您好，rx_buffer_Handle 调用 system 来执行 shell 命令这种方式是可行的，exit(0) 会立刻结束程序并回收程序的内存空间但是不会回收 malloc 或者 rkmpi 申请的动态内存，这可能会导致内存泄漏的问题。建议还是使用退出 while 循环的方式使用 RKMPI 资源回收 API 来结束程序的运行。chenmodegaoyang wrote: ↑2024-02-26 10:22 您好我成功修改了您的demo并且编译成功其中修改后的rtsp_opencv.cc文件代码如下：我添加了串口3打印的逻辑，并且分为了父子进程，父进程用来处理发送过来的串口数据并做出相应系统操作，子进程用于发送RKNN推理结果，并且加入了SIGINT（ctrl+c信号）的处理函数，用于释放while循环之后一直没有被释放的资源，并将涉及到释放的资源弄成了全局变量，也添加了一些子进程的回收操作，想问这个从串口三判断完数据后用system(“lINUX指令”)方式执行操作这样的方式可行吗如下代码Code: Select all
#include <assert.h> #include <errno.h> #include <fcntl.h> #include <getopt.h> #include <pthread.h> #include <signal.h> #include <stdbool.h> #include <stdio.h> #include <stdlib.h> #include <string.h> #include <sys/poll.h> #include <sys/types.h> #include <sys/wait.h> #include <time.h> #include <unistd.h> #include <vector> #include <termios.h> #include "rtsp_demo.h" #include "sample_comm.h" #include "yolov5.h" #include <opencv2/core/core.hpp> #include <opencv2/highgui/highgui.hpp> #include <opencv2/imgproc/imgproc.hpp> // disp size int width = 720; int height = 480; // model size int model_width = 640; int model_height = 640; float scale ; int leftPadding ; int topPadding ; static RK_S32 test_venc_init(int chnId, int width, int height, RK_CODEC_ID_E enType) { printf("%s\n",__func__); VENC_RECV_PIC_PARAM_S stRecvParam; VENC_CHN_ATTR_S stAttr; memset(&stAttr, 0, sizeof(VENC_CHN_ATTR_S)); // RTSP H264 stAttr.stVencAttr.enType = enType; //stAttr.stVencAttr.enPixelFormat = RK_FMT_YUV420SP; stAttr.stVencAttr.enPixelFormat = RK_FMT_RGB888; stAttr.stVencAttr.u32Profile = H264E_PROFILE_MAIN; stAttr.stVencAttr.u32PicWidth = width; stAttr.stVencAttr.u32PicHeight = height; stAttr.stVencAttr.u32VirWidth = width; stAttr.stVencAttr.u32VirHeight = height; stAttr.stVencAttr.u32StreamBufCnt = 2; stAttr.stVencAttr.u32BufSize = width * height * 3 / 2; stAttr.stVencAttr.enMirror = MIRROR_NONE; stAttr.stRcAttr.enRcMode = VENC_RC_MODE_H264CBR; stAttr.stRcAttr.stH264Cbr.u32BitRate = 3 * 1024; stAttr.stRcAttr.stH264Cbr.u32Gop = 1; RK_MPI_VENC_CreateChn(chnId, &stAttr); memset(&stRecvParam, 0, sizeof(VENC_RECV_PIC_PARAM_S)); stRecvParam.s32RecvPicNum = -1; RK_MPI_VENC_StartRecvFrame(chnId, &stRecvParam); return 0; } // demo板dev默认都是0，根据不同的channel 来选择不同的vi节点 int vi_dev_init() { printf("%s\n", __func__); int ret = 0; int devId = 0; int pipeId = devId; VI_DEV_ATTR_S stDevAttr; VI_DEV_BIND_PIPE_S stBindPipe; memset(&stDevAttr, 0, sizeof(stDevAttr)); memset(&stBindPipe, 0, sizeof(stBindPipe)); // 0. get dev config status ret = RK_MPI_VI_GetDevAttr(devId, &stDevAttr); if (ret == RK_ERR_VI_NOT_CONFIG) { // 0-1.config dev ret = RK_MPI_VI_SetDevAttr(devId, &stDevAttr); if (ret != RK_SUCCESS) { printf("RK_MPI_VI_SetDevAttr %x\n", ret); return -1; } } else { printf("RK_MPI_VI_SetDevAttr already\n"); } // 1.get dev enable status ret = RK_MPI_VI_GetDevIsEnable(devId); if (ret != RK_SUCCESS) { // 1-2.enable dev ret = RK_MPI_VI_EnableDev(devId); if (ret != RK_SUCCESS) { printf("RK_MPI_VI_EnableDev %x\n", ret); return -1; } // 1-3.bind dev/pipe stBindPipe.u32Num = pipeId; stBindPipe.PipeId[0] = pipeId; ret = RK_MPI_VI_SetDevBindPipe(devId, &stBindPipe); if (ret != RK_SUCCESS) { printf("RK_MPI_VI_SetDevBindPipe %x\n", ret); return -1; } } else { printf("RK_MPI_VI_EnableDev already\n"); } return 0; } int vi_chn_init(int channelId, int width, int height) { int ret; int buf_cnt = 2; // VI init VI_CHN_ATTR_S vi_chn_attr; memset(&vi_chn_attr, 0, sizeof(vi_chn_attr)); vi_chn_attr.stIspOpt.u32BufCount = buf_cnt; vi_chn_attr.stIspOpt.enMemoryType = VI_V4L2_MEMORY_TYPE_DMABUF; // VI_V4L2_MEMORY_TYPE_MMAP; vi_chn_attr.stSize.u32Width = width; vi_chn_attr.stSize.u32Height = height; vi_chn_attr.enPixelFormat = RK_FMT_YUV420SP; vi_chn_attr.enCompressMode = COMPRESS_MODE_NONE; // COMPRESS_AFBC_16x16; vi_chn_attr.u32Depth = 2; ret = RK_MPI_VI_SetChnAttr(0, channelId, &vi_chn_attr); ret |= RK_MPI_VI_EnableChn(0, channelId); if (ret) { printf("ERROR: create VI error! ret=%d\n", ret); return ret; } return ret; } int test_vpss_init(int VpssChn, int width, int height) { printf("%s\n",__func__); int s32Ret; VPSS_CHN_ATTR_S stVpssChnAttr; VPSS_GRP_ATTR_S stGrpVpssAttr; int s32Grp = 0; stGrpVpssAttr.u32MaxW = 4096; stGrpVpssAttr.u32MaxH = 4096; stGrpVpssAttr.enPixelFormat = RK_FMT_YUV420SP; stGrpVpssAttr.stFrameRate.s32SrcFrameRate = -1; stGrpVpssAttr.stFrameRate.s32DstFrameRate = -1; stGrpVpssAttr.enCompressMode = COMPRESS_MODE_NONE; stVpssChnAttr.enChnMode = VPSS_CHN_MODE_USER; stVpssChnAttr.enDynamicRange = DYNAMIC_RANGE_SDR8; stVpssChnAttr.enPixelFormat = RK_FMT_RGB888; stVpssChnAttr.stFrameRate.s32SrcFrameRate = -1; stVpssChnAttr.stFrameRate.s32DstFrameRate = -1; stVpssChnAttr.u32Width = width; stVpssChnAttr.u32Height = height; stVpssChnAttr.enCompressMode = COMPRESS_MODE_NONE; s32Ret = RK_MPI_VPSS_CreateGrp(s32Grp, &stGrpVpssAttr); if (s32Ret != RK_SUCCESS) { return s32Ret; } s32Ret = RK_MPI_VPSS_SetChnAttr(s32Grp, VpssChn, &stVpssChnAttr); if (s32Ret != RK_SUCCESS) { return s32Ret; } s32Ret = RK_MPI_VPSS_EnableChn(s32Grp, VpssChn); if (s32Ret != RK_SUCCESS) { return s32Ret; } s32Ret = RK_MPI_VPSS_StartGrp(s32Grp); if (s32Ret != RK_SUCCESS) { return s32Ret; } return s32Ret; } cv::Mat letterbox(cv::Mat input) { float scaleX = (float)model_width / (float)width; //0.888 float scaleY = (float)model_height / (float)height; //1.125 scale = scaleX < scaleY ? scaleX : scaleY; int inputWidth = (int)((float)width * scale); int inputHeight = (int)((float)height * scale); leftPadding = (model_width - inputWidth) / 2; topPadding = (model_height - inputHeight) / 2; cv::Mat inputScale; cv::resize(input, inputScale, cv::Size(inputWidth,inputHeight), 0, 0, cv::INTER_LINEAR); cv::Mat letterboxImage(640, 640, CV_8UC3,cv::Scalar(0, 0, 0)); cv::Rect roi(leftPadding, topPadding, inputWidth, inputHeight); inputScale.copyTo(letterboxImage(roi)); return letterboxImage; } void mapCoordinates(int *x, int *y) { int mx = *x - leftPadding; int my = *y - topPadding; *x = (int)((float)mx / scale); *y = (int)((float)my / scale); } void rx_buffer_Handle(char *p) { if(strncmp(p,"close",5)==0){ //close demo exit(0); }else if(strncmp(p,"reboot",5)==0){ //reboot system system("reboot"); }else if(strncmp(p,"rkill",5)==0){ //killall rkipc system("killall rkipc"); } } rtsp_demo_handle g_rtsplive = NULL; rknn_app_context_t rknn_app_ctx; MPP_CHN_S stSrcChn, stvpssChn; VENC_STREAM_S stFrame; int serial_fd; //parameter release void sigint_handler(int signal){ //release close(serial_fd); RK_MPI_SYS_UnBind(&stSrcChn, &stvpssChn); RK_MPI_VI_DisableChn(0, 0); RK_MPI_VI_DisableDev(0); RK_MPI_VPSS_StopGrp(0); RK_MPI_VPSS_DestroyGrp(0); RK_MPI_VENC_StopRecvFrame(0); RK_MPI_VENC_DestroyChn(0); free(stFrame.pstPack); if (g_rtsplive) rtsp_del_demo(g_rtsplive); SAMPLE_COMM_ISP_Stop(0); RK_MPI_SYS_Exit(); // Release rknn model release_yolov5_model(&rknn_app_ctx); deinit_post_process(); exit(0); } int main(int argc, char *argv[]) { RK_S32 s32Ret = 0; int sX,sY,eX,eY; // Rknn model char text[16]; object_detect_result_list od_results; int ret; const char *model_path = "./model/yolov5.rknn"; memset(&rknn_app_ctx, 0, sizeof(rknn_app_context_t)); init_yolov5_model(model_path, &rknn_app_ctx); printf("init rknn model success!\n"); init_post_process(); //h264_frame stFrame.pstPack = (VENC_PACK_S *)malloc(sizeof(VENC_PACK_S)); VIDEO_FRAME_INFO_S h264_frame; VIDEO_FRAME_INFO_S stVpssFrame; // rkaiq init RK_BOOL multi_sensor = RK_FALSE; const char *iq_dir = "/etc/iqfiles"; rk_aiq_working_mode_t hdr_mode = RK_AIQ_WORKING_MODE_NORMAL; //hdr_mode = RK_AIQ_WORKING_MODE_ISP_HDR2; SAMPLE_COMM_ISP_Init(0, hdr_mode, multi_sensor, iq_dir); SAMPLE_COMM_ISP_Run(0); // rkmpi init if (RK_MPI_SYS_Init() != RK_SUCCESS) { RK_LOGE("rk mpi sys init fail!"); return -1; } // rtsp init rtsp_session_handle g_rtsp_session; g_rtsplive = create_rtsp_demo(554); g_rtsp_session = rtsp_new_session(g_rtsplive, "/live/0"); rtsp_set_video(g_rtsp_session, RTSP_CODEC_ID_VIDEO_H264, NULL, 0); rtsp_sync_video_ts(g_rtsp_session, rtsp_get_reltime(), rtsp_get_ntptime()); // vi init vi_dev_init(); vi_chn_init(0, width, height); // vpss init test_vpss_init(0, width, height); // bind vi to vpss stSrcChn.enModId = RK_ID_VI; stSrcChn.s32DevId = 0; stSrcChn.s32ChnId = 0; stvpssChn.enModId = RK_ID_VPSS; stvpssChn.s32DevId = 0; stvpssChn.s32ChnId = 0; printf("====RK_MPI_SYS_Bind vi0 to vpss0====\n"); s32Ret = RK_MPI_SYS_Bind(&stSrcChn, &stvpssChn); if (s32Ret != RK_SUCCESS) { RK_LOGE("bind 0 ch venc failed"); return -1; } // venc init RK_CODEC_ID_E enCodecType = RK_VIDEO_ID_AVC; test_venc_init(0, width, height, enCodecType); printf("venc init success\n"); //uart3 init int serial_port_num; const char serial_port[] = "/dev/ttyS3"; signal(SIGINT, sigint_handler); serial_fd = open(serial_port, O_RDWR | O_NOCTTY); if (serial_fd == -1) { perror("Failed to open serial port"); return 1; } struct termios tty; memset(&tty, 0, sizeof(tty)); if (tcgetattr(serial_fd, &tty) != 0) { perror("Error from tcgetattr"); return 1; } cfsetospeed(&tty, B9600); cfsetispeed(&tty, B9600); tty.c_cflag &= ~PARENB; tty.c_cflag &= ~CSTOPB; tty.c_cflag &= ~CSIZE; tty.c_cflag |= CS8; if (tcsetattr(serial_fd, TCSANOW, &tty) != 0) { perror("Error from tcsetattr"); return 1; } //init fork pid_t child_pid; char tx_buffer[256]; child_pid=fork(); if(child_pid<0) { perror("fork error"); return -1; } if(child_pid==0){ while(1) { // get vpss frame s32Ret = RK_MPI_VPSS_GetChnFrame(0,0, &stVpssFrame,-1); if(s32Ret == RK_SUCCESS) { void *data = RK_MPI_MB_Handle2VirAddr(stVpssFrame.stVFrame.pMbBlk); //opencv cv::Mat frame(height,width,CV_8UC3,data); //cv::Mat frame640; //cv::resize(frame, frame640, cv::Size(640,640), 0, 0, cv::INTER_LINEAR); //letterbox cv::Mat letterboxImage = letterbox(frame); memcpy(rknn_app_ctx.input_mems[0]->virt_addr, letterboxImage.data, model_width*model_height*3); inference_yolov5_model(&rknn_app_ctx, &od_results); for(int i = 0; i < od_results.count; i++) { //获取框的四个坐标 if(od_results.count >= 1) { object_detect_result *det_result = &(od_results.results[i]); /*printf("%s @ (%d %d %d %d) %.3f\n", coco_cls_to_name(det_result->cls_id), det_result->box.left, det_result->box.top, det_result->box.right, det_result->box.bottom, det_result->prop); */ sX = (int)(det_result->box.left ); sY = (int)(det_result->box.top ); eX = (int)(det_result->box.right ); eY = (int)(det_result->box.bottom ); int centerX = (sX + eX) / 2; int centerY = (sY + eY) / 2; // printf("$RV1106,%s,%d,%d,%.3f,%d,%d,%d,%d\n", coco_cls_to_name(det_result->cls_id), // centerX,centerY,det_result->prop, // det_result->box.left,det_result->box.right, // det_result->box.top,det_result->box.bottom // ); sprintf(tx_buffer,"$RV1106,%s,%d,%d,%.3f,%d,%d,%d,%d\n", coco_cls_to_name(det_result->cls_id), centerX,centerY,det_result->prop, det_result->box.left,det_result->box.right, det_result->box.top,det_result->box.bottom ); //send rknn result