CreatBotCrowsnest/webcamd

#!/bin/bash

#### webcamd - A webcam Service for multiple Cams and Stream Services.
#### 
#### written by Stephan Wendel aka KwadFan
#### Copyright 2021
#### https://github.com/mainsail-crew/crowsnest 
####
#### This File is distributed under GPLv3

### Disable shellcheck Errors
# shellcheck disable=SC2012,SC2206

# Exit upon Errors
set -e

## Functions

## Version of webcamd
function self_version {
    pushd $(dirname $(readlink -f "${0}")) &> /dev/null
    git describe --always --tags
    popd &> /dev/null
}


## Message Helpers
function missing_args_msg {
    echo -e "webcamd: Missing Arguments!"
    echo -e "\n\tTry: webcamd -h\n"
}

function wrong_args_msg {
    echo -e "webcamd: Wrong Arguments!"
    echo -e "\n\tTry: webcamd -h\n"
}

function help_msg {
    echo -e "webcamd - webcam deamon\nUsage:"
    echo -e "\t webcamd [Options]"
    echo -e "\n\t\t-h Prints this help."
    echo -e "\n\t\t-v Prints Version of webcamd."
    echo -e "\n\t\t-c </path/to/configfile>\n\t\t\tPath to your webcam.conf\n"
}

## Logging
function init_log_entry {
    log_msg "webcamd - A webcam Service for multiple Cams and Stream Services."
    log_msg "Version: $(self_version)"
    log_msg "Prepare Startup ..."
}

function log_method {
    local method logfile
    logfile="$(get_param webcamd log_path | sed "s#^~#$HOME#gi")"
    method="$(get_param "webcamd" log_method 2> /dev/null)"
    if [ "${method}" = "debug" ]; then
        rm -rf "${logfile}"
    fi
}

function log_msg {
    local msg logfile prefix
    msg="${1}"
    prefix="$(date +'[%D %T]') webcamd:"
    #Workaround sed ~ to BASH VAR $HOME 
    logfile="$(get_param webcamd log_path | sed "s#^~#$HOME#gi")"
    #Workaround: Make Dir if not exist
    if [ ! -d "${logfile}" ]; then
        mkdir -p "$(dirname "${logfile}")"
    fi
    echo -e "${prefix} ${msg}" | tr -s ' ' >> "${logfile}" 2>&1
}

#call '| log_output "<prefix>"'
function log_output {
    local prefix debug
    prefix="DEBUG: ${1}"
    debug="$(get_param "webcamd" debug_log 2> /dev/null)"
    if [ "${debug}" == "true" ]; then
        while read -r line; do
            log_msg "${prefix}: ${line}"
        done
    fi
}

function print_cfg {
    local prefix
    prefix="\t\t"
    log_msg "INFO: Print Configfile: '${WEBCAMD_CFG}'"
    while read -r line; do
        log_msg "${prefix}${line}"
    done < "${WEBCAMD_CFG}"
}

function print_cams {
    local count raspicam total debug
    debug="$(get_param "webcamd" debug_log 2> /dev/null)"
    count="$(find /dev/v4l/by-id/ 2> /dev/null | sed '1d;1~2d' | wc -l)" 
    total="$((count+$(detect_raspicam)))"
    if [ "${total}" -eq 0 ]; then
        log_msg "ERROR: No usable Cameras Found. Stopping $(basename "$0")."
        exit 1
    else
        log_msg "INFO: Found ${total} available Camera(s)"
    fi
    if [ -d "/dev/v4l/by-id/" ]; then
        detect_avail_cams
    fi
    if [ "$(detect_raspicam)" -ne 0 ]; then
        raspicam="$(v4l2-ctl --list-devices |  grep -A1 -e 'mmal' | \
        awk 'NR==2 {print $1}')"
        log_msg "Detected 'Raspicam' Device -> ${raspicam}"
        if [ "${debug}" == "true" ]; then
            list_cam_formats "${raspicam}"
        fi
    fi
} 2> /dev/null

