1 | /* |
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2 | Copyright (C) 2005 by Jasem Mutlaq |
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3 | Email: mutlaqja@ikarustech.com |
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4 | |
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5 | Some code based on qastrocam |
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6 | |
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7 | This library is free software; you can redistribute it and/or |
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8 | modify it under the terms of the GNU Lesser General Public |
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9 | License as published by the Free Software Foundation; either |
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10 | version 2.1 of the License, or (at your option) any later version. |
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11 | |
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12 | This library is distributed in the hope that it will be useful, |
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13 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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14 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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15 | Lesser General Public License for more details. |
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16 | |
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17 | You should have received a copy of the GNU Lesser General Public |
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18 | License along with this library; if not, write to the Free Software |
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19 | Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA |
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20 | |
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21 | */ |
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22 | |
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23 | #include <iostream> |
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24 | |
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25 | #include <sys/ioctl.h> |
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26 | #include <sys/types.h> |
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27 | #include <sys/stat.h> |
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28 | #include <fcntl.h> |
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29 | #include <unistd.h> |
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30 | #include <stdio.h> |
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31 | #include <errno.h> |
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32 | #include <sys/mman.h> |
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33 | #include <string.h> |
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34 | |
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35 | #include "ccvt.h" |
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36 | #include "v4l1_base.h" |
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37 | #include "eventloop.h" |
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38 | #include "indidevapi.h" |
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39 | |
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40 | #define ERRMSGSIZ 1024 |
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41 | |
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42 | using namespace std; |
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43 | |
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44 | V4L1_Base::V4L1_Base() |
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45 | { |
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46 | frameRate=10; |
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47 | fd=-1; |
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48 | //usingTimer = false; |
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49 | |
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50 | //frameUpdate = true; |
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51 | //selectCallBackID = -1; |
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52 | //timerCallBackID = -1; |
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53 | |
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54 | YBuf = NULL; |
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55 | UBuf = NULL; |
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56 | VBuf = NULL; |
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57 | colorBuffer= NULL; |
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58 | buffer_start=NULL; |
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59 | |
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60 | } |
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61 | |
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62 | V4L1_Base::~V4L1_Base() |
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63 | { |
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64 | |
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65 | delete (YBuf); |
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66 | delete (UBuf); |
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67 | delete (VBuf); |
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68 | delete (colorBuffer); |
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69 | |
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70 | } |
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71 | |
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72 | int V4L1_Base::connectCam(const char * devpath, char *errmsg) |
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73 | { |
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74 | options= (haveBrightness|haveContrast|haveHue|haveColor|haveWhiteness); |
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75 | |
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76 | buffer_start=NULL; |
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77 | frameRate=10; |
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78 | fd=-1; |
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79 | |
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80 | //cerr << "In connect Cam with device " << devpath << endl; |
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81 | if (-1 == (fd=open(devpath, O_RDWR | O_NONBLOCK, 0))) |
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82 | { |
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83 | if (-1 == (fd=open(devpath, O_RDONLY | O_NONBLOCK, 0))) |
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84 | { |
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85 | strncpy(errmsg, strerror(errno), ERRMSGSIZ); |
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86 | cerr << strerror(errno); |
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87 | return -1; |
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88 | } |
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89 | } |
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90 | |
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91 | cerr << "Device opened" << endl; |
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92 | |
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93 | if (fd != -1) |
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94 | { |
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95 | if (-1 == ioctl(fd,VIDIOCGCAP,&capability)) |
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96 | { |
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97 | cerr << "Error: ioctl (VIDIOCGCAP)" << endl; |
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98 | strncpy(errmsg, "ioctl (VIDIOCGCAP)", ERRMSGSIZ); |
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99 | return -1; |
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100 | } |
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101 | if (-1 == ioctl (fd, VIDIOCGWIN, &window)) |
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102 | { |
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103 | cerr << "Error ioctl (VIDIOCGWIN)" << endl; |
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104 | strncpy(errmsg, "ioctl (VIDIOCGWIN)", ERRMSGSIZ); |
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105 | return -1; |
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106 | } |
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107 | if (-1 == ioctl (fd, VIDIOCGPICT, &picture_format)) |
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108 | { |
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109 | cerr << "Error: ioctl (VIDIOCGPICT)" << endl; |
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110 | strncpy(errmsg, "ioctl (VIDIOCGPICT)", ERRMSGSIZ); |
