Add native support for the raspberry pi camera

.gitignore

@@ -2,3 +2,5 @@
 /release
 /coverage*.txt
 /apidocs/*.html
+/rtsp-simple-server-rpi
+/rtsp-simple-server-rpi64

Makefile

@@ -278,3 +278,95 @@ dockerhub:
 
 	docker buildx rm builder
 	rm -rf $$HOME/.docker/manifests/*
+
+define DOCKERFILE_RPI
+FROM balenalib/raspberrypi3:buster-run AS camera
+
+RUN ["cross-build-start"]
+
+RUN apt update && apt install -y g++ libraspberrypi-dev libcamera-dev
+
+WORKDIR /s/internal/rpicamera
+
+COPY internal/rpicamera/*.cpp internal/rpicamera/*.c ./
+
+RUN gcc \
+    rpicamera_legacy.c \
+    -o rpicamera_legacy \
+    -Ofast \
+    -Werror \
+    -Wall \
+    -Wextra \
+    -Wno-unused-parameter \
+	-I/opt/vc/include \
+	-L/opt/vc/lib -lmmal_core -lmmal_util -lmmal_vc_client -lvcsm -lvcos -lvchiq_arm
+
+RUN g++ \
+    rpicamera_libcamera.cpp \
+    -o rpicamera_libcamera \
+    -Ofast \
+    -Werror \
+    -Wall \
+    -Wextra \
+    -Wno-unused-parameter \
+    $(pkg-config --cxxflags --libs libcamera)
+
+FROM $(BASE_IMAGE)
+
+WORKDIR /s
+
+COPY go.mod go.sum ./
+RUN go mod download
+
+COPY --from=camera /s/internal/rpicamera/rpicamera_legacy /s/internal/rpicamera/
+COPY --from=camera /s/internal/rpicamera/rpicamera_libcamera /s/internal/rpicamera/
+
+COPY . .
+
+RUN GOOS=linux GOARCH=arm GOARM=6 go build -tags rpilibcamera -o /out
+endef
+export DOCKERFILE_RPI
+
+rpi:
+	echo "$$DOCKERFILE_RPI" | docker build . -f - -t temp
+	docker run --rm -it -v $(PWD):/o temp sh -c "mv /out /o/rtsp-simple-server-rpi"
+
+define DOCKERFILE_RPI64
+FROM balenalib/raspberrypi3-64:buster-run AS camera
+
+RUN ["cross-build-start"]
+
+RUN apt update && apt install -y g++ libcamera-dev
+
+WORKDIR /s/internal/rpicamera
+
+COPY internal/rpicamera/*.cpp ./
+
+RUN g++ \
+    rpicamera_libcamera.cpp \
+    -o rpicamera_libcamera \
+    -Ofast \
+    -Werror \
+    -Wall \
+    -Wextra \
+    -Wno-unused-parameter \
+    $(pkg-config --cxxflags --libs libcamera)
+
+FROM $(BASE_IMAGE)
+
+WORKDIR /s
+
+COPY go.mod go.sum ./
+RUN go mod download
+
+COPY --from=camera /s/internal/rpicamera/rpicamera_libcamera /s/internal/rpicamera/
+
+COPY . .
+
+RUN GOOS=linux GOARCH=arm64 go build -tags rpilibcamera -o /out
+endef
+export DOCKERFILE_RPI64
+
+rpi64:
+	echo "$$DOCKERFILE_RPI64" | docker build . -f - -t temp
+	docker run --rm -it -v $(PWD):/o temp sh -c "mv /out /o/rtsp-simple-server-rpi64"

apidocs/openapi.yaml

@@ -199,6 +199,7 @@ components:
           - $ref: '#/components/schemas/PathSourceRTSPSource'
           - $ref: '#/components/schemas/PathSourceRTMPSource'
           - $ref: '#/components/schemas/PathSourceHLSSource'
+          - $ref: '#/components/schemas/PathSourceRPICameraSource'
         sourceReady:
           type: boolean
         readers:
@@ -258,6 +259,13 @@ components:
           type: string
           enum: [hlsSource]
 
+    PathSourceRPICameraSource:
+      type: object
+      properties:
+        type:
+          type: string
+          enum: [rpiCameraSource]
+
     PathReaderRTSPSession:
       type: object
       properties:

internal/conf/path.go

@@ -165,6 +165,8 @@ func (pconf *PathConf) checkAndFillMissing(conf *Conf, name string) error {
 			return fmt.Errorf("'%s' is not a valid RTSP URL", pconf.SourceRedirect)
 		}
 
+	case pconf.Source == "rpicamera":
+
 	default:
 		return fmt.Errorf("invalid source: '%s'", pconf.Source)
 	}

internal/core/path.go

@@ -333,7 +333,8 @@ func (pa *path) hasStaticSource() bool {
 		strings.HasPrefix(pa.conf.Source, "rtsps://") ||
 		strings.HasPrefix(pa.conf.Source, "rtmp://") ||
 		strings.HasPrefix(pa.conf.Source, "http://") ||
-		strings.HasPrefix(pa.conf.Source, "https://")
+		strings.HasPrefix(pa.conf.Source, "https://") ||
+		pa.conf.Source == "rpicamera"
 }
 
