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00022 #include <iostream>
00023
00024 #include <sys/ioctl.h>
00025 #include <sys/types.h>
00026 #include <sys/stat.h>
00027 #include <fcntl.h>
00028 #include <unistd.h>
00029 #include <stdio.h>
00030 #include <errno.h>
00031 #include <sys/mman.h>
00032 #include <string.h>
00033
00034 #include "ccvt.h"
00035 #include "v4l1_base.h"
00036 #include "../eventloop.h"
00037 #include "../indidevapi.h"
00038
00039 #define ERRMSGSIZ 1024
00040
00041 using namespace std;
00042
00043 V4L1_Base::V4L1_Base()
00044 {
00045 frameRate=10;
00046 fd=-1;
00047
00048
00049
00050
00051
00052
00053 YBuf = NULL;
00054 UBuf = NULL;
00055 VBuf = NULL;
00056 colorBuffer= NULL;
00057 buffer_start=NULL;
00058
00059 }
00060
00061 V4L1_Base::~V4L1_Base()
00062 {
00063
00064 delete (YBuf);
00065 delete (UBuf);
00066 delete (VBuf);
00067 delete (colorBuffer);
00068
00069 }
00070
00071 int V4L1_Base::connectCam(const char * devpath, char *errmsg)
00072 {
00073 options= (haveBrightness|haveContrast|haveHue|haveColor|haveWhiteness);
00074
00075 buffer_start=NULL;
00076 frameRate=10;
00077 fd=-1;
00078
00079
00080
00081
00082
00083
00084 cerr << "In connect Cam with device " << devpath << endl;
00085 if (-1 == (fd=open(devpath, O_RDONLY | O_NONBLOCK, 0)))
00086 {
00087 strncpy(errmsg, strerror(errno), ERRMSGSIZ);
00088 cerr << strerror(errno);
00089 return -1;
00090 }
00091
00092 cerr << "Device opened" << endl;
00093
00094 if (fd != -1)
00095 {
00096 if (-1 == ioctl(fd,VIDIOCGCAP,&capability))
00097 {
00098 cerr << "Error: ioctl (VIDIOCGCAP)" << endl;
00099 strncpy(errmsg, "ioctl (VIDIOCGCAP)", ERRMSGSIZ);
00100 return -1;
00101 }
00102 if (-1 == ioctl (fd, VIDIOCGWIN, &window))
00103 {
00104 cerr << "Error ioctl (VIDIOCGWIN)" << endl;
00105 strncpy(errmsg, "ioctl (VIDIOCGWIN)", ERRMSGSIZ);
00106 return -1;
00107 }
00108 if (-1 == ioctl (fd, VIDIOCGPICT, &picture_format))
00109 {
00110 cerr << "Error: ioctl (VIDIOCGPICT)" << endl;
00111 strncpy(errmsg, "ioctl (VIDIOCGPICT)", ERRMSGSIZ);
00112 return -1;
00113 }
00114
00115 init(0);
00116 }
00117
00118 cerr << "initial size w:" << window.width << " -- h: " << window.height << endl;
00119
00120
00121
00122
00123
00124
00125
00126
00127
00128
00129
00130
00131
00132 mmapInit();
00133
00134
00135 cerr << "All successful, returning\n";
00136 return fd;
00137 }
00138
00139 void V4L1_Base::disconnectCam()
00140 {
00141
00142
00143 delete YBuf;
00144 delete UBuf;
00145 delete VBuf;
00146 YBuf = UBuf = VBuf = NULL;
00147
00148 if (selectCallBackID != -1)
00149 rmCallback(selectCallBackID);
00150
00151
00152
00153
00154 if (munmap (buffer_start, mmap_buffer.size) < 0)
00155 fprintf(stderr, "munmap: %s\n", strerror(errno));
00156
00157 if (close(fd) < 0)
00158 fprintf(stderr, "close(fd): %s\n", strerror(errno));
00159
00160 fprintf(stderr, "Disconnect cam\n");
00161 }
00162
00163
00164
00165
00166
00167
00168
00169
00170
00171
00172
00173 void V4L1_Base::newFrame()
00174 {
00175 switch (picture_format.palette)
00176 {
