int on = 1;
if(setsockopt(http_server_fd, SOL_SOCKET, SO_REUSEADDR, &on, sizeof(on)) < 0)
{
printf("setsockopt(SO_REUSEADDR) 设置错误!\n");
exit(-1);
}
//这样可以保证: 端口关闭之后,立即可以再次使用

signal.h中的宏定义SIG_DFL及SIG_IGN
SIG_DFL,SIG_IGN 分别表示无返回值的函数指针，指针值分别是0和1，
这两个指针值逻辑上讲是实际程序中不可能出现的函数地址值。
SIG_DFL：默认信号处理程序
SIG_IGN：忽略信号的处理程序
/*
往一个已经接收到FIN的套接中写是允许的，接收到的FIN仅仅代表对方不再发送数据。
并不能代表我不能发送数据给对方。
往一个FIN结束的进程中写(write)，对方会发送一个RST字段过来，TCP重置。
如果再调用write就会产生SIGPIPE信号
*/
signal(SIGPIPE,SIG_IGN);

#include <stdio.h>#include <sys/types.h>#include <sys/stat.h>#include <fcntl.h>#include <sys/ioctl.h>#include <linux/fb.h>#include <sys/ioctl.h>#include <sys/mman.h>#include <string.h>#include <time.h>#include <sys/types.h>#include <sys/socket.h>#include <netinet/in.h>#include <netinet/ip.h> #include <pthread.h>#include <signal.h>#include <poll.h>#include <stdlib.h>#include <sys/types.h>#include <sys/stat.h>#include <unistd.h>

#define HTTP_SERVER_PORT 1237  /*HTTP服务器端口号*/int http_server_fd; /*HTTP服务器套接字*/

/*函数功能: 处理退出的信号*/void exit_sighandler(int sig){  /*关闭服务器套接字*/  close(http_server_fd);  sleep(2);    //退出进程  exit(1);}
/*函数功能: 向HTTP客户端发送文件数据*/void HTTPClient_SendFileData(int client_fd,char *type,char *file){  int file_fd;  int read_len;  struct stat file_buf;  unsigned char buffer[1024];  file_fd=open(file,O_RDONLY);  if(file_fd<0)  {    printf("%s文件打开失败!\n",file);    return;  }    /*1. 获取文件的状态信息*/  stat(file,&file_buf);  //printf("%d\n",file_buf.st_size);    /*2. 构造报文头*/  sprintf(buffer,"HTTP/1.1 200 OK\r\n" \           "Content-type:%s\r\n" \           "Content-Length:%d\r\n"            "Server: wbyq\r\n" \           "\r\n",type,file_buf.st_size);    read_len=strlen(buffer);    /*2. 发送数据*/  do  {    if(write(client_fd,buffer,read_len)<=0)break;  }while((read_len=read(file_fd,buffer,sizeof(buffer)))>0);}
/*函数功能: 处理HTTP客户端的线程*/void *pthread_Handler_HTTP_Client(void *dev){  int Clientfd;  unsigned char buffer[1024];  unsigned char *p=buffer;  struct pollfd fds;  int poll_state; /*poll函数的状态值*/  int recv_len;   /*接收的数据长度*/      if(dev==NULL)  {    pthread_exit(NULL); /*终止线程*/  }  Clientfd=*(int*)dev; /*保存客户端套接字描述符*/  free(dev); /*释放空间*/    /*1. 接收客户端的请求报文*/  fds.fd=Clientfd;  fds.events=POLLIN;  while(1)  {    /*等待数据*/    poll_state=poll(&fds,1,100);    if(poll_state<=0)break; /*数据接收完毕就退出*/    recv_len=read(Clientfd,p,1024);    p+=recv_len;    if(p-buffer>1024)break;  }    //printf("buffer=%s\n",buffer);    /*1. 判断请求的路径*/  if(strstr(buffer,"GET / HTTP/1.1"))  {    HTTPClient_SendFileData(Clientfd,"text/html","index.html");  }  else if(strstr(buffer,"GET /image.jpg HTTP/1.1"))  {    HTTPClient_SendFileData(Clientfd,"image/jpeg","123.jpg");  }  else if(strstr(buffer,"GET /favicon.ico HTTP/1.1"))  {    HTTPClient_SendFileData(Clientfd,"image/x-icon","123.ico");  }    close(Clientfd);}

