Merge branch 'release/19.09.1'

.clang-format

@@ -0,0 +1,8 @@
+---
+Language:       Cpp
+BasedOnStyle:   Chromium
+ReflowComments: false
+---
+Language:       ObjC
+BasedOnStyle:   Chromium
+ReflowComments: false

.github/workflows/build.yml

@@ -0,0 +1,20 @@
+name: build-workflow
+on: push
+
+jobs:
+  build_raspbian-buster_armv6:
+    name: Build momo for raspbian-buster_armv6
+    runs-on: ubuntu-18.04
+    steps:
+      - uses: actions/checkout@v1
+      - run: DOCKER_BUILDKIT=1 NOTTY=1 NOMOUNT=1 make raspbian-buster_armv6
+        working-directory: build
+        timeout-minutes: 120
+  build_raspbian-buster_armv7:
+    name: Build momo for raspbian-buster_armv7
+    runs-on: ubuntu-18.04
+    steps:
+      - uses: actions/checkout@v1
+      - run: DOCKER_BUILDKIT=1 NOTTY=1 NOMOUNT=1 make raspbian-buster_armv7
+        working-directory: build
+        timeout-minutes: 120

.github/workflows/daily_build.yml

@@ -0,0 +1,41 @@
+name: daily-build-workflow
+on:
+  schedule:
+    # UTCで記述する事、この場合は日本時間 9 時にしたいので -9 して 0 にしてある
+    - cron: "0 0 * * *"
+    # 明示的な branch の指定はできず、デフォルト branch の latest commit に対して実行される
+    # https://help.github.com/en/articles/workflow-syntax-for-github-actions#onschedule
+
+jobs:
+  build_ubuntu-18_04_armv8:
+    name: Build momo for build_ubuntu-18.04_armv8
+    runs-on: ubuntu-18.04
+    steps:
+      - uses: actions/checkout@v1
+      - run: DOCKER_BUILDKIT=1 NOTTY=1 NOMOUNT=1 make ubuntu-18.04_armv8
+        working-directory: build
+        timeout-minutes: 120
+  build_ubuntu-18_04_armv8_jetson_nano:
+    name: Build momo for build_ubuntu-18.04_armv8_jetson_nano
+    runs-on: ubuntu-18.04
+    steps:
+      - uses: actions/checkout@v1
+      - run: DOCKER_BUILDKIT=1 NOTTY=1 NOMOUNT=1 make ubuntu-18.04_armv8_jetson_nano
+        working-directory: build
+        timeout-minutes: 120
+  build_ubuntu-18_04_x86_64:
+    name: Build momo for build_ubuntu-18.04_x86_64
+    runs-on: ubuntu-18.04
+    steps:
+      - uses: actions/checkout@v1
+      - run: DOCKER_BUILDKIT=1 NOTTY=1 NOMOUNT=1 make ubuntu-18.04_x86_64
+        working-directory: build
+        timeout-minutes: 120
+  build_macos:
+    name: Build momo for macOS 10.14
+    runs-on: macos-10.14
+    steps:
+      - uses: actions/checkout@v1
+      - run: make macos
+        working-directory: build
+        timeout-minutes: 120

.gitignore

@@ -44,3 +44,5 @@ webrtc_logs_0
 /build/package
 /build/momo/
 /build/momo.tar.gz
+
+/src/hwenc_jetson/Nv*

CHANGES.md

@@ -11,6 +11,25 @@
 
 ## develop
 
+## 19.09.1
+
+- [ADD] Jetson Nano のハードウェアエンコーダを利用する機能を実装
+    - @tnoho
+- [ADD] Jetson Nano のビルドを追加
+    - @melpon
+- [ADD] CI を CircleCI から GitHub Actions へ切り替える
+    - macOS の時間制限が OSS の場合はないため Weekly build から Daily build のみにきりかえる
+    - @hakobera
+- [ADD] .clang-format の追加
+    - @melpon
+- [UPDATE] libwebrtc M78 コミットポジションを 3 にする
+    - libwebrtc のハッシュは 68c715dc01cd8cd0ad2726453e7376b5f353fcd1
+    - @voluntas
+- [UPDATE] コマンドオプションをできるだけ共通化する
+    - @melpon
+- [UPDATE] Raspberry Pi のビルド OS を Ubuntu 16.04 から 18.04 に上げる
+    - @melpon
+
 ## 19.09.0
 
