initial commit

.dockerignore

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+*.o
+text_font.*
+rpicc
+rpicc_*

.github/workflows/build.yml

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+name: build
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  build_32_bit:
+    runs-on: ubuntu-22.04
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - run: make -f utils.mk build32
+
+  build_64_bit:
+    runs-on: ubuntu-22.04
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - run: make -f utils.mk build64

.github/workflows/release.yml

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+name: release
+
+on:
+  push:
+    tags:
+    - 'v*'
+
+jobs:
+  build_32_bit:
+    runs-on: ubuntu-22.04
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - run: make -f utils.mk build32
+
+    - uses: actions/upload-artifact@v3
+      with:
+        name: rpicc
+        path: binaries/rpicc_32
+
+  build_64_bit:
+    runs-on: ubuntu-22.04
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - run: make -f utils.mk build64
+
+    - uses: actions/upload-artifact@v3
+      with:
+        name: rpicc
+        path: binaries/rpicc_64
+
+  github_release:
+    needs:
+    - build_32_bit
+    - build_64_bit
+    runs-on: ubuntu-22.04
+
+    steps:
+    - uses: actions/download-artifact@v3
+      with:
+        name: binaries
+        path: binaries
+
+    - uses: actions/github-script@v6
+      with:
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+        script: |
+          const fs = require('fs').promises;
+          const { repo: { owner, repo } } = context;
+
+          const currentRelease = context.ref.split('/')[2];
+
+          const res = await github.rest.repos.createRelease({
+            owner,
+            repo,
+            tag_name: currentRelease,
+            name: currentRelease,
+          });
+          const release_id = res.data.id;
+
+          for (const name of await fs.readdir('./binaries/')) {
+            await github.rest.repos.uploadReleaseAsset({
+              owner,
+              repo,
+              release_id,
+              name,
+              data: await fs.readFile(`./binaries/${name}`),
+            });
+          }

.gitignore

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+*.o
+text_font.*
+rpicc
+rpicc_*

LICENSE

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+MIT License
+
+Copyright (c) 2024 bluenviron
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

Makefile

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+all: rpicc
+
+#################################################
+# text font
+
+TEXT_FONT_URL = https://github.com/IBM/plex/raw/v6.4.2/IBM-Plex-Mono/fonts/complete/ttf/IBMPlexMono-Medium.ttf
+TEXT_FONT_SHA256 = 0bede3debdea8488bbb927f8f0650d915073209734a67fe8cd5a3320b572511c
+
+TEXT_FONT_TARGET = text_font.h
+
+text_font.ttf:
+	wget -O $@.tmp $(TEXT_FONT_URL)
+	H=$$(sha256sum $@.tmp | awk '{ print $$1 }'); [ "$$H" = "$(TEXT_FONT_SHA256)" ] || { echo "hash mismatch; got $$H, expected $(TEXT_FONT_SHA256)"; exit 1; }
+	mv $@.tmp $@
+
+$(TEXT_FONT_TARGET): text_font.ttf
+	xxd --include $< > $@
+
+#################################################
+# rpicc
+
+CFLAGS = \
+	-Ofast \
+	-Werror \
+	-Wall \
+	-Wextra \
+	-Wno-unused-parameter \
+	-Wno-unused-result \
+	$$(pkg-config --cflags freetype2)
+
+CXXFLAGS = \
+	-Ofast \
+	-Werror \
+	-Wall \
+	-Wextra \
+	-Wno-unused-parameter \
+	-Wno-unused-result \
+	-std=c++17 \
+	$$(pkg-config --cflags libcamera)
+
+LDFLAGS = \
+	-s \
+	-pthread \
+	$$(pkg-config --libs freetype2) \
+	$$(pkg-config --libs libcamera)
+
+OBJS = \
+	base64.o \
+	camera.o \
+	encoder.o \
+	main.o \
+	parameters.o \
+	pipe.o \
+	sensor_mode.o \
+	text.o \
+	window.o
+
+DEPENDENCIES = \
+	$(TEXT_FONT_TARGET)
+
+%.o: %.c $(DEPENDENCIES)
+	$(CC) $(CFLAGS) -c $< -o $@
+
+%.o: %.cpp $(DEPENDENCIES)
+	$(CXX) $(CXXFLAGS) -c $< -o $@
+
+rpicc: $(OBJS)
+	$(CXX) $^ $(LDFLAGS) -o $@

