1 | /* |
---|
2 | Copyright (C) 2005 by Jasem Mutlaq <mutlaqja@ikarustech.com> |
---|
3 | |
---|
4 | Based on V4L 2 Example |
---|
5 | http://v4l2spec.bytesex.org/spec-single/v4l2.html#CAPTURE-EXAMPLE |
---|
6 | |
---|
7 | This library is free software; you can redistribute it and/or |
---|
8 | modify it under the terms of the GNU Lesser General Public |
---|
9 | License as published by the Free Software Foundation; either |
---|
10 | version 2.1 of the License, or (at your option) any later version. |
---|
11 | |
---|
12 | This library is distributed in the hope that it will be useful, |
---|
13 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
---|
14 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
---|
15 | Lesser General Public License for more details. |
---|
16 | |
---|
17 | You should have received a copy of the GNU Lesser General Public |
---|
18 | License along with this library; if not, write to the Free Software |
---|
19 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA |
---|
20 | |
---|
21 | */ |
---|
22 | |
---|
23 | #include <iostream> |
---|
24 | |
---|
25 | #include <sys/ioctl.h> |
---|
26 | #include <sys/types.h> |
---|
27 | #include <sys/stat.h> |
---|
28 | #include <assert.h> |
---|
29 | #include <fcntl.h> |
---|
30 | #include <unistd.h> |
---|
31 | #include <stdio.h> |
---|
32 | #include <errno.h> |
---|
33 | #include <sys/mman.h> |
---|
34 | #include <string.h> |
---|
35 | #include <asm/types.h> /* for videodev2.h */ |
---|
36 | |
---|
37 | #include "ccvt.h" |
---|
38 | #include "v4l2_base.h" |
---|
39 | #include "eventloop.h" |
---|
40 | #include "indidevapi.h" |
---|
41 | |
---|
42 | #define ERRMSGSIZ 1024 |
---|
43 | |
---|
44 | #define CLEAR(x) memset (&(x), 0, sizeof (x)) |
---|
45 | |
---|
46 | using namespace std; |
---|
47 | |
---|
48 | V4L2_Base::V4L2_Base() |
---|
49 | { |
---|
50 | frameRate=10; |
---|
51 | selectCallBackID = -1; |
---|
52 | dropFrame = false; |
---|
53 | |
---|
54 | xmax = xmin = 160; |
---|
55 | ymax = ymin = 120; |
---|
56 | |
---|
57 | io = IO_METHOD_MMAP; |
---|
58 | fd = -1; |
---|
59 | buffers = NULL; |
---|
60 | n_buffers = 0; |
---|
61 | |
---|
62 | YBuf = NULL; |
---|
63 | UBuf = NULL; |
---|
64 | VBuf = NULL; |
---|
65 | colorBuffer = NULL; |
---|
66 | rgb24_buffer = NULL; |
---|
67 | callback = NULL; |
---|
68 | |
---|
69 | } |
---|
70 | |
---|
71 | V4L2_Base::~V4L2_Base() |
---|
72 | { |
---|
73 | |
---|
74 | delete (YBuf); |
---|
75 | delete (UBuf); |
---|
76 | delete (VBuf); |
---|
77 | delete (colorBuffer); |
---|
78 | delete (rgb24_buffer); |
---|
79 | |
---|
80 | } |
---|
81 | |
---|
82 | int V4L2_Base::xioctl(int fd, int request, void *arg) |
---|
83 | { |
---|
84 | int r; |
---|
85 | |
---|
86 | do r = ioctl (fd, request, arg); |
---|
87 | while (-1 == r && EINTR == errno); |
---|
88 | |
---|
89 | return r; |
---|
90 | } |
---|
91 | |
---|
92 | int V4L2_Base::errno_exit(const char *s, char *errmsg) |
---|
93 | { |
---|
94 | fprintf (stderr, "%s error %d, %s\n", |
---|
95 | s, errno, strerror (errno)); |
---|
96 | |
---|
97 | snprintf(errmsg, ERRMSGSIZ, "%s error %d, %s\n", s, errno, strerror (errno)); |
---|
98 | |
---|
99 | return -1; |
---|
100 | } |
---|
101 | |
---|
102 | int V4L2_Base::connectCam(const char * devpath, char *errmsg , int pixelFormat , int width , int height ) |
---|
103 | { |
---|
104 | frameRate=10; |
---|
105 | selectCallBackID = -1; |
---|
106 | dropFrame = false; |
---|
107 | |
---|
108 | if (open_device (devpath, errmsg) < 0) |
---|
109 | return -1; |
---|
110 | |
---|
111 | if (init_device(errmsg, pixelFormat, width, height) < 0) |
---|
112 | return -1; |
---|
113 | |
---|
114 | cerr << "V4L 2 - All successful, returning\n"; |
---|
115 | return fd; |
---|
116 | } |
---|
117 | |
---|
118 | void V4L2_Base::disconnectCam() |
---|
119 | { |
---|
120 | char errmsg[ERRMSGSIZ]; |
---|
121 | delete YBuf; |
---|
122 | delete UBuf; |
---|
123 | delete VBuf; |
---|
124 | YBuf = UBuf = VBuf = NULL; |
---|
125 | |
---|
126 | if (selectCallBackID != -1) |
---|
127 | rmCallback(selectCallBackID); |
---|
128 | |
---|
129 | stop_capturing (errmsg); |
---|
130 | |
---|
131 | uninit_device (errmsg); |
---|
132 | |
---|
133 | close_device (); |
---|
134 | |
---|
135 | fprintf(stderr, "Disconnect cam\n"); |
---|
136 | } |
---|
137 | |
---|
138 | int V4L2_Base::read_frame(char *errmsg) |
---|
139 | { |
---|
140 | struct v4l2_buffer buf; |
---|
141 | unsigned int i; |
---|
142 | //cerr << "in read Frame" << endl; |
---|
143 | |
---|
144 | switch (io) { |
---|
145 | case IO_METHOD_READ: |
---|
146 | if (-1 == read (fd, buffers[0].start, buffers[0].length)) { |
---|
147 | switch (errno) { |
---|
148 | case EAGAIN: |
---|
149 | return 0; |
---|
150 | |
---|
151 | case EIO: |
---|
152 | /* Could ignore EIO, see spec. */ |
---|
153 | |
---|
154 | /* fall through */ |
---|
155 | |
---|
156 | default: |
---|
157 | return errno_exit ("read", errmsg); |
---|
158 | } |
---|
159 | } |
---|
160 | |
---|
161 | //process_image (buffers[0].start); |
---|
162 | |
---|