00177 case VIDEO_PALETTE_GREY:
00178 memcpy(YBuf,mmapFrame(),window.width * window.height);
00179 break;
00180 case VIDEO_PALETTE_YUV420P:
00181 memcpy(YBuf,mmapFrame(), window.width * window.height);
00182 memcpy(UBuf,
00183 mmapFrame()+ window.width * window.height,
00184 (window.width/2) * (window.height/2));
00185 memcpy(VBuf,
00186 mmapFrame()+ window.width * window.height+(window.width/2) * (window.height/2),
00187 (window.width/2) * (window.height/2));
00188 break;
00189 case VIDEO_PALETTE_YUYV:
00190 ccvt_yuyv_420p(window.width,window.height,
00191 mmapFrame(),
00192 YBuf,
00193 UBuf,
00194 VBuf);
00195 break;
00196
00197 case VIDEO_PALETTE_RGB24:
00198 RGB2YUV(window.width, window.height, mmapFrame(), YBuf, UBuf, VBuf, 0);
00199 break;
00200
00201 default:
00202 cerr << "invalid palette " <<picture_format.palette << endl;
00203 exit(1);
00204 }
00205
00206
00207 if (callback)
00208 (*callback)(uptr);
00209
00210 }
00211
00212 void V4L1_Base::updateFrame(int , void * p)
00213 {
00214
00215 ( (V4L1_Base *) (p))->newFrame();
00216
00217 }
00218
00219 int V4L1_Base::start_capturing(char * )
00220 {
00221
00222 mmapCapture();
00223 mmapSync();
00224
00225 selectCallBackID = IEAddCallback(fd, updateFrame, this);
00226
00227 return 0;
00228 }
00229
00230 int V4L1_Base::stop_capturing(char * )
00231 {
00232
00233 IERmCallback(selectCallBackID);
00234 selectCallBackID = -1;
00235 return 0;
00236 }
00237
00238 int V4L1_Base::getWidth()
00239 {
00240 return window.width;
00241 }
00242
00243 int V4L1_Base::getHeight()
00244 {
00245 return window.height;
00246 }
00247
00248 void V4L1_Base::setFPS(int fps)
00249 {
00250 frameRate = fps;
00251 }
00252
00253 int V4L1_Base::getFPS()
00254 {
00255 return frameRate;
00256 }
00257
00258 char * V4L1_Base::getDeviceName()
00259 {
00260 return capability.name;
00261 }
00262
00263 void V4L1_Base::init(int preferedPalette)
00264 {
00265
00266 if (preferedPalette)
00267 {
00268 picture_format.palette=preferedPalette;
00269 if (0 == ioctl(fd, VIDIOCSPICT, &picture_format))
00270 cerr << "found preferedPalette " << preferedPalette << endl;
00271 else
00272 {
00273 preferedPalette=0;
00274 cerr << "preferedPalette " << preferedPalette << " invalid, trying to find one." << endl;
00275 }
00276 }
00277
00278 if (preferedPalette == 0)
00279 {
00280 do {
00281
00282 picture_format.palette=VIDEO_PALETTE_YUV420P;
00283 if (0 == ioctl(fd, VIDIOCSPICT, &picture_format)) {
00284 cerr << "found palette VIDEO_PALETTE_YUV420P" << endl;
00285 break;
00286 }
00287 cerr << "VIDEO_PALETTE_YUV420P not supported." << endl;
00288
00289 picture_format.palette=VIDEO_PALETTE_YUV420;
00290 if ( 0== ioctl(fd, VIDIOCSPICT, &picture_format)) {
00291 cerr << "found palette VIDEO_PALETTE_YUV420" << endl;
00292 break;
00293 }
00294 cerr << "VIDEO_PALETTE_YUV420 not supported." << endl;
00295
00296 picture_format.palette=VIDEO_PALETTE_RGB24;
00297 if ( 0== ioctl(fd, VIDIOCSPICT, &picture_format)) {
00298 cerr << "found palette VIDEO_PALETTE_RGB24" << endl;
00299 break;
00300 }