/*HTTP服务器创建:1. 创建socket套接字2. 绑定端口号: 服务器创建3. 设置监听端口的数量: 服务器最大等待连接的客户端总数量4. 等待客户端连接*/int main(int argc,char **argv){  /*1. 绑定将要捕获的信号*/  signal(SIGINT,exit_sighandler);  signal(SIGSEGV,exit_sighandler);    /*2. 创建套接字*/  http_server_fd=socket(AF_INET,SOCK_STREAM,0);  if(http_server_fd<0)  {    printf("HTTP服务器:创建套接字创建失败!\n");    return -1;  }    /*3. 绑定端口号*/  struct sockaddr_in server_addr;  memset(&server_addr,0,sizeof(struct sockaddr_in));  server_addr.sin_family=AF_INET; //IPV4  server_addr.sin_port=htons(HTTP_SERVER_PORT); //需要填大端格式的端口号数据  server_addr.sin_addr.s_addr=0;//inet_addr("192.168.18.3");  /*0=inet_addr("0.0.0.0") ---表示本地所有IP地址*/  if(bind(http_server_fd,(struct sockaddr *)&server_addr,sizeof(struct sockaddr_in))!=0)  {    printf("HTTP服务器:绑定端口号失败!\n");    return -2;  }    /*4. 设置监听客户端连接的数量*/  listen(http_server_fd,50);    /*5. 等待客户端连接:阻塞*/  struct sockaddr_in client_addr;  int addrlen=sizeof(struct sockaddr_in);  pthread_t thread_id; /*线程的ID*/  int *client_fd=NULL; /*保存客户端的套接字描述符*/  while(1)  {    client_fd=(int*)malloc(sizeof(int));    if(client_fd==NULL)    {      printf("存放客户端的套接字描述符,空间申请失败!\n");      break;    }    *client_fd=accept(http_server_fd,(struct sockaddr *)&client_addr,&addrlen);    if(*client_fd<0)    {      break;    }        /*6. 创建新的线程*/    if(pthread_create(&thread_id,NULL,pthread_Handler_HTTP_Client,(void*)client_fd)!=0)    {      printf("创建处理HTTP客户端线程失败!\n");      break;    }  }    /*7. 关闭服务器套接字*/  close(http_server_fd);  return 0;}

#include <stdio.h>#include <sys/types.h>#include <sys/stat.h>#include <fcntl.h>#include <sys/ioctl.h>#include <linux/fb.h>#include <sys/ioctl.h>#include <sys/mman.h>#include <string.h>#include <time.h>#include <sys/types.h>#include <sys/socket.h>#include <netinet/in.h>#include <netinet/ip.h> #include <pthread.h>#include <signal.h>#include <poll.h>#include <stdlib.h>#include <sys/types.h>#include <sys/stat.h>#include <unistd.h>#include <linux/videodev2.h>#include <sys/mman.h>#include "yuv_to_jpeg.h"
#define UVC_VIDEO_DEVICE "/dev/video15"  /*UVC摄像头设备节点*/int uvc_video_fd; /*存放摄像头设备节点的文件描述符*/int video_stop_stat=1; /*视频停止状态: 1表示正常执行,0表示退出*/
unsigned char *video_memaddr_buffer[4]; /*存放的是摄像头映射出来的缓冲区首地址*/int Image_Width;  /*图像的宽度*/int Image_Height; /*图像的高度*/unsigned char *jpg_video_buffer=NULL; /*转换之后的JPG数据缓冲区首地址*/unsigned int jpg_video_size; /*存放当前JPG数据缓冲区的大小*/pthread_mutex_t mutex; /*互斥锁*/pthread_cond_t cond;  /*条件变量*/
#define HTTP_SERVER_PORT 1235  /*HTTP服务器端口号*/int http_server_fd; /*HTTP服务器套接字*/
/*函数功能: 处理退出的信号*/void exit_sighandler(int sig){  video_stop_stat=0; //让摄像头采集线程自动退出  sleep(2);    /*关闭服务器套接字*/  close(http_server_fd);    //退出进程  exit(1);}
/*函数功能: 向HTTP客户端发送文件数据*/void HTTPClient_SendFileData(int client_fd,char *type,char *file){  int file_fd;  int read_len;  struct stat file_buf;  unsigned char buffer[1024];  file_fd=open(file,O_RDONLY);  if(file_fd<0)  {    printf("%s文件打开失败!\n",file);    return;  }    /*1. 获取文件的状态信息*/  stat(file,&file_buf);  //printf("%d\n",file_buf.st_size);    /*2. 构造报文头*/  sprintf(buffer,"HTTP/1.1 200 OK\r\n" \           "Content-type:%s\r\n" \           "Content-Length:%d\r\n"            "Server: wbyq\r\n" \           "\r\n",type,file_buf.st_size);    read_len=strlen(buffer);    /*2. 发送数据*/  do  {    if(write(client_fd,buffer,read_len)<=0)break;  }while((read_len=read(file_fd,buffer,sizeof(buffer)))>0);}