163 | break; |
---|
164 | |
---|
165 | case IO_METHOD_MMAP: |
---|
166 | CLEAR (buf); |
---|
167 | |
---|
168 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
---|
169 | buf.memory = V4L2_MEMORY_MMAP; |
---|
170 | |
---|
171 | if (-1 == xioctl (fd, VIDIOC_DQBUF, &buf)) { |
---|
172 | switch (errno) { |
---|
173 | case EAGAIN: |
---|
174 | return 0; |
---|
175 | |
---|
176 | case EIO: |
---|
177 | /* Could ignore EIO, see spec. */ |
---|
178 | |
---|
179 | /* fall through */ |
---|
180 | |
---|
181 | default: |
---|
182 | return errno_exit ("VIDIOC_DQBUF", errmsg); |
---|
183 | } |
---|
184 | } |
---|
185 | |
---|
186 | assert (buf.index < n_buffers); |
---|
187 | |
---|
188 | switch (fmt.fmt.pix.pixelformat) |
---|
189 | { |
---|
190 | case V4L2_PIX_FMT_YUV420: |
---|
191 | memcpy(YBuf,((unsigned char *) buffers[buf.index].start), fmt.fmt.pix.width * fmt.fmt.pix.height); |
---|
192 | memcpy(UBuf,((unsigned char *) buffers[buf.index].start) + fmt.fmt.pix.width * fmt.fmt.pix.height, (fmt.fmt.pix.width/2) * (fmt.fmt.pix.height/2)); |
---|
193 | memcpy(VBuf,((unsigned char *) buffers[buf.index].start) + fmt.fmt.pix.width * fmt.fmt.pix.height + (fmt.fmt.pix.width/2) * (fmt.fmt.pix.height/2), (fmt.fmt.pix.width/2) * (fmt.fmt.pix.width/2)); |
---|
194 | break; |
---|
195 | |
---|
196 | case V4L2_PIX_FMT_YUYV: |
---|
197 | ccvt_yuyv_420p( fmt.fmt.pix.width , fmt.fmt.pix.height, buffers[buf.index].start, YBuf, UBuf, VBuf); |
---|
198 | break; |
---|
199 | |
---|
200 | case V4L2_PIX_FMT_RGB24: |
---|
201 | RGB2YUV(fmt.fmt.pix.width, fmt.fmt.pix.height, buffers[buf.index].start, YBuf, UBuf, VBuf, 0); |
---|
202 | break; |
---|
203 | |
---|
204 | case V4L2_PIX_FMT_SBGGR8: |
---|
205 | bayer2rgb24(rgb24_buffer, ((unsigned char *) buffers[buf.index].start), fmt.fmt.pix.width, fmt.fmt.pix.height); |
---|
206 | break; |
---|
207 | } |
---|
208 | |
---|
209 | /*if (dropFrame) |
---|
210 | { |
---|
211 | dropFrame = false; |
---|
212 | return 0; |
---|
213 | } */ |
---|
214 | |
---|
215 | /* Call provided callback function if any */ |
---|
216 | if (callback) |
---|
217 | (*callback)(uptr); |
---|
218 | |
---|
219 | if (-1 == xioctl (fd, VIDIOC_QBUF, &buf)) |
---|
220 | return errno_exit ("VIDIOC_QBUF", errmsg); |
---|
221 | |
---|
222 | break; |
---|
223 | |
---|
224 | case IO_METHOD_USERPTR: |
---|
225 | CLEAR (buf); |
---|
226 | |
---|
227 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
---|
228 | buf.memory = V4L2_MEMORY_USERPTR; |
---|
229 | |
---|
230 | if (-1 == xioctl (fd, VIDIOC_DQBUF, &buf)) { |
---|
231 | switch (errno) { |
---|
232 | case EAGAIN: |
---|
233 | return 0; |
---|
234 | |
---|
235 | case EIO: |
---|
236 | /* Could ignore EIO, see spec. */ |
---|
237 | |
---|
238 | /* fall through */ |
---|
239 | |
---|
240 | default: |
---|
241 | errno_exit ("VIDIOC_DQBUF", errmsg); |
---|
242 | } |
---|
243 | } |
---|
244 | |
---|
245 | for (i = 0; i < n_buffers; ++i) |
---|
246 | if (buf.m.userptr == (unsigned long) buffers[i].start |
---|
247 | && buf.length == buffers[i].length) |
---|
248 | break; |
---|
249 | |
---|
250 | assert (i < n_buffers); |
---|
251 | |
---|
252 | //process_image ((void *) buf.m.userptr); |
---|
253 | |
---|
254 | if (-1 == xioctl (fd, VIDIOC_QBUF, &buf)) |
---|
255 | errno_exit ("VIDIOC_QBUF", errmsg); |
---|
256 | |
---|
257 | break; |
---|
258 | } |
---|
259 | |
---|
260 | return 0; |
---|
261 | } |
---|
262 | |
---|
263 | int V4L2_Base::stop_capturing(char *errmsg) |
---|
264 | { |
---|
265 | enum v4l2_buf_type type; |
---|
266 | |
---|
267 | switch (io) { |
---|
268 | case IO_METHOD_READ: |
---|
269 | /* Nothing to do. */ |
---|
270 | break; |
---|
271 | |
---|
272 | case IO_METHOD_MMAP: |
---|
273 | case IO_METHOD_USERPTR: |
---|
274 | type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
---|
275 | |
---|
276 | IERmCallback(selectCallBackID); |
---|
277 | selectCallBackID = -1; |
---|
278 | |
---|
279 | // N.B. I used this as a hack to solve a problem with capturing a frame |
---|
280 | // long time ago. I recently tried taking this hack off, and it worked fine! |
---|
281 | //dropFrame = true; |
---|
282 | |
---|
283 | if (-1 == xioctl (fd, VIDIOC_STREAMOFF, &type)) |
---|
284 | return errno_exit ("VIDIOC_STREAMOFF", errmsg); |
---|
285 | |
---|
286 | |
---|
287 | |
---|
288 | break; |
---|
289 | } |
---|
290 | |
---|
291 | return 0; |
---|
292 | } |
---|
293 | |
---|
294 | int V4L2_Base::start_capturing(char * errmsg) |
---|
295 | { |
---|
296 | unsigned int i; |
---|
297 | enum v4l2_buf_type type; |
---|
298 | |
---|
299 | switch (io) { |
---|
300 | case IO_METHOD_READ: |
---|
301 | /* Nothing to do. */ |
---|
302 | break; |
---|
303 | |
---|
304 | case IO_METHOD_MMAP: |
---|
305 | for (i = 0; i < n_buffers; ++i) { |
---|
306 | struct v4l2_buffer buf; |
---|
307 | |
---|
308 | CLEAR (buf); |
---|
309 | |
---|
310 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
---|
311 | buf.memory = V4L2_MEMORY_MMAP; |
---|
312 | buf.index = i; |
---|
313 | |
---|
314 | if (-1 == xioctl (fd, VIDIOC_QBUF, &buf)) |