## Sanity Checks
function initial_check {
    log_msg "INFO: Checking Dependencys"
    check_dep "crudini"
    check_dep "mjpg_streamer"
    check_dep "ustreamer"
    check_dep "v4l2rtspserver"
    log_msg "INFO: Checking Configfile"
    if [ -z "$(check_cfg "${WEBCAMD_CFG}")" ]; then
        print_cfg
    fi
    log_msg "INFO: Detect available Cameras"
    print_cams
}

function check_cfg {
    if [ ! -r "${1}" ]; then
        log_msg "ERROR: No Configuration File found. Exiting!"
        exit 1
    fi
}

function check_section {
    local section param must_exist missing
    section="cam ${1}"
    # Ignore missing custom flags
    param="$(crudini --existing=param --get "${WEBCAMD_CFG}" "${section}" \
    2> /dev/null | sed '/custom_flags/d')"
    must_exist="streamer port device resolution max_fps"
    missing="$(echo "${param}" "${must_exist}" | \
    tr ' ' '\n' | sort | uniq -u)"
    if [ -n "${missing}" ]; then
        log_msg "ERROR: Parameter ${missing} not found in \
        Section [${section}]. Start skipped!"
        exit 1
    else
        log_msg "INFO: Configuration of Section [${section}] looks good. \
        Continue..."
    fi
}

function check_dep {
    local dep
    dep="$(whereis "${1}" | awk '{print $2}')"
    if [ -z "${dep}" ]; then
        log_msg "Dependency: '${1}' not found. Exiting!"
        exit 1
    else
        log_msg "Dependency: '${1}' found in ${dep}."
    fi
}

### Detect Hardware
function detect_avail_cams {
    local avail realpath
    avail="$(find /dev/v4l/by-id/ 2> /dev/null | sort -n | sed '1d;1~2d')"
    if [ -d "/dev/v4l/by-id/" ]; then
        echo "${avail}" | while read -r i; do
            realpath=$(readlink -e ${i})
            log_msg "${i} -> ${realpath}"
            if [ "${debug}" == "true" ]; then
                list_cam_formats "${i}"
            fi
        done
    else
        log_msg "ERROR: No usable Cameras found. Exiting."
        exit 1
    fi
}

function list_cam_formats {
    local device
    device="${1}"
    formats="$(v4l2-ctl -d "${device}" --list-formats-ext | sed '1,3d')"
    log_msg "Supported Formats:"
    echo "${formats}" | while read -r i; do
        log_msg "\t\t${i}"
    done
}

function detect_raspicam {
    local avail
    if [ "$(cat /proc/device-tree/model | cut -d ' ' -f1)" = "Raspberry" ]; then
        avail="$(vcgencmd get_camera | awk -F '=' '{ print $3 }')"
    else
        avail="0"
    fi
    echo "${avail}"
} 

## Spits out all [cam <nameornumber>] configured sections
function configured_cams {
    local cam_count cfg
    cfg="${WEBCAMD_CFG}"
    cams="$(crudini --existing=file --get "${cfg}" | \
    sed '/webcamd/d;s/cam//')"
    echo "${cams}"
}


## Start Stream Service
# sleep to prevent cpu cycle spikes
function construct_streamer {
    local stream_server cams
    cams=($(configured_cams))
    log_msg "Try to start configured Cams / Services..."
    for (( i=0; i<"${#cams[@]}"; i++ )); do
        stream_server="$(get_param "cam ${cams[$i]}" streamer 2> /dev/null)"
        if [ "${stream_server}" == "mjpg" ]; then
            run_mjpg "${cams[$i]}" & 
            sleep 8 & sleep_pid="$!" 
            wait "${sleep_pid}"
        elif [ "${stream_server}" == "ustreamer" ]; then
            run_ustreamer "${cams[$i]}" &
            sleep 8 & sleep_pid="$!" 
            wait "${sleep_pid}"
        elif [ "${stream_server}" == "rtsp" ]; then
            run_rtsp "${cams[$i]}" &
            sleep 8 & sleep_pid="$!" 
            wait "${sleep_pid}"
        else 
            log_msg "ERROR: Missing 'streamer' parameter in [cam ${cams[$i]}]. Skipping."
        fi
    done
    log_msg "... Done!"
}