 func (pa *path) hasOnDemandStaticSource() bool {

internal/core/rpicamera_source.go

@@ -0,0 +1,107 @@
+package core
+
+import (
+	"context"
+	"time"
+
+	"github.com/aler9/gortsplib"
+	"github.com/aler9/gortsplib/pkg/h264"
+	"github.com/aler9/gortsplib/pkg/rtph264"
+
+	"github.com/aler9/rtsp-simple-server/internal/logger"
+	"github.com/aler9/rtsp-simple-server/internal/rpicamera"
+)
+
+type rpiCameraSourceParent interface {
+	log(logger.Level, string, ...interface{})
+	sourceStaticImplSetReady(req pathSourceStaticSetReadyReq) pathSourceStaticSetReadyRes
+	sourceStaticImplSetNotReady(req pathSourceStaticSetNotReadyReq)
+}
+
+type rpiCameraSource struct {
+	parent rpiCameraSourceParent
+}
+
+func newRPICameraSource(
+	parent rpiCameraSourceParent,
+) *rpiCameraSource {
+	return &rpiCameraSource{
+		parent: parent,
+	}
+}
+
+func (s *rpiCameraSource) Log(level logger.Level, format string, args ...interface{}) {
+	s.parent.log(level, "[rpicamera source] "+format, args...)
+}
+
+// run implements sourceStaticImpl.
+func (s *rpiCameraSource) run(ctx context.Context) error {
+	track := &gortsplib.TrackH264{PayloadType: 96}
+	enc := &rtph264.Encoder{PayloadType: 96}
+	enc.Init()
+	var stream *stream
+	var start time.Time
+
+	onData := func(nalus [][]byte) {
+		if stream == nil {
+			res := s.parent.sourceStaticImplSetReady(pathSourceStaticSetReadyReq{
+				tracks: gortsplib.Tracks{track},
+			})
+			if res.err != nil {
+				return
+			}
+
+			s.Log(logger.Info, "ready")
+			stream = res.stream
+			start = time.Now()
+		}
+
+		pts := time.Since(start)
+
+		pkts, err := enc.Encode(nalus, pts)
+		if err != nil {
+			return
+		}
+
+		lastPkt := len(pkts) - 1
+		for i, pkt := range pkts {
+			if i != lastPkt {
+				stream.writeData(&data{
+					trackID:      0,
+					rtp:          pkt,
+					ptsEqualsDTS: false,
+				})
+			} else {
+				stream.writeData(&data{
+					trackID:      0,
+					rtp:          pkt,
+					ptsEqualsDTS: h264.IDRPresent(nalus),
+					h264NALUs:    nalus,
+					h264PTS:      pts,
+				})
+			}
+		}
+	}
+
+	cam, err := rpicamera.New(onData)
+	if err != nil {
+		return err
+	}
+	defer cam.Close()
+
+	defer func() {
+		if stream != nil {
+			s.parent.sourceStaticImplSetNotReady(pathSourceStaticSetNotReadyReq{})
+		}
+	}()
+
+	<-ctx.Done()
+	return nil
+}
+
+// apiSourceDescribe implements sourceStaticImpl.
+func (*rpiCameraSource) apiSourceDescribe() interface{} {
+	return struct {
+		Type string `json:"type"`
+	}{"rpiCameraSource"}
+}

internal/core/source_static.go

@@ -96,6 +96,10 @@ func newSourceStatic(
 			s.ur,
 			s.fingerprint,
 			s)
+
+	case s.ur == "rpicamera":
+		s.impl = newRPICameraSource(
+			s)
 	}
 
 	return s

internal/rpicamera/embeddedexecutable.go

@@ -0,0 +1,80 @@
+//go:build rpilibcamera || rpilegacy
+// +build rpilibcamera rpilegacy
+
+package rpicamera
+
+import (
+	"fmt"
+	"os"
+	"os/exec"
+	"runtime"
+)
+
+const (
+	embeddedExecutableTempPath = "/dev/shm/rtspss-embeddedbin"
+)
+
+func getKernelArch() (string, error) {
+	cmd := exec.Command("uname", "-m")
+
+	byts, err := cmd.Output()
+	if err != nil {
+		return "", err
+	}
+
+	return string(byts[:len(byts)-1]), nil
+}
+
+// 32-bit embedded binaries can't run on 64-bit.
+func checkArch() error {
+	if runtime.GOARCH != "arm" {
+		return nil
+	}
+
+	arch, err := getKernelArch()
+	if err != nil {
+		return err
+	}
+
+	if arch == "aarch64" {
+		return fmt.Errorf("you need the arm64 version")
+	}
+
+	return nil
+}
+
+type embeddedExecutable struct {
+	cmd *exec.Cmd
+}
+
+func newEmbeddedExecutable(content []byte, arg string) (*embeddedExecutable, error) {
+	err := checkArch()
+	if err != nil {
+		return nil, err
+	}
+
+	err = os.WriteFile(embeddedExecutableTempPath, content, 0o755)
+	if err != nil {
+		return nil, err
+	}
+
+	cmd := exec.Command(embeddedExecutableTempPath, arg)
+	cmd.Stdout = os.Stdout
+	cmd.Stderr = os.Stderr
+
+	err = cmd.Start()
+	if err != nil {
+		os.Remove(embeddedExecutableTempPath)
+		return nil, err
+	}
+
+	return &embeddedExecutable{
+		cmd: cmd,
+	}, nil
+}
+
+func (e *embeddedExecutable) close() {
+	e.cmd.Process.Kill()
+	e.cmd.Wait()
+	os.Remove(embeddedExecutableTempPath)
+}