00301 cerr << "VIDEO_PALETTE_RGB24 not supported." << endl;
00302
00303 picture_format.palette=VIDEO_PALETTE_GREY;
00304 if ( 0== ioctl(fd, VIDIOCSPICT, &picture_format)) {
00305 cerr << "found palette VIDEO_PALETTE_GREY" << endl;
00306 break;
00307 }
00308 cerr << "VIDEO_PALETTE_GREY not supported." << endl;
00309 cerr << "could not find a supported palette." << endl;
00310 exit(1);
00311 } while (false);
00312 }
00313
00314 allocBuffers();
00315
00316 }
00317
00318 void V4L1_Base::allocBuffers()
00319 {
00320 delete YBuf;
00321 delete UBuf;
00322 delete VBuf;
00323 delete colorBuffer;
00324
00325 YBuf= new unsigned char[window.width * window.height];
00326 UBuf= new unsigned char[window.width * window.height];
00327 VBuf= new unsigned char[window.width * window.height];
00328 colorBuffer = new unsigned char[window.width * window.height * 4];
00329 }
00330
00331 void V4L1_Base::checkSize(int & x, int & y)
00332 {
00333 if (x >= capability.maxwidth && y >= capability.maxheight)
00334 {
00335 x=capability.maxwidth;
00336 y=capability.maxheight;
00337 }
00338 else if (x>=352 && y >=288) {
00339 x=352;y=288;
00340 } else if (x>=320 && y >= 240) {
00341 x=320;y=240;
00342 } else if (x>=176 && y >=144) {
00343 x=176;y=144;
00344 } else if (x>=160 && y >=120 ) {
00345 x=160;y=120;
00346 } else
00347 {
00348 x=capability.minwidth;
00349 y=capability.minheight;
00350 }
00351 }
00352
00353 void V4L1_Base::getMaxMinSize(int & xmax, int & ymax, int & xmin, int & ymin)
00354 {
00355 xmax = capability.maxwidth;
00356 ymax = capability.maxheight;
00357 xmin = capability.minwidth;
00358 ymin = capability.minheight;
00359 }
00360
00361 bool V4L1_Base::setSize(int x, int y)
00362 {
00363 int oldX, oldY;
00364 checkSize(x,y);
00365
00366 oldX = window.width;
00367 oldY = window.height;
00368
00369 window.width=x;
00370 window.height=y;
00371
00372 cerr << "New size is x=" << window.width << " " << "y=" << window.height <<endl;
00373
00374 if (ioctl (fd, VIDIOCSWIN, &window))
00375 {
00376 cerr << "ioctl(VIDIOCSWIN)" << endl;
00377 window.width=oldX;
00378 window.height=oldY;
00379 return false;
00380 }
00381 ioctl (fd, VIDIOCGWIN, &window);
00382
00383 allocBuffers();
00384
00385 return true;
00386 }
00387
00388 void V4L1_Base::setContrast(int val)
00389 {
00390 picture_format.contrast=val;
00391 setPictureSettings();
00392 }
00393
00394 int V4L1_Base::getContrast()
00395 {
00396 return picture_format.contrast;
00397 }
00398
00399 void V4L1_Base::setBrightness(int val)
00400 {
00401 picture_format.brightness=val;
00402 setPictureSettings();
00403 }
00404
00405 int V4L1_Base::getBrightness()
00406 {
00407 return picture_format.brightness;
00408 }
00409
00410 void V4L1_Base::setColor(int val)
00411 {
00412 picture_format.colour=val;
00413 setPictureSettings();
00414 }
00415
00416 int V4L1_Base::getColor()
00417 {
00418 return picture_format.colour;
00419 }
00420
00421 void V4L1_Base::setHue(int val)
00422 {
00423 picture_format.hue=val;
00424 setPictureSettings();
00425 }
00426
00427 int V4L1_Base::getHue()
00428 {
00429 return picture_format.hue;