function run_mjpg {
    local cam_section mjpg_bin device port resolution fps custom
    local raspicam split_res output input wwwroot
    cam_section="${1}"
    mjpg_bin="$(whereis mjpg_streamer | awk '{print $2}')"
    # shellcheck disable=2046
    ld_so="$(dirname $(readlink -qe $(whereis mjpg_streamer)))"
    device="$(get_param "cam ${cam_section}" device)"
    port=$(get_param "cam ${cam_section}" port)
    resolution=$(get_param "cam ${cam_section}" resolution)
    fps=$(get_param "cam ${cam_section}" max_fps)
    wwwroot="$(dirname $(readlink -qe $(whereis webcamd)))/mjpg-www"
    custom="$(get_param "cam ${cam_section}" custom_flags 2> /dev/null)"
    check_section "${cam_section}"
    raspicam="$(v4l2-ctl --list-devices |  grep -A1 -e 'mmal' | \
    awk 'NR==2 {print $1}')"
    output="${ld_so}/output_http.so -l 127.0.0.1 -p ${port} -n -w ${wwwroot}"
    #construct input raspicam/usb cam
    if [ "${device}" == "${raspicam}" ]; then
        split_res="$(echo "${resolution}" | \
        awk -F 'x' '{print "-x "$1 " -y "$2}')"
        input="${ld_so}/input_raspicam.so ${split_res} -fps ${fps}"
    else
        input="${ld_so}/input_uvc.so -d ${device} -r ${resolution} -f ${fps}"
    fi
    log_msg "Starting mjpeg-streamer with Device ${device} ..."
    # Custom Flag Handling
    if [ -n "${custom}" ]; then
        echo "Parameters: -i "${input} ${custom}" -o "${output}"" | \
        log_output "mjpg_streamer [cam ${cam_section}]"
        "${mjpg_bin}" -i "${input} ${custom}" -o "${output}" 2>&1 | \
        log_output "mjpg_streamer [cam ${cam_section}]"
    else
        echo -e "Parameters: -i "${input}" -o "${output}" -n -w ${wwwroot}" | \
        log_output "mjpg_streamer [cam ${cam_section}]"
        "${mjpg_bin}" -i "${input}" -o "${output} -n -w ${wwwroot}"  2>&1 | \
        log_output "mjpg_streamer [cam ${cam_section}]"
    fi
    log_msg "ERROR: Start of mjpg_streamer [cam ${cam_section}] failed!"
}

function run_ustreamer {
    local cam_section ustreamer_bin device port resolution fps custom
    local raspicam start_param wwwroot
    cam_section="${1}"
    ustreamer_bin="$(whereis ustreamer | awk '{print $2}')"
    device="$(get_param "cam ${cam_section}" device)"
    port=$(get_param "cam ${cam_section}" port)
    resolution=$(get_param "cam ${cam_section}" resolution)
    fps=$(get_param "cam ${cam_section}" max_fps)
    custom="$(get_param "cam ${cam_section}" custom_flags 2> /dev/null)"
    raspicam="$(v4l2-ctl --list-devices |  grep -A1 -e 'mmal' | \
    awk 'NR==2 {print $1}')"
    check_section "${cam_section}"
    wwwroot="$(dirname $(readlink -qe $(whereis webcamd)))/ustreamer-www"
    #Raspicam Workaround
    if [ "${device}" == "${raspicam}" ]; then
        start_param=(
                    --host 127.0.0.1 -p "${port}" -m MJPEG --device-timeout=5
                    --buffers=3 -r "${resolution}" -f "${fps}" --allow-origin=\*
                    --static "${wwwroot}"
                    )
    else
        start_param=(
                    -d "${device}" -r "${resolution}" -f "${fps}"
                    --host 127.0.0.1 -p "${port}" --allow-origin=\*
                    --device-timeout=2 --encoder=omx --static "${wwwroot}"
                    )
    fi
    # Custom Flag Handling
    if [ -n "${custom}" ]; then
        start_param=(${start_param[@]} "${custom}" ) 
    fi
    log_msg "Starting ustreamer with Device ${device} ..."
    echo "Parameters: ${start_param[*]}" | \
    log_output "ustreamer [cam ${cam_section}]"
    # Ustreamer is designed to run even if the device is not ready or readable.
    # I dont like that! ustreamer has to exit if Cam isnt there.
    if [ -e "${device}" ]; then
        "${ustreamer_bin}" ${start_param[*]} 2>&1 | \
        log_output "ustreamer [cam ${cam_section}]"
    else
        log_msg "ERROR: Start of ustreamer [cam ${cam_section}] failed!"
    fi
} 

function run_rtsp {
    local cam_section rtsp_bin device port resolution fps custom
    local raspicam start_param
    cam_section="${1}"
    rtsp_bin="$(whereis v4l2rtspserver | awk '{print $2}')"
    device="$(get_param "cam ${cam_section}" device)"
    port=$(get_param "cam ${cam_section}" port)
    resolution=$(get_param "cam ${cam_section}" resolution)
    fps=$(get_param "cam ${cam_section}" max_fps)
    custom="$(get_param "cam ${cam_section}" custom_flags 2> /dev/null)"
    check_section "${cam_section}"
    split_res="$(echo "${resolution}" | \
        awk -F 'x' '{print "-W "$1 " -H "$2}')"
    start_param=(
                    -I 0.0.0.0 -P "${port}" "${split_res}" -F "${fps}" \
                    "${device}" 
                )
    # Custom Flag Handling
    if [ -n "${custom}" ]; then
        start_param=(${start_param[@]} "${custom}" )
    fi
    log_msg "Starting v4l2rtspserver with Device ${device} ..."
    echo "Parameters: ${start_param[*]}" | \
    log_output "v4l2rtspserver [cam ${cam_section}]"
    