---|
315 | return errno_exit ("VIDIOC_QBUF", errmsg); |
---|
316 | |
---|
317 | } |
---|
318 | |
---|
319 | type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
---|
320 | |
---|
321 | if (-1 == xioctl (fd, VIDIOC_STREAMON, &type)) |
---|
322 | return errno_exit ("VIDIOC_STREAMON", errmsg); |
---|
323 | |
---|
324 | |
---|
325 | |
---|
326 | selectCallBackID = IEAddCallback(fd, newFrame, this); |
---|
327 | |
---|
328 | break; |
---|
329 | |
---|
330 | case IO_METHOD_USERPTR: |
---|
331 | for (i = 0; i < n_buffers; ++i) { |
---|
332 | struct v4l2_buffer buf; |
---|
333 | |
---|
334 | CLEAR (buf); |
---|
335 | |
---|
336 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
---|
337 | buf.memory = V4L2_MEMORY_USERPTR; |
---|
338 | buf.m.userptr = (unsigned long) buffers[i].start; |
---|
339 | buf.length = buffers[i].length; |
---|
340 | |
---|
341 | if (-1 == xioctl (fd, VIDIOC_QBUF, &buf)) |
---|
342 | return errno_exit ("VIDIOC_QBUF", errmsg); |
---|
343 | } |
---|
344 | |
---|
345 | |
---|
346 | type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
---|
347 | |
---|
348 | if (-1 == xioctl (fd, VIDIOC_STREAMON, &type)) |
---|
349 | return errno_exit ("VIDIOC_STREAMON", errmsg); |
---|
350 | |
---|
351 | break; |
---|
352 | } |
---|
353 | |
---|
354 | return 0; |
---|
355 | |
---|
356 | } |
---|
357 | |
---|
358 | void V4L2_Base::newFrame(int /*fd*/, void *p) |
---|
359 | { |
---|
360 | char errmsg[ERRMSGSIZ]; |
---|
361 | |
---|
362 | ( (V4L2_Base *) (p))->read_frame(errmsg); |
---|
363 | |
---|
364 | } |
---|
365 | |
---|
366 | int V4L2_Base::uninit_device(char *errmsg) |
---|
367 | { |
---|
368 | |
---|
369 | switch (io) { |
---|
370 | case IO_METHOD_READ: |
---|
371 | free (buffers[0].start); |
---|
372 | break; |
---|
373 | |
---|
374 | case IO_METHOD_MMAP: |
---|
375 | for (unsigned int i = 0; i < n_buffers; ++i) |
---|
376 | if (-1 == munmap (buffers[i].start, buffers[i].length)) |
---|
377 | return errno_exit ("munmap", errmsg); |
---|
378 | break; |
---|
379 | |
---|
380 | case IO_METHOD_USERPTR: |
---|
381 | for (unsigned int i = 0; i < n_buffers; ++i) |
---|
382 | free (buffers[i].start); |
---|
383 | break; |
---|
384 | } |
---|
385 | |
---|
386 | free (buffers); |
---|
387 | |
---|
388 | return 0; |
---|
389 | } |
---|
390 | |
---|
391 | void V4L2_Base::init_read(unsigned int buffer_size) |
---|
392 | { |
---|
393 | buffers = (buffer *) calloc (1, sizeof (*buffers)); |
---|
394 | |
---|
395 | if (!buffers) { |
---|
396 | fprintf (stderr, "Out of memory\n"); |
---|
397 | exit (EXIT_FAILURE); |
---|
398 | } |
---|
399 | |
---|
400 | buffers[0].length = buffer_size; |
---|
401 | buffers[0].start = malloc (buffer_size); |
---|
402 | |
---|
403 | if (!buffers[0].start) { |
---|
404 | fprintf (stderr, "Out of memory\n"); |
---|
405 | exit (EXIT_FAILURE); |
---|
406 | } |
---|
407 | } |
---|
408 | |
---|
409 | int V4L2_Base::init_mmap(char *errmsg) |
---|
410 | { |
---|
411 | struct v4l2_requestbuffers req; |
---|
412 | |
---|
413 | CLEAR (req); |
---|
414 | |
---|
415 | req.count = 4; |
---|
416 | //req.count = 1; |
---|
417 | req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
---|
418 | req.memory = V4L2_MEMORY_MMAP; |
---|
419 | |
---|
420 | if (-1 == xioctl (fd, VIDIOC_REQBUFS, &req)) { |
---|
421 | if (EINVAL == errno) { |
---|
422 | fprintf (stderr, "%s does not support " |
---|
423 | "memory mapping\n", dev_name); |
---|
424 | snprintf(errmsg, ERRMSGSIZ, "%s does not support " |
---|
425 | "memory mapping\n", dev_name); |
---|
426 | return -1; |
---|
427 | } else { |
---|
428 | return errno_exit ("VIDIOC_REQBUFS", errmsg); |
---|
429 | } |
---|
430 | } |
---|
431 | |
---|
432 | if (req.count < 2) { |
---|
433 | fprintf (stderr, "Insufficient buffer memory on %s\n", |
---|
434 | dev_name); |
---|
435 | snprintf(errmsg, ERRMSGSIZ, "Insufficient buffer memory on %s\n", |
---|
436 | dev_name); |
---|
437 | return -1; |
---|
438 | } |
---|
439 | |
---|
440 | buffers = (buffer *) calloc (req.count, sizeof (*buffers)); |
---|
441 | |
---|
442 | if (!buffers) |
---|
443 | { |
---|
444 | fprintf (stderr, "buffers. Out of memory\n"); |
---|
445 | strncpy(errmsg, "buffers. Out of memory\n", ERRMSGSIZ); |
---|
446 | return -1; |
---|
447 | } |
---|
448 | |
---|
449 | for (n_buffers = 0; n_buffers < req.count; ++n_buffers) |
---|
450 | { |
---|
451 | struct v4l2_buffer buf; |
---|
452 | |
---|
453 | CLEAR (buf); |
---|
454 | |
---|
455 | buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
---|
456 | buf.memory = V4L2_MEMORY_MMAP; |
---|
457 | buf.index = n_buffers; |
---|
458 | |
---|
459 | if (-1 == xioctl (fd, VIDIOC_QUERYBUF, &buf)) |
---|
460 | return errno_exit ("VIDIOC_QUERYBUF", errmsg); |
---|
461 | |
---|
462 | buffers[n_buffers].length = buf.length; |
---|
463 | buffers[n_buffers].start = |
---|
464 | mmap (NULL /* start anywhere */, |
---|
465 | buf.length, |
---|
466 | PROT_READ | PROT_WRITE /* required */, |
---|
467 | MAP_SHARED /* recommended */, |
---|
468 | fd, buf.m.offset); |
---|
469 | |
---|