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111 | return -1; |
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112 | } |
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113 | |
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114 | init(0); |
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115 | } |
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116 | |
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117 | cerr << "initial size w:" << window.width << " -- h: " << window.height << endl; |
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118 | |
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119 | /*if (options & ioUseSelect) |
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120 | { |
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121 | selectCallBackID = addCallback(fd, V4L1_Base::staticUpdateFrame, this); |
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122 | cerr << "Using select to wait new frames." << endl; |
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123 | } else |
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124 | { |
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125 | usingTimer = true; |
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126 | timerCallBackID = addTimer(1000/frameRate, V4L1_Base::staticCallFrame, this); |
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127 | cerr << "Using timer to wait new frames.\n"; |
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128 | } |
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129 | */ |
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130 | |
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131 | if (mmapInit() < 0) |
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132 | { |
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133 | strncpy(errmsg, "mmapInit() failed", ERRMSGSIZ); |
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134 | return -1; |
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135 | } |
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136 | |
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137 | cerr << "All successful, returning\n"; |
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138 | return fd; |
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139 | } |
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140 | |
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141 | void V4L1_Base::disconnectCam() |
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142 | { |
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143 | |
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144 | |
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145 | delete YBuf; |
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146 | delete UBuf; |
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147 | delete VBuf; |
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148 | YBuf = UBuf = VBuf = NULL; |
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149 | |
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150 | if (selectCallBackID != -1) |
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151 | rmCallback(selectCallBackID); |
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152 | |
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153 | //if (usingTimer && timerCallBackID != -1) |
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154 | //rmTimer(timerCallBackID); |
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155 | |
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156 | if (munmap (buffer_start, mmap_buffer.size) < 0) |
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157 | fprintf(stderr, "munmap: %s\n", strerror(errno)); |
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158 | |
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159 | if (close(fd) < 0) |
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160 | fprintf(stderr, "close(fd): %s\n", strerror(errno)); |
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161 | |
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162 | fprintf(stderr, "Disconnect cam\n"); |
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163 | } |
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164 | |
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165 | void V4L1_Base::newFrame() |
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166 | { |
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167 | switch (picture_format.palette) |
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168 | { |
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169 | case VIDEO_PALETTE_GREY: |
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170 | memcpy(YBuf,mmapFrame(),window.width * window.height); |
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171 | break; |
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172 | case VIDEO_PALETTE_YUV420P: |
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173 | memcpy(YBuf,mmapFrame(), window.width * window.height); |
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174 | memcpy(UBuf, |
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175 | mmapFrame()+ window.width * window.height, |
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176 | (window.width/2) * (window.height/2)); |
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177 | memcpy(VBuf, |
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178 | mmapFrame()+ window.width * window.height+(window.width/2) * (window.height/2), |
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179 | (window.width/2) * (window.height/2)); |
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180 | break; |
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181 | case VIDEO_PALETTE_YUYV: |
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182 | ccvt_yuyv_420p(window.width,window.height, |
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183 | mmapFrame(), |
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184 | YBuf, |
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185 | UBuf, |
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186 | VBuf); |
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187 | break; |
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188 | |
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189 | case VIDEO_PALETTE_RGB24: |
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190 | RGB2YUV(window.width, window.height, mmapFrame(), YBuf, UBuf, VBuf, 0); |
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191 | break; |
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192 | |
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193 | default: |
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194 | cerr << "invalid palette " <<picture_format.palette << endl; |
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195 | exit(1); |
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196 | } |
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197 | |
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198 | |
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199 | if (callback) |
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200 | (*callback)(uptr); |
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201 | |
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202 | } |
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203 | |
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204 | void V4L1_Base::updateFrame(int /*d*/, void * p) |
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205 | { |
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206 | |
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207 | ( (V4L1_Base *) (p))->newFrame(); |
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208 | |
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209 | } |
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210 | |
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211 | int V4L1_Base::start_capturing(char * /*errmsg*/) |
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212 | { |
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213 | |
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214 | mmapCapture(); |
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215 | mmapSync(); |
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216 | |
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217 | selectCallBackID = IEAddCallback(fd, updateFrame, this); |
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218 | //newFrame(); |
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219 | return 0; |
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220 | } |
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221 | |
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222 | int V4L1_Base::stop_capturing(char * /*errmsg*/) |
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223 | { |