    "${rtsp_bin}" ${start_param[*]} 2>&1 | \
    log_output "v4l2rtspserver [cam ${cam_section}]"
    log_msg "ERROR: Start of v4l2rtspserver [cam ${cam_section}] failed!"
}

## MISC

# Read Configuration File
# call get_param section param
# spits out raw value
function get_param {
    local cfg
    local section
    local param
    cfg="${WEBCAMD_CFG}"
    section="${1}"
    param="${2}"
    crudini --get "${cfg}" "${section}" "${param}" | \
    sed 's/\#.*//;s/[[:space:]]*$//'
} 2> /dev/null

function err_exit {
    if [ "${1}" != "0" ]; then
        log_msg "ERROR: Error ${1} occured on line ${2}"
        log_msg "ERROR: Stopping $(basename "$0")."
        log_msg "Goodbye..."
    fi
    if [ -n "$(jobs -pr)" ]; then
        kill $(jobs -pr)
    fi
    exit 1    
}

function shutdown {
    log_msg "Shutdown or Killed by User!"
    log_msg "Please come again :)"
    if [ -n "$(jobs -pr)" ]; then
        kill $(jobs -pr)
    fi
    log_msg "Goodbye..."
    exit 0
}

#### Watchdog Functions and Variables
## Do not reuse previous functions!
function clean_watchdog {
    rm -f $PWD/lost-*
}

function webcamd_watchdog {
    # Helper Functions
    function available {
    find ${1} &> /dev/null
    echo $?
    }

    function lost_dev {
        local lostfile
        lostfile="$(echo ${1} | awk -F '/' '{print $NF}')"
        touch /tmp/lost-${lostfile}
    }

    function is_lost {
        local lostdev
        lostdev="$(echo ${1} | awk -F '/' '{print $NF}')"
        find /tmp/lost-${lostdev} &> /dev/null
        echo $?
    }

    function returned_dev {
        local lostdev
        lostdev="$(echo ${1} | awk -F '/' '{print $NF}')"
        rm -f /tmp/lost-${lostdev} &> /dev/null
    }

    # local Vars
    local get_conf_devices conf_cams avail_cams
    # Init empty Arrays
    get_conf_devices=()
    conf_cams=()
    # Grab devices from config file
    get_conf_devices=("$(crudini --existing=file --get "${WEBCAMD_CFG}" | \
    sed '/webcamd/d' | cut -d ' ' -f2)")
    # Construct Array with configured Devices
    for gcd in ${get_conf_devices[*]}; do
        conf_cams+=("$(crudini --get "${WEBCAMD_CFG}" "cam ${gcd}" "device" \
        | awk '{print $1}')")
    done
    # Send Message if Device available or returned.
    for cc in ${conf_cams[*]}; do
    if [ "$(available ${cc})" -ne 0 ] && [ "$(is_lost ${cc})" -ne 0 ]; then
        log_msg "WATCHDOG: Lost Device: "${cc}""
        lost_dev "${cc}"
    elif [ "$(is_lost ${cc})" -eq 0 ] && [ "$(available ${cc})" -eq 0 ]; then
        log_msg "WATCHDOG: Device ${cc} returned."
        returned_dev "${cc}"
    fi
    done
}

#### MAIN
## Args given?
if [ "$#" -eq 0 ]; then
    missing_args_msg
    exit 1
fi
## Parse Args
while getopts ":Vhc:" arg; do
    case "${arg}" in
        v )
            echo -e "\nwebcamd Version: $(self_version)\n"
            exit 0
        ;;
        h )
            help_msg
            exit 0
        ;;
        c )
            check_cfg "${OPTARG}"
            WEBCAMD_CFG="${OPTARG}"
        ;;
        \?)
            wrong_args_msg
            exit 1
        ;;
    esac
done

# Init Traps
trap 'shutdown' 1 2 3 15
trap 'err_exit $? $LINENO' ERR

log_method
init_log_entry
initial_check
construct_streamer

## Loop and Watchdog
## In this case watchdog acts more like a "cable defect detector"
## The User gets a message if Device is lost.
clean_watchdog
while true ; do
    webcamd_watchdog
    sleep 120 & sleep_pid="$!"
    wait "${sleep_pid}"
done