470 | if (MAP_FAILED == buffers[n_buffers].start) |
---|
471 | return errno_exit ("mmap", errmsg); |
---|
472 | } |
---|
473 | |
---|
474 | return 0; |
---|
475 | } |
---|
476 | |
---|
477 | void V4L2_Base::init_userp(unsigned int buffer_size) |
---|
478 | { |
---|
479 | struct v4l2_requestbuffers req; |
---|
480 | char errmsg[ERRMSGSIZ]; |
---|
481 | |
---|
482 | CLEAR (req); |
---|
483 | |
---|
484 | req.count = 4; |
---|
485 | req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
---|
486 | req.memory = V4L2_MEMORY_USERPTR; |
---|
487 | |
---|
488 | if (-1 == xioctl (fd, VIDIOC_REQBUFS, &req)) { |
---|
489 | if (EINVAL == errno) { |
---|
490 | fprintf (stderr, "%s does not support " |
---|
491 | "user pointer i/o\n", dev_name); |
---|
492 | exit (EXIT_FAILURE); |
---|
493 | } else { |
---|
494 | errno_exit ("VIDIOC_REQBUFS", errmsg); |
---|
495 | } |
---|
496 | } |
---|
497 | |
---|
498 | buffers = (buffer *) calloc (4, sizeof (*buffers)); |
---|
499 | |
---|
500 | if (!buffers) { |
---|
501 | fprintf (stderr, "Out of memory\n"); |
---|
502 | exit (EXIT_FAILURE); |
---|
503 | } |
---|
504 | |
---|
505 | for (n_buffers = 0; n_buffers < 4; ++n_buffers) { |
---|
506 | buffers[n_buffers].length = buffer_size; |
---|
507 | buffers[n_buffers].start = malloc (buffer_size); |
---|
508 | |
---|
509 | if (!buffers[n_buffers].start) { |
---|
510 | fprintf (stderr, "Out of memory\n"); |
---|
511 | exit (EXIT_FAILURE); |
---|
512 | } |
---|
513 | } |
---|
514 | } |
---|
515 | |
---|
516 | int V4L2_Base::init_device(char *errmsg, int pixelFormat , int width, int height) |
---|
517 | { |
---|
518 | unsigned int min; |
---|
519 | |
---|
520 | if (-1 == xioctl (fd, VIDIOC_QUERYCAP, &cap)) |
---|
521 | { |
---|
522 | if (EINVAL == errno) { |
---|
523 | fprintf (stderr, "%s is no V4L2 device\n", |
---|
524 | dev_name); |
---|
525 | snprintf(errmsg, ERRMSGSIZ, "%s is no V4L2 device\n", dev_name); |
---|
526 | return -1; |
---|
527 | } else { |
---|
528 | return errno_exit ("VIDIOC_QUERYCAP", errmsg); |
---|
529 | } |
---|
530 | } |
---|
531 | |
---|
532 | if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) |
---|
533 | { |
---|
534 | fprintf (stderr, "%s is no video capture device\n", |
---|
535 | dev_name); |
---|
536 | snprintf(errmsg, ERRMSGSIZ, "%s is no video capture device\n", dev_name); |
---|
537 | return -1; |
---|
538 | } |
---|
539 | |
---|
540 | switch (io) |
---|
541 | { |
---|
542 | case IO_METHOD_READ: |
---|
543 | if (!(cap.capabilities & V4L2_CAP_READWRITE)) { |
---|
544 | fprintf (stderr, "%s does not support read i/o\n", |
---|
545 | dev_name); |
---|
546 | snprintf(errmsg, ERRMSGSIZ, "%s does not support read i/o\n", |
---|
547 | dev_name); |
---|
548 | return -1; |
---|
549 | } |
---|
550 | |
---|
551 | break; |
---|
552 | |
---|
553 | case IO_METHOD_MMAP: |
---|
554 | case IO_METHOD_USERPTR: |
---|
555 | if (!(cap.capabilities & V4L2_CAP_STREAMING)) |
---|
556 | { |
---|
557 | fprintf (stderr, "%s does not support streaming i/o\n", |
---|
558 | dev_name); |
---|
559 | snprintf(errmsg, ERRMSGSIZ, "%s does not support streaming i/o\n", |
---|
560 | dev_name); |
---|
561 | return -1; |
---|
562 | } |
---|
563 | |
---|
564 | break; |
---|
565 | } |
---|
566 | |
---|
567 | /* Select video input, video standard and tune here. */ |
---|
568 | |
---|
569 | cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
---|
570 | |
---|
571 | if (-1 == xioctl (fd, VIDIOC_CROPCAP, &cropcap)) { |
---|
572 | /* Errors ignored. */ |
---|
573 | } |
---|
574 | |
---|
575 | crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
---|
576 | crop.c = cropcap.defrect; /* reset to default */ |
---|
577 | |
---|
578 | if (-1 == xioctl (fd, VIDIOC_S_CROP, &crop)) { |
---|
579 | switch (errno) { |
---|
580 | case EINVAL: |
---|
581 | /* Cropping not supported. */ |
---|
582 | break; |
---|
583 | default: |
---|
584 | /* Errors ignored. */ |
---|
585 | break; |
---|
586 | } |
---|
587 | } |
---|
588 | |
---|
589 | CLEAR (fmt); |
---|
590 | |
---|
591 | fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
---|
592 | |
---|
593 | if (-1 == xioctl (fd, VIDIOC_G_FMT, &fmt)) |
---|
594 | return errno_exit ("VIDIOC_G_FMT", errmsg); |
---|
595 | |
---|
596 | fmt.fmt.pix.width = (width == -1) ? fmt.fmt.pix.width : width; |
---|
597 | fmt.fmt.pix.height = (height == -1) ? fmt.fmt.pix.height : height; |
---|
598 | fmt.fmt.pix.pixelformat = (pixelFormat == -1) ? fmt.fmt.pix.pixelformat : pixelFormat; |
---|
599 | //fmt.fmt.pix.field = V4L2_FIELD_INTERLACED; |
---|
600 | |
---|
601 | if (-1 == xioctl (fd, VIDIOC_S_FMT, &fmt)) |
---|
602 | return errno_exit ("VIDIOC_S_FMT", errmsg); |
---|
603 | |
---|
604 | /* Note VIDIOC_S_FMT may change width and height. */ |
---|
605 | |
---|
606 | /* Buggy driver paranoia. */ |
---|
607 | min = fmt.fmt.pix.width * 2; |
---|
608 | if (fmt.fmt.pix.bytesperline < min) |
---|
609 | fmt.fmt.pix.bytesperline = min; |
---|
610 | min = fmt.fmt.pix.bytesperline * fmt.fmt.pix.height; |
---|
611 | if (fmt.fmt.pix.sizeimage < min) |
---|
612 | fmt.fmt.pix.sizeimage = min; |
