feat: 视频与控制程序合并

Makefile

@@ -41,8 +41,8 @@ TARGETS := \
 	$(BIN_DIR)/kcpping
 
 CAMERA_VIDEO_SENDER := $(BIN_DIR)/camera_video_sender
-CAMERA_VIDEO_SENDER_SRCS := \
-	$(CMD_DIR)/v1_camera_pipeline_ifdef.c \
+FFMPEG_PIPELINE_COMMON_SRCS := \
+	$(SRC_DIR)/video_pipeline.c \
 	$(SRC_DIR)/omni_common.c \
 	$(SRC_DIR)/protocol.c \
 	$(SRC_DIR)/latencylog.c \
@@ -54,6 +54,15 @@ CAMERA_VIDEO_SENDER_SRCS := \
 	third_party/cjson/cJSON.c \
 	third_party/kcp/ikcp.c
 
+CAMERA_VIDEO_SENDER_SRCS := \
+	$(CMD_DIR)/v1_camera_pipeline_ifdef.c \
+	$(FFMPEG_PIPELINE_COMMON_SRCS)
+
+B_SIDE_OMNID := $(BIN_DIR)/b_side_omnid
+B_SIDE_OMNID_SRCS := \
+	$(CMD_DIR)/b_side_omnid.c \
+	$(FFMPEG_PIPELINE_COMMON_SRCS)
+
 all: $(TARGETS)
 
 $(BIN_DIR):
@@ -85,6 +94,11 @@ $(CAMERA_VIDEO_SENDER): $(CAMERA_VIDEO_SENDER_SRCS) | $(BIN_DIR)
 
 camera_video_sender: $(CAMERA_VIDEO_SENDER)
 
+$(B_SIDE_OMNID): $(B_SIDE_OMNID_SRCS) | $(BIN_DIR)
+	$(CC) $(CFLAGS) $(CPPFLAGS) $$(pkg-config --cflags libavformat libavcodec libavutil libswscale) -o $@ $^ $(LDFLAGS) $$(pkg-config --libs libavformat libavcodec libavutil libswscale)
+
+b_side_omnid: $(B_SIDE_OMNID)
+
 clean:
 	rm -rf $(BIN_DIR)
 
@@ -94,4 +108,4 @@ python-ext:
 python-install:
 	cd python && $(PYTHON) -m pip install -e .
 
-.PHONY: all clean python-ext python-install camera_video_sender
+.PHONY: all clean python-ext python-install camera_video_sender b_side_omnid