 - [ADD] --disable-echo-cancellation オプションを追加

Makefile

@@ -22,7 +22,13 @@ include VERSION
 # USE_ROS: ROS を使っているかどうか
 #   有効な値は 0, 1
 #
-# USE_MMAL_ENCODER: ハードウェアエンコーダを利用するかどうか
+# USE_MMAL_ENCODER: MMAL ハードウェアエンコーダを利用するかどうか
+#   有効な値は 0, 1
+#
+# USE_JETSON_ENCODER: Jetson のハードウェアエンコーダを利用するかどうか
+#   有効な値は 0, 1
+#
+# USE_H264: H264 を利用するかどうか
 #   有効な値は 0, 1
 #
 # BOOST_ROOT: Boost のインストール先ディレクトリ
@@ -51,6 +57,8 @@ ifeq ($(PACKAGE_NAME),raspbian-buster_armv6)
   TARGET_ARCH_ARM ?= armv6
   USE_ROS ?= 0
   USE_MMAL_ENCODER ?= 1
+  USE_JETSON_ENCODER ?= 0
+  USE_H264 ?= 1
   BOOST_ROOT ?= /root/boost-$(BOOST_VERSION)
   WEBRTC_SRC_ROOT ?= /root/webrtc/src
   WEBRTC_LIB_ROOT ?= /root/webrtc-build/raspbian-buster_armv6
@@ -62,6 +70,8 @@ else ifeq ($(PACKAGE_NAME),raspbian-buster_armv7)
   TARGET_ARCH_ARM ?= armv7
   USE_ROS ?= 0
   USE_MMAL_ENCODER ?= 1
+  USE_JETSON_ENCODER ?= 0
+  USE_H264 ?= 1
   BOOST_ROOT ?= /root/boost-$(BOOST_VERSION)
   WEBRTC_SRC_ROOT ?= /root/webrtc/src
   WEBRTC_LIB_ROOT ?= /root/webrtc-build/raspbian-buster_armv7
@@ -73,6 +83,8 @@ else ifeq ($(PACKAGE_NAME),ubuntu-16.04_armv7_ros)
   TARGET_ARCH_ARM ?= armv7
   USE_ROS ?= 1
   USE_MMAL_ENCODER ?= 1
+  USE_JETSON_ENCODER ?= 0
+  USE_H264 ?= 1
   BOOST_ROOT ?= /root/boost-$(BOOST_VERSION)
   WEBRTC_SRC_ROOT ?= /root/webrtc/src
   WEBRTC_LIB_ROOT ?= /root/webrtc-build/ubuntu-16.04_armv7_ros
@@ -84,16 +96,33 @@ else ifeq ($(PACKAGE_NAME),ubuntu-18.04_armv8)
   TARGET_ARCH_ARM ?= armv8
   USE_ROS ?= 0
   USE_MMAL_ENCODER ?= 0
+  USE_JETSON_ENCODER ?= 0
+  USE_H264 ?= 0
   BOOST_ROOT ?= /root/boost-$(BOOST_VERSION)
   WEBRTC_SRC_ROOT ?= /root/webrtc/src
   WEBRTC_LIB_ROOT ?= /root/webrtc-build/ubuntu-18.04_armv8
   SYSROOT ?= /root/rootfs
+else ifeq ($(PACKAGE_NAME),ubuntu-18.04_armv8_jetson_nano)
+  TARGET_OS ?= linux
+  TARGET_OS_LINUX ?= ubuntu-18.04
+  TARGET_ARCH ?= arm
+  TARGET_ARCH_ARM ?= armv8
+  USE_ROS ?= 0
+  USE_MMAL_ENCODER ?= 0
+  USE_JETSON_ENCODER ?= 1
+  USE_H264 ?= 1
+  BOOST_ROOT ?= /root/boost-$(BOOST_VERSION)
+  WEBRTC_SRC_ROOT ?= /root/webrtc/src
+  WEBRTC_LIB_ROOT ?= /root/webrtc-build/ubuntu-18.04_armv8_jetson_nano
+  SYSROOT ?= /root/rootfs
 else ifeq ($(PACKAGE_NAME),ubuntu-16.04_x86_64_ros)
   TARGET_OS ?= linux
   TARGET_OS_LINUX ?= ubuntu-16.04
   TARGET_ARCH ?= x86_64
   USE_ROS ?= 1
   USE_MMAL_ENCODER ?= 0
+  USE_JETSON_ENCODER ?= 0
+  USE_H264 ?= 0
   BOOST_ROOT ?= /root/boost-$(BOOST_VERSION)
   WEBRTC_SRC_ROOT ?= /root/webrtc/src
   WEBRTC_LIB_ROOT ?= /root/webrtc-build/ubuntu-16.04_x86_64_ros
@@ -103,6 +132,8 @@ else ifeq ($(PACKAGE_NAME),ubuntu-18.04_x86_64)
   TARGET_ARCH ?= x86_64
   USE_ROS ?= 0
   USE_MMAL_ENCODER ?= 0
+  USE_JETSON_ENCODER ?= 0
+  USE_H264 ?= 0
   BOOST_ROOT ?= /root/boost-$(BOOST_VERSION)
   WEBRTC_SRC_ROOT ?= /root/webrtc/src
   WEBRTC_LIB_ROOT ?= /root/webrtc-build/ubuntu-18.04_x86_64
@@ -111,6 +142,8 @@ else ifeq ($(PACKAGE_NAME),macos)
   TARGET_ARCH ?= x86_64
   USE_ROS ?= 0
   USE_MMAL_ENCODER ?= 0
+  USE_JETSON_ENCODER ?= 0
+  USE_H264 ?= 1
   BOOST_ROOT ?= $(CURDIR)/build/macos/boost-$(BOOST_VERSION)
   # CURDIR を付けると、ar に渡す時に引数が長すぎるって怒られたので、
   # 相対パスで指定する。
@@ -157,6 +190,16 @@ else
     HAS_ERROR = 1
   endif
 