---|
613 | |
---|
614 | /* Let's get the actual size */ |
---|
615 | CLEAR(fmt); |
---|
616 | |
---|
617 | fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
---|
618 | |
---|
619 | if (-1 == xioctl (fd, VIDIOC_G_FMT, &fmt)) |
---|
620 | return errno_exit ("VIDIOC_G_FMT", errmsg); |
---|
621 | |
---|
622 | cerr << "width: " << fmt.fmt.pix.width << " - height: " << fmt.fmt.pix.height << endl; |
---|
623 | |
---|
624 | switch (pixelFormat) |
---|
625 | { |
---|
626 | case V4L2_PIX_FMT_YUV420: |
---|
627 | cerr << "pixel format: V4L2_PIX_FMT_YUV420" << endl; |
---|
628 | break; |
---|
629 | |
---|
630 | case V4L2_PIX_FMT_YUYV: |
---|
631 | cerr << "pixel format: V4L2_PIX_FMT_YUYV" << endl; |
---|
632 | break; |
---|
633 | |
---|
634 | case V4L2_PIX_FMT_RGB24: |
---|
635 | cerr << "pixel format: V4L2_PIX_FMT_RGB24" << endl; |
---|
636 | break; |
---|
637 | |
---|
638 | case V4L2_PIX_FMT_SBGGR8: |
---|
639 | cerr << "pixel format: V4L2_PIX_FMT_SBGGR8" << endl; |
---|
640 | break; |
---|
641 | |
---|
642 | } |
---|
643 | |
---|
644 | findMinMax(); |
---|
645 | |
---|
646 | allocBuffers(); |
---|
647 | |
---|
648 | switch (io) |
---|
649 | { |
---|
650 | case IO_METHOD_READ: |
---|
651 | init_read (fmt.fmt.pix.sizeimage); |
---|
652 | break; |
---|
653 | |
---|
654 | case IO_METHOD_MMAP: |
---|
655 | return init_mmap(errmsg); |
---|
656 | break; |
---|
657 | |
---|
658 | case IO_METHOD_USERPTR: |
---|
659 | init_userp (fmt.fmt.pix.sizeimage); |
---|
660 | break; |
---|
661 | } |
---|
662 | |
---|
663 | return 0; |
---|
664 | } |
---|
665 | |
---|
666 | void V4L2_Base::close_device(void) |
---|
667 | { |
---|
668 | char errmsg[ERRMSGSIZ]; |
---|
669 | |
---|
670 | if (-1 == close (fd)) |
---|
671 | errno_exit ("close", errmsg); |
---|
672 | |
---|
673 | fd = -1; |
---|
674 | } |
---|
675 | |
---|
676 | int V4L2_Base::open_device(const char *devpath, char *errmsg) |
---|
677 | { |
---|
678 | struct stat st; |
---|
679 | |
---|
680 | strncpy(dev_name, devpath, 64); |
---|
681 | |
---|
682 | if (-1 == stat (dev_name, &st)) { |
---|
683 | fprintf (stderr, "Cannot identify '%s': %d, %s\n", |
---|
684 | dev_name, errno, strerror (errno)); |
---|
685 | snprintf(errmsg, ERRMSGSIZ, "Cannot identify '%s': %d, %s\n", |
---|
686 | dev_name, errno, strerror (errno)); |
---|
687 | return -1; |
---|
688 | } |
---|
689 | |
---|
690 | if (!S_ISCHR (st.st_mode)) |
---|
691 | { |
---|
692 | fprintf (stderr, "%s is no device\n", dev_name); |
---|
693 | snprintf(errmsg, ERRMSGSIZ, "%s is no device\n", dev_name); |
---|
694 | return -1; |
---|
695 | } |
---|
696 | |
---|
697 | fd = open (dev_name, O_RDWR /* required */ | O_NONBLOCK, 0); |
---|
698 | |
---|
699 | if (-1 == fd) |
---|
700 | { |
---|
701 | fprintf (stderr, "Cannot open '%s': %d, %s\n", |
---|
702 | dev_name, errno, strerror (errno)); |
---|
703 | snprintf(errmsg, ERRMSGSIZ, "Cannot open '%s': %d, %s\n", |
---|
704 | dev_name, errno, strerror (errno)); |
---|
705 | return -1; |
---|
706 | } |
---|
707 | |
---|
708 | return 0; |
---|
709 | } |
---|
710 | |
---|
711 | |
---|
712 | |
---|
713 | int V4L2_Base::getWidth() |
---|
714 | { |
---|
715 | return fmt.fmt.pix.width; |
---|
716 | } |
---|
717 | |
---|
718 | int V4L2_Base::getHeight() |
---|
719 | { |
---|
720 | return fmt.fmt.pix.height; |
---|
721 | } |
---|
722 | |
---|
723 | void V4L2_Base::setFPS(int fps) |
---|
724 | { |
---|
725 | frameRate = 15;//fps; |
---|
726 | } |
---|
727 | |
---|
728 | int V4L2_Base::getFPS() |
---|
729 | { |
---|
730 | return 15; |
---|
731 | } |
---|
732 | |
---|
733 | char * V4L2_Base::getDeviceName() |
---|
734 | { |
---|
735 | return ((char *) cap.card); |
---|
736 | } |
---|
737 | |
---|
738 | void V4L2_Base::allocBuffers() |
---|
739 | { |
---|
740 | delete (YBuf); YBuf = NULL; |
---|
741 | delete (UBuf); UBuf = NULL; |
---|
742 | delete (VBuf); VBuf = NULL; |
---|
743 | delete (colorBuffer); colorBuffer = NULL; |
---|
744 | delete (rgb24_buffer); rgb24_buffer = NULL; |
---|
745 | |
---|
746 | YBuf= new unsigned char[ fmt.fmt.pix.width * fmt.fmt.pix.height]; |
---|
747 | UBuf= new unsigned char[ fmt.fmt.pix.width * fmt.fmt.pix.height]; |
---|
748 | VBuf= new unsigned char[ fmt.fmt.pix.width * fmt.fmt.pix.height]; |
---|
749 | colorBuffer = new unsigned char[fmt.fmt.pix.width * fmt.fmt.pix.height * 4]; |
---|
750 | |
---|
751 | if (fmt.fmt.pix.pixelformat == V4L2_PIX_FMT_SBGGR8) |
---|
752 | rgb24_buffer = new unsigned char[fmt.fmt.pix.width * fmt.fmt.pix.height * 3]; |
---|
753 | } |
---|
754 | |
---|
755 | void V4L2_Base::getMaxMinSize(int & x_max, int & y_max, int & x_min, int & y_min) |
---|
756 | { |
---|
757 | x_max = xmax; y_max = ymax; x_min = xmin; y_min = ymin; |
---|
758 | } |
---|
759 | |
---|
760 | int V4L2_Base::setSize(int x, int y) |
---|
761 | { |
---|
762 | char errmsg[ERRMSGSIZ]; |
---|
763 | int oldW, oldH; |
---|
764 | |
---|
765 | oldW = fmt.fmt.pix.width; |
---|
766 | oldH = fmt.fmt.pix.height; |
---|
767 | |
---|
768 | fmt.fmt.pix.width = x; |
---|
769 | fmt.fmt.pix.height = y; |