00430 }
00431
00432 void V4L1_Base::setWhiteness(int val)
00433 {
00434 picture_format.whiteness=val;
00435 setPictureSettings();
00436 }
00437
00438 int V4L1_Base::getWhiteness()
00439 {
00440 return picture_format.whiteness;
00441 }
00442
00443 void V4L1_Base::setPictureSettings()
00444 {
00445 if (ioctl(fd, VIDIOCSPICT, &picture_format) ) {
00446 cerr << "setPictureSettings" << endl;
00447 }
00448 ioctl(fd, VIDIOCGPICT, &picture_format);
00449 }
00450
00451 void V4L1_Base::getPictureSettings()
00452 {
00453 if (ioctl(fd, VIDIOCGPICT, &picture_format) )
00454 {
00455 cerr << "getPictureSettings" << endl;
00456 }
00457 }
00458
00459 int V4L1_Base::mmapInit()
00460 {
00461 mmap_buffer.size = 0;
00462 mmap_buffer.frames = 0;
00463
00464 mmap_sync_buffer=-1;
00465 mmap_capture_buffer=-1;
00466 buffer_start=NULL;
00467
00468 if (ioctl(fd, VIDIOCGMBUF, &mmap_buffer)) {
00469
00470 return -1;
00471 }
00472
00473 buffer_start = (unsigned char *) mmap (NULL, mmap_buffer.size, PROT_READ, MAP_SHARED, fd, 0);
00474
00475 if (buffer_start == MAP_FAILED)
00476 {
00477 cerr << "mmap" << endl;
00478 mmap_buffer.size = 0;
00479 mmap_buffer.frames = 0;
00480 buffer_start=NULL;
00481 return -1;
00482 }
00483
00484 return 0;
00485 }
00486
00487 void V4L1_Base::mmapCapture()
00488 {
00489
00490 struct video_mmap vm;
00491 mmap_capture_buffer = (mmap_capture_buffer + 1) % mmap_buffer.frames;
00492
00493 vm.frame = mmap_capture_buffer;
00494 vm.format = picture_format.palette;
00495 vm.width = window.width;
00496 vm.height = window.height;
00497
00498 if (ioctl(fd, VIDIOCMCAPTURE, &vm) < 0)
00499 cerr << "Error V4L1_Base::mmapCapture" << endl;
00500 }
00501
00502 void V4L1_Base::mmapSync()
00503 {
00504 mmap_sync_buffer= (mmap_sync_buffer + 1) % mmap_buffer.frames;
00505
00506 if (ioctl(fd, VIDIOCSYNC, &mmap_sync_buffer) < 0)
00507 cerr << "Error V4L1_Base::mmapSync()" << endl;
00508 }
00509
00510 unsigned char * V4L1_Base::mmapFrame()
00511 {
00512 return (buffer_start + mmap_buffer.offsets[mmap_sync_buffer]);
00513 }
00514
00515 unsigned char * V4L1_Base::getY()
00516 {
00517 return YBuf;
00518 }
00519
00520 unsigned char * V4L1_Base::getU()
00521 {
00522 return UBuf;
00523 }
00524
00525 unsigned char * V4L1_Base::getV()
00526 {
00527 return VBuf;
00528 }
00529
00530 unsigned char * V4L1_Base::getColorBuffer()
00531 {
00532
00533
00534 switch (picture_format.palette)
00535 {
00536 case VIDEO_PALETTE_YUV420P:
00537 ccvt_420p_bgr32(window.width, window.height,
00538 mmapFrame(), (void*)colorBuffer);
00539 break;
00540
00541 case VIDEO_PALETTE_YUYV:
00542 ccvt_yuyv_bgr32(window.width, window.height,
00543 mmapFrame(), (void*)colorBuffer);
00544 break;
00545
00546 case VIDEO_PALETTE_RGB24:
00547 ccvt_rgb24_bgr32(window.width, window.height,
00548 mmapFrame(), (void*)colorBuffer);
00549 break;
00550
00551 default:
00552 break;
00553 }
00554
00555
00556 return colorBuffer;
00557
00558 }
00559
00560 void V4L1_Base::registerCallback(WPF *fp, void *ud)
00561 {
00562 callback = fp;
00563 uptr = ud;
00564 }