/*函数功能: 发送数据流*/void SendVideoData(int Clientfd){  int image_size;  unsigned char *image_data;   unsigned char buffer[1024];    /*1. 构造报文头: 回应浏览器请求,并告诉浏览器接下来需要使用长连接*/  sprintf(buffer, "HTTP/1.0 200 OK\r\n" \          "Server: wbyq\r\n" \          "Content-Type: multipart/x-mixed-replace;boundary=" "boundarydonotcross" "\r\n" \          "\r\n" \          "--" "boundarydonotcross" "\r\n");  if(write(Clientfd,buffer,strlen(buffer))<0)  {    return;  }    /*2. 循环发送数据流: JPG图片*/  image_data=malloc(Image_Width*Image_Height*3);  if(image_data==NULL)  {    printf("循环发送数据流缓冲区申请失败!\n");    return;  }  while(video_stop_stat)  {    //阻塞方式等待条件变量,等待成功并上锁    pthread_cond_wait(&cond,&mutex);        image_size=jpg_video_size; //保存图片的大小    memcpy(image_data,jpg_video_buffer,image_size);        //互斥锁解锁    pthread_mutex_unlock(&mutex);        /*2.1 构造报文头: 告诉浏览器发送数据类型和数据的长度*/    sprintf(buffer,"Content-type:%s\r\n" \             "Content-Length:%d\r\n"\             "\r\n","image/jpeg",image_size);    if(write(Clientfd,buffer,strlen(buffer))<0)    {      break;    }        /*2.2 发送实际的数据*/    if(write(Clientfd,image_data,image_size)<0)break;        /*2.3 发送间隔符号*/    sprintf(buffer,"\r\n--" "boundarydonotcross" "\r\n"); //间隔符号    if(write(Clientfd,buffer,strlen(buffer))<0)    {      break;    }  }  free(image_data); //释放空间}

/*函数功能: 处理HTTP客户端的线程*/void *pthread_Handler_HTTP_Client(void *dev){  int Clientfd;  unsigned char buffer[1024];  unsigned char *p=buffer;  struct pollfd fds;  int poll_state; /*poll函数的状态值*/  int recv_len;   /*接收的数据长度*/  if(dev==NULL)  {    pthread_exit(NULL); /*终止线程*/  }  Clientfd=*(int*)dev; /*保存客户端套接字描述符*/  free(dev); /*释放空间*/    /*1. 接收客户端的请求报文*/  fds.fd=Clientfd;  fds.events=POLLIN;  while(1)  {    /*等待数据*/    poll_state=poll(&fds,1,100);    if(poll_state<=0)break; /*数据接收完毕就退出*/    recv_len=read(Clientfd,p,1024);    p+=recv_len;    if(p-buffer>1024)break;  }    //printf("buffer=%s\n",buffer);    /*1. 判断请求的路径*/  if(strstr(buffer,"GET / HTTP/1.1"))  {    HTTPClient_SendFileData(Clientfd,"text/html","index.html");  }  else if(strstr(buffer,"GET /?action=stream HTTP/1.1"))  {    SendVideoData(Clientfd); //发送视频流数据  }  else if(strstr(buffer,"GET /favicon.ico HTTP/1.1"))  {    HTTPClient_SendFileData(Clientfd,"image/x-icon","123.ico");  }    close(Clientfd);}