---|
770 | |
---|
771 | if (-1 == xioctl (fd, VIDIOC_S_FMT, &fmt)) |
---|
772 | { |
---|
773 | fmt.fmt.pix.width = oldW; |
---|
774 | fmt.fmt.pix.height = oldH; |
---|
775 | return errno_exit ("VIDIOC_S_FMT", errmsg); |
---|
776 | } |
---|
777 | |
---|
778 | /* PWC bug? It seems that setting the "wrong" width and height will mess something in the driver. |
---|
779 | Only 160x120, 320x280, and 640x480 are accepted. If I try to set it for example to 300x200, it wii |
---|
780 | get set to 320x280, which is fine, but then the video information is messed up for some reason. */ |
---|
781 | xioctl (fd, VIDIOC_S_FMT, &fmt); |
---|
782 | |
---|
783 | |
---|
784 | allocBuffers(); |
---|
785 | |
---|
786 | return 0; |
---|
787 | } |
---|
788 | |
---|
789 | void V4L2_Base::setContrast(int val) |
---|
790 | { |
---|
791 | /*picture_.contrast=val; |
---|
792 | updatePictureSettings();*/ |
---|
793 | } |
---|
794 | |
---|
795 | int V4L2_Base::getContrast() |
---|
796 | { |
---|
797 | return 255;//picture_.contrast; |
---|
798 | } |
---|
799 | |
---|
800 | void V4L2_Base::setBrightness(int val) |
---|
801 | { |
---|
802 | /*picture_.brightness=val; |
---|
803 | updatePictureSettings();*/ |
---|
804 | } |
---|
805 | |
---|
806 | int V4L2_Base::getBrightness() |
---|
807 | { |
---|
808 | return 255;//picture_.brightness; |
---|
809 | } |
---|
810 | |
---|
811 | void V4L2_Base::setColor(int val) |
---|
812 | { |
---|
813 | /*picture_.colour=val; |
---|
814 | updatePictureSettings();*/ |
---|
815 | } |
---|
816 | |
---|
817 | int V4L2_Base::getColor() |
---|
818 | { |
---|
819 | return 255; //picture_.colour; |
---|
820 | } |
---|
821 | |
---|
822 | void V4L2_Base::setHue(int val) |
---|
823 | { |
---|
824 | /*picture_.hue=val; |
---|
825 | updatePictureSettings();*/ |
---|
826 | } |
---|
827 | |
---|
828 | int V4L2_Base::getHue() |
---|
829 | { |
---|
830 | return 255;//picture_.hue; |
---|
831 | } |
---|
832 | |
---|
833 | void V4L2_Base::setWhiteness(int val) |
---|
834 | { |
---|
835 | /*picture_.whiteness=val; |
---|
836 | updatePictureSettings();*/ |
---|
837 | } |
---|
838 | |
---|
839 | int V4L2_Base::getWhiteness() |
---|
840 | { |
---|
841 | return 255;//picture_.whiteness; |
---|
842 | } |
---|
843 | |
---|
844 | void V4L2_Base::setPictureSettings() |
---|
845 | { |
---|
846 | /*if (ioctl(device_, VIDIOCSPICT, &picture_) ) { |
---|
847 | cerr << "updatePictureSettings" << endl; |
---|
848 | } |
---|
849 | ioctl(device_, VIDIOCGPICT, &picture_);*/ |
---|
850 | } |
---|
851 | |
---|
852 | void V4L2_Base::getPictureSettings() |
---|
853 | { |
---|
854 | /*if (ioctl(device_, VIDIOCGPICT, &picture_) ) |
---|
855 | { |
---|
856 | cerr << "refreshPictureSettings" << endl; |
---|
857 | }*/ |
---|
858 | } |
---|
859 | |
---|
860 | unsigned char * V4L2_Base::getY() |
---|
861 | { |
---|
862 | if (fmt.fmt.pix.pixelformat == V4L2_PIX_FMT_SBGGR8) |
---|
863 | RGB2YUV(fmt.fmt.pix.width, fmt.fmt.pix.height, rgb24_buffer, YBuf, UBuf, VBuf, 0); |
---|
864 | |
---|
865 | return YBuf; |
---|
866 | } |
---|
867 | |
---|
868 | unsigned char * V4L2_Base::getU() |
---|
869 | { |
---|
870 | return UBuf; |
---|
871 | } |
---|
872 | |
---|
873 | unsigned char * V4L2_Base::getV() |
---|
874 | { |
---|
875 | return VBuf; |
---|
876 | } |
---|
877 | |
---|
878 | unsigned char * V4L2_Base::getColorBuffer() |
---|
879 | { |
---|
880 | //cerr << "in get color buffer " << endl; |
---|
881 | |
---|
882 | switch (fmt.fmt.pix.pixelformat) |
---|
883 | { |
---|
884 | case V4L2_PIX_FMT_YUV420: |
---|
885 | ccvt_420p_bgr32(fmt.fmt.pix.width, fmt.fmt.pix.height, |
---|
886 | buffers[0].start, (void*)colorBuffer); |
---|
887 | break; |
---|
888 | |
---|
889 | case V4L2_PIX_FMT_YUYV: |
---|
890 | ccvt_yuyv_bgr32(fmt.fmt.pix.width, fmt.fmt.pix.height, |
---|
891 | buffers[0].start, (void*)colorBuffer); |
---|
892 | break; |
---|
893 | |
---|
894 | case V4L2_PIX_FMT_RGB24: |
---|
895 | ccvt_rgb24_bgr32(fmt.fmt.pix.width, fmt.fmt.pix.height, |
---|
896 | buffers[0].start, (void*)colorBuffer); |
---|
897 | break; |
---|
898 | |
---|
899 | case V4L2_PIX_FMT_SBGGR8: |
---|
900 | ccvt_rgb24_bgr32(fmt.fmt.pix.width, fmt.fmt.pix.height, |
---|
901 | rgb24_buffer, (void*)colorBuffer); |
---|
902 | break; |
---|
903 | |
---|
904 | default: |
---|
905 | break; |
---|
906 | } |
---|
907 | |
---|
908 | return colorBuffer; |
---|
909 | } |
---|
910 | |
---|
911 | void V4L2_Base::registerCallback(WPF *fp, void *ud) |
---|
912 | { |
---|
913 | callback = fp; |
---|
914 | uptr = ud; |
---|
915 | } |
---|
916 | |
---|
917 | void V4L2_Base::findMinMax() |
---|
918 | { |
---|
919 | char errmsg[ERRMSGSIZ]; |
---|
920 | struct v4l2_format tryfmt; |
---|
921 | CLEAR(tryfmt); |
---|
922 | |
---|
923 | xmin = xmax = fmt.fmt.pix.width; |
---|
924 | ymin = ymax = fmt.fmt.pix.height; |
---|
925 | |
---|
926 | tryfmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE; |
---|
927 | tryfmt.fmt.pix.width = 10; |
---|
928 | tryfmt.fmt.pix.height = 10; |
---|
929 | tryfmt.fmt.pix.pixelformat = fmt.fmt.pix.pixelformat; |