README.md

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+# mediamtx-rpicamera
+
+Raspberry Pi Camera component for [MediaMTX](https://github.com/bluenviron/mediamtx).
+
+This is embed into all MediaMTX releases and shouldn't normally be downloaded unless you want to recompile it.
+
+This is a C-based executable that pulls the Raspberry Camera video feed, encodes it and makes the compressed video available to the server, while listening for incoming commands.
+
+## Compile
+
+1. You must be on a Raspberry Pi, running Raspberry Pi OS Bullseye
+
+2. Install the build dependencies:
+
+   ```sh
+   sudo apt install -y \
+   g++ \
+   pkg-config \
+   make \
+   libcamera-dev \
+   libfreetype-dev \
+   xxd \
+   wget
+   ```
+
+3. Build:
+
+   ```sh
+   make -j$(nproc)
+   ```
+
+4. The resulting executable will be available in `rpicc`
+
+## Cross-compile
+
+1. You can be on any machine you like
+
+2. Install Docker and `make`
+
+3. Build for every supported architecture:
+
+   ```
+   make -f utils.mk build
+   ```
+
+4. The resulting executables will be available in `rpicc_32` and `rpicc_64`

base64.c

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+#include <stddef.h>
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+
+#include "base64.h"
+
+static const unsigned char decoding_table[256] = {
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x3e, 0x00, 0x00, 0x00, 0x3f,
+    0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3a, 0x3b,
+    0x3c, 0x3d, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06,
+    0x07, 0x08, 0x09, 0x0a, 0x0b, 0x0c, 0x0d, 0x0e,
+    0x0f, 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16,
+    0x17, 0x18, 0x19, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x1a, 0x1b, 0x1c, 0x1d, 0x1e, 0x1f, 0x20,
+    0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27, 0x28,
+    0x29, 0x2a, 0x2b, 0x2c, 0x2d, 0x2e, 0x2f, 0x30,
+    0x31, 0x32, 0x33, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+};
+
+char* base64_decode(const char *data) {
+    size_t input_length = strlen(data);
+    if (input_length % 4 != 0) {
+        return NULL;
+    }
+
+    size_t output_length = input_length / 4 * 3;
+
+    if (data[input_length - 1] == '=') {
+        (output_length)--;
+    }
+    if (data[input_length - 2] == '=') {
+        (output_length)--;
+    }
+
+    unsigned char* output = (unsigned char *)malloc(output_length + 1);
+    if (output == NULL) {
+        return NULL;
+    }
+
+    for (int i = 0, j = 0; i < (int)input_length;) {
+        uint32_t sextet_a = (data[i] == '=') ? (0 & i++) : decoding_table[(unsigned char)(data[i++])];
+        uint32_t sextet_b = (data[i] == '=') ? (0 & i++) : decoding_table[(unsigned char)(data[i++])];
+        uint32_t sextet_c = (data[i] == '=') ? (0 & i++) : decoding_table[(unsigned char)(data[i++])];
+        uint32_t sextet_d = (data[i] == '=') ? (0 & i++) : decoding_table[(unsigned char)(data[i++])];
+
+        uint32_t triple = (sextet_a << 3 * 6)
+            + (sextet_b << 2 * 6)
+            + (sextet_c << 1 * 6)
+            + (sextet_d << 0 * 6);
+
+        if (j < (int)output_length) {
+            output[j++] = (triple >> 2 * 8) & 0xFF;
+        }
+        if (j < (int)output_length) {
+            output[j++] = (triple >> 1 * 8) & 0xFF;
+        }
+        if (j < (int)output_length) {
+            output[j++] = (triple >> 0 * 8) & 0xFF;
+        }
+    }
+
+    output[output_length] = 0x00;
+    return (char *)output;
+};

base64.h

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+#ifndef __BASE64_H__
+#define __BASE64_H__
+
+char* base64_decode(const char *data);
+
+#endif