+  ifndef USE_JETSON_ENCODER
+    $(info - USE_JETSON_ENCODER が指定されていません)
+    HAS_ERROR = 1
+  endif
+
+  ifndef USE_H264
+    $(info - USE_H264 が指定されていません)
+    HAS_ERROR = 1
+  endif
+
   ifndef BOOST_ROOT
     $(info - BOOST_ROOT が指定されていません)
     HAS_ERROR = 1
@@ -213,18 +256,7 @@ ifeq ($(USE_ROS),1)
   endif
 endif
 
-# x86_64/armv8 の場合は H264 を使わない
-ifeq ($(TARGET_OS),linux)
-  ifeq ($(TARGET_ARCH),x86_64)
-    CFLAGS += -DUSE_H264=0
-  else ifeq ($(TARGET_ARCH_ARM),armv8)
-    CFLAGS += -DUSE_H264=0
-  else
-    CFLAGS += -DUSE_H264=1
-  endif
-else ifeq ($(TARGET_OS),macos)
-  CFLAGS += -DUSE_H264=1
-endif
+CFLAGS += -DUSE_H264=$(USE_H264)
 
 ifeq ($(TARGET_OS),linux)
   CFLAGS += -fpic
@@ -251,7 +283,41 @@ ifeq ($(TARGET_OS),linux)
       LDFLAGS += -L$(SYSROOT)/usr/lib/$(ARCH_NAME)
     endif
 