---|
930 | tryfmt.fmt.pix.field = fmt.fmt.pix.field; |
---|
931 | |
---|
932 | if (-1 == xioctl (fd, VIDIOC_TRY_FMT, &tryfmt)) |
---|
933 | { |
---|
934 | errno_exit ("VIDIOC_TRY_FMT 1", errmsg); |
---|
935 | return; |
---|
936 | } |
---|
937 | |
---|
938 | xmin = tryfmt.fmt.pix.width; |
---|
939 | ymin = tryfmt.fmt.pix.height; |
---|
940 | |
---|
941 | tryfmt.fmt.pix.width = 1600; |
---|
942 | tryfmt.fmt.pix.height = 1200; |
---|
943 | |
---|
944 | if (-1 == xioctl (fd, VIDIOC_TRY_FMT, &tryfmt)) |
---|
945 | { |
---|
946 | errno_exit ("VIDIOC_TRY_FMT 2", errmsg); |
---|
947 | return; |
---|
948 | } |
---|
949 | |
---|
950 | xmax = tryfmt.fmt.pix.width; |
---|
951 | ymax = tryfmt.fmt.pix.height; |
---|
952 | |
---|
953 | cerr << "Min X: " << xmin << " - Max X: " << xmax << " - Min Y: " << ymin << " - Max Y: " << ymax << endl; |
---|
954 | } |
---|
955 | |
---|
956 | void V4L2_Base::enumerate_ctrl (void) |
---|
957 | { |
---|
958 | char errmsg[ERRMSGSIZ]; |
---|
959 | CLEAR(queryctrl); |
---|
960 | |
---|
961 | for (queryctrl.id = V4L2_CID_BASE; queryctrl.id < V4L2_CID_LASTP1; queryctrl.id++) |
---|
962 | { |
---|
963 | if (0 == xioctl (fd, VIDIOC_QUERYCTRL, &queryctrl)) |
---|
964 | { |
---|
965 | cerr << "Control " << queryctrl.name << endl; |
---|
966 | |
---|
967 | if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED) |
---|
968 | continue; |
---|
969 | |
---|
970 | cerr << "Control " << queryctrl.name << endl; |
---|
971 | |
---|
972 | if (queryctrl.type == V4L2_CTRL_TYPE_MENU) |
---|
973 | enumerate_menu (); |
---|
974 | } else |
---|
975 | { |
---|
976 | if (errno == EINVAL) |
---|
977 | continue; |
---|
978 | |
---|
979 | errno_exit("VIDIOC_QUERYCTRL", errmsg); |
---|
980 | return; |
---|
981 | } |
---|
982 | } |
---|
983 | |
---|
984 | for (queryctrl.id = V4L2_CID_PRIVATE_BASE; ; queryctrl.id++) |
---|
985 | { |
---|
986 | if (0 == xioctl (fd, VIDIOC_QUERYCTRL, &queryctrl)) |
---|
987 | { |
---|
988 | cerr << "Private Control " << queryctrl.name << endl; |
---|
989 | |
---|
990 | if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED) |
---|
991 | continue; |
---|
992 | |
---|
993 | if (queryctrl.type == V4L2_CTRL_TYPE_MENU) |
---|
994 | enumerate_menu (); |
---|
995 | } else { |
---|
996 | if (errno == EINVAL) |
---|
997 | break; |
---|
998 | |
---|
999 | errno_exit ("VIDIOC_QUERYCTRL", errmsg); |
---|
1000 | return; |
---|
1001 | } |
---|
1002 | |
---|
1003 | } |
---|
1004 | |
---|
1005 | } |
---|
1006 | |
---|
1007 | void V4L2_Base::enumerate_menu (void) |
---|
1008 | { |
---|
1009 | char errmsg[ERRMSGSIZ]; |
---|
1010 | cerr << " Menu items:" << endl; |
---|
1011 | |
---|
1012 | CLEAR(querymenu); |
---|
1013 | querymenu.id = queryctrl.id; |
---|
1014 | |
---|
1015 | for (querymenu.index = queryctrl.minimum; querymenu.index <= queryctrl.maximum; querymenu.index++) |
---|
1016 | { |
---|
1017 | if (0 == xioctl (fd, VIDIOC_QUERYMENU, &querymenu)) |
---|
1018 | { |
---|
1019 | cerr << " " << querymenu.name << endl; |
---|
1020 | } else |
---|
1021 | { |
---|
1022 | errno_exit("VIDIOC_QUERYMENU", errmsg); |
---|
1023 | return; |
---|
1024 | } |
---|
1025 | } |
---|
1026 | } |
---|
1027 | |
---|
1028 | int V4L2_Base::query_ctrl(unsigned int ctrl_id, double & ctrl_min, double & ctrl_max, double & ctrl_step, double & ctrl_value, char *errmsg) |
---|
1029 | { |
---|
1030 | |
---|
1031 | struct v4l2_control control; |
---|
1032 | |
---|
1033 | CLEAR(queryctrl); |
---|
1034 | |
---|
1035 | queryctrl.id = ctrl_id; |
---|
1036 | |
---|
1037 | if (-1 == ioctl (fd, VIDIOC_QUERYCTRL, &queryctrl)) |
---|
1038 | { |
---|
1039 | if (errno != EINVAL) |
---|
1040 | return errno_exit ("VIDIOC_QUERYCTRL", errmsg); |
---|
1041 | |
---|
1042 | else |
---|
1043 | { |
---|
1044 | cerr << "#" << ctrl_id << " is not supported" << endl; |
---|
1045 | snprintf(errmsg, ERRMSGSIZ, "# %d is not supported", ctrl_id); |
---|
1046 | return -1; |
---|
1047 | } |
---|
1048 | } else if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED) |
---|
1049 | { |
---|
1050 | cerr << "#" << ctrl_id << " is disabled" << endl; |
---|
1051 | snprintf(errmsg, ERRMSGSIZ, "# %d is disabled", ctrl_id); |
---|
1052 | return -1; |
---|
1053 | } |
---|
1054 | |
---|
1055 | ctrl_min = queryctrl.minimum; |
---|
1056 | ctrl_max = queryctrl.maximum; |
---|
1057 | ctrl_step = queryctrl.step; |
---|
1058 | ctrl_value = queryctrl.default_value; |
---|
1059 | |
---|
1060 | /* Get current value */ |
---|
1061 | CLEAR(control); |
---|
1062 | control.id = ctrl_id; |
---|
1063 | |
---|
1064 | if (0 == xioctl(fd, VIDIOC_G_CTRL, &control)) |
---|
1065 | ctrl_value = control.value; |
---|
1066 | |
---|
1067 | cerr << queryctrl.name << " -- min: " << ctrl_min << " max: " << ctrl_max << " step: " << ctrl_step << " value: " << ctrl_value << endl; |
---|
1068 | |
---|
1069 | return 0; |
---|
1070 | |
---|
1071 | } |
---|
1072 | |
---|
1073 | int V4L2_Base::queryINTControls(INumberVectorProperty *nvp) |
---|
1074 | { |
---|
1075 | struct v4l2_control control; |
---|
1076 | char errmsg[ERRMSGSIZ]; |