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224 | |
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225 | IERmCallback(selectCallBackID); |
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226 | selectCallBackID = -1; |
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227 | return 0; |
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228 | } |
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229 | |
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230 | int V4L1_Base::getWidth() |
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231 | { |
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232 | return window.width; |
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233 | } |
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234 | |
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235 | int V4L1_Base::getHeight() |
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236 | { |
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237 | return window.height; |
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238 | } |
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239 | |
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240 | void V4L1_Base::setFPS(int fps) |
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241 | { |
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242 | frameRate = fps; |
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243 | } |
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244 | |
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245 | int V4L1_Base::getFPS() |
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246 | { |
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247 | return frameRate; |
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248 | } |
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249 | |
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250 | char * V4L1_Base::getDeviceName() |
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251 | { |
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252 | return capability.name; |
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253 | } |
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254 | |
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255 | void V4L1_Base::init(int preferedPalette) |
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256 | { |
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257 | |
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258 | if (preferedPalette) |
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259 | { |
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260 | picture_format.palette=preferedPalette; |
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261 | if (0 == ioctl(fd, VIDIOCSPICT, &picture_format)) |
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262 | cerr << "found preferedPalette " << preferedPalette << endl; |
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263 | else |
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264 | { |
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265 | preferedPalette=0; |
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266 | cerr << "preferedPalette " << preferedPalette << " invalid, trying to find one." << endl; |
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267 | } |
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268 | } |
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269 | |
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270 | if (preferedPalette == 0) |
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271 | { |
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272 | do { |
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273 | /* trying VIDEO_PALETTE_YUV420P (Planar) */ |
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274 | picture_format.palette=VIDEO_PALETTE_YUV420P; |
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275 | picture_format.depth=12; |
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276 | if (0 == ioctl(fd, VIDIOCSPICT, &picture_format)) { |
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277 | cerr << "found palette VIDEO_PALETTE_YUV420P" << endl; |
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278 | break; |
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279 | } |
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280 | cerr << "VIDEO_PALETTE_YUV420P not supported." << endl; |
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281 | /* trying VIDEO_PALETTE_YUV420 (interlaced) */ |
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282 | picture_format.palette=VIDEO_PALETTE_YUV420; |
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283 | picture_format.depth=12; |
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284 | if ( 0== ioctl(fd, VIDIOCSPICT, &picture_format)) { |
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285 | cerr << "found palette VIDEO_PALETTE_YUV420" << endl; |
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286 | break; |
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287 | } |
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288 | cerr << "VIDEO_PALETTE_YUV420 not supported." << endl; |
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289 | /* trying VIDEO_PALETTE_RGB24 */ |
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290 | picture_format.palette=VIDEO_PALETTE_RGB24; |
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291 | picture_format.depth=24; |
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292 | if ( 0== ioctl(fd, VIDIOCSPICT, &picture_format)) { |
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293 | cerr << "found palette VIDEO_PALETTE_RGB24" << endl; |
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294 | break; |
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295 | } |
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296 | cerr << "VIDEO_PALETTE_RGB24 not supported." << endl; |
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297 | /* trying VIDEO_PALETTE_GREY */ |
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298 | picture_format.palette=VIDEO_PALETTE_GREY; |
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299 | picture_format.depth=8; |
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300 | if ( 0== ioctl(fd, VIDIOCSPICT, &picture_format)) { |
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301 | cerr << "found palette VIDEO_PALETTE_GREY" << endl; |
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302 | break; |
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303 | } |
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304 | cerr << "VIDEO_PALETTE_GREY not supported." << endl; |
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305 | cerr << "could not find a supported palette." << endl; |
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306 | exit(1); |
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307 | } while (false); |
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308 | } |
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309 | |
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310 | allocBuffers(); |
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311 | |
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312 | } |
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313 | |
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314 | void V4L1_Base::allocBuffers() |
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315 | { |
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316 | delete YBuf; |
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317 | delete UBuf; |
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318 | delete VBuf; |
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319 | delete colorBuffer; |
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320 | |
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321 | YBuf= new unsigned char[window.width * window.height]; |
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322 | UBuf= new unsigned char[window.width * window.height]; |
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323 | VBuf= new unsigned char[window.width * window.height]; |
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324 | colorBuffer = new unsigned char[window.width * window.height * 4]; |
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325 | } |
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326 | |
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327 | void V4L1_Base::checkSize(int & x, int & y) |
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328 | { |
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329 | if (x >= capability.maxwidth && y >= capability.maxheight) |
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330 | { |