/*函数功能: UVC摄像头初始化返回值: 0表示成功*/int UVCvideoInit(void){  /*1. 打开摄像头设备*/  uvc_video_fd=open(UVC_VIDEO_DEVICE,O_RDWR);  if(uvc_video_fd<0)  {    printf("%s 摄像头设备打开失败!\n",UVC_VIDEO_DEVICE);    return -1;  }    /*2. 设置摄像头的属性*/  struct v4l2_format format;  memset(&format,0,sizeof(struct v4l2_format));  format.type=V4L2_BUF_TYPE_VIDEO_CAPTURE; /*表示视频捕获设备*/  format.fmt.pix.width=320;  /*预设的宽度*/  format.fmt.pix.height=240; /*预设的高度*/  format.fmt.pix.pixelformat=V4L2_PIX_FMT_YUYV; /*预设的格式*/  format.fmt.pix.field=V4L2_FIELD_ANY; /*系统自动设置: 帧属性*/  if(ioctl(uvc_video_fd,VIDIOC_S_FMT,&format)) /*设置摄像头的属性*/  {    printf("摄像头格式设置失败!\n");    return -2;  }    Image_Width=format.fmt.pix.width;  Image_Height=format.fmt.pix.height;      printf("摄像头实际输出的图像尺寸:x=%d,y=%d\n",format.fmt.pix.width,format.fmt.pix.height);  if(format.fmt.pix.pixelformat==V4L2_PIX_FMT_YUYV)  {    printf("当前摄像头支持YUV格式图像输出!\n");  }  else  {    printf("当前摄像头不支持YUV格式图像输出!\n");    return -3;  }
  /*3. 请求缓冲区: 申请摄像头数据采集的缓冲区*/  struct v4l2_requestbuffers req_buff;  memset(&req_buff,0,sizeof(struct v4l2_requestbuffers));  req_buff.count=4; /*预设要申请4个缓冲区*/  req_buff.type=V4L2_BUF_TYPE_VIDEO_CAPTURE; /*视频捕获设备*/  req_buff.memory=V4L2_MEMORY_MMAP; /*支持mmap内存映射*/  if(ioctl(uvc_video_fd,VIDIOC_REQBUFS,&req_buff)) /*申请缓冲区*/  {    printf("申请摄像头数据采集的缓冲区失败!\n");    return -4;  }  printf("摄像头缓冲区申请的数量: %d\n",req_buff.count);
  /*4. 获取缓冲区的详细信息: 地址,编号*/  struct v4l2_buffer buff_info;  memset(&buff_info,0,sizeof(struct v4l2_buffer));  int i;  for(i=0;i<req_buff.count;i++)  {    buff_info.type=V4L2_BUF_TYPE_VIDEO_CAPTURE; /*视频捕获设备*/    buff_info.memory=V4L2_MEMORY_MMAP; /*支持mmap内存映射*/    if(ioctl(uvc_video_fd,VIDIOC_QUERYBUF,&buff_info)) /*获取缓冲区的详细信息*/    {      printf("获取缓冲区的详细信息失败!\n");      return -5;    }    /*根据摄像头申请缓冲区信息: 使用mmap函数将内核的地址映射到进程空间*/    video_memaddr_buffer[i]=mmap(NULL,buff_info.length,PROT_READ|PROT_WRITE,MAP_SHARED,uvc_video_fd,buff_info.m.offset);     if(video_memaddr_buffer[i]==NULL)    {      printf("缓冲区映射失败!\n");      return -6;    }  }
  /*5. 将缓冲区放入采集队列*/  memset(&buff_info,0,sizeof(struct v4l2_buffer));  for(i=0;i<req_buff.count;i++)  {    buff_info.type=V4L2_BUF_TYPE_VIDEO_CAPTURE; /*视频捕获设备*/    buff_info.index=i; /*缓冲区的节点编号*/    buff_info.memory=V4L2_MEMORY_MMAP; /*支持mmap内存映射*/    if(ioctl(uvc_video_fd,VIDIOC_QBUF,&buff_info)) /*根据节点编号将缓冲区放入队列*/    {      printf("根据节点编号将缓冲区放入队列失败!\n");      return -7;    }  }
  /*6. 启动摄像头数据采集*/  int Type=V4L2_BUF_TYPE_VIDEO_CAPTURE;  if(ioctl(uvc_video_fd,VIDIOC_STREAMON,&Type))  {    printf("启动摄像头数据采集失败!\n");    return -8;  }  return 0;}
/*函数功能: 采集摄像头的数据,并进行处理*/void *pthread_video_Data_Handler(void *dev){  /*循环采集摄像头的数据*/  struct pollfd fds;  fds.fd=uvc_video_fd;  fds.events=POLLIN;
  struct v4l2_buffer buff_info;  memset(&buff_info,0,sizeof(struct v4l2_buffer));  int index=0; /*表示当前缓冲区的编号*/    /*申请空间:存放转换之后的JPG数据*/  jpg_video_buffer=malloc(Image_Width*Image_Height*3);  if(jpg_video_buffer==NULL)  {    printf("JPG转换的缓冲区申请失败!\n");    exit(0);  }    while(video_stop_stat)  {    /*1. 等待摄像头采集数据*/    poll(&fds,1,-1); 