-    ifneq ($(TARGET_ARCH_ARM),armv8)
+    ifeq ($(TARGET_ARCH_ARM),armv8)
+      # Jetson の設定
+      ifeq ($(USE_JETSON_ENCODER),1)
+        CFLAGS += \
+          -DUSE_JETSON_ENCODER=1 \
+          -I$(SYSROOT)/include/libjpeg-8b
+        LDFLAGS += \
+          -lv4l2 \
+          -L$(SYSROOT)/usr/lib/aarch64-linux-gnu/tegra \
+          -Wl,-rpath-link=$(SYSROOT)/lib/aarch64-linux-gnu \
+          -Wl,-rpath-link=$(SYSROOT)/usr/lib/aarch64-linux-gnu \
+          -Wl,-rpath-link=$(SYSROOT)/usr/lib/aarch64-linux-gnu/tegra \
+          -lnvbuf_utils \
+          -lnvbuf_fdmap \
+          -lnvddk_vic \
+          -lnvddk_2d_v2 \
+          -lnvjpeg \
+          -lnvrm \
+          -lnvrm_graphics \
+          -lnvos
+        SOURCES += $(shell find src/v4l2_video_capturer -maxdepth 1 -name '*.cpp')
+        SOURCES += $(shell find src/hwenc_jetson -maxdepth 1 -name '*.cpp')
+        JETSON_ADDITIONAL_SOURCES += \
+          $(SYSROOT)/usr/src/nvidia/tegra_multimedia_api/samples/common/classes/NvBuffer.cpp \
+          $(SYSROOT)/usr/src/nvidia/tegra_multimedia_api/samples/common/classes/NvElement.cpp \
+          $(SYSROOT)/usr/src/nvidia/tegra_multimedia_api/samples/common/classes/NvElementProfiler.cpp \
+          $(SYSROOT)/usr/src/nvidia/tegra_multimedia_api/samples/common/classes/NvJpegDecoder.cpp \
+          $(SYSROOT)/usr/src/nvidia/tegra_multimedia_api/samples/common/classes/NvJpegEncoder.cpp \
+          $(SYSROOT)/usr/src/nvidia/tegra_multimedia_api/samples/common/classes/NvLogging.cpp \
+          $(SYSROOT)/usr/src/nvidia/tegra_multimedia_api/samples/common/classes/NvV4l2Element.cpp \
+          $(SYSROOT)/usr/src/nvidia/tegra_multimedia_api/samples/common/classes/NvV4l2ElementPlane.cpp \
+          $(SYSROOT)/usr/src/nvidia/tegra_multimedia_api/samples/common/classes/NvVideoConverter.cpp \
+          $(SYSROOT)/usr/src/nvidia/tegra_multimedia_api/samples/common/classes/NvVideoEncoder.cpp
+      endif
+    else
       # armv6, armv7 用
 
       CFLAGS += -mfloat-abi=hard
@@ -447,6 +513,18 @@ $(BUILD_ROOT)/libwebrtc.a: $(shell find $(WEBRTC_LIB_ROOT)/obj -name '*.o') | $(
 
 endif
 
+# Jetson Nano を利用する場合の追加ソースのコンパイル
+ifeq ($(USE_JETSON_ENCODER),1)
+
+$(BUILD_ROOT)/tegra_multimedia_api/%.o: $(SYSROOT)/usr/src/nvidia/tegra_multimedia_api/%.cpp | $(BUILD_ROOT)
+	@mkdir -p `dirname $@`
+	$(CXX) $(CFLAGS) $(INCLUDES) -c $< -o $@
+
+# OBJECTS にも追加する
+OBJECTS += $(addprefix $(BUILD_ROOT)/,$(subst $(SYSROOT)/usr/src/nvidia/,,$(patsubst %.cpp,%.o,$(JETSON_ADDITIONAL_SOURCES))))
+
+endif
+
 # src 以下のソースのビルドルール
 $(BUILD_ROOT)/src/%.o: src/%.cpp | $(BUILD_ROOT)
 	@mkdir -p `dirname $@`