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331 | x=capability.maxwidth; |
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332 | y=capability.maxheight; |
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333 | } |
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334 | else if (x>=352 && y >=288) { |
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335 | x=352;y=288; |
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336 | } else if (x>=320 && y >= 240) { |
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337 | x=320;y=240; |
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338 | } else if (x>=176 && y >=144) { |
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339 | x=176;y=144; |
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340 | } else if (x>=160 && y >=120 ) { |
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341 | x=160;y=120; |
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342 | } else |
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343 | { |
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344 | x=capability.minwidth; |
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345 | y=capability.minheight; |
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346 | } |
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347 | } |
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348 | |
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349 | void V4L1_Base::getMaxMinSize(int & xmax, int & ymax, int & xmin, int & ymin) |
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350 | { |
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351 | xmax = capability.maxwidth; |
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352 | ymax = capability.maxheight; |
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353 | xmin = capability.minwidth; |
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354 | ymin = capability.minheight; |
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355 | } |
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356 | |
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357 | bool V4L1_Base::setSize(int x, int y) |
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358 | { |
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359 | int oldX, oldY; |
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360 | checkSize(x,y); |
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361 | |
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362 | oldX = window.width; |
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363 | oldY = window.height; |
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364 | |
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365 | window.width=x; |
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366 | window.height=y; |
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367 | |
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368 | cerr << "New size is x=" << window.width << " " << "y=" << window.height <<endl; |
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369 | |
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370 | if (ioctl (fd, VIDIOCSWIN, &window)) |
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371 | { |
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372 | cerr << "ioctl(VIDIOCSWIN)" << endl; |
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373 | window.width=oldX; |
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374 | window.height=oldY; |
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375 | return false; |
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376 | } |
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377 | ioctl (fd, VIDIOCGWIN, &window); |
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378 | |
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379 | allocBuffers(); |
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380 | |
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381 | return true; |
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382 | } |
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383 | |
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384 | void V4L1_Base::setContrast(int val) |
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385 | { |
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386 | picture_format.contrast=val; |
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387 | setPictureSettings(); |
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388 | } |
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389 | |
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390 | int V4L1_Base::getContrast() |
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391 | { |
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392 | return picture_format.contrast; |
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393 | } |
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394 | |
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395 | void V4L1_Base::setBrightness(int val) |
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396 | { |
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397 | picture_format.brightness=val; |
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398 | setPictureSettings(); |
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399 | } |
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400 | |
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401 | int V4L1_Base::getBrightness() |
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402 | { |
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403 | return picture_format.brightness; |
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404 | } |
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405 | |
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406 | void V4L1_Base::setColor(int val) |
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407 | { |
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408 | picture_format.colour=val; |
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409 | setPictureSettings(); |
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410 | } |
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411 | |
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412 | int V4L1_Base::getColor() |
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413 | { |
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414 | return picture_format.colour; |
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415 | } |
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416 | |
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417 | void V4L1_Base::setHue(int val) |
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418 | { |
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419 | picture_format.hue=val; |
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420 | setPictureSettings(); |
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421 | } |
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422 | |
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423 | int V4L1_Base::getHue() |
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424 | { |
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425 | return picture_format.hue; |
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426 | } |
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427 | |
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428 | void V4L1_Base::setWhiteness(int val) |
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429 | { |
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430 | picture_format.whiteness=val; |
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431 | setPictureSettings(); |
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432 | } |
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433 | |
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434 | int V4L1_Base::getWhiteness() |
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435 | { |
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436 | return picture_format.whiteness; |
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437 | } |
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438 | |
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439 | void V4L1_Base::setPictureSettings() |
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440 | { |
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441 | if (ioctl(fd, VIDIOCSPICT, &picture_format) ) { |
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442 | cerr << "setPictureSettings" << endl; |
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443 | } |
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444 | ioctl(fd, VIDIOCGPICT, &picture_format); |
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445 | } |
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446 | |