    /*2. 取出一帧数据: 从采集队列里面取出一个缓冲区*/    buff_info.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;   /*视频捕获设备*/    ioctl(uvc_video_fd,VIDIOC_DQBUF,&buff_info); /*从采集队列取出缓冲区*/    index=buff_info.index;    //printf("采集数据的缓冲区的编号:%d\n",index);
    /*3. 处理数据: YUV转JPG数据格式*/    //video_memaddr_buffer[index]; /*当前存放数据的缓冲区地址*/        //阻塞方式获取互斥锁    pthread_mutex_lock(&mutex);
    jpg_video_size=yuv_to_jpeg(Image_Width,Image_Height,Image_Width*Image_Height*3,video_memaddr_buffer[index],jpg_video_buffer,50);         //互斥锁解锁    pthread_mutex_unlock(&mutex);        /*唤醒所有等待的线程: 浏览器获取数据*/    pthread_cond_broadcast(&cond);         /*测试代码*/    //printf("jpg_video_size=%d(kb),src=%d(kb)\n",jpg_video_size/1024,(Image_Width*Image_Height*3)/1024);            /*4. 将缓冲区再次放入采集队列*/    buff_info.memory=V4L2_MEMORY_MMAP;   /*支持mmap内存映射*/    buff_info.type=V4L2_BUF_TYPE_VIDEO_CAPTURE; /*视频捕获设备*/    buff_info.index=index; /*缓冲区的节点编号*/    ioctl(uvc_video_fd,VIDIOC_QBUF,&buff_info); /*根据节点编号将缓冲区放入队列*/  }  close(uvc_video_fd); //关闭摄像头}
/*HTTP服务器创建:1. 创建socket套接字2. 绑定端口号: 服务器创建3. 设置监听端口的数量: 服务器最大等待连接的客户端总数量4. 等待客户端连接*/int main(int argc,char **argv){  struct sockaddr_in client_addr;  int addrlen=sizeof(struct sockaddr_in);  pthread_t thread_id; /*线程的ID*/  int *client_fd=NULL; /*保存客户端的套接字描述符*/    //初始化互斥锁  pthread_mutex_init(&mutex,NULL);  //初始化条件变量  pthread_cond_init(&cond,NULL);
  /*1. 绑定将要捕获的信号*/  signal(SIGINT,exit_sighandler);  signal(SIGSEGV,exit_sighandler);    /*2. 创建套接字*/  http_server_fd=socket(AF_INET,SOCK_STREAM,0);  if(http_server_fd<0)  {    printf("HTTP服务器:创建套接字创建失败!\n");    return -1;  }    /*3. 绑定端口号*/  struct sockaddr_in server_addr;  memset(&server_addr,0,sizeof(struct sockaddr_in));  server_addr.sin_family=AF_INET; //IPV4  server_addr.sin_port=htons(HTTP_SERVER_PORT); //需要填大端格式的端口号数据  server_addr.sin_addr.s_addr=0;//inet_addr("192.168.18.3");  /*0=inet_addr("0.0.0.0") ---表示本地所有IP地址*/  if(bind(http_server_fd,(struct sockaddr *)&server_addr,sizeof(struct sockaddr_in))!=0)  {    printf("HTTP服务器:绑定端口号失败!\n");    return -2;  }    /*4. 设置监听客户端连接的数量*/  listen(http_server_fd,50);    /*5.处理摄像头并创建新线程:负责摄像头的数据采集*/  if(UVCvideoInit()) /*摄像头初始化*/  {    close(http_server_fd);    return -1;  }    if(pthread_create(&thread_id,NULL,pthread_video_Data_Handler,NULL)!=0)  {    close(http_server_fd);    printf("创建摄像头的数据采集线程失败!\n");    return -1;  }    //设置线程的分离属性  pthread_detach(thread_id);        /*7. 等待客户端连接:阻塞*/  while(1)  {    client_fd=(int*)malloc(sizeof(int));    if(client_fd==NULL)    {      printf("存放客户端的套接字描述符,空间申请失败!\n");      break;    }    *client_fd=accept(http_server_fd,(struct sockaddr *)&client_addr,&addrlen);    if(*client_fd<0)    {      break;    }        /*8. 创建新的线程*/    if(pthread_create(&thread_id,NULL,pthread_Handler_HTTP_Client,(void*)client_fd)!=0)    {      printf("创建处理HTTP客户端线程失败!\n");      break;    }    //设置线程的分离属性    pthread_detach(thread_id);  }    /*9. 关闭服务器套接字*/  close(http_server_fd);  return 0;}