write(serial_fd,tx_buffer,sizeof(tx_buffer)); memset(tx_buffer,0,sizeof(tx_buffer)); mapCoordinates(&sX,&sY); mapCoordinates(&eX,&eY); cv::rectangle(frame,cv::Point(sX ,sY), cv::Point(eX ,eY), cv::Scalar(0,255,0),3); sprintf(text, "%s %.1f%%", coco_cls_to_name(det_result->cls_id), det_result->prop * 100); cv::putText(frame,text,cv::Point(sX, sY - 8), cv::FONT_HERSHEY_SIMPLEX,1, cv::Scalar(0,255,0),2); //draw circle cv::circle(frame, cv::Point(centerX, centerY), 5, cv::Scalar(0, 0, 255), -1); } } memcpy(data, frame.data, width * height * 3); } // send stream // encode H264 RK_MPI_VENC_SendFrame(0, &stVpssFrame,-1); // rtsp s32Ret = RK_MPI_VENC_GetStream(0, &stFrame, -1); if(s32Ret == RK_SUCCESS) { if(g_rtsplive && g_rtsp_session) { //printf("len = %d PTS = %d \n",stFrame.pstPack->u32Len, stFrame.pstPack->u64PTS); void *pData = RK_MPI_MB_Handle2VirAddr(stFrame.pstPack->pMbBlk); rtsp_tx_video(g_rtsp_session, (uint8_t *)pData, stFrame.pstPack->u32Len, stFrame.pstPack->u64PTS); rtsp_do_event(g_rtsplive); } } // release frame s32Ret = RK_MPI_VPSS_ReleaseChnFrame(0, 0, &stVpssFrame); if (s32Ret != RK_SUCCESS) { RK_LOGE("RK_MPI_VI_ReleaseChnFrame fail %x", s32Ret); } s32Ret = RK_MPI_VENC_ReleaseStream(0, &stFrame); if (s32Ret != RK_SUCCESS) { RK_LOGE("RK_MPI_VENC_ReleaseStream fail %x", s32Ret); } memset(text,0,8); } }else if(child_pid >0){ //UART handle char rx_buffer[256]; int status; while(1){ int ret = waitpid(child_pid, &status,WNOHANG); int bytes_read=read(serial_fd,rx_buffer,sizeof(rx_buffer)); if(bytes_read < 0){ perror("receive error"); }else{ rx_buffer[bytes_read]='\0'; //printf("RX:%s\n",rx_buffer); write(serial_fd,rx_buffer,sizeof(rx_buffer)); rx_buffer_Handle(rx_buffer); } memset(rx_buffer,0,sizeof(rx_buffer)); if(ret>0) { close(serial_fd); exit(0); } } } RK_MPI_SYS_UnBind(&stSrcChn, &stvpssChn); RK_MPI_VI_DisableChn(0, 0); RK_MPI_VI_DisableDev(0); RK_MPI_VPSS_StopGrp(0); RK_MPI_VPSS_DestroyGrp(0); RK_MPI_VENC_StopRecvFrame(0); RK_MPI_VENC_DestroyChn(0); free(stFrame.pstPack); if (g_rtsplive) rtsp_del_demo(g_rtsplive); SAMPLE_COMM_ISP_Stop(0); RK_MPI_SYS_Exit(); // Release rknn model release_yolov5_model(&rknn_app_ctx); deinit_post_process(); return 0; }还是需要写一些执行脚本（包含Linux指令）去调用脚本运行Linux指令呢？如果要写的话执行脚本是怎样的格式呢放在哪里比较合适呢？另外这个自启动想要直接运行这个程序的话可以在inid中写一个开机启动执行这个demo的话，格式有什么要求吗Code: Select all
void rx_buffer_Handle(char *p) { if(strncmp(p,"close",5)==0){ //close demo exit(0); }else if(strncmp(p,"reboot",5)==0){ //reboot system system("reboot"); }else if(strncmp(p,"rkill",5)==0){ //killall rkipc system("killall rkipc"); }
相应的方法可以参考 Linux 多线程编程中共享变量、管道、消息队列的方式，比如创建一个全局变量 quit ，循环程序在 while(!quit) 中运行，通过修改quit就可以退出 while 循环。
开机启动程序的脚本请参考 shell 脚本编写，如果只需要简单的执行程序，可以在 init.d 文件夹下创建 S99code
Code: Select all
cd <可支持文件所在文件夹>
./<可执行文件>