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447 | void V4L1_Base::getPictureSettings() |
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448 | { |
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449 | if (ioctl(fd, VIDIOCGPICT, &picture_format) ) |
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450 | { |
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451 | cerr << "getPictureSettings" << endl; |
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452 | } |
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453 | } |
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454 | |
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455 | int V4L1_Base::mmapInit() |
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456 | { |
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457 | mmap_buffer.size = 0; |
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458 | mmap_buffer.frames = 0; |
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459 | |
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460 | mmap_sync_buffer=-1; |
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461 | mmap_capture_buffer=-1; |
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462 | buffer_start=NULL; |
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463 | |
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464 | if (ioctl(fd, VIDIOCGMBUF, &mmap_buffer)) { |
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465 | // mmap not supported |
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466 | return -1; |
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467 | } |
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468 | |
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469 | buffer_start = (unsigned char *) mmap (NULL, mmap_buffer.size, PROT_READ, MAP_SHARED, fd, 0); |
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470 | |
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471 | if (buffer_start == MAP_FAILED) |
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472 | { |
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473 | cerr << "mmap" << endl; |
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474 | mmap_buffer.size = 0; |
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475 | mmap_buffer.frames = 0; |
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476 | buffer_start=NULL; |
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477 | return -1; |
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478 | } |
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479 | |
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480 | return 0; |
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481 | } |
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482 | |
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483 | void V4L1_Base::mmapCapture() |
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484 | { |
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485 | |
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486 | struct video_mmap vm; |
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487 | mmap_capture_buffer = (mmap_capture_buffer + 1) % mmap_buffer.frames; |
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488 | |
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489 | vm.frame = mmap_capture_buffer; |
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490 | vm.format = picture_format.palette; |
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491 | vm.width = window.width; |
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492 | vm.height = window.height; |
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493 | |
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494 | if (ioctl(fd, VIDIOCMCAPTURE, &vm) < 0) |
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495 | cerr << "Error V4L1_Base::mmapCapture" << endl; |
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496 | } |
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497 | |
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498 | void V4L1_Base::mmapSync() |
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499 | { |
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500 | mmap_sync_buffer= (mmap_sync_buffer + 1) % mmap_buffer.frames; |
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501 | |
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502 | if (ioctl(fd, VIDIOCSYNC, &mmap_sync_buffer) < 0) |
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503 | cerr << "Error V4L1_Base::mmapSync()" << endl; |
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504 | } |
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505 | |
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506 | unsigned char * V4L1_Base::mmapFrame() |
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507 | { |
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508 | return (buffer_start + mmap_buffer.offsets[mmap_sync_buffer]); |
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509 | } |
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510 | |
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511 | unsigned char * V4L1_Base::getY() |
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512 | { |
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513 | return YBuf; |
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514 | } |
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515 | |
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516 | unsigned char * V4L1_Base::getU() |
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517 | { |
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518 | return UBuf; |
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519 | } |
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520 | |
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521 | unsigned char * V4L1_Base::getV() |
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522 | { |
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523 | return VBuf; |
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524 | } |
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525 | |
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526 | unsigned char * V4L1_Base::getColorBuffer() |
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527 | { |
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528 | //cerr << "in get color buffer " << endl; |
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529 | |
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530 | switch (picture_format.palette) |
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531 | { |
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532 | case VIDEO_PALETTE_YUV420P: |
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533 | ccvt_420p_bgr32(window.width, window.height, |
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534 | mmapFrame(), (void*)colorBuffer); |
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535 | break; |
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536 | |
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537 | case VIDEO_PALETTE_YUYV: |
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538 | ccvt_yuyv_bgr32(window.width, window.height, |
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539 | mmapFrame(), (void*)colorBuffer); |
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540 | break; |
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541 | |
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542 | case VIDEO_PALETTE_RGB24: |
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543 | ccvt_rgb24_bgr32(window.width, window.height, |
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544 | mmapFrame(), (void*)colorBuffer); |
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545 | break; |
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546 | |
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547 | default: |
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548 | break; |
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549 | } |
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550 | |
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551 | |
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552 | return colorBuffer; |
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553 | |
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554 | } |
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555 | |
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556 | void V4L1_Base::registerCallback(WPF *fp, void *ud) |
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557 | { |
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558 | callback = fp; |
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559 | uptr = ud; |
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560 | } |
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