/v7 diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..1fff7dd --- /dev/null +++ b/.gitignore @@ -0,0 +1,7 @@ +**/target/ +**/obj +**/bin +**/cobertura.xml +.idea +*.pyc +pki/* diff --git a/Makefile b/Makefile index e7a3bc7..86e7dfb 100644 --- a/Makefile +++ b/Makefile @@ -29,18 +29,24 @@ TIMESTAMP := $(shell date +"%Y%m%d_%H%M%S") VERSION_LABEL=v$(VERSION)-$(TIMESTAMP) LABEL_PREFIX ?= $(VERSION_LABEL) -%-app: - docker buildx build $(COMMON_DOCKER_BUILD_ARGS) --build-arg APPLICATION=$@ --tag "$(PREFIX)/$@:$(LABEL_PREFIX)" --file $(DOCKERFILE_DIR)/Dockerfile.python-app . - .PHONY: all -all: apps +all: apps brokers .PHONY: apps apps: anomaly-detection-app video-streaming-app %-app: docker buildx build $(COMMON_DOCKER_BUILD_ARGS) \ - --build-arg APPLICATION=$@ \ --tag "$(PREFIX)/$@:$(LABEL_PREFIX)" \ + --build-arg APPLICATION=$@ \ --file build/apps/Dockerfile.python-app . +.PHONY: brokers +brokers: udev-video-broker + +udev-video-broker: + docker buildx build $(COMMON_DOCKER_BUILD_ARGS) \ + --tag "$(PREFIX)/$@:$(LABEL_PREFIX)" \ + --build-arg EXTRA_CARGO_ARGS="$(if $(BUILD_RELEASE_FLAG), --release)" \ + --file build/brokers/Dockerfile.rust \ + brokers/$@ diff --git a/build/brokers/Dockerfile.rust b/build/brokers/Dockerfile.rust new file mode 100644 index 0000000..9b59eb9 --- /dev/null +++ b/build/brokers/Dockerfile.rust @@ -0,0 +1,31 @@ +FROM --platform=$BUILDPLATFORM tonistiigi/xx:master AS xx + +FROM --platform=$BUILDPLATFORM rust:1.88-slim-bookworm AS build +RUN rustup component add rustfmt +RUN apt-get update && apt-get install -y clang lld protobuf-compiler pkg-config mmdebstrap wget +COPY --from=xx / / +ARG TARGETPLATFORM + +# See https://github.com/tonistiigi/xx/issues/108 +RUN sed -i -E 's/xx-clang --setup-target-triple/XX_VENDOR=\$vendor ARM_TARGET_ARCH="" xx-clang --setup-target-triple/' $(which xx-cargo) && \ + sed -i -E 's/\$\(xx-info\)-/\$\(XX_VENDOR=\$vendor ARM_TARGET_ARCH="" xx-info\)-/g' $(which xx-cargo) + +# Generate minimal runtime environment with udev and V4L2 support +RUN mmdebstrap --architectures=$(xx-info debian-arch) --include=libc6,libssl3,libudev1,libv4l-0,busybox --variant=extract bookworm /installroot +RUN mkdir -p /installroot/usr/local/bin /build/bin && \ + for tool in sh uniq tail sort grep cut; do ln -s /bin/busybox /installroot/bin/$tool; done + +RUN xx-apt-get install -y xx-c-essentials libssl-dev libudev-dev libv4l-dev pkg-config +COPY . /app +WORKDIR /app +ARG EXTRA_CARGO_ARGS +RUN XX_DEBUG_CARGO=1 xx-cargo build ${EXTRA_CARGO_ARGS} +RUN PROFILE=$(echo "${EXTRA_CARGO_ARGS}" | grep -q -- --release && echo "release" || echo "debug"); \ + xx-verify ./target/$(xx-cargo --print-target-triple)/${PROFILE}/udev-video-broker \ + && cp ./target/$(xx-cargo --print-target-triple)/${PROFILE}/udev-video-broker /build/bin/udev-video-broker + +FROM scratch +COPY --from=build /installroot / +COPY --from=build /build/bin /usr/local/bin +LABEL org.opencontainers.image.source="https://github.com/project-akri/akri-examples" +ENTRYPOINT ["/usr/local/bin/udev-video-broker"]