---|
1077 | CLEAR(queryctrl); |
---|
1078 | INumber *numbers = NULL; |
---|
1079 | unsigned int *num_ctrls = NULL; |
---|
1080 | int nnum=0; |
---|
1081 | |
---|
1082 | for (queryctrl.id = V4L2_CID_BASE; queryctrl.id < V4L2_CID_LASTP1; queryctrl.id++) |
---|
1083 | { |
---|
1084 | if (0 == ioctl (fd, VIDIOC_QUERYCTRL, &queryctrl)) |
---|
1085 | { |
---|
1086 | if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED) |
---|
1087 | { |
---|
1088 | cerr << queryctrl.name << " is disabled." << endl; |
---|
1089 | continue; |
---|
1090 | } |
---|
1091 | |
---|
1092 | if (queryctrl.type == V4L2_CTRL_TYPE_INTEGER) |
---|
1093 | { |
---|
1094 | numbers = (numbers == NULL) ? (INumber *) malloc (sizeof(INumber)) : |
---|
1095 | (INumber *) realloc (numbers, (nnum+1) * sizeof (INumber)); |
---|
1096 | |
---|
1097 | num_ctrls = (num_ctrls == NULL) ? (unsigned int *) malloc (sizeof (unsigned int)) : |
---|
1098 | (unsigned int *) realloc (num_ctrls, (nnum+1) * sizeof (unsigned int)); |
---|
1099 | |
---|
1100 | strncpy(numbers[nnum].name, ((char *) queryctrl.name) , MAXINDINAME); |
---|
1101 | strncpy(numbers[nnum].label, ((char *) queryctrl.name), MAXINDILABEL); |
---|
1102 | strncpy(numbers[nnum].format, "%0.f", MAXINDIFORMAT); |
---|
1103 | numbers[nnum].min = queryctrl.minimum; |
---|
1104 | numbers[nnum].max = queryctrl.maximum; |
---|
1105 | numbers[nnum].step = queryctrl.step; |
---|
1106 | numbers[nnum].value = queryctrl.default_value; |
---|
1107 | |
---|
1108 | /* Get current value if possible */ |
---|
1109 | CLEAR(control); |
---|
1110 | control.id = queryctrl.id; |
---|
1111 | if (0 == xioctl(fd, VIDIOC_G_CTRL, &control)) |
---|
1112 | numbers[nnum].value = control.value; |
---|
1113 | |
---|
1114 | /* Store ID info in INumber. This is the first time ever I make use of aux0!! */ |
---|
1115 | num_ctrls[nnum] = queryctrl.id; |
---|
1116 | |
---|
1117 | cerr << queryctrl.name << " -- min: " << queryctrl.minimum << " max: " << queryctrl.maximum << " step: " << queryctrl.step << " value: " << numbers[nnum].value << endl; |
---|
1118 | |
---|
1119 | nnum++; |
---|
1120 | |
---|
1121 | } |
---|
1122 | } else if (errno != EINVAL) { |
---|
1123 | if(numbers) free(numbers); |
---|
1124 | return errno_exit ("VIDIOC_QUERYCTRL", errmsg); |
---|
1125 | } |
---|
1126 | |
---|
1127 | } |
---|
1128 | |
---|
1129 | for (queryctrl.id = V4L2_CID_PRIVATE_BASE; ; queryctrl.id++) |
---|
1130 | { |
---|
1131 | if (0 == ioctl (fd, VIDIOC_QUERYCTRL, &queryctrl)) |
---|
1132 | { |
---|
1133 | if (queryctrl.flags & V4L2_CTRL_FLAG_DISABLED) |
---|
1134 | { |
---|
1135 | cerr << queryctrl.name << " is disabled." << endl; |
---|
1136 | continue; |
---|
1137 | } |
---|
1138 | |
---|
1139 | if (queryctrl.type == V4L2_CTRL_TYPE_INTEGER) |
---|
1140 | { |
---|
1141 | numbers = (numbers == NULL) ? (INumber *) malloc (sizeof(INumber)) : |
---|
1142 | (INumber *) realloc (numbers, (nnum+1) * sizeof (INumber)); |
---|
1143 | |
---|
1144 | num_ctrls = (num_ctrls == NULL) ? (unsigned int *) malloc (sizeof (unsigned int)) : |
---|
1145 | (unsigned int *) realloc (num_ctrls, (nnum+1) * sizeof (unsigned int)); |
---|
1146 | |
---|
1147 | strncpy(numbers[nnum].name, ((char *) queryctrl.name) , MAXINDINAME); |
---|
1148 | strncpy(numbers[nnum].label, ((char *) queryctrl.name), MAXINDILABEL); |
---|
1149 | strncpy(numbers[nnum].format, "%0.f", MAXINDIFORMAT); |
---|
1150 | numbers[nnum].min = queryctrl.minimum; |
---|
1151 | numbers[nnum].max = queryctrl.maximum; |
---|
1152 | numbers[nnum].step = queryctrl.step; |
---|
1153 | numbers[nnum].value = queryctrl.default_value; |
---|
1154 | |
---|
1155 | /* Get current value if possible */ |
---|
1156 | CLEAR(control); |
---|
1157 | control.id = queryctrl.id; |
---|
1158 | if (0 == xioctl(fd, VIDIOC_G_CTRL, &control)) |
---|
1159 | numbers[nnum].value = control.value; |
---|
1160 | |
---|
1161 | /* Store ID info in INumber. This is the first time ever I make use of aux0!! */ |
---|
1162 | num_ctrls[nnum] = queryctrl.id; |
---|
1163 | |
---|
1164 | nnum++; |
---|
1165 | |
---|
1166 | } |
---|
1167 | } |
---|
1168 | else break; |
---|
1169 | } |
---|
1170 | |
---|
1171 | /* Store numbers in aux0 */ |
---|
1172 | for (int i=0; i < nnum; i++) |
---|
1173 | numbers[i].aux0 = &num_ctrls[i]; |
---|
1174 | |
---|
1175 | nvp->np = numbers; |
---|
1176 | nvp->nnp = nnum; |
---|
1177 | |
---|
1178 | return nnum; |
---|
1179 | |
---|
1180 | } |
---|
1181 | |
---|
1182 | int V4L2_Base::setINTControl(unsigned int ctrl_id, double new_value, char *errmsg) |
---|
1183 | { |
---|
1184 | struct v4l2_control control; |
---|
1185 | |
---|
1186 | CLEAR(control); |
---|
1187 | |
---|
1188 | //cerr << "The id is " << ctrl_id << " new value is " << new_value << endl; |
---|
1189 | |
---|
1190 | control.id = ctrl_id; |
---|
1191 | control.value = (int) new_value; |
---|
1192 | |
---|
1193 | if (-1 == xioctl(fd, VIDIOC_S_CTRL, &control)) |
---|
1194 | return errno_exit ("VIDIOC_S_CTRL", errmsg); |
---|
1195 | |
---|
1196 | return 0; |
---|
1197 | } |
---|
1198 | |
---|